vpTemplateTrackerMIInverseCompositional.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
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 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
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 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 *
 * Description:
 * Example of template tracking.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpTemplateTrackerMIInverseCompositional_hh
#define vpTemplateTrackerMIInverseCompositional_hh

#include <visp3/core/vpConfig.h>

#include <visp3/core/vpImageFilter.h>
#include <visp3/tt/vpTemplateTracker.h>
#include <visp3/tt/vpTemplateTrackerHeader.h>

#include <visp3/tt_mi/vpTemplateTrackerMI.h>
#include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>

class VISP_EXPORT vpTemplateTrackerMIInverseCompositional : public vpTemplateTrackerMI
{
public:
  typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;

private:
  vpMinimizationTypeMIInverseCompositional minimizationMethod;
  bool CompoInitialised;
  bool useTemplateSelect; // use only the strong gradient pixels to compute
                          // the Jabocian
  // pour eval evolRMS
  double evolRMS;
  double *x_pos;
  double *y_pos;
  double threshold_RMS;
  // valeur pour calculer Quasi_Newton
  vpColVector p_prec;
  vpColVector G_prec;
  vpMatrix KQuasiNewton;

  // bool    useAYOptim;

public: // AY Optimisation
  void initTemplateRefBspline(unsigned int ptIndex, double &et);

protected:
  void initCompInverse(const vpImage<unsigned char> &I);
  void initHessienDesired(const vpImage<unsigned char> &I);
  void trackNoPyr(const vpImage<unsigned char> &I);
  void deletePosEvalRMS();
  void computeEvalRMS(const vpColVector &p);
  void initPosEvalRMS(const vpColVector &p);

  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpTemplateTrackerMIInverseCompositional(const
  //  vpTemplateTrackerMIInverseCompositional &)
  //    : vpTemplateTrackerMI(), minimizationMethod(USE_LMA),
  //    CompoInitialised(false), useTemplateSelect(false),
  //      evolRMS(0), x_pos(NULL), y_pos(NULL), threshold_RMS(0), p_prec(),
  //      G_prec(), KQuasiNewton()//, useAYOptim(false)
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpTemplateTrackerMIInverseCompositional &operator=(const
  //  vpTemplateTrackerMIInverseCompositional &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif

public:
  vpTemplateTrackerMIInverseCompositional()
    : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false), evolRMS(0),
      x_pos(NULL), y_pos(NULL), threshold_RMS(0), p_prec(), G_prec(), KQuasiNewton() //, useAYOptim(false)
  {
  }
  explicit vpTemplateTrackerMIInverseCompositional(vpTemplateTrackerWarp *_warp);

  void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
  void setThresholdRMS(double threshold) { threshold_RMS = threshold; }
  void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
};
#endif