vpTemplateTrackerWarpHomographySL3.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpTemplateTrackerWarpHomographySL3_hh
#define vpTemplateTrackerWarpHomographySL3_hh

#include <vector>

#include <visp3/tt/vpTemplateTrackerWarp.h>
#include <visp3/vision/vpHomography.h>

class VISP_EXPORT vpTemplateTrackerWarpHomographySL3: public vpTemplateTrackerWarp
{
  protected:
    vpMatrix G;
    vpMatrix dGx;
    std::vector<vpMatrix> A;
    
  public:
    //constructor;
    vpTemplateTrackerWarpHomographySL3();
    ~vpTemplateTrackerWarpHomographySL3();

    void computeCoeff(const vpColVector &p);

    void computeDenom(vpColVector &vX, const vpColVector &ParamM);

    void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);

    void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);

    void findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p);

    void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);

    void getdWdp0(const int &i,const int &j,double *dIdW);

    void getdWdp0(const double &i, const double &j,double *dIdW);

    vpHomography getHomography() const;

    void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;

    void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);

    void getParamPyramidUp(const vpColVector &p,vpColVector &pup);

    bool isESMcompatible() const {return true;}

    void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const;

    void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);

    void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);

    #ifndef DOXYGEN_SHOULD_SKIP_THIS
    void warpXInv(const vpColVector &/*vX*/,vpColVector &/*vXres*/,const vpColVector &/*ParamM*/) {}
    #endif
};
#endif