Visual Servoing Platform  version 3.6.1 under development (2024-04-17)
vpTemplateTrackerWarpHomographySL3.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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29  *
30  * Description:
31  * Template tracker.
32  */
33 
40 #ifndef vpTemplateTrackerWarpHomographySL3_hh
41 #define vpTemplateTrackerWarpHomographySL3_hh
42 
43 #include <vector>
44 
45 #include <visp3/tt/vpTemplateTrackerWarp.h>
46 #include <visp3/vision/vpHomography.h>
47 
53 {
54 protected:
57  std::vector<vpMatrix> A;
58 
59 public:
61 
62  void computeCoeff(const vpColVector &p);
63  void computeDenom(vpColVector &X, const vpColVector &);
64 
65  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &, vpMatrix &dW);
66  void dWarpCompo(const vpColVector &, const vpColVector &X, const vpColVector &, const double *dwdp0, vpMatrix &dW);
67 
68  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
69 
70  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
71  void getdWdp0(const int &v, const int &u, double *dIdW);
72  void getdWdp0(const double &v, const double &u, double *dIdW);
73 
74  vpHomography getHomography() const;
75 
76  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
77  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
78  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
79 
84  bool isESMcompatible() const { return true; }
85 
86  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
87 
88  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &);
89  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &);
90 
91 #ifndef DOXYGEN_SHOULD_SKIP_THIS
92  void warpXInv(const vpColVector &, vpColVector &, const vpColVector &) { }
93 #endif
94 };
95 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:168
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0
virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const =0
virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)=0
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM)=0
virtual void getdWdp0(const int &v, const int &u, double *dIdW)=0
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0