Visual Servoing Platform  version 3.5.1 under development (2022-08-17)
vpTemplateTrackerWarpHomography.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 vpTemplateTrackerWarpHomography_hh
47 #define vpTemplateTrackerWarpHomography_hh
48 
49 #include <visp3/tt/vpTemplateTrackerWarp.h>
50 #include <visp3/vision/vpHomography.h>
51 
70 {
71 public:
73 
74 #ifndef DOXYGEN_SHOULD_SKIP_THIS
75  void computeCoeff(const vpColVector &) {}
76 #endif
77 
78  void computeDenom(vpColVector &X, const vpColVector &p);
79 
80  void dWarp(const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW);
81  void dWarpCompo(const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW);
82 
83  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
84  void getdWdp0(const int &v, const int &u, double *dIdW);
85 
86  vpHomography getHomography(const vpColVector &ParamM) const;
87 
88  void getParam(const vpHomography &H, vpColVector &p) const;
89  void getParam(const vpMatrix &H, vpColVector &p) const;
90 
91  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
92  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
93  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
94 
99  bool isESMcompatible() const { return false; }
100 
101  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
102 
103  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
104  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
105  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
106 };
107 #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
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
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