vpTemplateTrackerZNCC.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 *
*****************************************************************************/
#ifndef vpTemplateTrackerZNCC_hh
#define vpTemplateTrackerZNCC_hh
 
#include <math.h>
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageFilter.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/tt/vpTemplateTracker.h>
#include <visp3/vision/vpHomography.h>
 
#define APPROX_NCC
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpTemplateTrackerZNCC : public vpTemplateTracker
{
protected:
  vpRowVector DI;
  vpRowVector temp;
 
protected:
  double getCost(const vpImage<unsigned char> &I, const vpColVector &tp);
  double getCost(const vpImage<unsigned char> &I)
  {
    vpColVector tp;
    return getCost(I, tp);
  }
  virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
  virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
 
public:
  VP_EXPLICIT vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp);
 
  void setGain(double _gain) { gain = _gain; }
};
END_VISP_NAMESPACE
#endif