Visual Servoing Platform version 3.6.0
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vpTemplateTrackerMIInverseCompositional.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Example of template tracking.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 *
38*****************************************************************************/
39#ifndef vpTemplateTrackerMIInverseCompositional_hh
40#define vpTemplateTrackerMIInverseCompositional_hh
41
42#include <visp3/core/vpConfig.h>
43
44#include <visp3/core/vpImageFilter.h>
45#include <visp3/tt/vpTemplateTracker.h>
46#include <visp3/tt/vpTemplateTrackerHeader.h>
47
48#include <visp3/tt_mi/vpTemplateTrackerMI.h>
49#include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
50
58{
59public:
61 typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;
62
63private:
64 vpMinimizationTypeMIInverseCompositional minimizationMethod;
65 bool CompoInitialised;
66 bool useTemplateSelect; // use only the strong gradient pixels to compute
67 // the Jabocian
68 // valeur pour calculer Quasi_Newton
69 vpColVector p_prec;
70 vpColVector G_prec;
71 vpMatrix KQuasiNewton;
72
73 // bool useAYOptim;
74
75public: // AY Optimisation
76 void initTemplateRefBspline(unsigned int ptIndex, double &et);
77
78protected:
79 void initCompInverse(const vpImage<unsigned char> &I);
82
83public:
86 : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false), p_prec(),
87 G_prec(), KQuasiNewton()
88 {
89 }
91
94 void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
95 void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
96};
97#endif
Implementation of column vector and the associated operations.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0