Visual Servoing Platform  version 3.6.1 under development (2024-11-11)
vpTemplateTrackerWarpHomography.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
45 #ifndef vpTemplateTrackerWarpHomography_hh
46 #define vpTemplateTrackerWarpHomography_hh
47 
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/tt/vpTemplateTrackerWarp.h>
50 #include <visp3/vision/vpHomography.h>
51 
52 BEGIN_VISP_NAMESPACE
71 {
72 public:
74 
75 #ifndef DOXYGEN_SHOULD_SKIP_THIS
76  void computeCoeff(const vpColVector &) { }
77 #endif
78 
79  void computeDenom(vpColVector &X, const vpColVector &p);
80 
81  void dWarp(const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW);
82  void dWarpCompo(const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW);
83 
84  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
85  void getdWdp0(const int &v, const int &u, double *dIdW);
86 
87  vpHomography getHomography(const vpColVector &ParamM) const;
88 
89  void getParam(const vpHomography &H, vpColVector &p) const;
90  void getParam(const vpMatrix &H, vpColVector &p) const;
91 
92  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
93  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
94  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
95 
100  bool isESMcompatible() const { return false; }
101 
102  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
103 
104  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
105  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
106  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
107 };
108 END_VISP_NAMESPACE
109 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
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