vpTemplateTrackerWarpAffine.cpp

/****************************************************************************
 *
 * $Id: vpTemplateTrackerWarpAffine.cpp 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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
 *
 *****************************************************************************/
#include <visp/vpTemplateTrackerWarpAffine.h>


vpTemplateTrackerWarpAffine::vpTemplateTrackerWarpAffine()
{
  nbParam = 6 ;
  dW.resize(2,nbParam);
}

//get the parameter corresponding to the lower level of a gaussian pyramid
void vpTemplateTrackerWarpAffine::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
{
  pdown=p;
  pdown[4]=p[4]/2.;
  pdown[5]=p[5]/2.;
}

void vpTemplateTrackerWarpAffine::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
{
  pup=p;
  pup[4]=p[4]*2.;
  pup[5]=p[5]*2.;
}
/*calcul de di*dw(x,p0)/dp
*/
void vpTemplateTrackerWarpAffine::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
{
  dIdW[0]=j*dx;
  dIdW[1]=j*dy;
  dIdW[2]=i*dx;
  dIdW[3]=i*dy;
  dIdW[4]=dx;
  dIdW[5]=dy;
}
/*calcul de dw(x,p0)/dp
*/
void vpTemplateTrackerWarpAffine::getdWdp0(const int &i,const int &j,double *dIdW)
{
  dIdW[0]=j;
  dIdW[1]=0;
  dIdW[2]=i;
  dIdW[3]=0;
  dIdW[4]=1.;
  dIdW[5]=0;

  dIdW[6]=0;
  dIdW[7]=j;
  dIdW[8]=0;
  dIdW[9]=i;
  dIdW[10]=0;
  dIdW[11]=1.;
}

void vpTemplateTrackerWarpAffine::warpX(const int &i, const int &j,double &i2,double &j2, const vpColVector &ParamM)
{
  j2=(1+ParamM[0])*j+ParamM[2]*i+ParamM[4];
  i2=ParamM[1]*j+(1+ParamM[3])*i+ParamM[5];
}


void vpTemplateTrackerWarpAffine::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=(1.0+ParamM[0])*vX[0]+ParamM[2]*vX[1]+ParamM[4];
  vXres[1]=ParamM[1]*vX[0]+(1.0+ParamM[3])*vX[1]+ParamM[5];
}

void vpTemplateTrackerWarpAffine::dWarp(const vpColVector &X1,const vpColVector &/*X2*/,const vpColVector &/*ParamM*/,vpMatrix &dW_)
{
  double j=X1[0];
  double i=X1[1];
  dW_=0;
  dW_[0][0]=j;dW_[0][2]=i;dW_[0][4]=1;
  dW_[1][1]=j;dW_[1][3]=i;dW_[1][5]=1;
}

/*compute dw=dw/dx*dw/dp
*/
void vpTemplateTrackerWarpAffine::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &ParamM,
                                             const double *dwdp0, vpMatrix &dW_)
{
  for(unsigned int i=0;i<nbParam;i++)
  {
    dW_[0][i]=(1.+ParamM[0])*dwdp0[i]+ParamM[2]*dwdp0[i+nbParam];
    dW_[1][i]=ParamM[1]*dwdp0[i]+(1.+ParamM[3])*dwdp0[i+nbParam];
  }
}

void vpTemplateTrackerWarpAffine::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=(1+ParamM[0])*vX[0]+ParamM[2]*vX[1]+ParamM[4];
  vXres[1]=ParamM[1]*vX[0]+(1+ParamM[3])*vX[1]+ParamM[5];
} 
void vpTemplateTrackerWarpAffine::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
{
  vpColVector Trans(2);
  vpMatrix MWrap(2,2);
  Trans[0]=ParamM[4];Trans[1]=ParamM[5];
  MWrap[0][0]=1+ParamM[0];MWrap[0][1]=ParamM[2];
  MWrap[1][0]=ParamM[1];MWrap[1][1]=1+ParamM[3];

  vpMatrix MWrapInv(2,2);MWrapInv=MWrap.inverseByLU();
  vpColVector TransInv(2);TransInv=-1*MWrapInv*Trans;

  ParamMinv[0]=MWrapInv[0][0]-1;ParamMinv[2]=MWrapInv[0][1];
  ParamMinv[1]=MWrapInv[1][0];ParamMinv[3]=MWrapInv[1][1]-1;
  ParamMinv[4]=TransInv[0];ParamMinv[5]=TransInv[1];
} 

void vpTemplateTrackerWarpAffine::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
{
  vpColVector Trans1(2);
  vpMatrix MWrap1(2,2);
  Trans1[0]=p1[4];Trans1[1]=p1[5];
  MWrap1[0][0]=1+p1[0];MWrap1[0][1]=p1[2];
  MWrap1[1][0]=p1[1];MWrap1[1][1]=1+p1[3];

  vpColVector Trans2(2);
  vpMatrix MWrap2(2,2);
  Trans2[0]=p2[4];Trans2[1]=p2[5];
  MWrap2[0][0]=1+p2[0];MWrap2[0][1]=p2[2];
  MWrap2[1][0]=p2[1];MWrap2[1][1]=1+p2[3];

  vpColVector TransRes(2);
  vpMatrix MWrapRes(2,2);
  TransRes=MWrap1*Trans2+Trans1;
  MWrapRes=MWrap1*MWrap2;

  pres[0]=MWrapRes[0][0]-1;pres[2]=MWrapRes[0][1];
  pres[1]=MWrapRes[1][0];pres[3]=MWrapRes[1][1]-1;
  pres[4]=TransRes[0];pres[5]=TransRes[1];
}