Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarpHomography.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*****************************************************************************/
45#ifndef vpTemplateTrackerWarpHomography_hh
46#define vpTemplateTrackerWarpHomography_hh
47
48#include <visp3/tt/vpTemplateTrackerWarp.h>
49#include <visp3/vision/vpHomography.h>
50
69{
70public:
72
73#ifndef DOXYGEN_SHOULD_SKIP_THIS
74 void computeCoeff(const vpColVector &) {}
75#endif
76
77 void computeDenom(vpColVector &X, const vpColVector &p);
78
79 void dWarp(const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW);
80 void dWarpCompo(const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW);
81
82 void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
83 void getdWdp0(const int &v, const int &u, double *dIdW);
84
85 vpHomography getHomography(const vpColVector &ParamM) const;
86
87 void getParam(const vpHomography &H, vpColVector &p) const;
88 void getParam(const vpMatrix &H, vpColVector &p) const;
89
90 void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
91 void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
92 void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
93
98 bool isESMcompatible() const { return false; }
99
100 void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
101
102 void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
103 void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
104 void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
105};
106#endif
Implementation of column vector and the associated operations.
Implementation of an homography and operations on homographies.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0
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
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0