Visual Servoing Platform  version 3.5.1 under development (2023-03-29)
vpTemplateTrackerMI.cpp
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30  *
31  * Description:
32  * Example of template tracking.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 #include <visp3/core/vpException.h>
41 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
42 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
43 
44 void vpTemplateTrackerMI::setBspline(const vpBsplineType &newbs)
45 {
46  bspline = (int)newbs;
47  influBspline = bspline * bspline;
48  Ncb = Nc + bspline;
49  if (Pt)
50  delete[] Pt;
51  if (Pr)
52  delete[] Pr;
53  if (Prt)
54  delete[] Prt;
55  if (dPrt)
56  delete[] dPrt;
57  if (d2Prt)
58  delete[] d2Prt;
59  if (PrtD)
60  delete[] PrtD;
61  if (dPrtD)
62  delete[] dPrtD;
63  if (PrtTout)
64  delete[] PrtTout;
65 
66  Pt = new double[Ncb];
67  Pr = new double[Ncb];
68 
69  Prt = new double[Ncb * Ncb];
70  dPrt = new double[Ncb * Ncb * (int)(nbParam)];
71  d2Prt = new double[Ncb * Ncb * (int)(nbParam * nbParam)];
72 
73  PrtD = new double[Nc * Nc * influBspline];
74  dPrtD = new double[Nc * Nc * (int)(nbParam)*influBspline];
75  PrtTout = new double[Nc * Nc * influBspline * (1 + (int)(nbParam + nbParam * nbParam))];
76 
77  hessianComputation = USE_HESSIEN_DESIRE;
78 }
79 
80 vpTemplateTrackerMI::vpTemplateTrackerMI(vpTemplateTrackerWarp *_warp)
81  : vpTemplateTracker(_warp), hessianComputation(USE_HESSIEN_NORMAL), ApproxHessian(HESSIAN_NEW), lambda(0), temp(NULL),
82  Prt(NULL), dPrt(NULL), Pt(NULL), Pr(NULL), d2Prt(NULL), PrtTout(NULL), dprtemp(NULL), PrtD(NULL), dPrtD(NULL),
83  influBspline(0), bspline(3), Nc(8), Ncb(0), d2Ix(), d2Iy(), d2Ixy(), MI_preEstimation(0), MI_postEstimation(0),
84  NMI_preEstimation(0), NMI_postEstimation(0), covarianceMatrix(), computeCovariance(false)
85 {
86  Ncb = Nc + bspline;
87  influBspline = bspline * bspline;
88 
89  dW.resize(2, nbParam);
90  H.resize(nbParam, nbParam);
91  G.resize(nbParam);
92  Hdesire.resize(nbParam, nbParam);
93  HLM.resize(nbParam, nbParam);
94  HLMdesire.resize(nbParam, nbParam);
95  dprtemp = new double[nbParam];
96  temp = new double[nbParam];
97 
98  X1.resize(2);
99  X2.resize(2);
100 
101  PrtD = new double[Nc * Nc * influBspline]; //(r,t)
102  dPrtD = new double[Nc * Nc * (int)(nbParam)*influBspline];
103 
104  Prt = new double[Ncb * Ncb]; //(r,t)
105  Pt = new double[Ncb];
106  Pr = new double[Ncb];
107  dPrt = new double[Ncb * Ncb * (int)(nbParam)];
108  d2Prt = new double[Ncb * Ncb * (int)(nbParam * nbParam)];
109 
110  PrtTout = new double[Nc * Nc * influBspline * (1 + (int)(nbParam + nbParam * nbParam))];
111 
112  lambda = lambdaDep;
113 }
114 
115 void vpTemplateTrackerMI::setNc(int nc)
116 {
117  Nc = nc;
118  Ncb = Nc + bspline;
119 
120  if (Pt)
121  delete[] Pt;
122  if (Pr)
123  delete[] Pr;
124  if (Prt)
125  delete[] Prt;
126  if (dPrt)
127  delete[] dPrt;
128  if (d2Prt)
129  delete[] d2Prt;
130  if (PrtD)
131  delete[] PrtD;
132  if (dPrtD)
133  delete[] dPrtD;
134  if (PrtTout)
135  delete[] PrtTout;
136 
137  PrtD = new double[Nc * Nc * influBspline]; //(r,t)
138  dPrtD = new double[Nc * Nc * (int)(nbParam)*influBspline];
139  Prt = new double[Ncb * Ncb]; //(r,t)
140  dPrt = new double[Ncb * Ncb * (int)(nbParam)];
141  Pt = new double[Ncb];
142  Pr = new double[Ncb];
143  d2Prt = new double[Ncb * Ncb * (int)(nbParam * nbParam)]; //(r,t)
144  PrtTout = new double[Nc * Nc * influBspline * (1 + (int)(nbParam + nbParam * nbParam))];
145 }
146 
147 double vpTemplateTrackerMI::getCost(const vpImage<unsigned char> &I, const vpColVector &tp)
148 {
149  double MI = 0;
150  int Nbpoint = 0;
151  double IW;
152 
153  unsigned int Ncb_ = (unsigned int)Ncb;
154  unsigned int Nc_ = (unsigned int)Nc;
155  unsigned int influBspline_ = (unsigned int)influBspline;
156 
157  memset(Prt, 0, Ncb_ * Ncb_ * sizeof(double));
158  memset(PrtD, 0, Nc_ * Nc_ * influBspline_ * sizeof(double));
159 
160  Warp->computeCoeff(tp);
161  for (unsigned int point = 0; point < templateSize; point++) {
162  X1[0] = ptTemplate[point].x;
163  X1[1] = ptTemplate[point].y;
164 
165  Warp->computeDenom(X1, tp);
166  Warp->warpX(X1, X2, tp);
167  double j2 = X2[0];
168  double i2 = X2[1];
169 
170  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
171  Nbpoint++;
172 
173  double Tij = ptTemplate[point].val;
174  if (!blur)
175  IW = I.getValue(i2, j2);
176  else
177  IW = BI.getValue(i2, j2);
178 
179  double Nc_1 = (Nc - 1.) / 255.;
180  double IW_Nc = IW * Nc_1;
181  double Tij_Nc = Tij * Nc_1;
182  int cr = static_cast<int>(IW_Nc);
183  int ct = static_cast<int>(Tij_Nc);
184  double er = IW_Nc - cr;
185  double et = Tij_Nc - ct;
186 
187  // Calcul de l'histogramme joint par interpolation bilineaire
188  // (Bspline ordre 1)
189  vpTemplateTrackerMIBSpline::PutPVBsplineD(PrtD, cr, er, ct, et, Nc, 1., bspline);
190  }
191  }
192 
193  ratioPixelIn = (double)Nbpoint / (double)templateSize;
194 
195  double *pt = PrtD;
196  for (int r = 0; r < Nc; r++)
197  for (int t = 0; t < Nc; t++) {
198  for (int i = 0; i < influBspline; i++) {
199  int r2, t2;
200  r2 = r + i / bspline;
201  t2 = t + i % bspline;
202  Prt[r2 * Ncb + t2] += *pt;
203 
204  pt++;
205  }
206  }
207 
208  if (Nbpoint == 0)
209  return 0;
210  for (unsigned int r = 0; r < Ncb_; r++) {
211  for (unsigned int t = 0; t < Ncb_; t++) {
212  Prt[r * Ncb_ + t] /= Nbpoint;
213  }
214  }
215  // Compute Pr, Pt
216  memset(Pr, 0, Ncb_ * sizeof(double));
217  memset(Pt, 0, Ncb_ * sizeof(double));
218  for (unsigned int r = 0; r < Ncb_; r++) {
219  for (unsigned int t = 0; t < Ncb_; t++) {
220  Pr[r] += Prt[r * Ncb_ + t];
221  Pt[r] += Prt[t * Ncb_ + r];
222  }
223  }
224 
225  for (unsigned int r = 0; r < Ncb_; r++) {
226  if (std::fabs(Pr[r]) > std::numeric_limits<double>::epsilon()) {
227  MI -= Pr[r] * log(Pr[r]);
228  }
229  if (std::fabs(Pt[r]) > std::numeric_limits<double>::epsilon()) {
230  MI -= Pt[r] * log(Pt[r]);
231  }
232  for (unsigned int t = 0; t < Ncb_; t++) {
233  unsigned int r_Ncb_t_ = r * Ncb_ + t;
234  if (std::fabs(Prt[r_Ncb_t_]) > std::numeric_limits<double>::epsilon()) {
235  MI += Prt[r_Ncb_t_] * log(Prt[r_Ncb_t_]);
236  }
237  }
238  }
239 
240  return -MI;
241 }
242 
243 double vpTemplateTrackerMI::getNormalizedCost(const vpImage<unsigned char> &I, const vpColVector &tp)
244 {
245  // Attention, cette version calculee de la NMI ne pourra pas atteindre le
246  // maximum de 2. Ceci est du au fait que par defaut, l'image est floutee dans
247  // vpTemplateTracker::initTracking()
248 
249  double MI = 0;
250  double Nbpoint = 0;
251  double IW;
252 
253  double Pr_[256];
254  double Pt_[256];
255  double Prt_[256][256];
256 
257  memset(Pr_, 0, 256 * sizeof(double));
258  memset(Pt_, 0, 256 * sizeof(double));
259  memset(Prt_, 0, 256 * 256 * sizeof(double));
260 
261  for (unsigned int point = 0; point < templateSize; point++) {
262  X1[0] = ptTemplate[point].x;
263  X1[1] = ptTemplate[point].y;
264 
265  Warp->computeDenom(X1, tp);
266  Warp->warpX(X1, X2, tp);
267  double j2 = X2[0];
268  double i2 = X2[1];
269 
270  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
271  Nbpoint++;
272  double Tij = ptTemplate[point].val;
273  int Tij_ = static_cast<int>(Tij);
274  if (!blur) {
275  IW = I[(int)i2][(int)j2];
276  } else {
277  IW = BI.getValue(i2, j2);
278  }
279  int IW_ = static_cast<int>(IW);
280 
281  Pr_[Tij_]++;
282  Pt_[IW_]++;
283  Prt_[Tij_][IW_]++;
284  }
285  }
286 
287  double denom = 0;
288  for (int r = 0; r < 256; r++) {
289  Pr_[r] /= Nbpoint;
290  Pt_[r] /= Nbpoint;
291  if (std::fabs(Pr_[r]) > std::numeric_limits<double>::epsilon()) {
292  MI -= Pr_[r] * log(Pr_[r]);
293  }
294  if (std::fabs(Pt_[r]) > std::numeric_limits<double>::epsilon()) {
295  MI -= Pt_[r] * log(Pt_[r]);
296  }
297  for (int t = 0; t < 256; t++) {
298  Prt_[r][t] /= Nbpoint;
299  if (std::fabs(Prt_[r][t]) > std::numeric_limits<double>::epsilon()) {
300  denom -= (Prt_[r][t] * log(Prt_[r][t]));
301  }
302  }
303  }
304 
305  if (std::fabs(denom) > std::numeric_limits<double>::epsilon())
306  MI = MI / denom;
307  else
308  MI = 0;
309 
310  return -MI;
311 }
312 
313 vpTemplateTrackerMI::~vpTemplateTrackerMI()
314 {
315  if (Pt)
316  delete[] Pt;
317  if (Pr)
318  delete[] Pr;
319  if (Prt)
320  delete[] Prt;
321  if (dPrt)
322  delete[] dPrt;
323  if (d2Prt)
324  delete[] d2Prt;
325  if (PrtD)
326  delete[] PrtD;
327  if (dPrtD)
328  delete[] dPrtD;
329  if (PrtTout)
330  delete[] PrtTout;
331  if (temp)
332  delete[] temp;
333  if (dprtemp)
334  delete[] dprtemp;
335 }
336 
337 void vpTemplateTrackerMI::computeProba(int &nbpoint)
338 {
339  double *pt = PrtTout;
340  unsigned int Nc_ = static_cast<unsigned int>(Nc);
341  unsigned int Ncb_ = static_cast<unsigned int>(Ncb);
342  unsigned int bspline_ = static_cast<unsigned int>(bspline);
343 
344  for (unsigned int r = 0; r < Nc_; r++) {
345  for (unsigned int t = 0; t < Nc_; t++) {
346  for (unsigned int r2 = 0; r2 < bspline_; r2++) {
347  unsigned int r2_r_Ncb_ = (r2 + r) * Ncb_;
348  for (unsigned int t2 = 0; t2 < bspline_; t2++) {
349  unsigned int t2_t_ = t2 + t;
350  unsigned int r2_r_Ncb_t2_t_nbParam_ = (r2_r_Ncb_ + t2_t_) * nbParam;
351  Prt[r2_r_Ncb_ + t2_t_] += *pt++;
352  for (unsigned int ip = 0; ip < nbParam; ip++) {
353  dPrt[r2_r_Ncb_t2_t_nbParam_ + ip] += *pt++;
354  unsigned int ip_nbParam_ = ip * nbParam;
355  for (unsigned int it = 0; it < nbParam; it++) {
356  d2Prt[r2_r_Ncb_t2_t_nbParam_ * nbParam + ip_nbParam_ + it] += *pt++;
357  }
358  }
359  }
360  }
361  }
362  }
363 
364  if (nbpoint == 0) {
365  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
366  }
367  unsigned int indd, indd2;
368  indd = indd2 = 0;
369  for (volatile int i = 0; i < Ncb * Ncb; i++) {
370  Prt[i] = Prt[i] / nbpoint;
371  for (unsigned int j = 0; j < nbParam; j++) {
372  dPrt[indd] /= nbpoint;
373  indd++;
374  for (unsigned int k = 0; k < nbParam; k++) {
375  d2Prt[indd2] /= nbpoint;
376  indd2++;
377  }
378  }
379  }
380 }
381 
382 void vpTemplateTrackerMI::computeMI(double &MI)
383 {
384  unsigned int Ncb_ = (unsigned int)Ncb;
385 
386  // Compute Pr and Pt
387  memset(Pr, 0, Ncb_ * sizeof(double));
388  memset(Pt, 0, Ncb_ * sizeof(double));
389  for (unsigned int r = 0; r < Ncb_; r++) {
390  unsigned int r_Nbc_ = r * Ncb_;
391  for (unsigned int t = 0; t < Ncb_; t++) {
392  Pr[r] += Prt[r_Nbc_ + t];
393  Pt[r] += Prt[r + Ncb_ * t];
394  }
395  }
396 
397  // Compute Entropy
398  for (unsigned int r = 0; r < Ncb_; r++) {
399  if (std::fabs(Pr[r]) > std::numeric_limits<double>::epsilon()) {
400  MI -= Pr[r] * log(Pr[r]);
401  }
402  if (std::fabs(Pt[r]) > std::numeric_limits<double>::epsilon()) {
403  MI -= Pt[r] * log(Pt[r]);
404  }
405  unsigned int r_Nbc_ = r * Ncb_;
406  for (unsigned int t = 0; t < Ncb_; t++) {
407  unsigned int r_Nbc_t_ = r_Nbc_ + t;
408  if (std::fabs(Prt[r_Nbc_t_]) > std::numeric_limits<double>::epsilon()) {
409  MI += Prt[r_Nbc_t_] * log(Prt[r_Nbc_t_]);
410  }
411  }
412  }
413 }
414 
415 void vpTemplateTrackerMI::computeHessien(vpMatrix &Hessian)
416 {
417  double seuilevitinf = 1e-200;
418  Hessian = 0;
419  double dtemp;
420  unsigned int Ncb_ = static_cast<unsigned int>(Ncb);
421  unsigned int nbParam2 = nbParam * nbParam;
422 
423  for (unsigned int t = 0; t < Ncb_; t++) {
424  if (Pt[t] > seuilevitinf) {
425  for (unsigned int r = 0; r < Ncb_; r++) {
426  if (Prt[r * Ncb_ + t] > seuilevitinf) {
427  unsigned int r_Ncb_t_ = r * Ncb_ + t;
428  unsigned int r_Ncb_t_nbParam_ = r_Ncb_t_ * nbParam;
429  for (unsigned int it = 0; it < nbParam; it++) {
430  dprtemp[it] = dPrt[r_Ncb_t_nbParam_ + it];
431  }
432 
433  dtemp = 1. + log(Prt[r * Ncb_ + t] / Pt[t]);
434 
435  double Prt_Pt_ = 1. / Prt[r_Ncb_t_] - 1. / Pt[t];
436  unsigned int r_Ncb_t_nbParam2_ = r_Ncb_t_ * nbParam2;
437  for (unsigned int it = 0; it < nbParam; it++) {
438  unsigned int r_Ncb_t_nbParam2_it_nbParam_ = r_Ncb_t_nbParam2_ + it * nbParam;
439  for (unsigned int jt = 0; jt < nbParam; jt++) {
440  if (ApproxHessian != HESSIAN_NONSECOND && ApproxHessian != HESSIAN_NEW)
441  Hessian[it][jt] +=
442  dprtemp[it] * dprtemp[jt] * Prt_Pt_ + d2Prt[r_Ncb_t_nbParam2_it_nbParam_ + jt] * dtemp;
443  else if (ApproxHessian == HESSIAN_NEW)
444  Hessian[it][jt] += d2Prt[r_Ncb_t_nbParam2_it_nbParam_ + jt] * dtemp;
445  else
446  Hessian[it][jt] += dprtemp[it] * dprtemp[jt] * Prt_Pt_;
447  }
448  }
449  }
450  }
451  }
452  }
453 }
454 
455 void vpTemplateTrackerMI::computeHessienNormalized(vpMatrix &Hessian)
456 {
457  double seuilevitinf = 1e-200;
458  double u = 0, v = 0, B = 0;
459  m_du.resize(nbParam);
460  m_dv.resize(nbParam);
461  m_A.resize(nbParam);
462  m_dB.resize(nbParam);
463  m_d2u.resize(nbParam);
464  m_d2v.resize(nbParam);
465  m_dA.resize(nbParam);
466 
467  for (unsigned int i = 0; i < nbParam; i++) {
468  m_d2u[i].resize(nbParam);
469  m_d2v[i].resize(nbParam);
470  m_dA[i].resize(nbParam);
471  }
472 
473  std::fill(m_du.begin(), m_du.end(), 0);
474  std::fill(m_dv.begin(), m_dv.end(), 0);
475  std::fill(m_A.begin(), m_A.end(), 0);
476  std::fill(m_dB.begin(), m_dB.end(), 0);
477  for (unsigned int it = 0; it < nbParam; it++) {
478  std::fill(m_d2u[0].begin(), m_d2u[0].end(), 0);
479  std::fill(m_d2v[0].begin(), m_d2v[0].end(), 0);
480  std::fill(m_dA[0].begin(), m_dA[0].end(), 0);
481  }
482 
483  memset(dprtemp, 0, nbParam * sizeof(double));
484 
485  unsigned int Ncb_ = static_cast<unsigned int>(Ncb);
486  unsigned int nbParam2 = nbParam * nbParam;
487 
488  for (unsigned int t = 0; t < Ncb_; t++) {
489  if (Pt[t] > seuilevitinf) {
490  for (unsigned int r = 0; r < Ncb_; r++) {
491  unsigned int r_Ncb_t_ = r * Ncb_ + t;
492  if (Prt[r_Ncb_t_] > seuilevitinf) {
493  unsigned int r_Ncb_t_nbParam_ = r_Ncb_t_ * nbParam;
494  for (unsigned int it = 0; it < nbParam; it++) {
495  // dPxy/dt
496  dprtemp[it] = dPrt[r_Ncb_t_nbParam_ + it];
497  }
498  double log_Pt_Pr_ = log(Pt[t] * Pr[r]);
499  double log_Prt_ = log(Prt[r_Ncb_t_]);
500  // u = som(Pxy.logPxPy)
501  u += Prt[r_Ncb_t_] * log_Pt_Pr_;
502  // v = som(Pxy.logPxy)
503  v += Prt[r_Ncb_t_] * log_Prt_;
504 
505  double log_Prt_1_ = 1 + log(Prt[r_Ncb_t_]);
506  for (unsigned int it = 0; it < nbParam; it++) {
507  // u' = som dPxylog(PxPy)
508  m_du[it] += dprtemp[it] * log_Pt_Pr_;
509  // v' = som dPxy(1+log(Pxy))
510  m_dv[it] += dprtemp[it] * log_Prt_1_;
511  }
512  double Prt_ = 1.0 / Prt[r_Ncb_t_];
513  unsigned int r_Ncb_t_nbParam2_ = r_Ncb_t_ * nbParam2;
514  for (unsigned int it = 0; it < nbParam; it++) {
515  double dprtemp_it2_ = Prt_ * dprtemp[it] * dprtemp[it];
516  unsigned int r_Ncb_t_nbParam2_it_nbParam_ = r_Ncb_t_nbParam2_ + it * nbParam;
517  for (unsigned int jt = 0; jt < nbParam; jt++) {
518  unsigned int r_Ncb_t_nbParam2_it_nbParam_jt_ = r_Ncb_t_nbParam2_it_nbParam_ + jt;
519  m_d2u[it][jt] += d2Prt[r_Ncb_t_nbParam2_it_nbParam_jt_] * log_Pt_Pr_ + dprtemp_it2_;
520  m_d2v[it][jt] += d2Prt[r_Ncb_t_nbParam2_it_nbParam_jt_] * log_Prt_1_ + dprtemp_it2_;
521  }
522  }
523  }
524  }
525  }
526  }
527  // B = v2
528  B = (v * v);
529  double B2 = B * B;
530  for (unsigned int it = 0; it < nbParam; it++) {
531  // A = u'v-uv'
532  m_A[it] = m_du[it] * v - u * m_dv[it];
533  // B' = 2vv'
534  m_dB[it] = 2 * v * m_dv[it];
535  double A_it_dB_it_ = m_A[it] * m_dB[it];
536  for (unsigned int jt = 0; jt < nbParam; jt++) {
537  // A' = u''v-v''u
538  m_dA[it][jt] = m_d2u[it][jt] * v - m_d2v[it][jt] * u;
539  // Hessian = (A'B-AB')/B2
540  Hessian[it][jt] = (m_dA[it][jt] * B - A_it_dB_it_) / B2;
541  }
542  }
543 }
544 
545 void vpTemplateTrackerMI::computeGradient()
546 {
547  double seuilevitinf = 1e-200;
548  G = 0;
549  unsigned int Ncb_ = static_cast<unsigned int>(Ncb);
550  double dtemp;
551  for (unsigned int t = 0; t < Ncb_; t++) {
552  if (Pt[t] > seuilevitinf) {
553  for (unsigned int r = 0; r < Ncb_; r++) {
554  unsigned int r_Ncb_t_ = r * Ncb_ + t;
555  if (Prt[r_Ncb_t_] > seuilevitinf) {
556  unsigned int r_Ncb_t_nbParam_ = r_Ncb_t_ * nbParam;
557  for (unsigned int it = 0; it < nbParam; it++) {
558  dprtemp[it] = dPrt[r_Ncb_t_nbParam_ + it];
559  }
560 
561  dtemp = 1. + log(Prt[r_Ncb_t_] / Pt[t]);
562 
563  for (unsigned int it = 0; it < nbParam; it++) {
564  G[it] += dtemp * dprtemp[it];
565  }
566  }
567  }
568  }
569  }
570 }
571 
572 void vpTemplateTrackerMI::zeroProbabilities()
573 {
574  unsigned int Ncb_ = static_cast<unsigned int>(Ncb);
575  unsigned int Nc_ = static_cast<unsigned int>(Nc);
576  unsigned int influBspline_ = static_cast<unsigned int>(influBspline);
577 
578  unsigned int Ncb2_ = Ncb_ * Ncb_ * sizeof(double);
579  unsigned int Ncb2_nbParam_ = Ncb2_ * nbParam;
580  unsigned int Ncb2_nbParam2_ = Ncb2_nbParam_ * nbParam;
581 
582  memset(Prt, 0, Ncb2_);
583  memset(dPrt, 0, Ncb2_nbParam_);
584  memset(d2Prt, 0, Ncb2_nbParam2_);
585  memset(PrtTout, 0, Nc_ * Nc_ * influBspline_ * (1 + nbParam + nbParam * nbParam) * sizeof(double));
586 }
587 
588 double vpTemplateTrackerMI::getMI(const vpImage<unsigned char> &I, int &nc, const int &bspline_, vpColVector &tp)
589 {
590  unsigned int tNcb = static_cast<unsigned int>(nc + bspline_);
591  unsigned int tinfluBspline = static_cast<unsigned int>(bspline_ * bspline_);
592  unsigned int nc_ = static_cast<unsigned int>(nc);
593 
594  double *tPrtD = new double[nc_ * nc_ * tinfluBspline];
595  double *tPrt = new double[tNcb * tNcb];
596  double *tPr = new double[tNcb];
597  double *tPt = new double[tNcb];
598 
599  double MI = 0;
600  volatile int Nbpoint = 0;
601  double IW;
602 
603  vpImage<double> GaussI;
604  vpImageFilter::filter(I, GaussI, fgG, taillef);
605 
606  memset(tPrt, 0, tNcb * tNcb * sizeof(double));
607  memset(tPrtD, 0, nc_ * nc_ * tinfluBspline * sizeof(double));
608 
609  Warp->computeCoeff(tp);
610  for (unsigned int point = 0; point < templateSize; point++) {
611  X1[0] = ptTemplate[point].x;
612  X1[1] = ptTemplate[point].y;
613 
614  Warp->computeDenom(X1, tp);
615  Warp->warpX(X1, X2, tp);
616  double j2 = X2[0];
617  double i2 = X2[1];
618 
619  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth()) - 1) {
620  Nbpoint++;
621 
622  double Tij = ptTemplate[point].val;
623  if (!blur)
624  IW = I.getValue(i2, j2);
625  else
626  IW = GaussI.getValue(i2, j2);
627 
628  int cr = static_cast<int>((IW * (nc - 1)) / 255.);
629  int ct = static_cast<int>((Tij * (nc - 1)) / 255.);
630  double er = (IW * (nc - 1)) / 255. - cr;
631  double et = (Tij * (nc - 1)) / 255. - ct;
632 
633  // Calcul de l'histogramme joint par interpolation bilineaire (Bspline_
634  // ordre 1)
635  vpTemplateTrackerMIBSpline::PutPVBsplineD(tPrtD, cr, er, ct, et, nc, 1., bspline_);
636  }
637  }
638  double *pt = tPrtD;
639  int tNcb_ = (int)tNcb;
640  int tinfluBspline_ = (int)tinfluBspline;
641  for (int r = 0; r < nc; r++)
642  for (int t = 0; t < nc; t++) {
643  for (volatile int i = 0; i < tinfluBspline_; i++) {
644  int r2, t2;
645  r2 = r + i / bspline_;
646  t2 = t + i % bspline_;
647  tPrt[r2 * tNcb_ + t2] += *pt;
648 
649  pt++;
650  }
651  }
652 
653  if (Nbpoint == 0) {
654  delete[] tPrtD;
655  delete[] tPrt;
656  delete[] tPr;
657  delete[] tPt;
658 
659  return 0;
660  } else {
661  for (unsigned int r = 0; r < tNcb; r++)
662  for (unsigned int t = 0; t < tNcb; t++)
663  tPrt[r * tNcb + t] = tPrt[r * tNcb + t] / Nbpoint;
664  // calcul Pr;
665  memset(tPr, 0, tNcb * sizeof(double));
666  for (unsigned int r = 0; r < tNcb; r++) {
667  for (unsigned int t = 0; t < tNcb; t++)
668  tPr[r] += tPrt[r * tNcb + t];
669  }
670 
671  // calcul Pt;
672  memset(tPt, 0, (size_t)(tNcb * sizeof(double)));
673  for (unsigned int t = 0; t < tNcb; t++) {
674  for (unsigned int r = 0; r < tNcb; r++)
675  tPt[t] += tPrt[r * tNcb + t];
676  }
677  for (unsigned int r = 0; r < tNcb; r++)
678  if (std::fabs(tPr[r]) > std::numeric_limits<double>::epsilon())
679  MI -= tPr[r] * log(tPr[r]);
680 
681  for (unsigned int t = 0; t < tNcb; t++)
682  if (std::fabs(tPt[t]) > std::numeric_limits<double>::epsilon())
683  MI -= tPt[t] * log(tPt[t]);
684 
685  for (unsigned int r = 0; r < tNcb; r++)
686  for (unsigned int t = 0; t < tNcb; t++)
687  if (std::fabs(tPrt[r * tNcb + t]) > std::numeric_limits<double>::epsilon())
688  MI += tPrt[r * tNcb + t] * log(tPrt[r * tNcb + t]);
689  }
690  delete[] tPrtD;
691  delete[] tPrt;
692  delete[] tPr;
693  delete[] tPt;
694 
695  return MI;
696 }
697 
698 double vpTemplateTrackerMI::getMI256(const vpImage<unsigned char> &I, const vpColVector &tp)
699 {
700  vpMatrix Prt256(256, 256);
701  Prt256 = 0;
702  vpColVector Pr256(256);
703  Pr256 = 0;
704  vpColVector Pt256(256);
705  Pt256 = 0;
706 
707  volatile int Nbpoint = 0;
708  unsigned int Tij, IW;
709 
710  vpImage<double> GaussI;
711  if (blur)
712  vpImageFilter::filter(I, GaussI, fgG, taillef);
713 
714  Warp->computeCoeff(tp);
715  for (unsigned int point = 0; point < templateSize; point++) {
716  X1[0] = ptTemplate[point].x;
717  X1[1] = ptTemplate[point].y;
718 
719  Warp->computeDenom(X1, tp);
720  Warp->warpX(X1, X2, tp);
721  double j2 = X2[0];
722  double i2 = X2[1];
723 
724  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth()) - 1) {
725  Nbpoint++;
726 
727  Tij = static_cast<unsigned int>(ptTemplate[point].val);
728  if (!blur)
729  IW = static_cast<unsigned int>(I.getValue(i2, j2));
730  else
731  IW = static_cast<unsigned int>(GaussI.getValue(i2, j2));
732 
733  Prt256[Tij][IW]++;
734  Pr256[Tij]++;
735  Pt256[IW]++;
736  }
737  }
738 
739  if (Nbpoint == 0) {
740  throw(vpException(vpException::divideByZeroError, "Cannot get MI; number of points = 0"));
741  }
742  Prt256 = Prt256 / Nbpoint;
743  Pr256 = Pr256 / Nbpoint;
744  Pt256 = Pt256 / Nbpoint;
745 
746  double MI = 0;
747 
748  for (unsigned int t = 0; t < 256; t++) {
749  for (unsigned int r = 0; r < 256; r++) {
750  if (std::fabs(Prt256[r][t]) > std::numeric_limits<double>::epsilon())
751  MI += Prt256[r][t] * log(Prt256[r][t]);
752  }
753  if (std::fabs(Pt256[t]) > std::numeric_limits<double>::epsilon())
754  MI += -Pt256[t] * log(Pt256[t]);
755  if (std::fabs(Pr256[t]) > std::numeric_limits<double>::epsilon())
756  MI += -Pr256[t] * log(Pr256[t]);
757  }
758  return MI;
759 }
vpArray2D::resize
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:303
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpColVector::resize
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:314
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:72
vpException::divideByZeroError
@ divideByZeroError
Division by zero.
Definition: vpException.h:94
vpImageFilter::filter
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
Definition: vpImageFilter.cpp:127
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:247
vpImage::getValue
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1590
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:189
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vpTemplateTrackerMI::ApproxHessian
vpHessienApproximationType ApproxHessian
Definition: vpTemplateTrackerMI.h:74
vpTemplateTrackerMI::computeHessienNormalized
void computeHessienNormalized(vpMatrix &H)
Definition: vpTemplateTrackerMI.cpp:455
vpTemplateTrackerMI::m_d2v
std::vector< std::vector< double > > m_d2v
Definition: vpTemplateTrackerMI.h:114
vpTemplateTrackerMI::hessianComputation
vpHessienType hessianComputation
Definition: vpTemplateTrackerMI.h:73
vpTemplateTrackerMI::computeMI
void computeMI(double &MI)
Definition: vpTemplateTrackerMI.cpp:382
vpTemplateTrackerMI::m_dB
std::vector< double > m_dB
Definition: vpTemplateTrackerMI.h:112
vpTemplateTrackerMI::m_du
std::vector< double > m_du
Definition: vpTemplateTrackerMI.h:109
vpTemplateTrackerMI::computeProba
void computeProba(int &nbpoint)
Definition: vpTemplateTrackerMI.cpp:337
vpTemplateTrackerMI::vpTemplateTrackerMI
vpTemplateTrackerMI()
Default constructor.
Definition: vpTemplateTrackerMI.h:155
vpTemplateTrackerMI::computeHessien
void computeHessien(vpMatrix &H)
Definition: vpTemplateTrackerMI.cpp:415
vpTemplateTrackerMI::m_dv
std::vector< double > m_dv
Definition: vpTemplateTrackerMI.h:110
vpTemplateTrackerMI::m_d2u
std::vector< std::vector< double > > m_d2u
Definition: vpTemplateTrackerMI.h:113
vpTemplateTrackerMI::getNormalizedCost
double getNormalizedCost(const vpImage< unsigned char > &I, const vpColVector &tp)
Definition: vpTemplateTrackerMI.cpp:243
vpTemplateTrackerMI::m_dA
std::vector< std::vector< double > > m_dA
Definition: vpTemplateTrackerMI.h:115
vpTemplateTrackerMI::setBspline
void setBspline(const vpBsplineType &newbs)
Definition: vpTemplateTrackerMI.cpp:44
vpTemplateTrackerMI::getCost
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
Definition: vpTemplateTrackerMI.cpp:147
vpTemplateTrackerMI::getMI256
double getMI256(const vpImage< unsigned char > &I, const vpColVector &tp)
Definition: vpTemplateTrackerMI.cpp:698
vpTemplateTrackerMI::m_A
std::vector< double > m_A
Definition: vpTemplateTrackerMI.h:111
vpTemplateTrackerWarp::warpX
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
vpTemplateTracker::ptTemplate
vpTemplateTrackerPoint * ptTemplate
Definition: vpTemplateTracker.h:75
vpTemplateTracker::Warp
vpTemplateTrackerWarp * Warp
Definition: vpTemplateTracker.h:130
vpTemplateTracker::BI
vpImage< double > BI
Definition: vpTemplateTracker.h:141
vpTemplateTracker::templateSize
unsigned int templateSize
Definition: vpTemplateTracker.h:78
vpTrackingException
Error that can be emited by the vpTracker class and its derivates.
Definition: vpTrackingException.h:70