Visual Servoing Platform  version 3.4.0 under development (2021-04-10)
vpTemplateTrackerMIInverseCompositional.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 vpTemplateTrackerMIInverseCompositional_hh
41 #define vpTemplateTrackerMIInverseCompositional_hh
42 
43 #include <visp3/core/vpConfig.h>
44 
45 #include <visp3/core/vpImageFilter.h>
46 #include <visp3/tt/vpTemplateTracker.h>
47 #include <visp3/tt/vpTemplateTrackerHeader.h>
48 
49 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
50 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
51 
59 {
60 public:
62  typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;
63 
64 private:
65  vpMinimizationTypeMIInverseCompositional minimizationMethod;
66  bool CompoInitialised;
67  bool useTemplateSelect; // use only the strong gradient pixels to compute
68  // the Jabocian
69  // valeur pour calculer Quasi_Newton
70  vpColVector p_prec;
71  vpColVector G_prec;
72  vpMatrix KQuasiNewton;
73 
74  // bool useAYOptim;
75 
76 public: // AY Optimisation
77  void initTemplateRefBspline(unsigned int ptIndex, double &et);
78 
79 protected:
80  void initCompInverse(const vpImage<unsigned char> &I);
82  void trackNoPyr(const vpImage<unsigned char> &I);
83 
84 public:
87  : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false),
88  p_prec(), G_prec(), KQuasiNewton()
89  {
90  }
92 
95  void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
96  void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
97 };
98 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method)
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