Visual Servoing Platform  version 3.1.0
vpTemplateTrackerZNCC.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 vpTemplateTrackerZNCC_hh
46 #define vpTemplateTrackerZNCC_hh
47 
48 #include <math.h>
49 
50 #include <visp3/core/vpDisplay.h>
51 #include <visp3/core/vpImage.h>
52 #include <visp3/core/vpImageFilter.h>
53 #include <visp3/core/vpImageTools.h>
54 #include <visp3/core/vpIoTools.h>
55 #include <visp3/core/vpMath.h>
56 #include <visp3/tt/vpTemplateTracker.h>
57 #include <visp3/vision/vpHomography.h>
58 
59 #define APPROX_NCC
60 
65 class VISP_EXPORT vpTemplateTrackerZNCC : public vpTemplateTracker
66 {
67 protected:
70 
71 protected:
72  double getCost(const vpImage<unsigned char> &I, const vpColVector &tp);
74  {
75  vpColVector tp;
76  return getCost(I, tp);
77  }
78  virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
79  virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
80 
81 public:
83 
84  void setGain(double _gain) { gain = _gain; }
85 };
86 #endif
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:72
double getCost(const vpImage< unsigned char > &I)
void setGain(double _gain)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0