Visual Servoing Platform  version 3.2.0 under development (2018-10-19)
vpTemplateTrackerWarpHomographySL3 Class Referenceabstract

#include <visp3/tt/vpTemplateTrackerWarpHomographySL3.h>

+ Inheritance diagram for vpTemplateTrackerWarpHomographySL3:

Public Member Functions

 vpTemplateTrackerWarpHomographySL3 ()
 
 ~vpTemplateTrackerWarpHomographySL3 ()
 
void computeCoeff (const vpColVector &p)
 
void computeDenom (vpColVector &vX, const vpColVector &ParamM)
 
void dWarp (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)
 
void dWarpCompo (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)
 
void findWarp (const double *ut0, const double *vt0, const double *u, const double *v, int nb_pt, vpColVector &p)
 
void getdW0 (const int &i, const int &j, const double &dy, const double &dx, double *dIdW)
 
void getdWdp0 (const int &i, const int &j, double *dIdW)
 
void getdWdp0 (const double &i, const double &j, double *dIdW)
 
vpHomography getHomography () const
 
void getParamInverse (const vpColVector &ParamM, vpColVector &ParamMinv) const
 
void getParamPyramidDown (const vpColVector &p, vpColVector &pdown)
 
void getParamPyramidUp (const vpColVector &p, vpColVector &pup)
 
bool isESMcompatible () const
 
void pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const
 
void warpX (const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)
 
void warpX (const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)
 
double getDistanceBetweenZoneAndWarpedZone (const vpTemplateTrackerZone &Z, const vpColVector &p)
 
unsigned int getNbParam () const
 
void setNbParam (unsigned int nb)
 
void warp (const double *ut0, const double *vt0, int nb_pt, const vpColVector &p, double *u, double *v)
 
virtual void warpXInv (const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)=0
 
void warpTriangle (const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out)
 
void warpZone (const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out)
 

Protected Attributes

vpMatrix G
 
vpMatrix dGx
 
std::vector< vpMatrixA
 
double denom
 
vpMatrix dW
 
unsigned int nbParam
 

Detailed Description

Examples:
templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarpHomographySL3.h.

Constructor & Destructor Documentation

vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3 ( )
vpTemplateTrackerWarpHomographySL3::~vpTemplateTrackerWarpHomographySL3 ( )

Definition at line 145 of file vpTemplateTrackerWarpHomographySL3.cpp.

Member Function Documentation

void vpTemplateTrackerWarpHomographySL3::computeCoeff ( const vpColVector p)

Compute the exponential of the homography matrix defined by the given parameters

Parameters
p: Parameters of the SL3 homography warping function.

Definition at line 235 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::expm(), and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::computeDenom ( vpColVector vX,
const vpColVector ParamM 
)

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

Parameters
vX: Point to consider
ParamM: parameters of the warping function.

Definition at line 230 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::dWarp ( const vpColVector X1,
const vpColVector X2,
const vpColVector ParamM,
vpMatrix dW 
)
virtual

Compute the derivative of the warping function according to its parameters.

Parameters
X1: Point to consider in the derivative computation.
X2: Point to consider in the derivative computation.
ParamM: Parameters of the warping function.
dW: Resulting derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 276 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, dGx, and G.

void vpTemplateTrackerWarpHomographySL3::dWarpCompo ( const vpColVector X1,
const vpColVector X2,
const vpColVector ParamM,
const double *  dwdp0,
vpMatrix dW 
)
virtual

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

Parameters
X1: Point to consider in the derivative computation.
X2: Point to consider in the derivative computation.
ParamM: Parameters of the warping function.
dwdp0: Derivative matrix of the warping function according to the initial warping function parameters (p=0).
dW: Resulting compositionnal derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 394 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, G, and vpTemplateTrackerWarp::nbParam.

void vpTemplateTrackerWarpHomographySL3::findWarp ( const double *  ut0,
const double *  vt0,
const double *  u,
const double *  v,
int  nb_pt,
vpColVector p 
)

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

Parameters
ut0: Original u coordinates.
vt0: Original v coordinates.
u: Warped u coordinates.
v: Warped v coordinates.
nb_pt: Number of points.
p: Resulting warping function parameters.

Definition at line 45 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::AtA(), computeCoeff(), computeDenom(), vpMatrix::computeHLM(), getdWdp0(), vpMatrix::inverseByLU(), vpTemplateTrackerWarp::nbParam, pRondp(), vpMatrix::t(), and warpX().

Referenced by getParamPyramidDown(), and getParamPyramidUp().

double vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone ( const vpTemplateTrackerZone Z,
const vpColVector p 
)
inherited

Compute the distance between a zone and its associated warped zone.

Parameters
Z: Zone to consider.
p: Parameters of the warping function.

Definition at line 73 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerTriangle::getCorner(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), and vpTemplateTrackerWarp::warpX().

void vpTemplateTrackerWarpHomographySL3::getdW0 ( const int &  i,
const int &  j,
const double &  dy,
const double &  dx,
double *  dIdW 
)
virtual

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

Parameters
i: i coordinate (along the rows) of the point to consider in the image.
j: j coordinate (along the columns) of the point to consider in the image.
dy: Derivative on the y-axis (along the rows) of the point (i,j).
dx: Derivative on the x-axis (along the columns) of the point (i,j).
dIdW: Resulting derivative matrix (Image according to the warping function).

Implements vpTemplateTrackerWarp.

Definition at line 301 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

void vpTemplateTrackerWarpHomographySL3::getdWdp0 ( const int &  i,
const int &  j,
double *  dIdW 
)
virtual

Compute the derivative of the warping function according to the initial parameters.

Parameters
i: i coordinate (along the rows) of the point to consider in the image.
j: j coordinate (along the columns) of the point to consider in the image.
dIdW: Resulting derivative matrix (Image according to the warping function).

Implements vpTemplateTrackerWarp.

Definition at line 333 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::getdWdp0 ( const double &  i,
const double &  j,
double *  dIdW 
)

Compute the derivative of the warping function according to the initial parameters.

Parameters
i: i coordinate (along the rows) of the point to consider in the image.
j: j coordinate (along the columns) of the point to consider in the image.
dIdW: Resulting derivative matrix (Image according to the warping function).

Definition at line 362 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

vpHomography vpTemplateTrackerWarpHomographySL3::getHomography ( ) const

Return the homography defined by the warping function

Returns
An Homography via vpHomography.

Definition at line 267 of file vpTemplateTrackerWarpHomographySL3.cpp.

References G.

unsigned int vpTemplateTrackerWarp::getNbParam ( ) const
inlineinherited

Get the number of parameters of the warping function.

Returns
Number of parameters.

Definition at line 141 of file vpTemplateTrackerWarp.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::vpTemplateTracker().

void vpTemplateTrackerWarpHomographySL3::getParamInverse ( const vpColVector ParamM,
vpColVector ParamMinv 
) const
virtual

Get the inverse of the warping function parameters.

Parameters
ParamM: Parameters of the warping function.
ParamMinv: Inverse parameters.

Implements vpTemplateTrackerWarp.

Definition at line 403 of file vpTemplateTrackerWarpHomographySL3.cpp.

void vpTemplateTrackerWarpHomographySL3::getParamPyramidDown ( const vpColVector p,
vpColVector pdown 
)
virtual

Get the parameters of the warping function one level down.

Parameters
p: Current parameters of the warping function.
pdown: Resulting parameters on level down.

Implements vpTemplateTrackerWarp.

Definition at line 149 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

void vpTemplateTrackerWarpHomographySL3::getParamPyramidUp ( const vpColVector p,
vpColVector pup 
)
virtual

Get the parameters of the warping function one level up.

Parameters
p: Current parameters of the warping function.
pup: Resulting parameters one level up.

Implements vpTemplateTrackerWarp.

Definition at line 183 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

bool vpTemplateTrackerWarpHomographySL3::isESMcompatible ( ) const
inlinevirtual

Tells if the warping function is ESM compatible.

Returns
True if it is ESM compatible, False otherwise.

Implements vpTemplateTrackerWarp.

Definition at line 194 of file vpTemplateTrackerWarpHomographySL3.h.

References vpTemplateTrackerWarp::pRondp(), vpTemplateTrackerWarp::warpX(), and vpTemplateTrackerWarp::warpXInv().

void vpTemplateTrackerWarpHomographySL3::pRondp ( const vpColVector p1,
const vpColVector p2,
vpColVector pres 
) const
virtual

Get the displacement resulting from the composition of two other displacements.

Parameters
p1: First displacement.
p2: Second displacement.
pres: Displacement resulting from the composition of p1 and p2.

Implements vpTemplateTrackerWarp.

Definition at line 407 of file vpTemplateTrackerWarpHomographySL3.cpp.

Referenced by findWarp().

void vpTemplateTrackerWarp::setNbParam ( unsigned int  nb)
inlineinherited

Set the number of parameters of the warping function.

Parameters
nb: New number of parameters.

Definition at line 189 of file vpTemplateTrackerWarp.h.

References vpArray2D< Type >::resize().

void vpTemplateTrackerWarp::warp ( const double *  ut0,
const double *  vt0,
int  nb_pt,
const vpColVector p,
double *  u,
double *  v 
)
inherited

Warp a list of points.

Parameters
ut0: List of u coordinates of the points.
vt0: List of v coordinates of the points.
nb_pt: Number of points to consider.
p: Parameters of the warp.
u: Resulting u coordinates.
v: resulting v coordinates.

Definition at line 95 of file vpTemplateTrackerWarp.cpp.

References vpMatrix::AtA(), vpMatrix::computeHLM(), vpTemplateTrackerWarp::dWarp(), vpMatrix::inverseByLU(), vpTemplateTrackerWarp::nbParam, vpMatrix::t(), and vpTemplateTrackerWarp::warpX().

Referenced by getParamPyramidDown(), and getParamPyramidUp().

void vpTemplateTrackerWarp::warpTriangle ( const vpTemplateTrackerTriangle in,
const vpColVector p,
vpTemplateTrackerTriangle out 
)
inherited

Warp a triangle and store the result in a new zone.

Parameters
in: Triangle to warp.
p: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out: Resulting triangle.

Definition at line 42 of file vpTemplateTrackerWarp.cpp.

References vpException::dimensionError, vpTemplateTrackerTriangle::getCorners(), vpTemplateTrackerTriangle::init(), vpArray2D< Type >::size(), vpCTRACE, and vpTemplateTrackerWarp::warpX().

Referenced by vpTemplateTrackerWarp::warpZone().

void vpTemplateTrackerWarpHomographySL3::warpX ( const vpColVector vX,
vpColVector vXres,
const vpColVector ParamM 
)
virtual

Warp a point.

Parameters
vX: Coordinates of the point to warp.
vXres: Coordinates of the warped point.
ParamM: Parameters of the warping function.

Implements vpTemplateTrackerWarp.

Definition at line 253 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::warpX ( const int &  i,
const int &  j,
double &  i2,
double &  j2,
const vpColVector ParamM 
)
virtual

Warp a point.

Parameters
i: i coordinate (along the rows) of the point to warp.
j: j coordinate (along the columns) of the point to warp.
i2: i coordinate (along the rows) of the warped point.
j2: j coordinate (along the columns) of the warped point.
ParamM: Parameters of the warping function.

Implements vpTemplateTrackerWarp.

Definition at line 260 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

virtual void vpTemplateTrackerWarp::warpXInv ( const vpColVector vX,
vpColVector vXres,
const vpColVector ParamM 
)
pure virtualinherited
void vpTemplateTrackerWarp::warpZone ( const vpTemplateTrackerZone in,
const vpColVector p,
vpTemplateTrackerZone out 
)
inherited

Warp a zone and store the result in a new zone.

Parameters
in: Zone to warp.
p: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out: Resulting zone.
Examples:
templateTracker.cpp.

Definition at line 62 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerZone::add(), vpTemplateTrackerZone::clear(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), and vpTemplateTrackerWarp::warpTriangle().

Referenced by vpTemplateTracker::display().

Member Data Documentation

std::vector<vpMatrix> vpTemplateTrackerWarpHomographySL3::A
protected
vpMatrix vpTemplateTrackerWarpHomographySL3::dGx
protected
vpMatrix vpTemplateTrackerWarpHomographySL3::G
protected