Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpTemplateTrackerSSDInverseCompositional.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
44 #ifndef vpTemplateTrackerSSDInverseCompositional_hh
45 #define vpTemplateTrackerSSDInverseCompositional_hh
46 
47 #include <vector>
48 
49 #include <visp3/tt/vpTemplateTrackerSSD.h>
50 
57 {
58 protected:
62  bool useTemplateSelect; // use only the strong gradient pixels to compute
63  // the Jabocian
64  // pour eval evolRMS
65  double evolRMS;
66  std::vector<double> x_pos;
67  std::vector<double> y_pos;
68  double threshold_RMS;
69 
70 protected:
72  void initCompInverse(const vpImage<unsigned char> &I);
73  void trackNoPyr(const vpImage<unsigned char> &I);
74  void deletePosEvalRMS();
75  void computeEvalRMS(const vpColVector &p);
76  void initPosEvalRMS(const vpColVector &p);
77 
78 public:
80 
83  void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
84  void setThresholdRMS(double threshold) { threshold_RMS = threshold; }
85 };
86 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72