Visual Servoing Platform version 3.5.0
vpTemplateTrackerMIBSpline.h
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 *****************************************************************************/
45#ifndef vpTemplateTrackerMIBSpline_hh
46#define vpTemplateTrackerMIBSpline_hh
47
48#include <visp3/core/vpConfig.h>
49
50#include <visp3/core/vpImage.h>
51#include <visp3/core/vpMath.h>
52#include <visp3/tt/vpTemplateTrackerBSpline.h>
53#include <visp3/tt/vpTemplateTrackerHeader.h>
54
55#include <visp3/tt_mi/vpTemplateTrackerMI.h>
56
57#ifndef DOXYGEN_SHOULD_SKIP_THIS
58
59class VISP_EXPORT vpTemplateTrackerMIBSpline
60{
61public:
62 static void PutPVBsplineD(double *Prt, int cr, double er, int ct, double et, int Nc, double val, const int &degre);
63 static void PutPVBsplineD3(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
64 static void PutPVBsplineD4(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
65
66 static void PutTotPVBspline(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
67 unsigned int &NbParam, int &degree);
68 static void PutTotPVBspline(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et, int Ncb,
69 double *val, unsigned int &NbParam, int &degree);
70 static void PutTotPVBspline3(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
71 unsigned int &NbParam);
72 static void PutTotPVBspline3(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et,
73 int Ncb, double *val, unsigned int &NbParam);
74 static void PutTotPVBspline4(double *Prt, int cr, double er, int ct, double et, int Nc, double *val,
75 unsigned int &NbParam);
76 static void PutTotPVBspline4(double *Prt, double *dPrt, double *d2Prt, int cr, double er, int ct, double et, int Ncb,
77 double *val, unsigned int &NbParam);
78
79 // AY Optimisation
80 static void PutTotPVBspline3(double *Prt, double &er, double *et, unsigned int NbParam);
81 static void PutTotPVBspline4(double *Prt, double &er, double *et, unsigned int NbParam);
82 //
83
84 static void PutTotPVBsplineNoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
85 unsigned int &NbParam, int &degree);
86 static void PutTotPVBsplineNoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
87 double *val, unsigned int &NbParam, int &degree);
88 static void PutTotPVBspline3NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
89 unsigned int &NbParam);
90 static void PutTotPVBspline3NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
91 double *val, unsigned int &NbParam);
92 static void PutTotPVBspline4NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
93 unsigned int &NbParam);
94 static void PutTotPVBspline4NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
95 double *val, unsigned int &NbParam);
96
97 static void PutTotPVBsplinePrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
98 unsigned int &NbParam, int &degree);
99 static void PutTotPVBspline3PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
100 unsigned int &NbParam);
101 static void PutTotPVBspline4PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
102 unsigned int &NbParam);
103
104 static void PutTotPVBsplinePrt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb, unsigned int &NbParam,
105 int &degree);
106 static void PutTotPVBspline3Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
107 static void PutTotPVBspline4Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
108
109 static double Bspline3(double diff);
110 static double Bspline4i(double diff, int &interv);
111
112 static double dBspline3(double diff);
113 static double dBspline4(double diff);
114
115 static double d2Bspline3(double diff);
116 static double d2Bspline4(double diff);
117
118 static void computeProbabilities(double *Prt, int &cr, double &er, int &ct, double &et,int &Nc, double *dW,
119 unsigned int &NbParam, int &bspline, vpTemplateTrackerMI::vpHessienApproximationType &approx, bool use_hessien_des);
120
121};
122
123#endif
124#endif