vpTemplateTrackerSSD.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 *
*****************************************************************************/
 
#include <visp3/tt/vpTemplateTrackerSSD.h>
 
vpTemplateTrackerSSD::vpTemplateTrackerSSD(vpTemplateTrackerWarp *warp) : vpTemplateTracker(warp), DI(), temp()
{
  dW.resize(2, nbParam);
  G.resize(nbParam);
  H.resize(nbParam, nbParam);
  HLM.resize(nbParam, nbParam);
 
  temp.resize(nbParam);
 
  X1.resize(2);
  X2.resize(2);
  DI.resize(2);
}
 
double vpTemplateTrackerSSD::getCost(const vpImage<unsigned char> &I, const vpColVector &tp)
{
  double erreur = 0;
  double IW;
  int Nbpoint = 0;
 
  Warp->computeCoeff(tp);
  for (unsigned int point = 0; point < templateSize; point++) {
    int i = ptTemplate[point].y;
    int j = ptTemplate[point].x;
    X1[0] = j;
    X1[1] = i;
    Warp->computeDenom(X1, tp);
    Warp->warpX(X1, X2, tp);
 
    double j2 = X2[0];
    double i2 = X2[1];
    if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
      double Tij = ptTemplate[point].val;
      if (!blur)
        IW = I.getValue(i2, j2);
      else
        IW = BI.getValue(i2, j2);
      erreur += (Tij - IW) * (Tij - IW);
      Nbpoint++;
    }
  }
  ratioPixelIn = static_cast<double>(Nbpoint) / static_cast<double>(templateSize);
 
  if (Nbpoint == 0)
    return 10e10;
  return erreur / Nbpoint;
}
 
double vpTemplateTrackerSSD::getSSD(const vpImage<unsigned char> &I, const vpColVector &tp)
{
  double erreur = 0;
  double IW;
  unsigned int Nbpoint = 0;
 
  if (pyrInitialised) {
    templateSize = templateSizePyr[0];
    ptTemplate = ptTemplatePyr[0];
  }
 
  Warp->computeCoeff(tp);
  for (unsigned int point = 0; point < templateSize; point++) {
    int i = ptTemplate[point].y;
    int j = ptTemplate[point].x;
    X1[0] = j;
    X1[1] = i;
    Warp->computeDenom(X1, tp);
    Warp->warpX(X1, X2, tp);
 
    double j2 = X2[0];
    double i2 = X2[1];
    if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
      double Tij = ptTemplate[point].val;
      IW = I.getValue(i2, j2);
      erreur += (Tij - IW) * (Tij - IW);
      Nbpoint++;
    }
  }
  if (Nbpoint == 0)
    return 10e10;
  return erreur / Nbpoint;
}