Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpTemplateTrackerWarpHomographySL3.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
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.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 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: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
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: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