Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarp.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*****************************************************************************/
44#ifndef vpTemplateTrackerWarp_hh
45#define vpTemplateTrackerWarp_hh
46
47#include <visp3/core/vpDisplay.h>
48#include <visp3/core/vpTrackingException.h>
49#include <visp3/tt/vpTemplateTrackerHeader.h>
50#include <visp3/tt/vpTemplateTrackerTriangle.h>
51#include <visp3/tt/vpTemplateTrackerZone.h>
52
57class VISP_EXPORT vpTemplateTrackerWarp
58{
59protected:
60 double denom;
61 unsigned int nbParam;
62
63public:
67 vpTemplateTrackerWarp() : denom(1.), nbParam(0) {}
72
73#ifndef DOXYGEN_SHOULD_SKIP_THIS
74 virtual void computeCoeff(const vpColVector &p) = 0;
75 virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM) = 0;
76#endif
77
90 virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM) = 0;
91
101 virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0,
102 vpMatrix &dM) = 0;
103
112 virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW) = 0;
113
125 virtual void getdWdp0(const int &v, const int &u, double *dIdW) = 0;
126
133 virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const = 0;
134
141 virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down) = 0;
142
149 virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up) = 0;
150
156 virtual bool isESMcompatible() const = 0;
157
166 virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const = 0;
167
177 virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p) = 0;
178
186 virtual void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
187
195 virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p) = 0;
196
199#ifndef DOXYGEN_SHOULD_SKIP_THIS
200 void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);
201#endif
208 double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p);
209
215 unsigned int getNbParam() const { return nbParam; }
216
222 void setNbParam(unsigned int nb) { nbParam = nb; }
223
234 void warp(const double *ut0, const double *vt0, int nb_pt, const vpColVector &p, double *u, double *v);
235
244 void warpTriangle(const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out);
245
255 void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out);
257};
258
259#endif
Implementation of column vector and the associated operations.
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 bool isESMcompatible() const =0
virtual void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
unsigned int nbParam
Number of parameters used to model warp transformation.
virtual void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)=0
unsigned int getNbParam() const
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
void setNbParam(unsigned int nb)
virtual void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0
virtual void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)=0
double denom
Internal value used by homography warp model.
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0