Visual Servoing Platform version 3.5.0
vpTemplateTrackerSSD.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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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
41#include <visp3/tt/vpTemplateTrackerSSD.h>
42
44{
45 dW.resize(2, nbParam);
49
51
52 X1.resize(2);
53 X2.resize(2);
54 DI.resize(2);
55}
56
58{
59 double erreur = 0;
60 double IW;
61 int Nbpoint = 0;
62
63 Warp->computeCoeff(tp);
64 for (unsigned int point = 0; point < templateSize; point++) {
65 int i = ptTemplate[point].y;
66 int j = ptTemplate[point].x;
67 X1[0] = j;
68 X1[1] = i;
69 Warp->computeDenom(X1, tp);
70 Warp->warpX(X1, X2, tp);
71
72 double j2 = X2[0];
73 double i2 = X2[1];
74 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
75 double Tij = ptTemplate[point].val;
76 if (!blur)
77 IW = I.getValue(i2, j2);
78 else
79 IW = BI.getValue(i2, j2);
80 erreur += (Tij - IW) * (Tij - IW);
81 Nbpoint++;
82 }
83 }
84 ratioPixelIn = static_cast<double>(Nbpoint) / static_cast<double>(templateSize);
85
86 if (Nbpoint == 0)
87 return 10e10;
88 return erreur / Nbpoint;
89}
90
92{
93 double erreur = 0;
94 double IW;
95 unsigned int Nbpoint = 0;
96
97 if (pyrInitialised) {
100 }
101
102 Warp->computeCoeff(tp);
103 for (unsigned int point = 0; point < templateSize; point++) {
104 int i = ptTemplate[point].y;
105 int j = ptTemplate[point].x;
106 X1[0] = j;
107 X1[1] = i;
108 Warp->computeDenom(X1, tp);
109 Warp->warpX(X1, X2, tp);
110
111 double j2 = X2[0];
112 double i2 = X2[1];
113 if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
114 double Tij = ptTemplate[point].val;
115 IW = I.getValue(i2, j2);
116 erreur += (Tij - IW) * (Tij - IW);
117 Nbpoint++;
118 }
119 }
120 if (Nbpoint == 0)
121 return 10e10;
122 return erreur / Nbpoint;
123}
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
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
double getSSD(const vpImage< unsigned char > &I, const vpColVector &tp)
vpTemplateTrackerSSD(vpTemplateTrackerWarp *warp)
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
vpTemplateTrackerPoint ** ptTemplatePyr
unsigned int * templateSizePyr
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize