Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpTemplateTrackerMIForwardAdditional.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 vpTemplateTrackerMIForwardAdditional_hh
41 #define vpTemplateTrackerMIForwardAdditional_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 } vpMinimizationTypeMIForwardAdditional;
63 
64 private:
65  vpMinimizationTypeMIForwardAdditional minimizationMethod;
66  // valeur pour calculer Quasi_Newton
67  vpColVector p_prec;
68  vpColVector G_prec;
69  vpMatrix KQuasiNewton;
70 
71 protected:
73  void trackNoPyr(const vpImage<unsigned char> &I);
74 
75 public:
78  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
79  {
80  }
82  void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method) { minimizationMethod = method; }
83 };
84 
85 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0