vpTemplateTrackerZNCCForwardAdditional.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 *
*****************************************************************************/
#include <visp3/core/vpImageFilter.h>
#include <visp3/tt/vpTemplateTrackerZNCCForwardAdditional.h>
 
vpTemplateTrackerZNCCForwardAdditional::vpTemplateTrackerZNCCForwardAdditional(vpTemplateTrackerWarp *warp)
  : vpTemplateTrackerZNCC(warp)
{
  useCompositionnal = false;
}
 
void vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(const vpImage<unsigned char> &I)
{
  if (blur)
    vpImageFilter::filter(I, BI, fgG, taillef);
  vpImageFilter::getGradXGauss2D(I, dIx, fgG, fgdG, taillef);
  vpImageFilter::getGradYGauss2D(I, dIy, fgG, fgdG, taillef);
 
  vpImage<double> dIxx, dIxy, dIyx, dIyy;
  vpImageFilter::getGradX(dIx, dIxx, fgdG, taillef);
  vpImageFilter::getGradY(dIx, dIxy, fgdG, taillef);
 
  vpImageFilter::getGradX(dIy, dIyx, fgdG, taillef);
  vpImageFilter::getGradY(dIy, dIyy, fgdG, taillef);
 
  Warp->computeCoeff(p);
  double IW, dIWx, dIWy;
  double Tij;
  int i, j;
  double i2, j2;
  int Nbpoint = 0;
 
  double moyTij = 0;
  double moyIW = 0;
  double denom = 0;
  double *tempt = new double[nbParam];
 
  for (unsigned int point = 0; point < templateSize; point++) {
    i = ptTemplate[point].y;
    j = ptTemplate[point].x;
    X1[0] = j;
    X1[1] = i;
    X2[0] = j;
    X2[1] = i;
 
    Warp->computeDenom(X1, p);
 
    j2 = X2[0];
    i2 = X2[1];
 
    if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
      Tij = ptTemplate[point].val;
 
      if (!blur)
        IW = I.getValue(i2, j2);
      else
        IW = BI.getValue(i2, j2);
 
      Nbpoint++;
      moyTij += Tij;
      moyIW += IW;
    }
  }
  moyTij = moyTij / Nbpoint;
  moyIW = moyIW / Nbpoint;
  Hdesire = 0;
  for (unsigned int point = 0; point < templateSize; point++) {
    i = ptTemplate[point].y;
    j = ptTemplate[point].x;
    X1[0] = j;
    X1[1] = i;
    X2[0] = j;
    X2[1] = i;
 
    Warp->computeDenom(X1, p);
 
    j2 = X2[0];
    i2 = X2[1];
 
    if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
      Tij = ptTemplate[point].val;
 
      if (!blur)
        IW = I.getValue(i2, j2);
      else
        IW = BI.getValue(i2, j2);
 
      dIWx = dIx.getValue(i2, j2);
      dIWy = dIy.getValue(i2, j2);
      // Calcul du Hessien
      Warp->dWarp(X1, X2, p, dW);
      for (unsigned int it = 0; it < nbParam; it++)
        tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
 
      double prod = (Tij - moyTij);
 
      double d_Ixx = dIxx.getValue(i2, j2);
      double d_Iyy = dIyy.getValue(i2, j2);
      double d_Ixy = dIxy.getValue(i2, j2);
 
      for (unsigned int it = 0; it < nbParam; it++)
        for (unsigned int jt = 0; jt < nbParam; jt++)
          Hdesire[it][jt] += prod * (dW[0][it] * (dW[0][jt] * d_Ixx + dW[1][jt] * d_Ixy) +
                                     dW[1][it] * (dW[0][jt] * d_Ixy + dW[1][jt] * d_Iyy));
      denom += (Tij - moyTij) * (Tij - moyTij) * (IW - moyIW) * (IW - moyIW);
    }
  }
  delete[] tempt;
 
  Hdesire = Hdesire / sqrt(denom);
  vpMatrix::computeHLM(Hdesire, lambdaDep, HLMdesire);
  HLMdesireInverse = HLMdesire.inverseByLU();
}
 
void vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(const vpImage<unsigned char> &I)
{
  if (blur)
    vpImageFilter::filter(I, BI, fgG, taillef);
  vpImageFilter::getGradXGauss2D(I, dIx, fgG, fgdG, taillef);
  vpImageFilter::getGradYGauss2D(I, dIy, fgG, fgdG, taillef);
 
  dW = 0;
 
  double IW, dIWx, dIWy;
  double Tij;
  unsigned int iteration = 0;
  int i, j;
  double i2, j2;
  double alpha = 2.;
 
  initPosEvalRMS(p);
 
  double evolRMS_init = 0;
  double evolRMS_prec = 0;
  double evolRMS_delta;
  double *tempt = new double[nbParam];
 
  do {
    int Nbpoint = 0;
    double erreur = 0;
    G = 0;
    H = 0;
    Warp->computeCoeff(p);
    double moyTij = 0;
    double moyIW = 0;
    double denom = 0;
    for (unsigned int point = 0; point < templateSize; point++) {
      i = ptTemplate[point].y;
      j = ptTemplate[point].x;
      X1[0] = j;
      X1[1] = i;
 
      Warp->computeDenom(X1, p);
      Warp->warpX(X1, X2, p);
 
      j2 = X2[0];
      i2 = X2[1];
      if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
        Tij = ptTemplate[point].val;
 
        if (!blur)
          IW = I.getValue(i2, j2);
        else
          IW = BI.getValue(i2, j2);
 
        Nbpoint++;
        moyTij += Tij;
        moyIW += IW;
      }
    }
 
    if (!Nbpoint) {
      delete[] tempt;
      throw(vpException(vpException::divideByZeroError, "Cannot track the template: no point"));
    }
 
    moyTij = moyTij / Nbpoint;
    moyIW = moyIW / Nbpoint;
    for (unsigned int point = 0; point < templateSize; point++) {
      i = ptTemplate[point].y;
      j = ptTemplate[point].x;
      X1[0] = j;
      X1[1] = i;
 
      Warp->computeDenom(X1, p);
      Warp->warpX(X1, X2, p);
 
      j2 = X2[0];
      i2 = X2[1];
      if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
        Tij = ptTemplate[point].val;
 
        if (!blur)
          IW = I.getValue(i2, j2);
        else
          IW = BI.getValue(i2, j2);
 
        dIWx = dIx.getValue(i2, j2);
        dIWy = dIy.getValue(i2, j2);
        // Calcul du Hessien
        Warp->dWarp(X1, X2, p, dW);
        for (unsigned int it = 0; it < nbParam; it++)
          tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
 
        double prod = (Tij - moyTij);
        for (unsigned int it = 0; it < nbParam; it++)
          G[it] += prod * tempt[it];
 
        double er = (Tij - IW);
        erreur += (er * er);
        denom += (Tij - moyTij) * (Tij - moyTij) * (IW - moyIW) * (IW - moyIW);
      }
    }
    G = G / sqrt(denom);
    H = H / sqrt(denom);
 
    try {
      dp = HLMdesireInverse * G;
    } catch (const vpException &e) {
      delete[] tempt;
      throw(e);
    }
 
    dp = gain * dp;
    if (useBrent) {
      alpha = 2.;
      computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
      dp = alpha * dp;
    }
    p -= dp;
 
    computeEvalRMS(p);
 
    if (iteration == 0) {
      evolRMS_init = evolRMS;
    }
    iteration++;
 
    evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
    evolRMS_prec = evolRMS;
 
  } while ((iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init) * evolRMS_eps));
  delete[] tempt;
 
  nbIteration = iteration;
}