Visual Servoing Platform
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vpTemplateTrackerMIInverseCompositional.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 - 2023 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 https://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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* Example of template tracking.
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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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*
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*****************************************************************************/
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#ifndef vpTemplateTrackerMIInverseCompositional_hh
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#define vpTemplateTrackerMIInverseCompositional_hh
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#include <visp3/core/vpConfig.h>
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#include <visp3/core/vpImageFilter.h>
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#include <visp3/tt/vpTemplateTracker.h>
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#include <visp3/tt/vpTemplateTrackerHeader.h>
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#include <visp3/tt_mi/vpTemplateTrackerMI.h>
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#include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
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class
VISP_EXPORT
vpTemplateTrackerMIInverseCompositional
:
public
vpTemplateTrackerMI
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{
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public
:
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typedef
enum
{ USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;
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private
:
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vpMinimizationTypeMIInverseCompositional minimizationMethod;
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bool
CompoInitialised;
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bool
useTemplateSelect;
// use only the strong gradient pixels to compute
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// the Jabocian
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// valeur pour calculer Quasi_Newton
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vpColVector
p_prec;
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vpColVector
G_prec;
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vpMatrix
KQuasiNewton;
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// bool useAYOptim;
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public
:
// AY Optimisation
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void
initTemplateRefBspline(
unsigned
int
ptIndex,
double
&et);
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protected
:
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void
initCompInverse(
const
vpImage<unsigned char>
&I);
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void
initHessienDesired
(
const
vpImage<unsigned char>
&I);
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void
trackNoPyr
(
const
vpImage<unsigned char>
&I);
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public
:
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vpTemplateTrackerMIInverseCompositional
()
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:
vpTemplateTrackerMI
(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false), p_prec(),
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G_prec(), KQuasiNewton()
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{
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}
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explicit
vpTemplateTrackerMIInverseCompositional
(
vpTemplateTrackerWarp
*_warp);
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void
setUseTemplateSelect
(
bool
b) { useTemplateSelect = b; }
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void
setMinimizationMethod
(
vpMinimizationTypeMIInverseCompositional
method) { minimizationMethod = method; }
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};
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#endif
vpColVector
Implementation of column vector and the associated operations.
Definition
vpColVector.h:167
vpImage
Definition of the vpImage class member functions.
Definition
vpImage.h:135
vpMatrix
Implementation of a matrix and operations on matrices.
Definition
vpMatrix.h:152
vpTemplateTrackerMIInverseCompositional
Definition
vpTemplateTrackerMIInverseCompositional.h:58
vpTemplateTrackerMIInverseCompositional::setMinimizationMethod
void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method)
Definition
vpTemplateTrackerMIInverseCompositional.h:95
vpTemplateTrackerMIInverseCompositional::vpMinimizationTypeMIInverseCompositional
vpMinimizationTypeMIInverseCompositional
Definition
vpTemplateTrackerMIInverseCompositional.h:61
vpTemplateTrackerMIInverseCompositional::vpTemplateTrackerMIInverseCompositional
vpTemplateTrackerMIInverseCompositional()
Default constructor.
Definition
vpTemplateTrackerMIInverseCompositional.h:85
vpTemplateTrackerMIInverseCompositional::setUseTemplateSelect
void setUseTemplateSelect(bool b)
Definition
vpTemplateTrackerMIInverseCompositional.h:94
vpTemplateTrackerMI
Definition
vpTemplateTrackerMI.h:53
vpTemplateTrackerMI::initHessienDesired
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
vpTemplateTrackerMI::trackNoPyr
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
vpTemplateTrackerWarp
Definition
vpTemplateTrackerWarp.h:58
modules
tracker
tt_mi
include
visp3
tt_mi
vpTemplateTrackerMIInverseCompositional.h
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