Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
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 
57 {
58 public:
59  // constructor;
61 
62 #ifndef DOXYGEN_SHOULD_SKIP_THIS
63  void computeCoeff(const vpColVector & /*p*/) {}
64 #endif
65 
72  void computeDenom(vpColVector &vX, const vpColVector &ParamM);
73 
83  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW);
84 
96  void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
97  vpMatrix &dW);
98 
110  void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW);
111 
121  void getdWdp0(const int &i, const int &j, double *dIdW);
122 
130  vpHomography getHomography(const vpColVector &ParamM) const;
131 
139  void getParam(const vpHomography &H, vpColVector &par) const;
140 
147  void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const;
148 
155  void getParamPyramidDown(const vpColVector &p, vpColVector &pdown);
156 
163  void getParamPyramidUp(const vpColVector &p, vpColVector &pup);
164 
170  bool isESMcompatible() const { return false; }
171 
180  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const;
181 
189  void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
190 
200  void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM);
201 
209  void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
210 };
211 #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