Visual Servoing Platform  version 3.1.0
vpTemplateTrackerHeader.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 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 vpTemplateTrackerHeader_hh
46 #define vpTemplateTrackerHeader_hh
47 
48 #include <stdio.h>
49 
54 struct vpTemplateTrackerZPoint {
55  int x, y;
56 
57  vpTemplateTrackerZPoint() : x(0), y(0) {}
58 };
63 struct vpTemplateTrackerDPoint {
64  double x, y;
65 
66  vpTemplateTrackerDPoint() : x(0), y(0) {}
67 };
72 struct vpTemplateTrackerPoint {
73  int x, y;
74  double dx, dy;
75  double val;
76  double *dW;
77  double *HiG;
78 
79  vpTemplateTrackerPoint() : x(0), y(0), dx(0), dy(0), val(0), dW(NULL), HiG(NULL) {}
80 };
85 struct vpTemplateTrackerPointCompo {
86  double *dW;
87  vpTemplateTrackerPointCompo() : dW(NULL) {}
88 };
89 
90 #ifndef DOXYGEN_SHOULD_SKIP_THIS
91 struct vpTemplateTrackerPointSuppMIInv {
92  double et;
93  int ct;
94  double *BtInit;
95  double *Bt;
96  double *dBt;
97  double *d2W;
98  double *d2Wx;
99  double *d2Wy;
100  vpTemplateTrackerPointSuppMIInv() : et(0), ct(0), BtInit(NULL), Bt(NULL), dBt(NULL), d2W(NULL), d2Wx(NULL), d2Wy(NULL)
101  {
102  }
103 };
104 #endif // DOXYGEN_SHOULD_SKIP_THIS
105 
106 #endif