Visual Servoing Platform
version 3.2.0
vpTemplateTrackerSSDInverseCompositional.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Template tracker.
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*
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* Authors:
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* Amaury Dame
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* Aurelien Yol
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpTemplateTrackerSSDInverseCompositional_hh
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#define vpTemplateTrackerSSDInverseCompositional_hh
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#include <vector>
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#include <visp3/tt/vpTemplateTrackerSSD.h>
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class
VISP_EXPORT
vpTemplateTrackerSSDInverseCompositional
:
public
vpTemplateTrackerSSD
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{
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protected
:
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bool
compoInitialised;
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vpMatrix
HInv;
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vpMatrix
HCompInverse;
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bool
useTemplateSelect;
// use only the strong gradient pixels to compute
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// the Jabocian
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// pour eval evolRMS
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double
evolRMS;
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std::vector<double> x_pos;
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std::vector<double> y_pos;
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double
threshold_RMS;
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protected
:
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void
initHessienDesired
(
const
vpImage<unsigned char>
&I);
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void
initCompInverse(
const
vpImage<unsigned char>
&I);
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void
trackNoPyr
(
const
vpImage<unsigned char>
&I);
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void
deletePosEvalRMS();
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void
computeEvalRMS(
const
vpColVector
&p);
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void
initPosEvalRMS(
const
vpColVector
&p);
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public
:
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explicit
vpTemplateTrackerSSDInverseCompositional
(
vpTemplateTrackerWarp
*warp);
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void
setUseTemplateSelect(
bool
b) { useTemplateSelect = b; }
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void
setThresholdRMS(
double
threshold) { threshold_RMS = threshold; }
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};
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#endif
vpTemplateTrackerWarp
Definition:
vpTemplateTrackerWarp.h:57
vpTemplateTrackerSSD::trackNoPyr
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
vpColVector
Implementation of column vector and the associated operations.
Definition:
vpColVector.h:71
vpMatrix
Implementation of a matrix and operations on matrices.
Definition:
vpMatrix.h:103
vpTemplateTrackerSSD::initHessienDesired
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
vpTemplateTrackerSSD
Definition:
vpTemplateTrackerSSD.h:62
vpImage< unsigned char >
vpTemplateTrackerSSDInverseCompositional
Definition:
vpTemplateTrackerSSDInverseCompositional.h:55
modules
tracker
tt
include
visp3
tt
vpTemplateTrackerSSDInverseCompositional.h
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