Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpTemplateTrackerWarp.h
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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 vpTemplateTrackerWarp_hh
46 #define vpTemplateTrackerWarp_hh
47 
48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/core/vpTrackingException.h>
50 #include <visp3/tt/vpTemplateTrackerHeader.h>
51 #include <visp3/tt/vpTemplateTrackerTriangle.h>
52 #include <visp3/tt/vpTemplateTrackerZone.h>
53 
58 class VISP_EXPORT vpTemplateTrackerWarp
59 {
60 protected:
61  double denom;
63  unsigned int nbParam;
64 
65 public:
66  // constructor;
67  vpTemplateTrackerWarp() : denom(1.), dW(), nbParam(0) {}
69 
70 #ifndef DOXYGEN_SHOULD_SKIP_THIS
71  virtual void computeCoeff(const vpColVector &p) = 0;
72  virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM) = 0;
73 #endif
74 
84  virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW) = 0;
85 
97  virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0,
98  vpMatrix &dW) = 0;
99 
100 #ifndef DOXYGEN_SHOULD_SKIP_THIS
101  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
102 #endif
103 
115  virtual void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW) = 0;
116 
126  virtual void getdWdp0(const int &i, const int &j, double *dIdW) = 0;
127 
134  double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p);
135 
141  unsigned int getNbParam() const { return nbParam; }
142 
149  virtual void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const = 0;
150 
157  virtual void getParamPyramidDown(const vpColVector &p, vpColVector &pdown) = 0;
158 
165  virtual void getParamPyramidUp(const vpColVector &p, vpColVector &pup) = 0;
166 
172  virtual bool isESMcompatible() const = 0;
173 
182  virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const = 0;
183 
189  void setNbParam(unsigned int nb)
190  {
191  nbParam = nb;
192  dW.resize(2, nbParam);
193  }
194 
205  void warp(const double *ut0, const double *vt0, int nb_pt, const vpColVector &p, double *u, double *v);
206 
216  virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM) = 0;
217 
225  virtual void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM) = 0;
226 
234  virtual void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM) = 0;
235 
244  void warpTriangle(const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out);
245 
254  void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out);
255 };
256 
257 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:305
void setNbParam(unsigned int nb)
unsigned int getNbParam() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130