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vpTemplateTrackerWarp.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Template tracker.
32  *
33  * Authors:
34  * Amaury Dame
35  * Aurelien Yol
36  * Fabien Spindler
37  *
38  *****************************************************************************/
45 #ifndef vpTemplateTrackerWarp_hh
46 #define vpTemplateTrackerWarp_hh
47 
48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/tt/vpTemplateTrackerHeader.h>
50 #include <visp3/tt/vpTemplateTrackerTriangle.h>
51 #include <visp3/tt/vpTemplateTrackerZone.h>
52 #include <visp3/core/vpTrackingException.h>
53 
58 class VISP_EXPORT vpTemplateTrackerWarp
59 {
60  protected:
61  double denom;
63  unsigned int nbParam ;
64 
65  public:
66  //constructor;
67  vpTemplateTrackerWarp() : denom(1.), dW(), nbParam(0) {}
69 
70  #ifndef DOXYGEN_SHOULD_SKIP_THIS
71  virtual void computeCoeff(const vpColVector &p)=0;
72  virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM)=0;
73  #endif
74 
83  virtual void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW) = 0;
84 
94  virtual void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW) = 0;
95 
96  #ifndef DOXYGEN_SHOULD_SKIP_THIS
97  void findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p);
98  #endif
99 
109  virtual void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW) = 0;
110 
118  virtual void getdWdp0(const int &i,const int &j,double *dIdW) = 0;
119 
126  double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z,const vpColVector &p);
127 
133  unsigned int getNbParam() const {return nbParam;}
134 
141  virtual void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const = 0;
142 
149  virtual void getParamPyramidDown(const vpColVector &p,vpColVector &pdown) =0;
150 
157  virtual void getParamPyramidUp(const vpColVector &p,vpColVector &pup) =0;
158 
164  virtual bool isESMcompatible() const =0;
165 
173  virtual void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const = 0;
174 
180  void setNbParam(unsigned int nb){nbParam=nb;dW.resize(2,nbParam);}
181 
192  void warp(const double *ut0,const double *vt0,int nb_pt,const vpColVector& p,double *u,double *v);
193 
203  virtual void warpX(const int &i, const int &j,double &i2,double &j2, const vpColVector &ParamM) = 0;
204 
212  virtual void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM) = 0;
213 
221  virtual void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM) = 0;
222 
231  void warpTriangle(const vpTemplateTrackerTriangle &in,const vpColVector &p, vpTemplateTrackerTriangle &out);
232 
241  void warpZone(const vpTemplateTrackerZone &in,const vpColVector &p, vpTemplateTrackerZone &out);
242 
243 };
244 
245 #endif
246 
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
void setNbParam(unsigned int nb)
unsigned int getNbParam() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72