Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
vpTemplateTrackerWarpHomographySL3.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  *****************************************************************************/
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:
68 
69  void computeCoeff(const vpColVector &p);
70  void computeDenom(vpColVector &X, const vpColVector &);
71 
72  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &, vpMatrix &dW);
73  void dWarpCompo(const vpColVector &, const vpColVector &X, const vpColVector &, const double *dwdp0, vpMatrix &dW);
74 
75  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
76 
77  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
78  void getdWdp0(const int &v, const int &u, double *dIdW);
79  void getdWdp0(const double &v, const double &u, double *dIdW);
80 
81  vpHomography getHomography() const;
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 &);
96  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &);
97 
98 #ifndef DOXYGEN_SHOULD_SKIP_THIS
99  void warpXInv(const vpColVector &, vpColVector &, const vpColVector &) {}
100 #endif
101 };
102 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
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