vpTemplateTrackerWarpTranslation.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/vpTemplateTrackerWarpTranslation.h>

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


//get the parameter corresponding to the lower level of a gaussian pyramid
void vpTemplateTrackerWarpTranslation::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
{
  pdown[0]=p[0]/2.;
  pdown[1]=p[1]/2.;
}

void vpTemplateTrackerWarpTranslation::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
{
  pup[0]=p[0]*2.;
  pup[1]=p[1]*2.;
}

/*calcul de di*dw(x,p0)/dp
*/
void vpTemplateTrackerWarpTranslation::getdW0(const int &/*i*/,const int &/*j*/,const double &dy,const double &dx,double *dIdW)
{
  dIdW[0]=dx;
  dIdW[1]=dy;
}
/*calcul de dw(x,p0)/dp
*/
void vpTemplateTrackerWarpTranslation::getdWdp0(const int &/*i*/,const int &/*j*/,double *dIdW)
{
  dIdW[0]=1.;
  dIdW[1]=0;

  dIdW[2]=0;
  dIdW[3]=1.;
}

void vpTemplateTrackerWarpTranslation::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
{
  j2=j+ParamM[0];
  i2=i+ParamM[1];
}


void vpTemplateTrackerWarpTranslation::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=vX[0]+ParamM[0];
  vXres[1]=vX[1]+ParamM[1];
}

void vpTemplateTrackerWarpTranslation::dWarp(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &/*ParamM*/,
                                             vpMatrix &dW_)
{
  dW_[0][0]=1;dW_[0][1]=0;
  dW_[1][0]=0;dW_[1][1]=1;
}

/*compute dw=dw/dx*dw/dp
*/
void vpTemplateTrackerWarpTranslation::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]=dwdp0[i];
    dW_[1][i]=dwdp0[i+nbParam];
  }
}

void vpTemplateTrackerWarpTranslation::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
{
  vXres[0]=vX[0]+ParamM[0];
  vXres[1]=vX[1]+ParamM[1];
} 
void vpTemplateTrackerWarpTranslation::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
{
  ParamMinv[0]=-ParamM[0];
  ParamMinv[1]=-ParamM[1];
} 

void vpTemplateTrackerWarpTranslation::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
{
  pres[0]=p1[0]+p2[0];
  pres[1]=p1[1]+p2[1];
}