Visual Servoing Platform  version 3.3.1 under development (2020-07-09)
vpTemplateTrackerSSDForwardAdditional.cpp
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #include <limits> // numeric_limits
42 
43 #include <visp3/core/vpImageTools.h>
44 #include <visp3/tt/vpTemplateTrackerSSDForwardAdditional.h>
45 
47  : vpTemplateTrackerSSD(warp), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
48 {
49  useCompositionnal = false;
50 }
51 
53 {
54  if (blur)
58 
59  dW = 0;
60 
61  double lambda = lambdaDep;
62  double IW, dIWx, dIWy;
63  double Tij;
64  unsigned int iteration = 0;
65  int i, j;
66  double i2, j2;
67  double alpha = 2.;
68 
70 
71  double evolRMS_init = 0;
72  double evolRMS_prec = 0;
73  double evolRMS_delta;
74  double *tempt = new double[nbParam];
75 
76  do {
77  unsigned int Nbpoint = 0;
78  double erreur = 0;
79  G = 0;
80  H = 0;
81  Warp->computeCoeff(p);
82  for (unsigned int point = 0; point < templateSize; point++) {
83  i = ptTemplate[point].y;
84  j = ptTemplate[point].x;
85  X1[0] = j;
86  X1[1] = i;
87 
88  Warp->computeDenom(X1, p);
89  Warp->warpX(X1, X2, p);
90 
91  j2 = X2[0];
92  i2 = X2[1];
93  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
94  Tij = ptTemplate[point].val;
95 
96  if (!blur)
97  IW = I.getValue(i2, j2);
98  else
99  IW = BI.getValue(i2, j2);
100 
101  dIWx = dIx.getValue(i2, j2);
102  dIWy = dIy.getValue(i2, j2);
103  Nbpoint++;
104  // Calcul du Hessien
105  Warp->dWarp(X1, X2, p, dW);
106  for (unsigned int it = 0; it < nbParam; it++)
107  tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
108 
109  for (unsigned int it = 0; it < nbParam; it++)
110  for (unsigned int jt = 0; jt < nbParam; jt++)
111  H[it][jt] += tempt[it] * tempt[jt];
112 
113  double er = (Tij - IW);
114  for (unsigned int it = 0; it < nbParam; it++)
115  G[it] += er * tempt[it];
116 
117  erreur += (er * er);
118  }
119  }
120  if (Nbpoint == 0) {
121  delete[] tempt;
122  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
123  }
124 
125  vpMatrix::computeHLM(H, lambda, HLM);
126  try {
127  dp = HLM.inverseByLU() * G;
128  } catch (const vpException &e) {
129  delete[] tempt;
130  throw(e);
131  }
132 
133  switch (minimizationMethod) {
135  vpColVector p_test_LMA(nbParam);
136  p_test_LMA = p + dp;
137  erreur = -getCost(I, p);
138  double erreur_LMA = -getCost(I, p_test_LMA);
139  if (erreur_LMA < erreur) {
140  p = p_test_LMA;
141  lambda = (lambda / 10. < 1e-6) ? lambda / 10. : 1e-6;
142  } else {
143  lambda = (lambda * 10. < 1e6) ? 1e6 : lambda * 10.;
144  }
145  } break;
147  dp = gain * 0.000001 * G;
148  if (useBrent) {
149  alpha = 2.;
150  computeOptimalBrentGain(I, p, erreur, dp, alpha);
151  dp = alpha * dp;
152  }
153  p += dp;
154  break;
155  }
156 
158  if (iterationGlobale != 0) {
159  vpColVector s_quasi = p - p_prec;
160  vpColVector y_quasi = G - G_prec;
161  double s_scal_y = s_quasi.t() * y_quasi;
162  if (std::fabs(s_scal_y) > std::numeric_limits<double>::epsilon()) // DFP
163  KQuasiNewton = KQuasiNewton + 0.001 * (s_quasi * s_quasi.t() / s_scal_y -
164  KQuasiNewton * y_quasi * y_quasi.t() * KQuasiNewton /
165  (y_quasi.t() * KQuasiNewton * y_quasi));
166  }
167  dp = -KQuasiNewton * G;
168  p_prec = p;
169  G_prec = G;
170  p -= 1.01 * dp;
171  } break;
172 
174  default: {
175  if (useBrent) {
176  alpha = 2.;
177  computeOptimalBrentGain(I, p, erreur, dp, alpha);
178  dp = alpha * dp;
179  }
180 
181  p += dp;
182  break;
183  }
184  }
185 
186  computeEvalRMS(p);
187 
188  if (iteration == 0) {
189  evolRMS_init = evolRMS;
190  }
191 
192  iteration++;
194 
195  evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
196  evolRMS_prec = evolRMS;
197 
198  } while ( (iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init)*evolRMS_eps) );
199  delete[] tempt;
200 
201  nbIteration = iteration;
202 }
void trackNoPyr(const vpImage< unsigned char > &I)
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1427
vpTemplateTrackerPoint * ptTemplate
virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)=0
vpMatrix inverseByLU() const
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
error that can be emited by ViSP classes.
Definition: vpException.h:71
void initPosEvalRMS(const vpColVector &p)
vpRowVector t() const
static void getGradYGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIy, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
void computeEvalRMS(const vpColVector &p)
static void getGradXGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIx, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
vpImage< double > BI
unsigned int templateSize
unsigned int iterationMax
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
Error that can be emited by the vpTracker class and its derivates.
vpImage< double > dIx
vpImage< double > dIy
unsigned int iterationGlobale
unsigned int nbIteration
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
unsigned int getHeight() const
Definition: vpImage.h:188
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpTemplateTrackerWarp * Warp
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:5300
unsigned int getWidth() const
Definition: vpImage.h:246
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)=0