ViSP  2.10.0
vpTemplateTrackerWarpHomographySL3.h
1 /****************************************************************************
2  *
3  * $Id: vpTemplateTrackerWarpHomographySL3.h 4669 2014-02-16 16:25:57Z fspindle $
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5  * This file is part of the ViSP software.
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11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
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27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  * Description:
34  * Template tracker.
35  *
36  * Authors:
37  * Amaury Dame
38  * Aurelien Yol
39  * Fabien Spindler
40  *
41  *****************************************************************************/
48 #ifndef vpTemplateTrackerWarpHomographySL3_hh
49 #define vpTemplateTrackerWarpHomographySL3_hh
50 
51 #include <vector>
52 
53 #include <visp/vpTemplateTrackerWarp.h>
54 #include <visp/vpHomography.h>
55 
57 {
58  protected:
61  std::vector<vpMatrix> A;
62 
63  public:
64  //constructor;
67 
73  void computeCoeff(const vpColVector &p);
74 
81  void computeDenom(vpColVector &vX, const vpColVector &ParamM);
82 
91  void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
92 
102  void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
103 
114  void findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p);
115 
125  void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
126 
134  void getdWdp0(const int &i,const int &j,double *dIdW);
135 
143  void getdWdp0(const double &i, const double &j,double *dIdW);
144 
150  vpHomography getHomography() const;
151 
158  void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
159 
166  void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
167 
174  void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
175 
181  bool isESMcompatible() const {return true;}
182 
190  void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const;
191 
199  void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
200 
210  void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
211 
212  #ifndef DOXYGEN_SHOULD_SKIP_THIS
213  void warpXInv(const vpColVector &/*vX*/,vpColVector &/*vXres*/,const vpColVector &/*ParamM*/) {}
214  #endif
215 };
216 #endif
Definition of the vpMatrix class.
Definition: vpMatrix.h:98
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &pdown)=0
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)=0
virtual void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)=0
virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)=0
virtual void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const =0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const =0
This class aims to compute the homography wrt.two images.
Definition: vpHomography.h:178
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &pup)=0
virtual void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW)=0
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
virtual void getdWdp0(const int &i, const int &j, double *dIdW)=0
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)=0