Visual Servoing Platform version 3.5.0
vpTemplateTrackerMIInverseCompositional.h
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30 *
31 * Description:
32 * Example of template tracking.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40#ifndef vpTemplateTrackerMIInverseCompositional_hh
41#define vpTemplateTrackerMIInverseCompositional_hh
42
43#include <visp3/core/vpConfig.h>
44
45#include <visp3/core/vpImageFilter.h>
46#include <visp3/tt/vpTemplateTracker.h>
47#include <visp3/tt/vpTemplateTrackerHeader.h>
48
49#include <visp3/tt_mi/vpTemplateTrackerMI.h>
50#include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
51
59{
60public:
62 typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;
63
64private:
65 vpMinimizationTypeMIInverseCompositional minimizationMethod;
66 bool CompoInitialised;
67 bool useTemplateSelect; // use only the strong gradient pixels to compute
68 // the Jabocian
69 // valeur pour calculer Quasi_Newton
70 vpColVector p_prec;
71 vpColVector G_prec;
72 vpMatrix KQuasiNewton;
73
74 // bool useAYOptim;
75
76public: // AY Optimisation
77 void initTemplateRefBspline(unsigned int ptIndex, double &et);
78
79protected:
80 void initCompInverse(const vpImage<unsigned char> &I);
83
84public:
87 : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false),
88 p_prec(), G_prec(), KQuasiNewton()
89 {
90 }
92
95 void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
96 void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
97};
98#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0