39 #include <visp3/tt/vpTemplateTrackerWarpRT.h>
55 p_down[1] = p[1] / 2.;
56 p_down[2] = p[2] / 2.;
82 dIdW[0] = -v * du + u * dv;
120 double c = cos(p[0]);
121 double s = sin(p[0]);
123 u2 = (c * u1) - (s * v1) + p[1];
124 v2 = (s * u1) + (c * v1) + p[2];
136 double c = cos(p[0]);
137 double s = sin(p[0]);
139 X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
140 X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
157 double c = cos(p[0]);
158 double s = sin(p[0]);
160 dM[0][0] = -s * u - c * v;
164 dM[1][0] = c * u - s * v;
179 double c = cos(p[0]);
180 double s = sin(p[0]);
182 for (
unsigned int i = 0; i <
nbParam; i++) {
183 dM[0][i] = (c * dwdp0[i]) - (s * dwdp0[i +
nbParam]);
184 dM[1][i] = (s * dwdp0[i]) + (c * dwdp0[i +
nbParam]);
197 double c = cos(p[0]);
198 double s = sin(p[0]);
200 X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
201 X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
212 double c = cos(p[0]);
213 double s = sin(p[0]);
217 p_inv[0] = atan2(-s, c);
218 p_inv[1] = -(c * u + s * v);
219 p_inv[2] = s * u - c * v;
232 double c1 = cos(p1[0]);
233 double s1 = sin(p1[0]);
234 double c2 = cos(p2[0]);
235 double s2 = sin(p2[0]);
241 p12[0] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
242 p12[1] = c1 * u2 - s1 * v2 + u1;
243 p12[2] = s1 * u2 + c1 * v2 + v1;
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
vpTemplateTrackerWarpRT()
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void getdWdp0(const int &v, const int &u, double *dIdW)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p, vpMatrix &dM)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
unsigned int nbParam
Number of parameters used to model warp transformation.