ViSP  2.9.0
vpTemplateTrackerWarpHomography.h
1 /****************************************************************************
2  *
3  * $Id: vpTemplateTrackerWarpHomography.h 4607 2014-01-21 16:02:11Z ayol $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
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
26  *
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 vpTemplateTrackerWarpHomography_hh
49 #define vpTemplateTrackerWarpHomography_hh
50 
51 #include <visp/vpTemplateTrackerWarp.h>
52 #include <visp/vpHomography.h>
53 
54 
56 {
57  public:
58  //constructor;
60 
61  #ifndef DOXYGEN_SHOULD_SKIP_THIS
62  void computeCoeff(const vpColVector &/*p*/){}
63  #endif
64 
71  void computeDenom(vpColVector &vX, const vpColVector &ParamM);
72 
81  void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
82 
92  void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
93 
103  void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
104 
112  void getdWdp0(const int &i,const int &j,double *dIdW);
113 
121  vpHomography getHomography(const vpColVector &ParamM) const;
122 
129  void getParam(const vpHomography &H,vpColVector &par) const;
130 
137  void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
138 
145  void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
146 
153  void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
154 
160  bool isESMcompatible() const {return false;}
161 
169  void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const ;
170 
178  void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
179 
189  void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
190 
198  void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
199 };
200 #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