Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpTemplateTrackerWarpSRT.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  *****************************************************************************/
45 #ifndef vpTemplateTrackerWarpSRT_hh
46 #define vpTemplateTrackerWarpSRT_hh
47 
48 #include <visp3/tt/vpTemplateTrackerWarp.h>
49 
55 {
56 public:
57  // constructor;
59 
60 #ifndef DOXYGEN_SHOULD_SKIP_THIS
61  void computeCoeff(const vpColVector & /*p*/) {}
62  void computeDenom(vpColVector & /*vX*/, const vpColVector & /*ParamM*/) {}
63 #endif
64 
74  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW);
75 
87  void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
88  vpMatrix &dW);
89 
101  void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW);
102 
112  void getdWdp0(const int &i, const int &j, double *dIdW);
113 
120  void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const;
121 
128  void getParamPyramidDown(const vpColVector &p, vpColVector &pdown);
129 
136  void getParamPyramidUp(const vpColVector &p, vpColVector &pup);
137 
143  bool isESMcompatible() const { return false; }
144 
153  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const;
154 
162  void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
163 
173  void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM);
174 
182  void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
183 };
184 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
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:130
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