Visual Servoing Platform version 3.6.0
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vpTemplateTrackerMIESM.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 vpTemplateTrackerMIESM_hh
40#define vpTemplateTrackerMIESM_hh
41
42#include <visp3/core/vpImageFilter.h>
43#include <visp3/tt/vpTemplateTracker.h>
44#include <visp3/tt/vpTemplateTrackerHeader.h>
45
46#include <visp3/tt_mi/vpTemplateTrackerMI.h>
47#include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
48
54{
56 typedef enum {
57 USE_NEWTON, // not used
58 USE_LMA, // not used
59 USE_GRADIENT,
60 USE_QUASINEWTON // not used => see default equivalence
61 } vpMinimizationTypeMIESM;
62
63protected:
64 vpMinimizationTypeMIESM minimizationMethod;
72
73protected:
74 void initCompInverse();
77
78 // private:
79 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
80 // vpTemplateTrackerMIESM(const vpTemplateTrackerMIESM &)
81 // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON),
82 // CompoInitialised(false),
83 // HDirect(), HInverse(), HdesireDirect(), HdesireInverse(), GDirect(),
84 // GInverse()
85 // {
86 // throw vpException(vpException::functionNotImplementedError, "Not
87 // implemented!");
88 // }
89 // vpTemplateTrackerMIESM &operator=(const vpTemplateTrackerMIESM &){
90 // throw vpException(vpException::functionNotImplementedError, "Not
91 // implemented!"); return *this;
92 // }
93 //#endif
94
95public:
98 : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), CompoInitialised(false), HDirect(), HInverse(),
99 HdesireDirect(), HdesireInverse(), GDirect(), GInverse()
100 {
101 }
103
104 void setMinimizationMethod(vpMinimizationTypeMIESM method) { minimizationMethod = method; }
105};
106
107#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
vpMinimizationTypeMIESM minimizationMethod
vpTemplateTrackerMIESM()
Default constructor.
void setMinimizationMethod(vpMinimizationTypeMIESM method)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0