Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpTemplateTrackerWarpHomography.h
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31  * Description:
32  * Template tracker.
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34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
45 #ifndef vpTemplateTrackerWarpHomography_hh
46 #define vpTemplateTrackerWarpHomography_hh
47 
48 #include <visp3/tt/vpTemplateTrackerWarp.h>
49 #include <visp3/vision/vpHomography.h>
50 
69 {
70 public:
72 
73 #ifndef DOXYGEN_SHOULD_SKIP_THIS
74  void computeCoeff(const vpColVector &) {}
75 #endif
76 
77  void computeDenom(vpColVector &X, const vpColVector &p);
78 
79  void dWarp(const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW);
80  void dWarpCompo(const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW);
81 
82  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
83  void getdWdp0(const int &v, const int &u, double *dIdW);
84 
85  vpHomography getHomography(const vpColVector &ParamM) const;
86 
87  void getParam(const vpHomography &H, vpColVector &p) const;
88  void getParam(const vpMatrix &H, vpColVector &p) const;
89 
90  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
91  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
92  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
93 
98  bool isESMcompatible() const { return false; }
99 
100  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
101 
102  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
103  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
104  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
105 };
106 #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