40 #ifndef vpTemplateTrackerMI_hh 41 #define vpTemplateTrackerMI_hh 43 #include <visp3/core/vpConfig.h> 45 #include <visp3/core/vpImageFilter.h> 46 #include <visp3/tt/vpTemplateTracker.h> 47 #include <visp3/tt/vpTemplateTrackerHeader.h> 58 HESSIAN_NONSECOND = -1,
70 typedef enum { BSPLINE_THIRD_ORDER = 3, BSPLINE_FOURTH_ORDER = 4 }
vpBsplineType;
109 void computeGradient();
111 void computeHessienNormalized(
vpMatrix &H);
112 void computeMI(
double &MI);
113 void computeProba(
int &nbpoint);
120 void zeroProbabilities();
146 :
vpTemplateTracker(), hessianComputation(USE_HESSIEN_NORMAL), ApproxHessian(HESSIAN_0), lambda(0), temp(NULL),
147 Prt(NULL), dPrt(NULL), Pt(NULL), Pr(NULL), d2Prt(NULL), PrtTout(NULL), dprtemp(NULL), PrtD(NULL), dPrtD(NULL),
148 influBspline(0), bspline(0), Nc(0), Ncb(0), d2Ix(), d2Iy(), d2Ixy(), MI_preEstimation(0), MI_postEstimation(0),
149 NMI_preEstimation(0), NMI_postEstimation(0), covarianceMatrix(), computeCovariance(false)
155 double getMI()
const {
return MI_postEstimation; }
158 double getNMI()
const {
return NMI_postEstimation; }
165 void setNc(
int newNc);
vpTemplateTrackerMI()
Default constructor.
Implementation of a matrix and operations on matrices.
double NMI_postEstimation
void setLambda(double _l)
vpMatrix covarianceMatrix
void setApprocHessian(vpHessienApproximationType approx)
vpHessienApproximationType ApproxHessian
double getCost(const vpImage< unsigned char > &I)
void setHessianComputation(vpHessienType type)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)=0
vpHessienApproximationType
vpMatrix getCovarianceMatrix() const
double getNormalizedCost(const vpImage< unsigned char > &I)
Implementation of column vector and the associated operations.
void setCovarianceComputation(const bool &flag)
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
vpHessienType hessianComputation