Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
vpTemplateTrackerSSDForwardCompositional.cpp
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
39 #include <visp3/core/vpImageFilter.h>
40 #include <visp3/tt/vpTemplateTrackerSSDForwardCompositional.h>
41 
43  : vpTemplateTrackerSSD(warp), compoInitialised(false)
44 {
45 }
46 
48 {
49  for (unsigned int point = 0; point < templateSize; point++) {
50  int i = ptTemplate[point].y;
51  int j = ptTemplate[point].x;
52  ptTemplate[point].dW = new double[2 * nbParam];
53  X1[0] = j;
54  X1[1] = i;
55  Warp->computeDenom(X1, p);
56  Warp->getdWdp0(i, j, ptTemplate[point].dW);
57  }
58  compoInitialised = true;
59 }
60 
62 
64 {
65  if (!compoInitialised) {
66  std::cout << "Compositionnal tracking not initialised.\nUse initCompo() function." << std::endl;
67  }
68 
69  if (blur) {
71  }
74 
75  dW = 0;
76 
77  double lambda = lambdaDep;
78  double IW, dIWx, dIWy;
79  double Tij;
80  unsigned int iteration = 0;
81  int i, j;
82  double i2, j2;
83  double alpha = 2.;
84 
86 
87  double evolRMS_init = 0;
88  double evolRMS_prec = 0;
89  double evolRMS_delta;
90  double *tempt = new double[nbParam];
91 
92  do {
93  unsigned int Nbpoint = 0;
94  double erreur = 0;
95  G = 0;
96  H = 0;
97  Warp->computeCoeff(p);
98  for (unsigned int point = 0; point < templateSize; point++) {
99  i = ptTemplate[point].y;
100  j = ptTemplate[point].x;
101  X1[0] = j;
102  X1[1] = i;
103 
104  Warp->computeDenom(X1, p);
105  Warp->warpX(X1, X2, p);
106 
107  j2 = X2[0];
108  i2 = X2[1];
109  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
110  Tij = ptTemplate[point].val;
111  if (!blur)
112  IW = I.getValue(i2, j2);
113  else
114  IW = BI.getValue(i2, j2);
115  dIWx = dIx.getValue(i2, j2);
116  dIWy = dIy.getValue(i2, j2);
117  Nbpoint++;
118 
119  Warp->dWarpCompo(X1, X2, p, ptTemplate[point].dW, dW);
120 
121  for (unsigned int it = 0; it < nbParam; it++)
122  tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
123 
124  for (unsigned int it = 0; it < nbParam; it++)
125  for (unsigned int jt = 0; jt < nbParam; jt++)
126  H[it][jt] += tempt[it] * tempt[jt];
127 
128  double er = (Tij - IW);
129  for (unsigned int it = 0; it < nbParam; it++)
130  G[it] += er * tempt[it];
131 
132  erreur += (er * er);
133  }
134  }
135  if (Nbpoint == 0) {
136  delete[] tempt;
137  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
138  }
139 
140  vpMatrix::computeHLM(H, lambda, HLM);
141 
142  try {
143  dp = HLM.inverseByLU() * G;
144  } catch (const vpException &e) {
145  delete[] tempt;
146  throw(e);
147  }
148 
149  dp = gain * dp;
150  if (useBrent) {
151  alpha = 2.;
152  computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
153  dp = alpha * dp;
154  }
155  Warp->pRondp(p, dp, p);
156 
157  computeEvalRMS(p);
158 
159  if (iteration == 0) {
160  evolRMS_init = evolRMS;
161  }
162  iteration++;
163 
164  evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
165  evolRMS_prec = evolRMS;
166 
167  } while ((iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init) * evolRMS_eps));
168  delete[] tempt;
169 
170  nbIteration = iteration;
171 }
error that can be emitted by ViSP classes.
Definition: vpException.h:59
static void getGradXGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIx, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size, const vpImage< bool > *p_mask=nullptr)
static void filter(const vpImage< ImageType > &I, vpImage< FilterType > &If, const vpArray2D< FilterType > &M, bool convolve=false, const vpImage< bool > *p_mask=nullptr)
static void getGradYGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIy, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size, const vpImage< bool > *p_mask=nullptr)
unsigned int getWidth() const
Definition: vpImage.h:249
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1816
unsigned int getHeight() const
Definition: vpImage.h:184
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:6407
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void getdWdp0(const int &v, const int &u, double *dIdW)=0
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0
vpImage< double > dIx
vpImage< double > dIy
void computeEvalRMS(const vpColVector &p)
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
unsigned int iterationMax
void initPosEvalRMS(const vpColVector &p)
unsigned int nbIteration
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.