Visual Servoing Platform version 3.6.0
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vpTemplateTrackerZNCC.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 *
38*****************************************************************************/
44#ifndef vpTemplateTrackerZNCC_hh
45#define vpTemplateTrackerZNCC_hh
46
47#include <math.h>
48
49#include <visp3/core/vpDisplay.h>
50#include <visp3/core/vpImage.h>
51#include <visp3/core/vpImageFilter.h>
52#include <visp3/core/vpImageTools.h>
53#include <visp3/core/vpIoTools.h>
54#include <visp3/core/vpMath.h>
55#include <visp3/tt/vpTemplateTracker.h>
56#include <visp3/vision/vpHomography.h>
57
58#define APPROX_NCC
59
64class VISP_EXPORT vpTemplateTrackerZNCC : public vpTemplateTracker
65{
66protected:
69
70protected:
71 double getCost(const vpImage<unsigned char> &I, const vpColVector &tp);
73 {
74 vpColVector tp;
75 return getCost(I, tp);
76 }
77 virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
78 virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
79
80public:
82
83 void setGain(double _gain) { gain = _gain; }
84};
85#endif
Implementation of column vector and the associated operations.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of row vector and the associated operations.
double getCost(const vpImage< unsigned char > &I)
virtual void initHessienDesired(const vpImage< unsigned char > &I)=0
virtual void trackNoPyr(const vpImage< unsigned char > &I)=0
virtual double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)=0