libvisp-tt-dev 3.1.0-2 / usr / include / x86_64-linux-gnu / visp3 / tt / vpTemplateTrackerWarpHomographySL3.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 vpTemplateTrackerWarpHomographySL3.h
 \brief warping function of an homography: the homography is defined on the
 sl3 lie algebra  H=exp(Sum(p[i]* A_i)) A_i is the basis of the SL3 Algebra
*/

#ifndef vpTemplateTrackerWarpHomographySL3_hh
#define vpTemplateTrackerWarpHomographySL3_hh

#include <vector>

#include <visp3/tt/vpTemplateTrackerWarp.h>
#include <visp3/vision/vpHomography.h>

/*!
  \class vpTemplateTrackerWarpHomographySL3
  \ingroup group_tt_warp
*/
class VISP_EXPORT vpTemplateTrackerWarpHomographySL3 : public vpTemplateTrackerWarp
{
protected:
  vpMatrix G;
  vpMatrix dGx;
  std::vector<vpMatrix> A;

public:
  // constructor;
  vpTemplateTrackerWarpHomographySL3();
  ~vpTemplateTrackerWarpHomographySL3();

  /*!
   Compute the exponential of the homography matrix defined by the given
   parameters

   \param p : Parameters of the SL3 homography warping function.
  */
  void computeCoeff(const vpColVector &p);

  /*!
   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);

  /*!
    Find the displacement/warping function parameters from a list of points.

    \param ut0 : Original u coordinates.
    \param vt0 : Original v coordinates.
    \param u : Warped u coordinates.
    \param v : Warped v coordinates.
    \param nb_pt : Number of points.
    \param p : Resulting warping function parameters.
  */
  void findWarp(const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p);

  /*!
    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);

  /*!
    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 double &i, const double &j, double *dIdW);

  /*!
   Return the homography defined by the warping function

   \return An Homography via vpHomography.
   */
  vpHomography getHomography() 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 true; }

  /*!
    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);

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  void warpXInv(const vpColVector & /*vX*/, vpColVector & /*vXres*/, const vpColVector & /*ParamM*/) {}
#endif
};
#endif