Visual Servoing Platform version 3.5.0
vpTemplateTrackerWarpTranslation.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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.
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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.
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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
23 * France
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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 * Fabien Spindler
38 *
39 *****************************************************************************/
45#ifndef vpTemplateTrackerWarpTranslation_hh
46#define vpTemplateTrackerWarpTranslation_hh
47
48#include <visp3/tt/vpTemplateTrackerWarp.h>
49
68{
69public:
71
72#ifndef DOXYGEN_SHOULD_SKIP_THIS
73 void computeCoeff(const vpColVector &) {}
74 void computeDenom(vpColVector &, const vpColVector &) {}
75#endif
76
77 void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM);
78 void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM);
79
80 void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW);
81 void getdWdp0(const int &, const int &, double *dIdW);
82
83 void getParamInverse(const vpColVector &p, vpColVector &p_inv) const;
84 void getParamPyramidDown(const vpColVector &p, vpColVector &p_down);
85 void getParamPyramidUp(const vpColVector &p, vpColVector &p_up);
86
91 bool isESMcompatible() const { return true; }
92
93 void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const;
94
95 void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
96 void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p);
97 void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p);
98};
99#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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