Visual Servoing Platform  version 3.6.1 under development (2024-07-15)
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/vpConfig.h>
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 
55 class VISP_EXPORT vpTemplateTrackerMIESM : public vpTemplateTrackerMI
56 {
57 public:
59  typedef enum
60  {
61  USE_NEWTON, // not used
62  USE_LMA, // not used
64  USE_QUASINEWTON // not used => see default equivalence
65  } vpMinimizationTypeMIESM;
66 
67 protected:
76 
77 protected:
78  void initCompInverse();
80  void trackNoPyr(const vpImage<unsigned char> &I);
81 
82  // private:
83  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
84  // vpTemplateTrackerMIESM(const vpTemplateTrackerMIESM &)
85  // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON),
86  // CompoInitialised(false),
87  // HDirect(), HInverse(), HdesireDirect(), HdesireInverse(), GDirect(),
88  // GInverse()
89  // {
90  // throw vpException(vpException::functionNotImplementedError, "Not
91  // implemented!");
92  // }
93  // vpTemplateTrackerMIESM &operator=(const vpTemplateTrackerMIESM &){
94  // throw vpException(vpException::functionNotImplementedError, "Not
95  // implemented!"); return *this;
96  // }
97  //#endif
98 
99 public:
102  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), CompoInitialised(false), HDirect(), HInverse(),
103  HdesireDirect(), HdesireInverse(), GDirect(), GInverse()
104  { }
105  VP_EXPLICIT vpTemplateTrackerMIESM(vpTemplateTrackerWarp *_warp);
106 
107  void setMinimizationMethod(vpMinimizationTypeMIESM method) { minimizationMethod = method; }
108 };
109 END_VISP_NAMESPACE
110 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
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