TemplateTrackerSSDInverseCompositional¶

class TemplateTrackerSSDInverseCompositional¶

Bases: TemplateTrackerSSD

The algorithm implemented in this class is described in [1] and [31] .

Methods

`__init__`
`setUseTemplateSelect`	Use only the strong gradient pixels to compute the Jabobian.

Inherited Methods

`setPyramidal`	Set the number of pyramid levels used in the multi-resolution scheme.
`trackRobust`
`initFromPoints`	Initialize the reference template from a vector of points.
`setThresholdGradient`
`getdp`
`getG`
`getNbParam`
`getH`
`setBlur`
`getDiverge`
`resetTracker`	Reset the tracker by freeing the memory allocated by the template tracker during the initialization.
`setp`
`display`	Overloaded function.
`setSampling`	Set the pixel sampling parameters along the rows and the columns.
`setGain`	Overloaded function.
`setThresholdResidualDifference`	Set the threshold used to stop optimization loop.
`setLambda`	Set the convergence gain used in the estimation scheme.
`getp`
`initClick`	Select the reference template in image I using mouse click.
`getNbIteration`
`getSSD`
`setCostFunctionVerification`
`setUseBrent`	By default Brent usage is disabled.
`initFromZone`	Initialize the reference template from a vector of points.
`getRatioPixelIn`
`track`	Track the template on image I .
`getZoneRef`	Return the reference template zone.
`setGaussianFilterSize`
`setHDes`
`setIterationMax`	Set the maximum number of iteration of the estimation scheme.
`setNbIterBrent`

Operators

`__doc__`
`__init__`
`__module__`

Attributes

`__annotations__`

__init__(*args, **kwargs)¶

display(*args, **kwargs)¶

Overloaded function.

display(self: visp._visp.tt.TemplateTracker, I: visp._visp.core.ImageGray, col: visp._visp.core.Color = vpColor::green, thickness: int = 3) -> None

Display the warped reference template in an image.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

int main()
{
  vpImage<unsigned char> I;
  vpTemplateTrackerWarpHomography warp;
  vpTemplateTrackerSSDInverseCompositional tracker(&warp);
  vpTemplateTrackerZone zoneRef, zoneWarped;

  // Display the warped zone
  tracker.display(I, vpColor::red);

  // Display the reference zone
  zoneRef = tracker.getZoneRef();
  zoneRef.display(I, vpColor::green);

  // Display the warped zone
  vpColVector p = tracker.getp();
  warp.warpZone(zoneRef, p, zoneWarped);
  zoneWarped.display(I, vpColor::blue);
}

Parameters:

I: Image in which the warped zone has to be displayed.
col: Color used to draw the triangle edges.
thickness: Thickness of the lines.

display(self: visp._visp.tt.TemplateTracker, I: visp._visp.core.ImageRGBa, col: visp._visp.core.Color = vpColor::green, thickness: int = 3) -> None

Display the warped reference template in an image.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

int main()
{
  vpImage<vpRGBa> I;
  vpTemplateTrackerWarpHomography warp;
  vpTemplateTrackerSSDInverseCompositional tracker(&warp);
  vpTemplateTrackerZone zoneRef, zoneWarped;

  // Display the warped zone
  tracker.display(I, vpColor::red);

  // Display the reference zone
  zoneRef = tracker.getZoneRef();
  zoneRef.display(I, vpColor::green);

  // Display the warped zone
  vpColVector p = tracker.getp();
  warp.warpZone(zoneRef, p, zoneWarped);
  zoneWarped.display(I, vpColor::blue);
}

Parameters:

I: Image in which the warped zone has to be displayed.
col: Color used to draw the triangle edges.
thickness: Thickness of the lines.

getDiverge(self) → bool¶

getG(self) → visp._visp.core.ColVector¶

getH(self) → visp._visp.core.Matrix¶

getNbIteration(self) → int¶

getNbParam(self) → int¶

getRatioPixelIn(self) → float¶

getSSD(self, I: visp._visp.core.ImageGray, tp: visp._visp.core.ColVector) → float¶

getZoneRef(self) → visp._visp.tt.TemplateTrackerZone¶: Return the reference template zone.

getdp(self) → visp._visp.core.ColVector¶

getp(self) → visp._visp.core.ColVector¶

initClick(self, I: visp._visp.core.ImageGray, delaunay: bool = false) → None¶

Select the reference template in image I using mouse click.

Parameters:

I: visp._visp.core.ImageGray¶

Image containing the reference template.

delaunay: bool = false¶

Flag used to enable Delaunay triangulation.

If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the reference template.
- A left click select a image point;
- A right click select the last image point and ends the initialisation stage.
If false, the user select directly points as successive triangle corners. The size of v_ip vector should be a multiple of 3. It is not mandatory that triangles have one edge in common; they can define a discontinued area.
- A left click select a triangle corner;
- A right click select the last triangle corner and ends the initialisation stage. For example, to select the reference template as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.

initFromPoints(self, I: visp._visp.core.ImageGray, v_ip: list[visp._visp.core.ImagePoint], delaunay: bool = false) → None¶

Initialize the reference template from a vector of points.

Parameters:

I: visp._visp.core.ImageGray¶

Image containing the reference template.

v_ip: list[visp._visp.core.ImagePoint]¶

Vector of image points defining the reference template.

delaunay: bool = false¶

If true, from the image points defining the reference template enable Delaunay triangulation.
If false, the vector of image points define the reference template as a list of triangles. The size of v_ip vector should be a multiple of 3.

initFromZone(self, I: visp._visp.core.ImageGray, zone: visp._visp.tt.TemplateTrackerZone) → None¶

Initialize the reference template from a vector of points.

Parameters:

I: visp._visp.core.ImageGray¶: Image containing the reference template.
zone: visp._visp.tt.TemplateTrackerZone¶: The zone that describes the reference template.

resetTracker(self) → None¶: Reset the tracker by freeing the memory allocated by the template tracker during the initialization.

setBlur(self, b: bool) → None¶

setCostFunctionVerification(self, b: bool) → None¶

setGain(*args, **kwargs)¶

Overloaded function.

setGain(self: visp._visp.tt.TemplateTrackerSSD, g: float) -> None
setGain(self: visp._visp.tt.TemplateTracker, g: float) -> None

setGaussianFilterSize(self, new_taill: int) → None¶

setHDes(self, tH: visp._visp.core.Matrix) → None¶

setIterationMax(self, n: int) → None¶

Set the maximum number of iteration of the estimation scheme.

Parameters:

n: int¶: Maximum number of iterations to stop the estimation scheme. A typical value is around 100.

setLambda(self, l: float) → None¶

Set the convergence gain used in the estimation scheme.

Parameters:

l: float¶: Gain. A typical value is 0.001.

setNbIterBrent(self, b: int) → None¶

setPyramidal(self, nlevels: int = 2, level_to_stop: int = 1) → None¶

Set the number of pyramid levels used in the multi-resolution scheme. If nlevels > 1, the tracker uses a pyramidal approach.

Parameters:

nlevels: int = 2¶: Number of pyramid levels. Algorithm starts at level nlevels-1.
level_to_stop: int = 1¶: Last level of the pyramid that will be considered. Lowest level is zero.

setSampling(self, sample_i: int, sample_j: int) → None¶

Set the pixel sampling parameters along the rows and the columns.

Parameters:

sample_i: int¶: Sampling factor along the rows. If 1 all the lines are considered. If 2, consider one line over two.
sample_j: int¶: Sampling factor along the columns. If 1 all the columns are considered. If 2, consider one column over two.

setThresholdGradient(self, threshold: float) → None¶

setThresholdResidualDifference(self, threshold: float) → None¶

Set the threshold used to stop optimization loop. When the residual difference between two successive iterations becomes lower than the threshold we stop optimization loop.

Note

Increasing the default value allows to speed up the tracking.

Parameters:

threshold: float¶: Threshold used to stop optimization. Default value is set to 1e-4.

setUseBrent(self, b: bool) → None¶: By default Brent usage is disabled.

setUseTemplateSelect(self, b: bool) → None¶: Use only the strong gradient pixels to compute the Jabobian. By default this feature is disabled.

setp(self, tp: visp._visp.core.ColVector) → None¶

track(self, I: visp._visp.core.ImageGray) → None¶

Track the template on image I .

Parameters:

I: visp._visp.core.ImageGray¶: Image to process.

trackRobust(self, I: visp._visp.core.ImageGray) → None¶