#include <visp3/tt/vpTemplateTrackerWarpHomographySL3.h>

Inheritance diagram for vpTemplateTrackerWarpHomographySL3:

Public Member Functions
	vpTemplateTrackerWarpHomographySL3 ()

virtual	~vpTemplateTrackerWarpHomographySL3 ()

void	computeCoeff (const vpColVector &p)

void	computeDenom (vpColVector &vX, const vpColVector &ParamM)

void	dWarp (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)

void	dWarpCompo (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)

void	findWarp (const double ut0, const double vt0, const double u, const double v, int nb_pt, vpColVector &p)

void	getdW0 (const int &i, const int &j, const double &dy, const double &dx, double *dIdW)

void	getdWdp0 (const int &i, const int &j, double *dIdW)

void	getdWdp0 (const double &i, const double &j, double *dIdW)

vpHomography	getHomography () const

void	getParamInverse (const vpColVector &ParamM, vpColVector &ParamMinv) const

void	getParamPyramidDown (const vpColVector &p, vpColVector &pdown)

void	getParamPyramidUp (const vpColVector &p, vpColVector &pup)

bool	isESMcompatible () const

void	pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const

void	warpX (const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)

void	warpX (const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)

double	getDistanceBetweenZoneAndWarpedZone (const vpTemplateTrackerZone &Z, const vpColVector &p)

unsigned int	getNbParam () const

void	setNbParam (unsigned int nb)

void	warp (const double ut0, const double vt0, int nb_pt, const vpColVector &p, double u, double v)

virtual void	warpXInv (const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)=0

void	warpTriangle (const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out)

void	warpZone (const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out)

Protected Attributes
vpMatrix	G

vpMatrix	dGx

std::vector< vpMatrix >	A

double	denom

vpMatrix	dW

unsigned int	nbParam

Detailed Description

Examples:: templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarpHomographySL3.h.

Constructor & Destructor Documentation

vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3 ( )

Definition at line 122 of file vpTemplateTrackerWarpHomographySL3.cpp.

References A, dGx, G, vpTemplateTrackerWarp::nbParam, and vpArray2D< Type >::resize().

vpTemplateTrackerWarpHomographySL3::~vpTemplateTrackerWarpHomographySL3 ( )

virtual

Definition at line 145 of file vpTemplateTrackerWarpHomographySL3.cpp.

Member Function Documentation

void vpTemplateTrackerWarpHomographySL3::computeCoeff ( const vpColVector & p )

Compute the exponential of the homography matrix defined by the given parameters

Parameters

p	: Parameters of the SL3 homography warping function.

Definition at line 235 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::expm(), and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::computeDenom	(	vpColVector &	vX,
		const vpColVector &	ParamM
	)

Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.

Parameters

vX	: Point to consider
ParamM	: parameters of the warping function.

Definition at line 230 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::dWarp	(	const vpColVector &	X1,
		const vpColVector &	X2,
		const vpColVector &	ParamM,
		vpMatrix &	dW
	)

virtual

Compute the derivative of the warping function according to its parameters.

Parameters

X1	: Point to consider in the derivative computation.
X2	: Point to consider in the derivative computation.
ParamM	: Parameters of the warping function.
dW	: Resulting derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 276 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, dGx, and G.

void vpTemplateTrackerWarpHomographySL3::dWarpCompo	(	const vpColVector &	X1,
		const vpColVector &	X2,
		const vpColVector &	ParamM,
		const double *	dwdp0,
		vpMatrix &	dW
	)

virtual

Compute the compositionnal derivative of the warping function according to its parameters.

Parameters

X1	: Point to consider in the derivative computation.
X2	: Point to consider in the derivative computation.
ParamM	: Parameters of the warping function.
dwdp0	: Derivative matrix of the warping function according to the initial warping function parameters (p=0).
dW	: Resulting compositionnal derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 394 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, G, and vpTemplateTrackerWarp::nbParam.

void vpTemplateTrackerWarpHomographySL3::findWarp	(	const double *	ut0,
		const double *	vt0,
		const double *	u,
		const double *	v,
		int	nb_pt,
		vpColVector &	p
	)

Find the displacement/warping function parameters from a list of points.

Parameters

ut0	: Original u coordinates.
vt0	: Original v coordinates.
u	: Warped u coordinates.
v	: Warped v coordinates.
nb_pt	: Number of points.
p	: Resulting warping function parameters.

Definition at line 45 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::AtA(), computeCoeff(), computeDenom(), vpMatrix::computeHLM(), getdWdp0(), vpMatrix::inverseByLU(), vpTemplateTrackerWarp::nbParam, pRondp(), vpMatrix::t(), and warpX().

Referenced by getParamPyramidDown(), and getParamPyramidUp().

double vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone	(	const vpTemplateTrackerZone &	Z,
		const vpColVector &	p
	)

inherited

Compute the distance between a zone and its associated warped zone.

Parameters

Z	: Zone to consider.
p	: Parameters of the warping function.

Definition at line 73 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerTriangle::getCorner(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), and vpTemplateTrackerWarp::warpX().

void vpTemplateTrackerWarpHomographySL3::getdW0	(	const int &	i,
		const int &	j,
		const double &	dy,
		const double &	dx,
		double *	dIdW
	)

virtual

Compute the derivative of the image with relation to the warping function parameters.

Parameters

i	: i coordinate (along the rows) of the point to consider in the image.
j	: j coordinate (along the columns) of the point to consider in the image.
dy	: Derivative on the y-axis (along the rows) of the point (i,j).
dx	: Derivative on the x-axis (along the columns) of the point (i,j).
dIdW	: Resulting derivative matrix (Image according to the warping function).

Implements vpTemplateTrackerWarp.

Definition at line 301 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

void vpTemplateTrackerWarpHomographySL3::getdWdp0	(	const int &	i,
		const int &	j,
		double *	dIdW
	)

virtual

Compute the derivative of the warping function according to the initial parameters.

Parameters

i	: i coordinate (along the rows) of the point to consider in the image.
j	: j coordinate (along the columns) of the point to consider in the image.
dIdW	: Resulting derivative matrix (Image according to the warping function).

Implements vpTemplateTrackerWarp.

Definition at line 333 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::getdWdp0	(	const double &	i,
		const double &	j,
		double *	dIdW
	)

Compute the derivative of the warping function according to the initial parameters.

Parameters

i	: i coordinate (along the rows) of the point to consider in the image.
j	: j coordinate (along the columns) of the point to consider in the image.
dIdW	: Resulting derivative matrix (Image according to the warping function).

Definition at line 362 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

vpHomography vpTemplateTrackerWarpHomographySL3::getHomography ( ) const

Return the homography defined by the warping function

Returns: An Homography via vpHomography.

Definition at line 267 of file vpTemplateTrackerWarpHomographySL3.cpp.

References G.

unsigned int vpTemplateTrackerWarp::getNbParam ( ) const

inlineinherited

Get the number of parameters of the warping function.

Returns: Number of parameters.

Definition at line 141 of file vpTemplateTrackerWarp.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::vpTemplateTracker().

void vpTemplateTrackerWarpHomographySL3::getParamInverse	(	const vpColVector &	ParamM,
		vpColVector &	ParamMinv
	)		const

virtual

Get the inverse of the warping function parameters.

Parameters

ParamM	: Parameters of the warping function.
ParamMinv	: Inverse parameters.

Implements vpTemplateTrackerWarp.

Definition at line 403 of file vpTemplateTrackerWarpHomographySL3.cpp.

void vpTemplateTrackerWarpHomographySL3::getParamPyramidDown	(	const vpColVector &	p,
		vpColVector &	pdown
	)

virtual

Get the parameters of the warping function one level down.

Parameters

p	: Current parameters of the warping function.
pdown	: Resulting parameters on level down.

Implements vpTemplateTrackerWarp.

Definition at line 149 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

void vpTemplateTrackerWarpHomographySL3::getParamPyramidUp	(	const vpColVector &	p,
		vpColVector &	pup
	)

virtual

Get the parameters of the warping function one level up.

Parameters

p	: Current parameters of the warping function.
pup	: Resulting parameters one level up.

Implements vpTemplateTrackerWarp.

Definition at line 183 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

bool vpTemplateTrackerWarpHomographySL3::isESMcompatible ( ) const

inlinevirtual

Tells if the warping function is ESM compatible.

Returns: True if it is ESM compatible, False otherwise.

Implements vpTemplateTrackerWarp.

Definition at line 194 of file vpTemplateTrackerWarpHomographySL3.h.

References vpTemplateTrackerWarp::pRondp(), vpTemplateTrackerWarp::warpX(), and vpTemplateTrackerWarp::warpXInv().

void vpTemplateTrackerWarpHomographySL3::pRondp	(	const vpColVector &	p1,
		const vpColVector &	p2,
		vpColVector &	pres
	)		const

virtual

Get the displacement resulting from the composition of two other displacements.

Parameters

p1	: First displacement.
p2	: Second displacement.
pres	: Displacement resulting from the composition of p1 and p2.

Implements vpTemplateTrackerWarp.

Definition at line 407 of file vpTemplateTrackerWarpHomographySL3.cpp.

Referenced by findWarp().

void vpTemplateTrackerWarp::setNbParam ( unsigned int nb )

inlineinherited

Set the number of parameters of the warping function.

Parameters

nb	: New number of parameters.

Definition at line 189 of file vpTemplateTrackerWarp.h.

References vpArray2D< Type >::resize().

void vpTemplateTrackerWarp::warp	(	const double *	ut0,
		const double *	vt0,
		int	nb_pt,
		const vpColVector &	p,
		double *	u,
		double *	v
	)

inherited

Warp a list of points.

Parameters

ut0	: List of u coordinates of the points.
vt0	: List of v coordinates of the points.
nb_pt	: Number of points to consider.
p	: Parameters of the warp.
u	: Resulting u coordinates.
v	: resulting v coordinates.

Definition at line 95 of file vpTemplateTrackerWarp.cpp.

References vpMatrix::AtA(), vpMatrix::computeHLM(), vpTemplateTrackerWarp::dWarp(), vpMatrix::inverseByLU(), vpTemplateTrackerWarp::nbParam, vpMatrix::t(), and vpTemplateTrackerWarp::warpX().

Referenced by getParamPyramidDown(), and getParamPyramidUp().

void vpTemplateTrackerWarp::warpTriangle	(	const vpTemplateTrackerTriangle &	in,
		const vpColVector &	p,
		vpTemplateTrackerTriangle &	out
	)

inherited

Warp a triangle and store the result in a new zone.

Parameters

in	: Triangle to warp.
p	: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out	: Resulting triangle.

Definition at line 42 of file vpTemplateTrackerWarp.cpp.

References vpException::dimensionError, vpTemplateTrackerTriangle::getCorners(), vpTemplateTrackerTriangle::init(), vpArray2D< Type >::size(), vpCTRACE, and vpTemplateTrackerWarp::warpX().

Referenced by vpTemplateTrackerWarp::warpZone().

void vpTemplateTrackerWarpHomographySL3::warpX	(	const vpColVector &	vX,
		vpColVector &	vXres,
		const vpColVector &	ParamM
	)

virtual

Warp a point.

Parameters

vX	: Coordinates of the point to warp.
vXres	: Coordinates of the warped point.
ParamM	: Parameters of the warping function.

Implements vpTemplateTrackerWarp.

Definition at line 253 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

void vpTemplateTrackerWarpHomographySL3::warpX	(	const int &	i,
		const int &	j,
		double &	i2,
		double &	j2,
		const vpColVector &	ParamM
	)

virtual

Warp a point.

Parameters

i	: i coordinate (along the rows) of the point to warp.
j	: j coordinate (along the columns) of the point to warp.
i2	: i coordinate (along the rows) of the warped point.
j2	: j coordinate (along the columns) of the warped point.
ParamM	: Parameters of the warping function.

Implements vpTemplateTrackerWarp.

Definition at line 260 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

virtual void vpTemplateTrackerWarp::warpXInv	(	const vpColVector &	vX,
		vpColVector &	vXres,
		const vpColVector &	ParamM
	)

pure virtualinherited

Inverse Warp a point.

Parameters

vX	: Coordinates of the point to warp.
vXres	: Coordinates of the warped point.
ParamM	: Parameters of the warping function.

Implemented in vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpHomography::isESMcompatible(), and isESMcompatible().

void vpTemplateTrackerWarp::warpZone	(	const vpTemplateTrackerZone &	in,
		const vpColVector &	p,
		vpTemplateTrackerZone &	out
	)

inherited

Warp a zone and store the result in a new zone.

Parameters

in	: Zone to warp.
p	: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out	: Resulting zone.