40 #ifndef vpTemplateTrackerMI_hh
41 #define vpTemplateTrackerMI_hh
43 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpImageFilter.h>
46 #include <visp3/tt/vpTemplateTracker.h>
47 #include <visp3/tt/vpTemplateTrackerHeader.h>
58 HESSIAN_NONSECOND = -1,
64 } vpHessienApproximationType;
67 typedef enum { USE_HESSIEN_NORMAL, USE_HESSIEN_DESIRE, USE_HESSIEN_BEST_COND } vpHessienType;
70 typedef enum { BSPLINE_THIRD_ORDER = 3, BSPLINE_FOURTH_ORDER = 4 } vpBsplineType;
99 double MI_preEstimation;
100 double MI_postEstimation;
102 double NMI_preEstimation;
103 double NMI_postEstimation;
106 bool computeCovariance;
109 void computeGradient();
111 void computeHessienNormalized(
vpMatrix &H);
112 void computeMI(
double &MI);
113 void computeProba(
int &nbpoint);
120 void zeroProbabilities();
146 :
vpTemplateTracker(), hessianComputation(USE_HESSIEN_NORMAL), ApproxHessian(HESSIAN_0), lambda(0), temp(NULL),
147 Prt(NULL), dPrt(NULL), Pt(NULL), Pr(NULL), d2Prt(NULL), PrtTout(NULL), dprtemp(NULL), PrtD(NULL), dPrtD(NULL),
148 influBspline(0), bspline(0), Nc(0), Ncb(0), d2Ix(), d2Iy(), d2Ixy(), MI_preEstimation(0), MI_postEstimation(0),
149 NMI_preEstimation(0), NMI_postEstimation(0), covarianceMatrix(), computeCovariance(false)
154 vpMatrix getCovarianceMatrix()
const {
return covarianceMatrix; }
155 double getMI()
const {
return MI_postEstimation; }
158 double getNMI()
const {
return NMI_postEstimation; }
161 void setCovarianceComputation(
const bool &flag) { computeCovariance = flag; }
162 void setHessianComputation(vpHessienType type) { hessianComputation = type; }
164 void setLambda(
double _l) { lambda = _l; }
165 void setNc(
int newNc);