Visual Servoing Platform version 3.5.0
vpTemplateTrackerZNCC.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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26 * Inria at visp@inria.fr
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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 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 * Fabien Spindler
38 *
39 *****************************************************************************/
45#ifndef vpTemplateTrackerZNCC_hh
46#define vpTemplateTrackerZNCC_hh
47
48#include <math.h>
49
50#include <visp3/core/vpDisplay.h>
51#include <visp3/core/vpImage.h>
52#include <visp3/core/vpImageFilter.h>
53#include <visp3/core/vpImageTools.h>
54#include <visp3/core/vpIoTools.h>
55#include <visp3/core/vpMath.h>
56#include <visp3/tt/vpTemplateTracker.h>
57#include <visp3/vision/vpHomography.h>
58
59#define APPROX_NCC
60
65class VISP_EXPORT vpTemplateTrackerZNCC : public vpTemplateTracker
66{
67protected:
70
71protected:
72 double getCost(const vpImage<unsigned char> &I, const vpColVector &tp);
74 {
75 vpColVector tp;
76 return getCost(I, tp);
77 }
78 virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
79 virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
80
81public:
83
84 void setGain(double _gain) { gain = _gain; }
85};
86#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
void setGain(double _gain)
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