Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpTemplateTrackerWarpTranslation.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  *****************************************************************************/
45 #ifndef vpTemplateTrackerWarpTranslation_hh
46 #define vpTemplateTrackerWarpTranslation_hh
47 
48 #include <visp3/tt/vpTemplateTrackerWarp.h>
49 
55 {
56 public:
57  // constructor;
59 
60 #ifndef DOXYGEN_SHOULD_SKIP_THIS
61  void computeCoeff(const vpColVector & /*p*/) {}
62  void computeDenom(vpColVector & /*vX*/, const vpColVector & /*ParamM*/) {}
63 #endif
64 
74  void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW);
75 
87  void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
88  vpMatrix &dW);
89 
101  void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW);
102 
112  void getdWdp0(const int &i, const int &j, double *dIdW);
113 
120  void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const;
121 
128  void getParamPyramidDown(const vpColVector &p, vpColVector &pdown);
129 
136  void getParamPyramidUp(const vpColVector &p, vpColVector &pup);
137 
143  bool isESMcompatible() const { return true; }
144 
153  void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const;
154 
162  void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
163 
173  void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM);
174 
182  void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM);
183 };
184 #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
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