vpTemplateTrackerWarp.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 vpTemplateTrackerWarp_hh
#define vpTemplateTrackerWarp_hh

#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpTrackingException.h>
#include <visp3/tt/vpTemplateTrackerHeader.h>
#include <visp3/tt/vpTemplateTrackerTriangle.h>
#include <visp3/tt/vpTemplateTrackerZone.h>

class VISP_EXPORT vpTemplateTrackerWarp
{
protected:
  double denom;
  vpMatrix dW;
  unsigned int nbParam;

public:
  // constructor;
  vpTemplateTrackerWarp() : denom(1.), dW(), nbParam(0) {}
  virtual ~vpTemplateTrackerWarp() {}

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  virtual void computeCoeff(const vpColVector &p) = 0;
  virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM) = 0;
#endif

  virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW) = 0;

  virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
                          vpMatrix &dW) = 0;

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

  virtual void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW) = 0;

  virtual void getdWdp0(const int &i, const int &j, double *dIdW) = 0;

  double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p);

  unsigned int getNbParam() const { return nbParam; }

  virtual void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const = 0;

  virtual void getParamPyramidDown(const vpColVector &p, vpColVector &pdown) = 0;

  virtual void getParamPyramidUp(const vpColVector &p, vpColVector &pup) = 0;

  virtual bool isESMcompatible() const = 0;

  virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const = 0;

  void setNbParam(unsigned int nb)
  {
    nbParam = nb;
    dW.resize(2, nbParam);
  }

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

  virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM) = 0;

  virtual void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM) = 0;

  virtual void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM) = 0;

  void warpTriangle(const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out);

  void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out);
};

#endif