Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
vpTemplateTrackerWarpTranslation.h
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31  * Description:
32  * Template tracker.
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34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
44 #ifndef vpTemplateTrackerWarpTranslation_hh
45 #define vpTemplateTrackerWarpTranslation_hh
46 
47 #include <visp3/tt/vpTemplateTrackerWarp.h>
48 
67 {
68 public:
70 
71 #ifndef DOXYGEN_SHOULD_SKIP_THIS
72  void computeCoeff(const vpColVector &) {}
73  void computeDenom(vpColVector &, const vpColVector &) {}
74 #endif
75 
76  void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM);
77  void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM);
78 
79  void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW);
80  void getdWdp0(const int &, const int &, double *dIdW);
81 
82  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
83  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
84  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
85 
90  bool isESMcompatible() const { return true; }
91 
92  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
93 
94  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
95  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
96  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
97 };
98 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0
virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const =0
virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)=0
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM)=0
virtual void getdWdp0(const int &v, const int &u, double *dIdW)=0
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0