Visual Servoing Platform  version 3.4.0
vpTemplateTrackerWarpTranslation.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 vpTemplateTrackerWarpTranslation_hh
46 #define vpTemplateTrackerWarpTranslation_hh
47 
48 #include <visp3/tt/vpTemplateTrackerWarp.h>
49 
68 {
69 public:
71 
72 #ifndef DOXYGEN_SHOULD_SKIP_THIS
73  void computeCoeff(const vpColVector &) {}
74  void computeDenom(vpColVector &, const vpColVector &) {}
75 #endif
76 
77  void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM);
78  void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM);
79 
80  void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW);
81  void getdWdp0(const int &, const int &, double *dIdW);
82 
83  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
84  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
85  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
86 
91  bool isESMcompatible() const { return true; }
92 
93  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
94 
95  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
96  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
97  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
98 };
99 #endif
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const =0
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getdWdp0(const int &v, const int &u, double *dIdW)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0
virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM)=0
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0