Visual Servoing Platform version 3.5.0
vpTemplateTrackerMIESM.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Example of template tracking.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40#ifndef vpTemplateTrackerMIESM_hh
41#define vpTemplateTrackerMIESM_hh
42
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{
57 typedef enum {
58 USE_NEWTON, // not used
59 USE_LMA, // not used
60 USE_GRADIENT,
61 USE_QUASINEWTON // not used => see default equivalence
62 } vpMinimizationTypeMIESM;
63
64protected:
65 vpMinimizationTypeMIESM minimizationMethod;
73
74protected:
75 void initCompInverse();
78
79 // private:
80 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
81 // vpTemplateTrackerMIESM(const vpTemplateTrackerMIESM &)
82 // : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON),
83 // CompoInitialised(false),
84 // HDirect(), HInverse(), HdesireDirect(), HdesireInverse(), GDirect(),
85 // GInverse()
86 // {
87 // throw vpException(vpException::functionNotImplementedError, "Not
88 // implemented!");
89 // }
90 // vpTemplateTrackerMIESM &operator=(const vpTemplateTrackerMIESM &){
91 // throw vpException(vpException::functionNotImplementedError, "Not
92 // implemented!"); return *this;
93 // }
94 //#endif
95
96public:
99 : vpTemplateTrackerMI(), minimizationMethod(USE_NEWTON), CompoInitialised(false), HDirect(), HInverse(),
100 HdesireDirect(), HdesireInverse(), GDirect(), GInverse()
101 {
102 }
104
105 void setMinimizationMethod(vpMinimizationTypeMIESM method) { minimizationMethod = method; }
106};
107
108#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vpMinimizationTypeMIESM minimizationMethod
vpTemplateTrackerMIESM()
Default constructor.
void setMinimizationMethod(vpMinimizationTypeMIESM method)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0