Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpTemplateTracker.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
45 #ifndef vpTemplateTracker_hh
46 #define vpTemplateTracker_hh
47 
48 #include <math.h>
49 
50 #include <visp3/core/vpImageFilter.h>
51 #include <visp3/tt/vpTemplateTrackerHeader.h>
52 #include <visp3/tt/vpTemplateTrackerWarp.h>
53 #include <visp3/tt/vpTemplateTrackerZone.h>
54 
62 class VISP_EXPORT vpTemplateTracker
63 {
64 protected:
65  // traitement pyramidal
66  unsigned int nbLvlPyr; // If = 1, disable pyramidal usage
67  unsigned int l0Pyr;
69 
73  unsigned int templateSize;
74  unsigned int *templateSizePyr;
78  unsigned int templateSelectSize;
79 
80 #ifndef DOXYGEN_SHOULD_SKIP_THIS
81  vpTemplateTrackerPointSuppMIInv *ptTemplateSupp; // pour inverse et compo
82  vpTemplateTrackerPointSuppMIInv **ptTemplateSuppPyr; // pour inverse et
83  // compo
84 #endif
85 
90 
92 
102 
103  double gain;
106  bool blur;
107  bool useBrent;
108  unsigned int nbIterBrent;
109  unsigned int taillef;
110  double *fgG;
111  double *fgdG;
112  double ratioPixelIn;
113  int mod_i;
114  int mod_j; // variable de sampling de zone de reference
115  unsigned int nbParam;
116  double lambdaDep;
117  unsigned int iterationMax;
118  // pour BFGS
119  unsigned int iterationGlobale;
120  // diverge is set to true if there is no more point in the tracked area
121  bool diverge;
122  unsigned int nbIteration;
125 
127  // Parametre de deplacement
130 
131  // temporary values for warping
134  // temporary derivative matrix
136 
140  vpTemplateTrackerZone zoneRef_; // Reference zone
141 
142  // private:
143  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
144  // vpTemplateTracker(const vpTemplateTracker &)
145  // : nbLvlPyr(0), l0Pyr(0), pyrInitialised(false), ptTemplate(NULL),
146  // ptTemplatePyr(NULL),
147  // ptTemplateInit(false), templateSize(0), templateSizePyr(NULL),
148  // ptTemplateSelect(NULL), ptTemplateSelectPyr(NULL),
149  // ptTemplateSelectInit(false), templateSelectSize(0),
150  // ptTemplateSupp(NULL), ptTemplateSuppPyr(NULL),
151  // ptTemplateCompo(NULL), ptTemplateCompoPyr(NULL),
152  // zoneTracked(NULL), zoneTrackedPyr(NULL), pyr_IDes(NULL), H(),
153  // Hdesire(), HdesirePyr(NULL), HLM(), HLMdesire(),
154  // HLMdesirePyr(NULL), HLMdesireInverse(), HLMdesireInversePyr(NULL),
155  // G(), gain(0), thresholdGradient(0),
156  // costFunctionVerification(false), blur(false), useBrent(false),
157  // nbIterBrent(0), taillef(0), fgG(NULL), fgdG(NULL),
158  // ratioPixelIn(0), mod_i(0), mod_j(0), nbParam(), lambdaDep(0),
159  // iterationMax(0), iterationGlobale(0), diverge(false),
160  // nbIteration(0), useCompositionnal(false), useInverse(false),
161  // Warp(NULL), p(), dp(), X1(), X2(), dW(), BI(), dIx(), dIy(),
162  // zoneRef_()
163  // {
164  // throw vpException(vpException::functionNotImplementedError, "Not
165  // implemented!");
166  // }
167  // vpTemplateTracker &operator=(const vpTemplateTracker &){
168  // throw vpException(vpException::functionNotImplementedError, "Not
169  // implemented!"); return *this;
170  // }
171  //#endif
172 
173 public:
176  : nbLvlPyr(0), l0Pyr(0), pyrInitialised(false), ptTemplate(NULL), ptTemplatePyr(NULL), ptTemplateInit(false),
177  templateSize(0), templateSizePyr(NULL), ptTemplateSelect(NULL), ptTemplateSelectPyr(NULL),
178  ptTemplateSelectInit(false), templateSelectSize(0), ptTemplateSupp(NULL), ptTemplateSuppPyr(NULL),
179  ptTemplateCompo(NULL), ptTemplateCompoPyr(NULL), zoneTracked(NULL), zoneTrackedPyr(NULL), pyr_IDes(NULL), H(),
180  Hdesire(), HdesirePyr(NULL), HLM(), HLMdesire(), HLMdesirePyr(NULL), HLMdesireInverse(),
181  HLMdesireInversePyr(NULL), G(), gain(0), thresholdGradient(0), costFunctionVerification(false), blur(false),
182  useBrent(false), nbIterBrent(0), taillef(0), fgG(NULL), fgdG(NULL), ratioPixelIn(0), mod_i(0), mod_j(0),
183  nbParam(), lambdaDep(0), iterationMax(0), iterationGlobale(0), diverge(false), nbIteration(0),
184  useCompositionnal(false), useInverse(false), Warp(NULL), p(), dp(), X1(), X2(), dW(), BI(), dIx(), dIy(),
185  zoneRef_()
186  {
187  }
188  explicit vpTemplateTracker(vpTemplateTrackerWarp *_warp);
189  virtual ~vpTemplateTracker();
190 
191  void display(const vpImage<unsigned char> &I, const vpColor &col = vpColor::green, const unsigned int thickness = 3);
192  void display(const vpImage<vpRGBa> &I, const vpColor &col = vpColor::green, const unsigned int thickness = 3);
193 
194  bool getDiverge() const { return diverge; }
195  vpColVector getdp() { return dp; }
196  vpColVector getG() const { return G; }
197  vpMatrix getH() const { return H; }
198  unsigned int getNbParam() const { return nbParam; }
199  unsigned int getNbIteration() const { return nbIteration; }
200  vpColVector getp() const { return p; }
201  double getRatioPixelIn() const { return ratioPixelIn; }
202 
207  vpTemplateTrackerWarp *getWarp() const { return Warp; }
208 
212  vpTemplateTrackerZone getZoneRef() const { return zoneRef_; }
213 
214  void initClick(const vpImage<unsigned char> &I, bool delaunay = false);
215  void initFromPoints(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &v_ip, bool delaunay = false);
216  void initFromZone(const vpImage<unsigned char> &I, const vpTemplateTrackerZone &zone);
217 
218  void resetTracker();
219 
220  void setBlur(bool b) { blur = b; }
221  void setCostFunctionVerification(bool b) { costFunctionVerification = b; }
222  void setGain(double g) { gain = g; }
223  void setGaussianFilterSize(unsigned int new_taill);
224  void setHDes(vpMatrix &tH)
225  {
226  Hdesire = tH;
227  vpMatrix::computeHLM(Hdesire, lambdaDep, HLMdesire);
228  HLMdesireInverse = HLMdesire.inverseByLU();
229  }
235  void setIterationMax(const unsigned int &n) { iterationMax = n; }
240  void setLambda(double l) { lambdaDep = l; }
241  void setNbIterBrent(const unsigned int &b) { nbIterBrent = b; }
242  void setp(const vpColVector &tp)
243  {
244  p = tp;
245  diverge = false;
246  iterationGlobale = 0;
247  }
256  void setPyramidal(unsigned int nlevels = 2, unsigned int level_to_stop = 1)
257  {
258  nbLvlPyr = nlevels;
259  l0Pyr = level_to_stop;
260  if (l0Pyr >= nlevels) {
261  std::cout << "Warning: level_to_stop: " << level_to_stop << " higher than level_to_start: " << nlevels - 1
262  << " (nlevels-1)" << std::endl;
263  std::cout << "Level to stop put to: " << nlevels - 1 << std::endl;
264  l0Pyr = nlevels - 1;
265  }
266  }
275  void setSampling(int sample_i, int sample_j)
276  {
277  mod_i = sample_i;
278  mod_j = sample_j;
279  }
280  void setThresholdGradient(double threshold) { thresholdGradient = threshold; }
282  void setUseBrent(bool b) { useBrent = b; }
283 
284  void track(const vpImage<unsigned char> &I);
285  void trackRobust(const vpImage<unsigned char> &I);
286 
287 protected:
288  void computeOptimalBrentGain(const vpImage<unsigned char> &I, vpColVector &tp, double tMI, vpColVector &direction,
289  double &alpha);
290  virtual double getCost(const vpImage<unsigned char> &I, const vpColVector &tp) = 0;
291  void getGaussianBluredImage(const vpImage<unsigned char> &I) { vpImageFilter::filter(I, BI, fgG, taillef); }
292  virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
293  virtual void initHessienDesiredPyr(const vpImage<unsigned char> &I);
294  virtual void initPyramidal(unsigned int nbLvl, unsigned int l0);
295  void initTracking(const vpImage<unsigned char> &I, vpTemplateTrackerZone &zone);
296  virtual void initTrackingPyr(const vpImage<unsigned char> &I, vpTemplateTrackerZone &zone);
297  virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
298  virtual void trackPyr(const vpImage<unsigned char> &I);
299 };
300 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpColVector getG() const
void setSampling(int sample_i, int sample_j)
void setNbIterBrent(const unsigned int &b)
vpMatrix getH() const
unsigned int templateSelectSize
void getGaussianBluredImage(const vpImage< unsigned char > &I)
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerPoint ** ptTemplatePyr
void setHDes(vpMatrix &tH)
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
void setGain(double g)
void setIterationMax(const unsigned int &n)
void setUseBrent(bool b)
vpMatrix * HLMdesireInversePyr
vpTemplateTracker()
Default constructor.
vpImage< double > BI
static const vpColor green
Definition: vpColor.h:183
vpColVector getp() const
unsigned int templateSize
unsigned int iterationMax
vpTemplateTrackerZone * zoneTrackedPyr
vpTemplateTrackerZone zoneRef_
vpImage< double > dIx
unsigned int getNbParam() const
vpImage< double > dIy
unsigned int getNbIteration() const
unsigned int iterationGlobale
unsigned int nbIteration
double getRatioPixelIn() const
unsigned int * templateSizePyr
unsigned int nbLvlPyr
vpTemplateTrackerPointCompo * ptTemplateCompo
bool getDiverge() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void setLambda(double l)
vpMatrix inverseByLU() const
vpTemplateTrackerZone * zoneTracked
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, const bool convolve=false)
vpTemplateTrackerZone getZoneRef() const
vpImage< unsigned char > * pyr_IDes
void setp(const vpColVector &tp)
vpTemplateTrackerWarp * Warp
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:5200
unsigned int nbIterBrent
vpTemplateTrackerPointCompo ** ptTemplateCompoPyr
void setPyramidal(unsigned int nlevels=2, unsigned int level_to_stop=1)
vpTemplateTrackerWarp * getWarp() const
void setThresholdGradient(double threshold)
void setCostFunctionVerification(bool b)