Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpTemplateTrackerWarp.h
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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 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;
62  unsigned int nbParam;
63 
64 public:
68  vpTemplateTrackerWarp() : denom(1.), nbParam(0) {}
73 
74 #ifndef DOXYGEN_SHOULD_SKIP_THIS
75  virtual void computeCoeff(const vpColVector &p) = 0;
76  virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM) = 0;
77 #endif
78 
91  virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM) = 0;
92 
102  virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0,
103  vpMatrix &dM) = 0;
104 
113  virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW) = 0;
114 
126  virtual void getdWdp0(const int &v, const int &u, double *dIdW) = 0;
127 
134  virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const = 0;
135 
142  virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down) = 0;
143 
150  virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up) = 0;
151 
157  virtual bool isESMcompatible() const = 0;
158 
167  virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const = 0;
168 
178  virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p) = 0;
179 
187  virtual void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
188 
196  virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
197 
198 
201 #ifndef DOXYGEN_SHOULD_SKIP_THIS
202  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
203 #endif
204 
210  double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p);
211 
217  unsigned int getNbParam() const { return nbParam; }
218 
224  void setNbParam(unsigned int nb)
225  {
226  nbParam = nb;
227  }
228 
239  void warp(const double *ut0, const double *vt0, int nb_pt, const vpColVector &p, double *u, double *v);
240 
249  void warpTriangle(const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out);
250 
260  void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out);
262 };
263 
264 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
unsigned int getNbParam() const
void setNbParam(unsigned int nb)
double denom
Internal value used by homography warp model.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
unsigned int nbParam
Number of parameters used to model warp transformation.