Visual Servoing Platform version 3.5.0
vpTemplateTrackerZNCC.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * Fabien Spindler
38 *
39 *****************************************************************************/
40#include <visp3/tt/vpTemplateTrackerZNCC.h>
41
43{
44 dW.resize(2, nbParam);
48
50
51 X1.resize(2);
52 X2.resize(2);
53 DI.resize(2);
54}
55
57{
58 double IW, Tij;
59 int i, j;
60 double i2, j2;
61 int Nbpoint = 0;
62
63 Warp->computeCoeff(tp);
64
65 double moyTij = 0;
66 double moyIW = 0;
67 for (unsigned int point = 0; point < templateSize; point++) {
68 i = ptTemplate[point].y;
69 j = ptTemplate[point].x;
70 X1[0] = j;
71 X1[1] = i;
72 Warp->computeDenom(X1, tp);
73 Warp->warpX(X1, X2, tp);
74
75 j2 = X2[0];
76 i2 = X2[1];
77 if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
78 Tij = ptTemplate[point].val;
79 if (!blur)
80 IW = I.getValue(i2, j2);
81 else
82 IW = BI.getValue(i2, j2);
83 moyTij += Tij;
84 moyIW += IW;
85 Nbpoint++;
86 }
87 }
88 ratioPixelIn = (double)Nbpoint / (double)templateSize;
89 if (!Nbpoint) {
90 throw(vpException(vpException::divideByZeroError, "Cannot get cost: size = 0"));
91 }
92
93 moyTij = moyTij / Nbpoint;
94 moyIW = moyIW / Nbpoint;
95
96 double nom = 0;
97 double var1 = 0, var2 = 0;
98 for (unsigned int point = 0; point < templateSize; point++) {
99 i = ptTemplate[point].y;
100 j = ptTemplate[point].x;
101 X1[0] = j;
102 X1[1] = i;
103 Warp->computeDenom(X1, tp);
104 Warp->warpX(X1, X2, tp);
105
106 j2 = X2[0];
107 i2 = X2[1];
108 if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
109 Tij = ptTemplate[point].val;
110 if (!blur)
111 IW = I.getValue(i2, j2);
112 else
113 IW = BI.getValue(i2, j2);
114 nom += (Tij - moyTij) * (IW - moyIW);
115 var1 += (IW - moyIW) * (IW - moyIW);
116 var2 += (Tij - moyTij) * (Tij - moyTij);
117
118 Nbpoint++;
119 }
120 }
121 return -nom / sqrt(var1 * var2);
122}
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ divideByZeroError
Division by zero.
Definition: vpException.h:94
unsigned int getWidth() const
Definition: vpImage.h:246
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1346
unsigned int getHeight() const
Definition: vpImage.h:188
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:271
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp)
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize