Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpTemplateTrackerWarpSRT.h
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3  * ViSP, open source Visual Servoing Platform software.
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
45 #ifndef vpTemplateTrackerWarpSRT_hh
46 #define vpTemplateTrackerWarpSRT_hh
47 
48 #include <visp3/tt/vpTemplateTrackerWarp.h>
49 
69 {
70 public:
72 
73 #ifndef DOXYGEN_SHOULD_SKIP_THIS
74  void computeCoeff(const vpColVector &) {}
75  void computeDenom(vpColVector &, const vpColVector &) {}
76 #endif
77 
78  void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p, vpMatrix &dM);
79  void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM);
80 
81  void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
82  void getdWdp0(const int &v, const int &u, double *dIdW);
83 
84  void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
85  void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
86  void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
87 
92  bool isESMcompatible() const { return false; }
93 
94  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
95 
96  void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
97  void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
98  void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
99 };
100 #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
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