Visual Servoing Platform version 3.5.0
vpTemplateTrackerWarpAffine.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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#include <visp3/tt/vpTemplateTrackerWarpAffine.h>
41
46{
47 nbParam = 6;
48}
49
57{
58 p_down[0] = p[0];
59 p_down[1] = p[1];
60 p_down[2] = p[2];
61 p_down[3] = p[3];
62 p_down[4] = p[4] / 2.;
63 p_down[5] = p[5] / 2.;
64}
65
73{
74 p_up[0] = p[0];
75 p_up[1] = p[1];
76 p_up[2] = p[2];
77 p_up[3] = p[3];
78 p_up[4] = p[4] * 2.;
79 p_up[5] = p[5] * 2.;
80}
81
90void vpTemplateTrackerWarpAffine::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
91{
92 dIdW[0] = u * du;
93 dIdW[1] = u * dv;
94 dIdW[2] = v * du;
95 dIdW[3] = v * dv;
96 dIdW[4] = du;
97 dIdW[5] = dv;
98}
99
111void vpTemplateTrackerWarpAffine::getdWdp0(const int &v, const int &u, double *dIdW)
112{
113 dIdW[0] = u;
114 dIdW[1] = 0;
115 dIdW[2] = v;
116 dIdW[3] = 0;
117 dIdW[4] = 1.;
118 dIdW[5] = 0;
119
120 dIdW[6] = 0;
121 dIdW[7] = u;
122 dIdW[8] = 0;
123 dIdW[9] = v;
124 dIdW[10] = 0;
125 dIdW[11] = 1.;
126}
127
137void vpTemplateTrackerWarpAffine::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
138{
139 u2 = (1 + p[0]) * u1 + p[2] * v1 + p[4];
140 v2 = p[1] * u1 + (1 + p[3]) * v1 + p[5];
141}
142
151{
152 X2[0] = (1.0 + p[0]) * X1[0] + p[2] * X1[1] + p[4];
153 X2[1] = p[1] * X1[0] + (1.0 + p[3]) * X1[1] + p[5];
154}
155
166{
167 double u = X[0];
168 double v = X[1];
169
170 dM[0][0] = u;
171 dM[0][1] = 0;
172 dM[0][2] = v;
173 dM[0][3] = 0;
174 dM[0][4] = 1;
175 dM[0][5] = 0;
176 dM[1][0] = 0;
177 dM[1][1] = u;
178 dM[1][2] = 0;
179 dM[1][3] = v;
180 dM[1][4] = 0;
181 dM[1][5] = 1;
182}
183
192 const vpColVector &p, const double *dwdp0, vpMatrix &dM)
193{
194 for (unsigned int i = 0; i < nbParam; i++) {
195 dM[0][i] = (1. + p[0]) * dwdp0[i] + p[2] * dwdp0[i + nbParam];
196 dM[1][i] = p[1] * dwdp0[i] + (1. + p[3]) * dwdp0[i + nbParam];
197 }
198}
199
208{
209 X2[0] = (1 + p[0]) * X1[0] + p[2] * X1[1] + p[4];
210 X2[1] = p[1] * X1[0] + (1 + p[3]) * X1[1] + p[5];
211}
212
220{
221 double u = p[4];
222 double v = p[5];
223 double r_00 = 1 + p[0], r_01 = p[2];
224 double r_10 = p[1], r_11 = 1 + p[3];
225 double det = r_00 * r_11 - r_01 * r_10;
226 if (std::fabs(det) < std::numeric_limits<double>::epsilon()) {
228 "In vpTemplateTrackerWarpAffine::getParamInverse() "
229 "cannot inverse 2-by-2 matrix. Matrix determinant is 0."));
230 }
231
232 double ri_11 = r_00 / det;
233 double ri_00 = r_11 / det;
234 double ri_01 = -r_01 / det;
235 double ri_10 = -r_10 / det;
236
237 p_inv[0] = ri_00 - 1;
238 p_inv[1] = ri_10;
239 p_inv[2] = ri_01;
240 p_inv[3] = ri_11 - 1;
241 p_inv[4] = -(ri_00 * u + ri_01 * v);
242 p_inv[5] = -(ri_10 * u + ri_11 * v);
243}
244
254{
255 double r1_00 = 1 + p1[0], r1_01 = p1[2];
256 double r1_10 = p1[1], r1_11 = 1 + p1[3];
257 double r2_00 = 1 + p2[0], r2_01 = p2[2];
258 double r2_10 = p2[1], r2_11 = 1 + p2[3];
259 double u1 = p1[4];
260 double v1 = p1[5];
261 double u2 = p2[4];
262 double v2 = p2[5];
263
264 p12[0] = r1_00 * r2_00 + r1_01 * r2_10 - 1.;
265 p12[1] = r1_10 * r2_00 + r1_11 * r2_10;
266 p12[2] = r1_00 * r2_01 + r1_01 * r2_11;
267 p12[3] = r1_10 * r2_01 + r1_11 * r2_11 - 1.;
268 p12[4] = r1_00 * u2 + r1_01 * v2 + u1;
269 p12[5] = r1_10 * u2 + r1_11 * v2 + v1;
270}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &, vpMatrix &dM)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getdWdp0(const int &v, const int &u, double *dIdW)
unsigned int nbParam
Number of parameters used to model warp transformation.