Visual Servoing Platform version 3.6.0
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vpTemplateTracker.h
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*****************************************************************************/
44#ifndef vpTemplateTracker_hh
45#define vpTemplateTracker_hh
46
47#include <math.h>
48
49#include <visp3/core/vpImageFilter.h>
50#include <visp3/tt/vpTemplateTrackerHeader.h>
51#include <visp3/tt/vpTemplateTrackerWarp.h>
52#include <visp3/tt/vpTemplateTrackerZone.h>
53
61class VISP_EXPORT vpTemplateTracker
62{
63protected:
64 // traitement pyramidal
65 unsigned int nbLvlPyr; // If = 1, disable pyramidal usage
66 unsigned int l0Pyr;
68 // For evolRMS computation
69 double evolRMS;
70 std::vector<double> x_pos;
71 std::vector<double> y_pos;
73
77 unsigned int templateSize;
78 unsigned int *templateSizePyr;
82 unsigned int templateSelectSize;
83
84#ifndef DOXYGEN_SHOULD_SKIP_THIS
85 vpTemplateTrackerPointSuppMIInv *ptTemplateSupp; // pour inverse et compo
86 vpTemplateTrackerPointSuppMIInv **ptTemplateSuppPyr; // pour inverse et compo
87#endif
88
93
95
105
106 double gain;
109 bool blur;
111 unsigned int nbIterBrent;
112 unsigned int taillef;
113 double *fgG;
114 double *fgdG;
116 int mod_i;
117 int mod_j; // variable de sampling de zone de reference
118 unsigned int nbParam;
119 double lambdaDep;
120 unsigned int iterationMax;
121 // pour BFGS
122 unsigned int iterationGlobale;
123 // diverge is set to true if there is no more point in the tracked area
125 unsigned int nbIteration;
128
130 // Parametre de deplacement
133
134 // temporary values for warping
137 // temporary derivative matrix
139
144
145public:
148 : nbLvlPyr(0), l0Pyr(0), pyrInitialised(false), ptTemplate(NULL), ptTemplatePyr(NULL), ptTemplateInit(false),
149 templateSize(0), templateSizePyr(NULL), ptTemplateSelect(NULL), ptTemplateSelectPyr(NULL),
150 ptTemplateSelectInit(false), templateSelectSize(0), ptTemplateSupp(NULL), ptTemplateSuppPyr(NULL),
151 ptTemplateCompo(NULL), ptTemplateCompoPyr(NULL), zoneTracked(NULL), zoneTrackedPyr(NULL), pyr_IDes(NULL), H(),
152 Hdesire(), HdesirePyr(NULL), HLM(), HLMdesire(), HLMdesirePyr(NULL), HLMdesireInverse(),
153 HLMdesireInversePyr(NULL), G(), gain(0), thresholdGradient(0), costFunctionVerification(false), blur(false),
154 useBrent(false), nbIterBrent(0), taillef(0), fgG(NULL), fgdG(NULL), ratioPixelIn(0), mod_i(0), mod_j(0),
155 nbParam(), lambdaDep(0), iterationMax(0), iterationGlobale(0), diverge(false), nbIteration(0),
156 useCompositionnal(false), useInverse(false), Warp(NULL), p(), dp(), X1(), X2(), dW(), BI(), dIx(), dIy(),
157 zoneRef_()
158 {
159 }
161 virtual ~vpTemplateTracker();
162
163 void display(const vpImage<unsigned char> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
164 void display(const vpImage<vpRGBa> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
165
166 bool getDiverge() const { return diverge; }
167 vpColVector getdp() { return dp; }
168 vpColVector getG() const { return G; }
169 vpMatrix getH() const { return H; }
170 unsigned int getNbParam() const { return nbParam; }
171 unsigned int getNbIteration() const { return nbIteration; }
172 vpColVector getp() const { return p; }
173 double getRatioPixelIn() const { return ratioPixelIn; }
174
179 vpTemplateTrackerWarp *getWarp() const { return Warp; }
180
184 vpTemplateTrackerZone getZoneRef() const { return zoneRef_; }
185
186 void initClick(const vpImage<unsigned char> &I, bool delaunay = false);
187 void initFromPoints(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &v_ip, bool delaunay = false);
188 void initFromZone(const vpImage<unsigned char> &I, const vpTemplateTrackerZone &zone);
189
190 void resetTracker();
191
192 void setBlur(bool b) { blur = b; }
193 void setCostFunctionVerification(bool b) { costFunctionVerification = b; }
194 void setGain(double g) { gain = g; }
195 void setGaussianFilterSize(unsigned int new_taill);
197 {
198 Hdesire = tH;
199 vpMatrix::computeHLM(Hdesire, lambdaDep, HLMdesire);
200 HLMdesireInverse = HLMdesire.inverseByLU();
201 }
207 void setIterationMax(const unsigned int &n) { iterationMax = n; }
212 void setLambda(double l) { lambdaDep = l; }
213 void setNbIterBrent(const unsigned int &b) { nbIterBrent = b; }
214 void setp(const vpColVector &tp)
215 {
216 p = tp;
217 diverge = false;
218 iterationGlobale = 0;
219 }
229 void setPyramidal(unsigned int nlevels = 2, unsigned int level_to_stop = 1)
230 {
231 nbLvlPyr = nlevels;
232 l0Pyr = level_to_stop;
233 if (l0Pyr >= nlevels) {
234 std::cout << "Warning: level_to_stop: " << level_to_stop << " higher than level_to_start: " << nlevels - 1
235 << " (nlevels-1)" << std::endl;
236 std::cout << "Level to stop put to: " << nlevels - 1 << std::endl;
237 l0Pyr = nlevels - 1;
238 }
239 }
248 void setSampling(int sample_i, int sample_j)
249 {
250 mod_i = sample_i;
251 mod_j = sample_j;
252 }
253 void setThresholdGradient(double threshold) { thresholdGradient = threshold; }
263 void setThresholdResidualDifference(double threshold) { evolRMS_eps = threshold; }
264
266 void setUseBrent(bool b) { useBrent = b; }
267
268 void track(const vpImage<unsigned char> &I);
269 void trackRobust(const vpImage<unsigned char> &I);
270
271#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
281 vp_deprecated void setThresholdRMS(double threshold) { (void)threshold; }
283#endif
284
285protected:
286 void computeEvalRMS(const vpColVector &p);
287 void computeOptimalBrentGain(const vpImage<unsigned char> &I, vpColVector &tp, double tMI, vpColVector &direction,
288 double &alpha);
289 virtual double getCost(const vpImage<unsigned char> &I, const vpColVector &tp) = 0;
291 virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
292 virtual void initHessienDesiredPyr(const vpImage<unsigned char> &I);
293 void initPosEvalRMS(const vpColVector &p);
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 column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
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
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
vpColVector getG() const
vpImage< double > dIx
void setThresholdGradient(double threshold)
unsigned int getNbIteration() const
void setCostFunctionVerification(bool b)
void setThresholdResidualDifference(double threshold)
vpImage< double > dIy
vpTemplateTracker()
Default constructor.
unsigned int templateSelectSize
vpTemplateTrackerPoint ** ptTemplatePyr
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
unsigned int * templateSizePyr
void setIterationMax(const unsigned int &n)
vpTemplateTrackerZone * zoneTrackedPyr
vpTemplateTrackerZone zoneRef_
void setPyramidal(unsigned int nlevels=2, unsigned int level_to_stop=1)
vpImage< unsigned char > * pyr_IDes
std::vector< double > y_pos
unsigned int getNbParam() const
vpMatrix * HLMdesireInversePyr
vpMatrix getH() const
std::vector< double > x_pos
unsigned int iterationMax
virtual double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)=0
vpColVector getp() const
vpTemplateTrackerPointCompo ** ptTemplateCompoPyr
void getGaussianBluredImage(const vpImage< unsigned char > &I)
void setp(const vpColVector &tp)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
vpTemplateTrackerPoint * ptTemplate
void setNbIterBrent(const unsigned int &b)
vp_deprecated void setThresholdRMS(double threshold)
void setLambda(double l)
vpTemplateTrackerWarp * Warp
vpTemplateTrackerZone getZoneRef() const
double getRatioPixelIn() const
unsigned int iterationGlobale
void setSampling(int sample_i, int sample_j)
vpImage< double > BI
vpTemplateTrackerWarp * getWarp() const
void setGain(double g)
void setHDes(vpMatrix &tH)
unsigned int templateSize
vpTemplateTrackerPointCompo * ptTemplateCompo
vpTemplateTrackerZone * zoneTracked