Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
vpTemplateTrackerZNCC.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  *****************************************************************************/
45 #ifndef vpTemplateTrackerZNCC_hh
46 #define vpTemplateTrackerZNCC_hh
47 
48 #include <math.h>
49 
50 #include <visp3/core/vpDisplay.h>
51 #include <visp3/core/vpImage.h>
52 #include <visp3/core/vpImageFilter.h>
53 #include <visp3/core/vpImageTools.h>
54 #include <visp3/core/vpIoTools.h>
55 #include <visp3/core/vpMath.h>
56 #include <visp3/tt/vpTemplateTracker.h>
57 #include <visp3/vision/vpHomography.h>
58 
59 #define APPROX_NCC
60 
65 class VISP_EXPORT vpTemplateTrackerZNCC : public vpTemplateTracker
66 {
67 protected:
70 
71 protected:
72  double getCost(const vpImage<unsigned char> &I, const vpColVector &tp);
74  {
75  vpColVector tp;
76  return getCost(I, tp);
77  }
78  virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
79  virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
80 
81 public:
83 
84  void setGain(double _gain) { gain = _gain; }
85 };
86 #endif
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:115
double getCost(const vpImage< unsigned char > &I)
void setGain(double _gain)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0