Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
vpTemplateTrackerWarp.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 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 https://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  *
38 *****************************************************************************/
44 #ifndef vpTemplateTrackerWarp_hh
45 #define vpTemplateTrackerWarp_hh
46 
47 #include <visp3/core/vpDisplay.h>
48 #include <visp3/core/vpTrackingException.h>
49 #include <visp3/tt/vpTemplateTrackerHeader.h>
50 #include <visp3/tt/vpTemplateTrackerTriangle.h>
51 #include <visp3/tt/vpTemplateTrackerZone.h>
52 
57 class VISP_EXPORT vpTemplateTrackerWarp
58 {
59 protected:
60  double denom;
61  unsigned int nbParam;
62 
63 public:
67  vpTemplateTrackerWarp() : denom(1.), nbParam(0) {}
72 
73 #ifndef DOXYGEN_SHOULD_SKIP_THIS
74  virtual void computeCoeff(const vpColVector &p) = 0;
75  virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM) = 0;
76 #endif
77 
90  virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM) = 0;
91 
101  virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0,
102  vpMatrix &dM) = 0;
103 
112  virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW) = 0;
113 
125  virtual void getdWdp0(const int &v, const int &u, double *dIdW) = 0;
126 
133  virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const = 0;
134 
141  virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down) = 0;
142 
149  virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up) = 0;
150 
156  virtual bool isESMcompatible() const = 0;
157 
166  virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const = 0;
167 
177  virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p) = 0;
178 
186  virtual void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
187 
195  virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
196 
199 #ifndef DOXYGEN_SHOULD_SKIP_THIS
200  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
201 #endif
208  double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p);
209 
215  unsigned int getNbParam() const { return nbParam; }
216 
222  void setNbParam(unsigned int nb) { nbParam = nb; }
223 
234  void warp(const double *ut0, const double *vt0, int nb_pt, const vpColVector &p, double *u, double *v);
235 
244  void warpTriangle(const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out);
245 
255  void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out);
257 };
258 
259 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
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 bool isESMcompatible() const =0
virtual void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
unsigned int nbParam
Number of parameters used to model warp transformation.
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0
unsigned int getNbParam() const
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
void setNbParam(unsigned int nb)
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
double denom
Internal value used by homography warp model.
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0