vpTemplateTrackerWarpHomography.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 vpTemplateTrackerWarpHomography_hh
#define vpTemplateTrackerWarpHomography_hh

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

class VISP_EXPORT vpTemplateTrackerWarpHomography: public vpTemplateTrackerWarp
{
  public:
    //constructor;
    vpTemplateTrackerWarpHomography();
    
    #ifndef DOXYGEN_SHOULD_SKIP_THIS
    void computeCoeff(const vpColVector &/*p*/){}
    #endif

    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 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);

    vpHomography getHomography(const vpColVector &ParamM) const;

    void getParam(const vpHomography &H,vpColVector &par) 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 false;}

    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);

    void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
};
#endif