Visual Servoing Platform  version 3.6.1 under development (2024-03-29)
vpTemplateTrackerMIInverseCompositional.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 vpTemplateTrackerMIInverseCompositional_hh
40 #define vpTemplateTrackerMIInverseCompositional_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 } vpMinimizationTypeMIInverseCompositional;
62 
63 private:
64  vpMinimizationTypeMIInverseCompositional minimizationMethod;
65  bool CompoInitialised;
66  bool useTemplateSelect; // use only the strong gradient pixels to compute
67  // the Jabocian
68  // valeur pour calculer Quasi_Newton
69  vpColVector p_prec;
70  vpColVector G_prec;
71  vpMatrix KQuasiNewton;
72 
73  // bool useAYOptim;
74 
75 public: // AY Optimisation
76  void initTemplateRefBspline(unsigned int ptIndex, double &et);
77 
78 protected:
79  void initCompInverse(const vpImage<unsigned char> &I);
81  void trackNoPyr(const vpImage<unsigned char> &I);
82 
83 public:
86  : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false), p_prec(),
87  G_prec(), KQuasiNewton()
88  {
89  }
91 
94  void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
95  void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
96 };
97 #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(vpMinimizationTypeMIInverseCompositional method)
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0