Visual Servoing Platform  version 3.1.0
vpTemplateTrackerMIForwardAdditional.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 vpTemplateTrackerMIForwardAdditional_hh
41 #define vpTemplateTrackerMIForwardAdditional_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 {
60 public:
62  typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIForwardAdditional;
63 
64 private:
65  vpMinimizationTypeMIForwardAdditional minimizationMethod;
66  // pour eval evolRMS
67  double evolRMS;
68  double *x_pos;
69  double *y_pos;
70  double threshold_RMS;
71  // valeur pour calculer Quasi_Newton
72  vpColVector p_prec;
73  vpColVector G_prec;
74  vpMatrix KQuasiNewton;
75 
76 protected:
78  void trackNoPyr(const vpImage<unsigned char> &I);
79  void deletePosEvalRMS();
80  void computeEvalRMS(const vpColVector &p);
81  void initPosEvalRMS(const vpColVector &p);
82 
83  // private:
84  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
85  // vpTemplateTrackerMIForwardAdditional(const
86  // vpTemplateTrackerMIForwardAdditional &)
87  // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), evolRMS(0),
88  // x_pos(NULL), y_pos(NULL),
89  // threshold_RMS(0), p_prec(), G_prec(), KQuasiNewton()
90  // {
91  // throw vpException(vpException::functionNotImplementedError, "Not
92  // implemented!");
93  // }
94  // vpTemplateTrackerMIForwardAdditional &operator=(const
95  // vpTemplateTrackerMIForwardAdditional &){
96  // throw vpException(vpException::functionNotImplementedError, "Not
97  // implemented!"); return *this;
98  // }
99  //#endif
100 
101 public:
104  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), evolRMS(0), x_pos(NULL), y_pos(NULL), threshold_RMS(0),
105  p_prec(), G_prec(), KQuasiNewton()
106  {
107  }
109  void setThresholdRMS(double threshold) { threshold_RMS = threshold; }
110  void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method) { minimizationMethod = method; }
111 };
112 
113 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0