Visual Servoing Platform version 3.6.0
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vpTemplateTrackerSSDForwardAdditional.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 *
38*****************************************************************************/
39
40#include <limits> // numeric_limits
41
42#include <visp3/core/vpImageTools.h>
43#include <visp3/tt/vpTemplateTrackerSSDForwardAdditional.h>
44
46 : vpTemplateTrackerSSD(warp), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
47{
48 useCompositionnal = false;
49}
50
52{
53 if (blur)
57
58 dW = 0;
59
60 double lambda = lambdaDep;
61 double IW, dIWx, dIWy;
62 double Tij;
63 unsigned int iteration = 0;
64 int i, j;
65 double i2, j2;
66 double alpha = 2.;
67
69
70 double evolRMS_init = 0;
71 double evolRMS_prec = 0;
72 double evolRMS_delta;
73 double *tempt = new double[nbParam];
74
75 do {
76 unsigned int Nbpoint = 0;
77 double erreur = 0;
78 G = 0;
79 H = 0;
80 Warp->computeCoeff(p);
81 for (unsigned int point = 0; point < templateSize; point++) {
82 i = ptTemplate[point].y;
83 j = ptTemplate[point].x;
84 X1[0] = j;
85 X1[1] = i;
86
87 Warp->computeDenom(X1, p);
88 Warp->warpX(X1, X2, p);
89
90 j2 = X2[0];
91 i2 = X2[1];
92 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
93 Tij = ptTemplate[point].val;
94
95 if (!blur)
96 IW = I.getValue(i2, j2);
97 else
98 IW = BI.getValue(i2, j2);
99
100 dIWx = dIx.getValue(i2, j2);
101 dIWy = dIy.getValue(i2, j2);
102 Nbpoint++;
103 // Calcul du Hessien
104 Warp->dWarp(X1, X2, p, dW);
105 for (unsigned int it = 0; it < nbParam; it++)
106 tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
107
108 for (unsigned int it = 0; it < nbParam; it++)
109 for (unsigned int jt = 0; jt < nbParam; jt++)
110 H[it][jt] += tempt[it] * tempt[jt];
111
112 double er = (Tij - IW);
113 for (unsigned int it = 0; it < nbParam; it++)
114 G[it] += er * tempt[it];
115
116 erreur += (er * er);
117 }
118 }
119 if (Nbpoint == 0) {
120 delete[] tempt;
121 throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
122 }
123
124 vpMatrix::computeHLM(H, lambda, HLM);
125 try {
126 dp = HLM.inverseByLU() * G;
127 } catch (const vpException &e) {
128 delete[] tempt;
129 throw(e);
130 }
131
132 switch (minimizationMethod) {
134 vpColVector p_test_LMA(nbParam);
135 p_test_LMA = p + dp;
136 erreur = -getCost(I, p);
137 double erreur_LMA = -getCost(I, p_test_LMA);
138 if (erreur_LMA < erreur) {
139 p = p_test_LMA;
140 lambda = (lambda / 10. < 1e-6) ? lambda / 10. : 1e-6;
141 } else {
142 lambda = (lambda * 10. < 1e6) ? 1e6 : lambda * 10.;
143 }
144 } break;
146 dp = gain * 0.000001 * G;
147 if (useBrent) {
148 alpha = 2.;
149 computeOptimalBrentGain(I, p, erreur, dp, alpha);
150 dp = alpha * dp;
151 }
152 p += dp;
153 break;
154 }
155
157 if (iterationGlobale != 0) {
158 vpColVector s_quasi = p - p_prec;
159 vpColVector y_quasi = G - G_prec;
160 double s_scal_y = s_quasi.t() * y_quasi;
161 if (std::fabs(s_scal_y) > std::numeric_limits<double>::epsilon()) // DFP
162 KQuasiNewton = KQuasiNewton + 0.001 * (s_quasi * s_quasi.t() / s_scal_y -
163 KQuasiNewton * y_quasi * y_quasi.t() * KQuasiNewton /
164 (y_quasi.t() * KQuasiNewton * y_quasi));
165 }
166 dp = -KQuasiNewton * G;
167 p_prec = p;
168 G_prec = G;
169 p -= 1.01 * dp;
170 } break;
171
173 default: {
174 if (useBrent) {
175 alpha = 2.;
176 computeOptimalBrentGain(I, p, erreur, dp, alpha);
177 dp = alpha * dp;
178 }
179
180 p += dp;
181 break;
182 }
183 }
184
186
187 if (iteration == 0) {
188 evolRMS_init = evolRMS;
189 }
190
191 iteration++;
193
194 evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
195 evolRMS_prec = evolRMS;
196
197 } while ((iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init) * evolRMS_eps));
198 delete[] tempt;
199
200 nbIteration = iteration;
201}
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void getGradYGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIy, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size)
static void getGradXGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIx, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size)
static void filter(const vpImage< unsigned char > &I, vpImage< FilterType > &If, const vpArray2D< FilterType > &M, bool convolve=false)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type getValue(unsigned int i, unsigned int j) const
Definition vpImage.h:1592
unsigned int getHeight() const
Definition vpImage.h:184
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM)=0
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=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)
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
unsigned int iterationGlobale
vpImage< double > BI
unsigned int templateSize
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.