Visual Servoing Platform  version 3.2.1 under development (2019-08-21) under development (2019-08-21)
vpTemplateTrackerMIESM.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 vpTemplateTrackerMIESM_hh
41 #define vpTemplateTrackerMIESM_hh
42 
43 #include <visp3/core/vpImageFilter.h>
44 #include <visp3/tt/vpTemplateTracker.h>
45 #include <visp3/tt/vpTemplateTrackerHeader.h>
46 
47 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
48 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
49 
54 class VISP_EXPORT vpTemplateTrackerMIESM : public vpTemplateTrackerMI
55 {
57  typedef enum {
58  USE_NEWTON, // not used
59  USE_LMA, // not used
60  USE_GRADIENT,
61  USE_QUASINEWTON // not used => see default equivalence
62  } vpMinimizationTypeMIESM;
63 
64 protected:
65  vpMinimizationTypeMIESM minimizationMethod;
73 
74 protected:
75  void initCompInverse();
77  void trackNoPyr(const vpImage<unsigned char> &I);
78 
79  // private:
80  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
81  // vpTemplateTrackerMIESM(const vpTemplateTrackerMIESM &)
82  // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON),
83  // CompoInitialised(false),
84  // HDirect(), HInverse(), HdesireDirect(), HdesireInverse(), GDirect(),
85  // GInverse()
86  // {
87  // throw vpException(vpException::functionNotImplementedError, "Not
88  // implemented!");
89  // }
90  // vpTemplateTrackerMIESM &operator=(const vpTemplateTrackerMIESM &){
91  // throw vpException(vpException::functionNotImplementedError, "Not
92  // implemented!"); return *this;
93  // }
94  //#endif
95 
96 public:
99  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), CompoInitialised(false), HDirect(), HInverse(),
100  HdesireDirect(), HdesireInverse(), GDirect(), GInverse()
101  {
102  }
104 
105  void setMinimizationMethod(vpMinimizationTypeMIESM method) { minimizationMethod = method; }
106 };
107 
108 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpTemplateTrackerMIESM()
Default constructor.
void setMinimizationMethod(vpMinimizationTypeMIESM method)
vpMinimizationTypeMIESM minimizationMethod
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