UsTK : Ultrasound ToolKit  version 2.0.1 under development (2025-02-02)
usDenseTracker2D.h
1 /****************************************************************************
2  *
3  * This file is part of the ustk software.
4  * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ustk with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * This software was developed at:
17  * Inria Rennes - Bretagne Atlantique
18  * Campus Universitaire de Beaulieu
19  * 35042 Rennes Cedex
20  * France
21  *
22  * If you have questions regarding the use of this file, please contact
23  * Inria at ustk@inria.fr
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26  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
27  *
28  * Authors:
29  * Pierre Chatelain
30  *
31  *****************************************************************************/
32 
38 #ifndef __usDenseTracker2D_h_
39 #define __usDenseTracker2D_h_
40 
41 #include <visp3/core/vpConfig.h>
42 #include <visp3/core/vpImage.h>
43 
44 #include <visp3/core/vpRectOriented.h>
45 
56 class VISP_EXPORT usDenseTracker2D
57 {
58 public:
59  usDenseTracker2D();
60  ~usDenseTracker2D();
61 
62  vpImage<unsigned char> &getRegion();
63 
64  vpRectOriented getTarget() const;
65 
66  vpImage<unsigned char> &getTemplate();
67 
68  void init(const vpImage<unsigned char> &I, const vpRectOriented &R);
69 
70  bool isInit();
71 
72  void update(const vpImage<unsigned char> &I);
73 
74 private:
75  vpColVector s_desired;
76  vpColVector s_current;
77  vpRectOriented m_target;
78  vpImage<unsigned char> m_template;
79  vpImage<unsigned char> m_region;
80  vpImage<double> m_gradX;
81  vpImage<double> m_gradY;
82  vpMatrix m_LI;
83  vpMatrix m_LI_inverse;
84  unsigned int m_height;
85  unsigned int m_width;
86  unsigned int m_size;
87  bool m_isInit;
88 };
89 
90 #endif // __usDenseTracker2D_h_
usDenseTracker2D
2D region tracker
Definition: usDenseTracker2D.h:57