Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
vpTemplateTrackerWarpHomography.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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 
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,
83  vpMatrix &dW);
84 
85  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
86  void getdWdp0(const int &v, const int &u, double *dIdW);
87 
88  vpHomography getHomography(const vpColVector &ParamM) const;
89 
90  void getParam(const vpHomography &H, vpColVector &p) const;
91  void getParam(const vpMatrix &H, vpColVector &p) const;
92 
93  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
94  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
95  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
96 
101  bool isESMcompatible() const { return false; }
102 
103  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
104 
105  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
106  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
107  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
108 };
109 #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