Visual Servoing Platform version 3.5.0
vpTemplateTrackerWarpHomographySL3.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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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.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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26 * Inria at visp@inria.fr
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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 *****************************************************************************/
46#ifndef vpTemplateTrackerWarpHomographySL3_hh
47#define vpTemplateTrackerWarpHomographySL3_hh
48
49#include <vector>
50
51#include <visp3/tt/vpTemplateTrackerWarp.h>
52#include <visp3/vision/vpHomography.h>
53
59{
60protected:
63 std::vector<vpMatrix> A;
64
65public:
68
69 void computeCoeff(const vpColVector &p);
70 void computeDenom(vpColVector &X, const vpColVector &);
71
72 void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &, vpMatrix &dW);
73 void dWarpCompo(const vpColVector &, const vpColVector &X, const vpColVector &, const double *dwdp0,
74 vpMatrix &dW);
75
76 void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
77
78 void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
79 void getdWdp0(const int &v, const int &u, double *dIdW);
80 void getdWdp0(const double &v, const double &u, double *dIdW);
81
82 vpHomography getHomography() const;
83
84 void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
85 void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
86 void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
87
92 bool isESMcompatible() const { return true; }
93
94 void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
95
96 void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &);
97 void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &);
98
99#ifndef DOXYGEN_SHOULD_SKIP_THIS
100 void warpXInv(const vpColVector &, vpColVector &, const vpColVector &) {}
101#endif
102};
103#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
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