Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpTemplateTrackerMIESM.h
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30  *
31  * Description:
32  * Example of template tracking.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
39 #ifndef vpTemplateTrackerMIESM_hh
40 #define vpTemplateTrackerMIESM_hh
41 
42 #include <visp3/core/vpImageFilter.h>
43 #include <visp3/tt/vpTemplateTracker.h>
44 #include <visp3/tt/vpTemplateTrackerHeader.h>
45 
46 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
47 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
48 
53 class VISP_EXPORT vpTemplateTrackerMIESM : public vpTemplateTrackerMI
54 {
55 public:
57  typedef enum
58  {
59  USE_NEWTON, // not used
60  USE_LMA, // not used
62  USE_QUASINEWTON // not used => see default equivalence
63  } vpMinimizationTypeMIESM;
64 
65 protected:
74 
75 protected:
76  void initCompInverse();
78  void trackNoPyr(const vpImage<unsigned char> &I);
79 
80  // private:
81  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
82  // vpTemplateTrackerMIESM(const vpTemplateTrackerMIESM &)
83  // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON),
84  // CompoInitialised(false),
85  // HDirect(), HInverse(), HdesireDirect(), HdesireInverse(), GDirect(),
86  // GInverse()
87  // {
88  // throw vpException(vpException::functionNotImplementedError, "Not
89  // implemented!");
90  // }
91  // vpTemplateTrackerMIESM &operator=(const vpTemplateTrackerMIESM &){
92  // throw vpException(vpException::functionNotImplementedError, "Not
93  // implemented!"); return *this;
94  // }
95  //#endif
96 
97 public:
100  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), CompoInitialised(false), HDirect(), HInverse(),
101  HdesireDirect(), HdesireInverse(), GDirect(), GInverse()
102  { }
104 
105  void setMinimizationMethod(vpMinimizationTypeMIESM method) { minimizationMethod = method; }
106 };
107 
108 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
vpMinimizationTypeMIESM minimizationMethod
vpTemplateTrackerMIESM()
Default constructor.
void setMinimizationMethod(vpMinimizationTypeMIESM method)
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0