1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
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10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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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 vpTemplateTrackerMIInverseCompositional_hh
41 #define vpTemplateTrackerMIInverseCompositional_hh
42 
43 #include <visp3/core/vpConfig.h>
44 
45 #include <visp3/core/vpImageFilter.h>
46 #include <visp3/tt/vpTemplateTracker.h>
47 #include <visp3/tt/vpTemplateTrackerHeader.h>
48 
49 #include <visp3/tt_mi/vpTemplateTrackerMI.h>
50 #include <visp3/tt_mi/vpTemplateTrackerMIBSpline.h>
51 
52 /*!
53   \class vpTemplateTrackerMIInverseCompositional
54   \ingroup group_tt_mi_tracker
55   The algorithm implemented in this class is described in \cite Dame12a and
56   \cite Marchand16a.
57 */
58 class VISP_EXPORT vpTemplateTrackerMIInverseCompositional : public vpTemplateTrackerMI
59 {
60 public:
61   /*! Minimization method. */
62   typedef enum { USE_NEWTON, USE_LMA, USE_GRADIENT, USE_QUASINEWTON } vpMinimizationTypeMIInverseCompositional;
63 
64 private:
65   vpMinimizationTypeMIInverseCompositional minimizationMethod;
66   bool CompoInitialised;
67   bool useTemplateSelect; // use only the strong gradient pixels to compute
68                           // the Jabocian
69   // valeur pour calculer Quasi_Newton
70   vpColVector p_prec;
71   vpColVector G_prec;
72   vpMatrix KQuasiNewton;
73 
74   // bool    useAYOptim;
75 
76 public: // AY Optimisation
77   void initTemplateRefBspline(unsigned int ptIndex, double &et);
78 
79 protected:
80   void initCompInverse(const vpImage<unsigned char> &I);
81   void initHessienDesired(const vpImage<unsigned char> &I);
82   void trackNoPyr(const vpImage<unsigned char> &I);
83 
84 public:
85   //! Default constructor.
vpTemplateTrackerMIInverseCompositional()86   vpTemplateTrackerMIInverseCompositional()
87     : vpTemplateTrackerMI(), minimizationMethod(USE_LMA), CompoInitialised(false), useTemplateSelect(false),
88       p_prec(), G_prec(), KQuasiNewton()
89   {
90   }
91   explicit vpTemplateTrackerMIInverseCompositional(vpTemplateTrackerWarp *_warp);
92 
93   /*! Use only the strong gradient pixels to compute the Jabobian. By default
94    * this feature is disabled. */
setUseTemplateSelect(bool b)95   void setUseTemplateSelect(bool b) { useTemplateSelect = b; }
setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method)96   void setMinimizationMethod(vpMinimizationTypeMIInverseCompositional method) { minimizationMethod = method; }
97 };
98 #endif
99