Visual Servoing Platform  version 3.6.1 under development (2024-05-27)
vpTemplateTrackerMIBSpline.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
44 #ifndef vpTemplateTrackerMIBSpline_hh
45 #define vpTemplateTrackerMIBSpline_hh
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #include <visp3/core/vpImage.h>
50 #include <visp3/core/vpMath.h>
51 #include <visp3/tt/vpTemplateTrackerBSpline.h>
52 #include <visp3/tt/vpTemplateTrackerHeader.h>
53 
54 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
55 
56 #ifndef DOXYGEN_SHOULD_SKIP_THIS
57 
58 class VISP_EXPORT vpTemplateTrackerMIBSpline
59 {
60 public:
61  static void PutPVBsplineD(double *Prt, int cr, double er, int ct, double et, int Nc, double val, const int &degre);
62  static void PutPVBsplineD3(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
63  static void PutPVBsplineD4(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
64 
65  static void PutTotPVBspline(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
66  unsigned int &NbParam, int &degree);
67  static void PutTotPVBspline(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et, int Ncb,
68  double *val, unsigned int &NbParam, int &degree);
69  static void PutTotPVBspline3(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
70  unsigned int &NbParam);
71  static void PutTotPVBspline3(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et,
72  int Ncb, double *val, unsigned int &NbParam);
73  static void PutTotPVBspline4(double *Prt, int cr, double er, int ct, double et, int Nc, double *val,
74  unsigned int &NbParam);
75  static void PutTotPVBspline4(double *Prt, double *dPrt, double *d2Prt, int cr, double er, int ct, double et, int Ncb,
76  double *val, unsigned int &NbParam);
77 
78  // AY Optimisation
79  static void PutTotPVBspline3(double *Prt, double &er, double *et, unsigned int NbParam);
80  static void PutTotPVBspline4(double *Prt, double &er, double *et, unsigned int NbParam);
81  //
82 
83  static void PutTotPVBsplineNoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
84  unsigned int &NbParam, int &degree);
85  static void PutTotPVBsplineNoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
86  double *val, unsigned int &NbParam, int &degree);
87  static void PutTotPVBspline3NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
88  unsigned int &NbParam);
89  static void PutTotPVBspline3NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
90  double *val, unsigned int &NbParam);
91  static void PutTotPVBspline4NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
92  unsigned int &NbParam);
93  static void PutTotPVBspline4NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
94  double *val, unsigned int &NbParam);
95 
96  static void PutTotPVBsplinePrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
97  unsigned int &NbParam, int &degree);
98  static void PutTotPVBspline3PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
99  unsigned int &NbParam);
100  static void PutTotPVBspline4PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
101  unsigned int &NbParam);
102 
103  static void PutTotPVBsplinePrt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb, unsigned int &NbParam,
104  int &degree);
105  static void PutTotPVBspline3Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
106  static void PutTotPVBspline4Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
107 
108  static double Bspline3(double diff);
109  static double Bspline4i(double diff, int &interv);
110 
111  static double dBspline3(double diff);
112  static double dBspline4(double diff);
113 
114  static double d2Bspline3(double diff);
115  static double d2Bspline4(double diff);
116 
117  static void computeProbabilities(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *dW,
118  unsigned int &NbParam, int &bspline,
119  vpTemplateTrackerMI::vpHessienApproximationType &approx, bool use_hessien_des);
120 };
121 
122 #endif
123 #endif