Visual Servoing Platform version 3.6.0
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vpTemplateTrackerMIBSpline.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 vpTemplateTrackerMIBSpline_hh
45#define vpTemplateTrackerMIBSpline_hh
46
47#include <visp3/core/vpConfig.h>
48
49#include <visp3/core/vpImage.h>
50#include <visp3/core/vpMath.h>
51#include <visp3/tt/vpTemplateTrackerBSpline.h>
52#include <visp3/tt/vpTemplateTrackerHeader.h>
53
54#include <visp3/tt_mi/vpTemplateTrackerMI.h>
55
56#ifndef DOXYGEN_SHOULD_SKIP_THIS
57
58class VISP_EXPORT vpTemplateTrackerMIBSpline
59{
60public:
61 static void PutPVBsplineD(double *Prt, int cr, double er, int ct, double et, int Nc, double val, const int &degre);
62 static void PutPVBsplineD3(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
63 static void PutPVBsplineD4(double *Prt, int cr, double er, int ct, double et, int Nc, double val);
64
65 static void PutTotPVBspline(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
66 unsigned int &NbParam, int &degree);
67 static void PutTotPVBspline(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et, int Ncb,
68 double *val, unsigned int &NbParam, int &degree);
69 static void PutTotPVBspline3(double *Prt, int cr, double &er, int ct, double &et, int Nc, double *val,
70 unsigned int &NbParam);
71 static void PutTotPVBspline3(double *Prt, double *dPrt, double *d2Prt, int cr, double &er, int ct, double &et,
72 int Ncb, double *val, unsigned int &NbParam);
73 static void PutTotPVBspline4(double *Prt, int cr, double er, int ct, double et, int Nc, double *val,
74 unsigned int &NbParam);
75 static void PutTotPVBspline4(double *Prt, double *dPrt, double *d2Prt, int cr, double er, int ct, double et, int Ncb,
76 double *val, unsigned int &NbParam);
77
78 // AY Optimisation
79 static void PutTotPVBspline3(double *Prt, double &er, double *et, unsigned int NbParam);
80 static void PutTotPVBspline4(double *Prt, double &er, double *et, unsigned int NbParam);
81 //
82
83 static void PutTotPVBsplineNoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
84 unsigned int &NbParam, int &degree);
85 static void PutTotPVBsplineNoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
86 double *val, unsigned int &NbParam, int &degree);
87 static void PutTotPVBspline3NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
88 unsigned int &NbParam);
89 static void PutTotPVBspline3NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
90 double *val, unsigned int &NbParam);
91 static void PutTotPVBspline4NoSecond(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *val,
92 unsigned int &NbParam);
93 static void PutTotPVBspline4NoSecond(double *Prt, double *dPrt, int &cr, double &er, int &ct, double &et, int &Ncb,
94 double *val, unsigned int &NbParam);
95
96 static void PutTotPVBsplinePrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
97 unsigned int &NbParam, int &degree);
98 static void PutTotPVBspline3PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
99 unsigned int &NbParam);
100 static void PutTotPVBspline4PrtTout(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc,
101 unsigned int &NbParam);
102
103 static void PutTotPVBsplinePrt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb, unsigned int &NbParam,
104 int &degree);
105 static void PutTotPVBspline3Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
106 static void PutTotPVBspline4Prt(double *Prt, int &cr, double &er, int &ct, double &et, int &Ncb);
107
108 static double Bspline3(double diff);
109 static double Bspline4i(double diff, int &interv);
110
111 static double dBspline3(double diff);
112 static double dBspline4(double diff);
113
114 static double d2Bspline3(double diff);
115 static double d2Bspline4(double diff);
116
117 static void computeProbabilities(double *Prt, int &cr, double &er, int &ct, double &et, int &Nc, double *dW,
118 unsigned int &NbParam, int &bspline,
119 vpTemplateTrackerMI::vpHessienApproximationType &approx, bool use_hessien_des);
120};
121
122#endif
123#endif