Visual Servoing Platform  version 3.1.0
vpTemplateTrackerWarpAffine.h
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6  * This software is free software; you can redistribute it and/or modify
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10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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18  *
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
46 #ifndef vpTemplateTrackerWarpAffine_hh
47 #define vpTemplateTrackerWarpAffine_hh
48 
49 #include <visp3/tt/vpTemplateTrackerWarp.h>
50 
56 {
57 public:
58  // constructor;
60 
61 #ifndef DOXYGEN_SHOULD_SKIP_THIS
62  void computeCoeff(const vpColVector & /*p*/) {}
63  void computeDenom(vpColVector & /*vX*/, const vpColVector & /*ParamM*/) {}
64 #endif
65 
75  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW);
76 
88  void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
89  vpMatrix &dW);
90 
102  void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW);
103 
113  void getdWdp0(const int &i, const int &j, double *dIdW);
114 
121  void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const;
122 
129  void getParamPyramidDown(const vpColVector &p, vpColVector &pdown);
130 
137  void getParamPyramidUp(const vpColVector &p, vpColVector &pup);
138 
144  bool isESMcompatible() const { return false; }
145 
154  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const;
155 
163  void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
164 
174  void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM);
175 
183  void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
184 };
185 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
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
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
Implementation of column vector and the associated operations.
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