Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarpHomographySL3.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 vpTemplateTrackerWarpHomographySL3_hh
46#define vpTemplateTrackerWarpHomographySL3_hh
47
48#include <vector>
49
50#include <visp3/tt/vpTemplateTrackerWarp.h>
51#include <visp3/vision/vpHomography.h>
52
58{
59protected:
62 std::vector<vpMatrix> A;
63
64public:
67
68 void computeCoeff(const vpColVector &p);
69 void computeDenom(vpColVector &X, const vpColVector &);
70
71 void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &, vpMatrix &dW);
72 void dWarpCompo(const vpColVector &, const vpColVector &X, const vpColVector &, const double *dwdp0, vpMatrix &dW);
73
74 void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
75
76 void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW);
77 void getdWdp0(const int &v, const int &u, double *dIdW);
78 void getdWdp0(const double &v, const double &u, double *dIdW);
79
80 vpHomography getHomography() const;
81
82 void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
83 void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
84 void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
85
90 bool isESMcompatible() const { return true; }
91
92 void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
93
94 void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &);
95 void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &);
96
97#ifndef DOXYGEN_SHOULD_SKIP_THIS
98 void warpXInv(const vpColVector &, vpColVector &, const vpColVector &) {}
99#endif
100};
101#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