Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpTemplateTrackerMIInverseCompositional.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 vpTemplateTrackerMIInverseCompositional_hh
41 #define vpTemplateTrackerMIInverseCompositional_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 } vpMinimizationTypeMIInverseCompositional;
63 
64 private:
65  vpMinimizationTypeMIInverseCompositional minimizationMethod;
66  bool CompoInitialised;
67  bool useTemplateSelect; // use only the strong gradient pixels to compute
68  // the Jabocian
69  // pour eval evolRMS
70  double evolRMS;
71  double *x_pos;
72  double *y_pos;
73  double threshold_RMS;
74  // valeur pour calculer Quasi_Newton
75  vpColVector p_prec;
76  vpColVector G_prec;
77  vpMatrix KQuasiNewton;
78 
79  // bool useAYOptim;
80 
81 public: // AY Optimisation
82  void initTemplateRefBspline(unsigned int ptIndex, double &et);
83 
84 protected:
85  void initCompInverse(const vpImage<unsigned char> &I);
87  void trackNoPyr(const vpImage<unsigned char> &I);
88  void deletePosEvalRMS();
89  void computeEvalRMS(const vpColVector &p);
90  void initPosEvalRMS(const vpColVector &p);
91 
92  // private:
93  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
94  // vpTemplateTrackerMIInverseCompositional(const
95  // vpTemplateTrackerMIInverseCompositional &)
96  // : vpTemplateTrackerMI(), minimizationMethod(USE_LMA),
97  // CompoInitialised(false), useTemplateSelect(false),
98  // evolRMS(0), x_pos(NULL), y_pos(NULL), threshold_RMS(0), p_prec(),
99  // G_prec(), KQuasiNewton()//, useAYOptim(false)
100  // {
101  // throw vpException(vpException::functionNotImplementedError, "Not
102  // implemented!");
103  // }
104  // vpTemplateTrackerMIInverseCompositional &operator=(const
105  // vpTemplateTrackerMIInverseCompositional &){
106  // throw vpException(vpException::functionNotImplementedError, "Not
107  // implemented!"); return *this;
108  // }
109  //#endif
110 
111 public:
114  : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false), evolRMS(0),
115  x_pos(NULL), y_pos(NULL), threshold_RMS(0), p_prec(), G_prec(), KQuasiNewton() //, useAYOptim(false)
116  {
117  }
119 
122  void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
123  void setThresholdRMS(double threshold) { threshold_RMS = threshold; }
124  void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
125 };
126 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional 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