Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpTemplateTrackerSSD.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 <visp3/tt/vpTemplateTrackerSSD.h>
42 
44 {
45  dW.resize(2, nbParam);
46  G.resize(nbParam);
49 
51 
52  X1.resize(2);
53  X2.resize(2);
54  DI.resize(2);
55 }
56 
58 {
59  double erreur = 0;
60  double IW;
61  int Nbpoint = 0;
62 
63  Warp->computeCoeff(tp);
64  for (unsigned int point = 0; point < templateSize; point++) {
65  int i = ptTemplate[point].y;
66  int j = ptTemplate[point].x;
67  X1[0] = j;
68  X1[1] = i;
69  Warp->computeDenom(X1, tp);
70  Warp->warpX(X1, X2, tp);
71 
72  double j2 = X2[0];
73  double i2 = X2[1];
74  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
75  double Tij = ptTemplate[point].val;
76  if (!blur)
77  IW = I.getValue(i2, j2);
78  else
79  IW = BI.getValue(i2, j2);
80  erreur += (Tij - IW) * (Tij - IW);
81  Nbpoint++;
82  }
83  }
84  ratioPixelIn = static_cast<double>(Nbpoint) / static_cast<double>(templateSize);
85 
86  if (Nbpoint == 0)
87  return 10e10;
88  return erreur / Nbpoint;
89 }
90 
92 {
93  double erreur = 0;
94  double IW;
95  unsigned int Nbpoint = 0;
96 
97  if (pyrInitialised) {
100  }
101 
102  Warp->computeCoeff(tp);
103  for (unsigned int point = 0; point < templateSize; point++) {
104  int i = ptTemplate[point].y;
105  int j = ptTemplate[point].x;
106  X1[0] = j;
107  X1[1] = i;
108  Warp->computeDenom(X1, tp);
109  Warp->warpX(X1, X2, tp);
110 
111  double j2 = X2[0];
112  double i2 = X2[1];
113  if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
114  double Tij = ptTemplate[point].val;
115  IW = I.getValue(i2, j2);
116  erreur += (Tij - IW) * (Tij - IW);
117  Nbpoint++;
118  }
119  }
120  if (Nbpoint == 0)
121  return 10e10;
122  return erreur / Nbpoint;
123 }
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1346
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerPoint ** ptTemplatePyr
vpImage< double > BI
unsigned int templateSize
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
double getSSD(const vpImage< unsigned char > &I, const vpColVector &tp)
vpTemplateTrackerSSD(vpTemplateTrackerWarp *warp)
unsigned int * templateSizePyr
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
unsigned int getHeight() const
Definition: vpImage.h:188
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpTemplateTrackerWarp * Warp
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:271