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. 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 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 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 * Fabien Spindler 38 * 39 *****************************************************************************/ 40 /*! 41 \file vpTemplateTrackerWarpHomographySL3.h 42 \brief warping function of an homography: the homography is defined on the 43 sl3 lie algebra H=exp(Sum(p[i]* A_i)) A_i is the basis of the SL3 Algebra 44 */ 45 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 54 /*! 55 \class vpTemplateTrackerWarpHomographySL3 56 \ingroup group_tt_warp 57 */ 58 class VISP_EXPORT vpTemplateTrackerWarpHomographySL3 : public vpTemplateTrackerWarp 59 { 60 protected: 61 vpMatrix G; 62 vpMatrix dGx; 63 std::vector<vpMatrix> A; 64 65 public: 66 vpTemplateTrackerWarpHomographySL3(); 67 virtual ~vpTemplateTrackerWarpHomographySL3(); 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 88 /*! 89 * Tells if the warping function is ESM compatible. 90 * \return true. Homography SL3 model is compatible with ESM. 91 */ isESMcompatible()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 warpXInv(const vpColVector &,vpColVector &,const vpColVector &)100 void warpXInv(const vpColVector &, vpColVector &, const vpColVector &) {} 101 #endif 102 }; 103 #endif 104