libvisp-dev 2.9.0-3+b2 / usr / include / visp / vpTemplateTrackerWarpHomography.h

/****************************************************************************
 *
 * $Id: vpTemplateTrackerWarpHomography.h 4607 2014-01-21 16:02:11Z ayol $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
/*!
 \file vpTemplateTrackerWarpHomography.h
 \brief warping function of an homography: the homography is directly defined by the diplacement parameter: H=[[1+p0, p3, p6], [p1, 1+p4, p7], [p2, p5, 1]]
*/


#ifndef vpTemplateTrackerWarpHomography_hh
#define vpTemplateTrackerWarpHomography_hh

#include <visp/vpTemplateTrackerWarp.h>
#include <visp/vpHomography.h>


class VISP_EXPORT vpTemplateTrackerWarpHomography: public vpTemplateTrackerWarp
{
  public:
    //constructor;
    vpTemplateTrackerWarpHomography();
    
    #ifndef DOXYGEN_SHOULD_SKIP_THIS
    void computeCoeff(const vpColVector &/*p*/){}
    #endif

    /*!
     Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.

     \param vX : Point to consider
     \param ParamM : parameters of the warping function.
    */
    void computeDenom(vpColVector &vX, const vpColVector &ParamM);

    /*!
      Compute the derivative of the warping function according to its parameters.

      \param X1 : Point to consider in the derivative computation.
      \param X2 : Point to consider in the derivative computation.
      \param ParamM : Parameters of the warping function.
      \param dW : Resulting derivative matrix.
    */
    void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);

    /*!
      Compute the compositionnal derivative of the warping function according to its parameters.

      \param X1 : Point to consider in the derivative computation.
      \param X2 : Point to consider in the derivative computation.
      \param ParamM : Parameters of the warping function.
      \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
      \param dW : Resulting compositionnal derivative matrix.
    */
    void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);

    /*!
      Compute the derivative of the image with relation to the warping function parameters.

      \param i : i coordinate (along the rows) of the point to consider in the image.
      \param j : j coordinate (along the columns) of the point to consider in the image.
      \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
      \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
      \param dIdW : Resulting derivative matrix (Image according to the warping function).
    */
    void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);

    /*!
      Compute the derivative of the warping function according to the initial parameters.

      \param i : i coordinate (along the rows) of the point to consider in the image.
      \param j : j coordinate (along the columns) of the point to consider in the image.
      \param dIdW : Resulting derivative matrix (Image according to the warping function).
    */
    void getdWdp0(const int &i,const int &j,double *dIdW);

    /*!
     Return the homography defined by the given parameters

     \param ParamM : Parameters of the homography.

     \return An Homography via vpHomography.
     */
    vpHomography getHomography(const vpColVector &ParamM) const;

    /*!
     Compute the parameters of the homography warping function according to the given vpHomography

     \param H : Homography used to compute the parameters.
     \param par : Resulting warping function parameters.
     */
    void getParam(const vpHomography &H,vpColVector &par) const;

    /*!
      Get the inverse of the warping function parameters.

      \param ParamM : Parameters of the warping function.
      \param ParamMinv : Inverse parameters.
    */
    void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;

    /*!
      Get the parameters of the warping function one level down.

      \param p : Current parameters of the warping function.
      \param pdown : Resulting parameters on level down.
    */
    void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);

    /*!
      Get the parameters of the warping function one level up.

      \param p : Current parameters of the warping function.
      \param pup : Resulting parameters one level up.
    */
    void getParamPyramidUp(const vpColVector &p,vpColVector &pup);

    /*!
      Tells if the warping function is ESM compatible.

      \return True if it is ESM compatible, False otherwise.
    */
    bool isESMcompatible() const {return false;}

    /*!
      Get the displacement resulting from the composition of two other displacements.

      \param p1 : First displacement.
      \param p2 : Second displacement.
      \param pres : Displacement resulting from the composition of p1 and p2.
    */
    void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const ;

    /*!
      Warp a point.

      \param vX : Coordinates of the point to warp.
      \param vXres : Coordinates of the warped point.
      \param ParamM : Parameters of the warping function.
    */
    void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);

    /*!
      Warp a point.

      \param i : i coordinate (along the rows) of the point to warp.
      \param j : j coordinate (along the columns) of the point to warp.
      \param i2 : i coordinate (along the rows) of the warped point.
      \param j2 : j coordinate (along the columns) of the warped point.
      \param ParamM : Parameters of the warping function.
    */
    void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);

    /*!
      Inverse Warp a point.

      \param vX : Coordinates of the point to warp.
      \param vXres : Coordinates of the warped point.
      \param ParamM : Parameters of the warping function.
    */
    void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
};
#endif