Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpTemplateTrackerWarpHomographySL3.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
46 #ifndef vpTemplateTrackerWarpHomographySL3_hh
47 #define vpTemplateTrackerWarpHomographySL3_hh
48 
49 #include <vector>
50 
51 #include <visp3/tt/vpTemplateTrackerWarp.h>
52 #include <visp3/vision/vpHomography.h>
53 
59 {
60 protected:
63  std::vector<vpMatrix> A;
64 
65 public:
66  // constructor;
69 
76  void computeCoeff(const vpColVector &p);
77 
84  void computeDenom(vpColVector &vX, const vpColVector &ParamM);
85 
95  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW);
96 
108  void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
109  vpMatrix &dW);
110 
121  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
122 
134  void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW);
135 
145  void getdWdp0(const int &i, const int &j, double *dIdW);
146 
156  void getdWdp0(const double &i, const double &j, double *dIdW);
157 
163  vpHomography getHomography() const;
164 
171  void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const;
172 
179  void getParamPyramidDown(const vpColVector &p, vpColVector &pdown);
180 
187  void getParamPyramidUp(const vpColVector &p, vpColVector &pup);
188 
194  bool isESMcompatible() const { return true; }
195 
204  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const;
205 
213  void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
214 
224  void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM);
225 
226 #ifndef DOXYGEN_SHOULD_SKIP_THIS
227  void warpXInv(const vpColVector & /*vX*/, vpColVector & /*vXres*/, const vpColVector & /*ParamM*/) {}
228 #endif
229 };
230 #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
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
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