Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpTemplateTrackerMIForwardAdditional.h
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31  * Description:
32  * Example of template tracking.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
39 #ifndef vpTemplateTrackerMIForwardAdditional_hh
40 #define vpTemplateTrackerMIForwardAdditional_hh
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #include <visp3/core/vpImageFilter.h>
45 #include <visp3/tt/vpTemplateTracker.h>
46 #include <visp3/tt/vpTemplateTrackerHeader.h>
47 
48 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
49 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
50 
58 {
59 public:
61  typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIForwardAdditional;
62 
63 private:
64  vpMinimizationTypeMIForwardAdditional minimizationMethod;
65  // valeur pour calculer Quasi_Newton
66  vpColVector p_prec;
67  vpColVector G_prec;
68  vpMatrix KQuasiNewton;
69 
70 protected:
72  void trackNoPyr(const vpImage<unsigned char> &I);
73 
74 public:
77  : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
78  {
79  }
81  void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method) { minimizationMethod = method; }
82 };
83 
84 #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
void setMinimizationMethod(vpMinimizationTypeMIForwardAdditional method)
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0