vpTemplateTrackerWarpRT.cpp

/****************************************************************************
 *
 * 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
 * ("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://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
 *
 *****************************************************************************/
#include <visp3/tt/vpTemplateTrackerWarpRT.h>


vpTemplateTrackerWarpRT::vpTemplateTrackerWarpRT()
{
  nbParam = 3;
  dW.resize(2,nbParam);
}

//get the parameter corresponding to the lower level of a gaussian pyramid
void vpTemplateTrackerWarpRT::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
{
  pdown=p;
  pdown[1]=p[1]/2.;
  pdown[2]=p[2]/2.;
}

void vpTemplateTrackerWarpRT::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
{
  pup=p;
  pup[1]=p[1]*2.;
  pup[2]=p[2]*2.;
}
/*calcul de di*dw(x,p0)/dp
*/
void vpTemplateTrackerWarpRT::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
{
  //   std::cout << "getdW0" << std::endl;
  dIdW[0]=-i*dx + j*dy;
  dIdW[1]=dx;
  dIdW[2]=dy;
}
/*calcul de dw(x,p0)/dp
*/
void vpTemplateTrackerWarpRT::getdWdp0(const int &i,const int &j,double *dIdW)
{
  dIdW[0]=-i;
  dIdW[1]=1.;
  dIdW[2]=0;

  dIdW[3]=j;
  dIdW[4]=0;
  dIdW[5]=1.;
}

void vpTemplateTrackerWarpRT::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
{
  j2=(cos(ParamM[0])*j) - (sin(ParamM[0])*i) + ParamM[1];
  i2=(sin(ParamM[0])*j) + (cos(ParamM[0])*i) + ParamM[2];
}


void vpTemplateTrackerWarpRT::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=(cos(ParamM[0])*vX[0]) - (sin(ParamM[0])*vX[1]) + ParamM[1];
  vXres[1]=(sin(ParamM[0])*vX[0]) + (cos(ParamM[0])*vX[1]) + ParamM[2];
}

void vpTemplateTrackerWarpRT::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]=(-sin(ParamM[0])*j) - (cos(ParamM[0])*i);
  dW_[0][1]=1;

  dW_[1][0]=cos(ParamM[0])*j - sin(ParamM[0])*i;
  dW_[1][2]=1;
}

/*compute dw=dw/dx*dw/dp
*/
void vpTemplateTrackerWarpRT::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]=(cos(ParamM[0])*dwdp0[i]) - (sin(ParamM[0])*dwdp0[i+nbParam]);
    dW_[1][i]=(sin(ParamM[0])*dwdp0[i]) + (cos(ParamM[0])*dwdp0[i+nbParam]);
  }
}

void vpTemplateTrackerWarpRT::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  //   std::cout << "warpXspe" << std::endl;
  vXres[0]=(cos(ParamM[0])*vX[0]) - (sin(ParamM[0])*vX[1]) + ParamM[1];
  vXres[1]=(sin(ParamM[0])*vX[0]) + (cos(ParamM[0])*vX[1]) + ParamM[2];
} 

void vpTemplateTrackerWarpRT::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
{
  vpColVector Trans(2);
  vpMatrix MWrap(2,2);
  Trans[0]=ParamM[1];
  Trans[1]=ParamM[2];
  MWrap[0][0]=cos(ParamM[0]);
  MWrap[0][1]=-sin(ParamM[0]);
  MWrap[1][0]=sin(ParamM[0]);
  MWrap[1][1]=cos(ParamM[0]);
  
  vpMatrix MWrapInv(2,2);
  MWrapInv=MWrap.transpose();
  vpColVector TransInv(2);
  TransInv=(-1.0)*MWrapInv*Trans;

  ParamMinv[0]= atan2(MWrapInv[1][0],MWrapInv[1][1]);
  ParamMinv[1]=TransInv[0];
  ParamMinv[2]=TransInv[1];
} 

void vpTemplateTrackerWarpRT::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
{
  vpColVector Trans1(2);
  vpMatrix MWrap1(2,2);
  Trans1[0]=p1[1];Trans1[1]=p1[2];
  
  MWrap1[0][0]=cos(p1[0]);
  MWrap1[0][1]=-sin(p1[0]);
  MWrap1[1][0]=sin(p1[0]);
  MWrap1[1][1]=cos(p1[0]);

  vpColVector Trans2(2);
  vpMatrix MWrap2(2,2);
  Trans2[0]=p2[1];Trans2[1]=p2[1];
  
  MWrap2[0][0]=cos(p2[0]);
  MWrap2[0][1]=-sin(p2[0]);
  MWrap2[1][0]=sin(p2[0]);
  MWrap2[1][1]=cos(p2[0]);
  
  vpColVector TransRes(2);
  vpMatrix MWrapRes(2,2);
  TransRes=MWrap1*Trans2+Trans1;
  MWrapRes=MWrap1*MWrap2;

  pres[0]=atan2(MWrapRes[1][0],MWrapRes[1][1]);
  pres[1]=TransRes[0];
  pres[2]=TransRes[1];
}