vpTemplateTrackerWarpSRT.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/vpTemplateTrackerWarpSRT.h>


vpTemplateTrackerWarpSRT::vpTemplateTrackerWarpSRT()
{
  nbParam = 4 ;
  dW.resize(2,nbParam);
}

//get the parameter corresponding to the lower level of a gaussian pyramid
void vpTemplateTrackerWarpSRT::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
{
  pdown=p;
  pdown[2]=p[2]/2.;
  pdown[3]=p[3]/2.;
}

void vpTemplateTrackerWarpSRT::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
{
  pup=p;
  pup[2]=p[2]*2.;
  pup[3]=p[3]*2.;
}
/*calcul de di*dw(x,p0)/dp
*/
void vpTemplateTrackerWarpSRT::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
{
  //   std::cout << "getdW0" << std::endl;
  dIdW[0]=j*dx + i*dy;
  dIdW[1]=-i*dx + j*dy;
  dIdW[2]=dx;
  dIdW[3]=dy;
}
/*calcul de dw(x,p0)/dp
*/
void vpTemplateTrackerWarpSRT::getdWdp0(const int &i,const int &j,double *dIdW)
{
  dIdW[0]=j;
  dIdW[1]=-i;
  dIdW[2]=1.;
  dIdW[3]=0;

  dIdW[4]=i;
  dIdW[5]=j;
  dIdW[6]=0;
  dIdW[7]=1.;
}

void vpTemplateTrackerWarpSRT::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
{
  j2=((1.0+ParamM[0])*cos(ParamM[1])*j) - ((1.0+ParamM[0])*sin(ParamM[1])*i) + ParamM[2];
  i2=((1.0+ParamM[0])*sin(ParamM[1])*j) + ((1.0+ParamM[0])*cos(ParamM[1])*i) + ParamM[3];
}


void vpTemplateTrackerWarpSRT::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=((1.0+ParamM[0])*cos(ParamM[1])*vX[0]) - ((1.0+ParamM[0])*sin(ParamM[1])*vX[1]) + ParamM[2];
  vXres[1]=((1.0+ParamM[0])*sin(ParamM[1])*vX[0]) + ((1.0+ParamM[0])*cos(ParamM[1])*vX[1]) + ParamM[3];
}

void vpTemplateTrackerWarpSRT::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]=cos(ParamM[1])*j - sin(ParamM[1])*i;
  dW_[0][1]=(-(1.0+ParamM[0])*sin(ParamM[1])*j) - ((1.0+ParamM[0])*cos(ParamM[1])*i);
  dW_[0][2]=1;
  
  dW_[1][0]=sin(ParamM[1])*j + cos(ParamM[1])*i;
  dW_[1][1]=(1.0+ParamM[0])*cos(ParamM[1])*j - (1.0+ParamM[0])*sin(ParamM[1])*i;
  dW_[1][3]=1;
}

/*compute dw=dw/dx*dw/dp
*/
void vpTemplateTrackerWarpSRT::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])*cos(ParamM[1])*dwdp0[i]) - ((1.0+ParamM[0])*sin(ParamM[1])*dwdp0[i+nbParam]);
    dW_[1][i]=((1.+ParamM[0])*sin(ParamM[1])*dwdp0[i]) + ((1.0+ParamM[0])*cos(ParamM[1])*dwdp0[i+nbParam]);
  }
}

void vpTemplateTrackerWarpSRT::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  //   std::cout << "warpXspe" << std::endl;
  vXres[0]=((1.0+ParamM[0])*cos(ParamM[1])*vX[0]) - ((1.0+ParamM[0])*sin(ParamM[1])*vX[1]) + ParamM[2];
  vXres[1]=((1.0+ParamM[0])*sin(ParamM[1])*vX[0]) + ((1.0+ParamM[0])*cos(ParamM[1])*vX[1]) + ParamM[3];
} 

void vpTemplateTrackerWarpSRT::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
{
  vpColVector Trans(2);
  vpMatrix MWrap(2,2);
  Trans[0]=ParamM[2];
  Trans[1]=ParamM[3];
  MWrap[0][0]=cos(ParamM[1]);
  MWrap[0][1]=-sin(ParamM[1]);
  MWrap[1][0]=sin(ParamM[1]);
  MWrap[1][1]=cos(ParamM[1]);
  
  vpMatrix MWrapInv(2,2);
  MWrapInv=MWrap.transpose();
  vpColVector TransInv(2);
  TransInv=(-1.0/(1.0+ParamM[0]))*MWrapInv*Trans;
  
  ParamMinv[0]=1.0/(1.0+ParamM[0]) - 1.0;
  ParamMinv[1]= atan2(MWrapInv[1][0],MWrapInv[1][1]);
  ParamMinv[2]=TransInv[0];
  ParamMinv[3]=TransInv[1];
} 

void vpTemplateTrackerWarpSRT::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
{
  vpColVector Trans1(2);
  vpMatrix MWrap1(2,2);
  Trans1[0]=p1[2];Trans1[1]=p1[3];
  
  MWrap1[0][0]=cos(p1[1]);
  MWrap1[0][1]=-sin(p1[1]);
  MWrap1[1][0]=sin(p1[1]);
  MWrap1[1][1]=cos(p1[1]);

  vpColVector Trans2(2);
  vpMatrix MWrap2(2,2);
  Trans2[0]=p2[2];Trans2[1]=p2[3];
  
  MWrap2[0][0]=cos(p2[1]);
  MWrap2[0][1]=-sin(p2[1]);
  MWrap2[1][0]=sin(p2[1]);
  MWrap2[1][1]=cos(p2[1]);
  
  vpColVector TransRes(2);
  vpMatrix MWrapRes(2,2);
  TransRes=(1.0+p1[0])*MWrap1*Trans2+Trans1;
  MWrapRes=MWrap1*MWrap2;
  
  pres[0]=(1.0+p1[0])*(1.0+p2[0]) - 1.0;
  pres[1]=atan2(MWrapRes[1][0],MWrapRes[1][1]);
  
  pres[2]=TransRes[0];
  pres[3]=TransRes[1];
}