vpTemplateTrackerWarp Class Reference

#include <visp3/tt/vpTemplateTrackerWarp.h>

Inheritance diagram for vpTemplateTrackerWarp:

Public Member Functions
	vpTemplateTrackerWarp ()
virtual	~vpTemplateTrackerWarp ()
virtual void	dWarp (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)=0
virtual void	dWarpCompo (const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)=0
virtual void	getdW0 (const int &i, const int &j, const double &dy, const double &dx, double *dIdW)=0
virtual void	getdWdp0 (const int &i, const int &j, double *dIdW)=0
double	getDistanceBetweenZoneAndWarpedZone (const vpTemplateTrackerZone &Z, const vpColVector &p)
unsigned int	getNbParam () const
virtual void	getParamInverse (const vpColVector &ParamM, vpColVector &ParamMinv) const =0
virtual void	getParamPyramidDown (const vpColVector &p, vpColVector &pdown)=0
virtual void	getParamPyramidUp (const vpColVector &p, vpColVector &pup)=0
virtual bool	isESMcompatible () const =0
virtual void	pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const =0
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	warpX (const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)=0
virtual void	warpX (const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)=0
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
double	denom
vpMatrix	dW
unsigned int	nbParam

Detailed Description

Examples:

templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarp.h.

Constructor & Destructor Documentation

vpTemplateTrackerWarp()

vpTemplateTrackerWarp::vpTemplateTrackerWarp ( )

inline

Definition at line 67 of file vpTemplateTrackerWarp.h.

~vpTemplateTrackerWarp()

virtual vpTemplateTrackerWarp::~vpTemplateTrackerWarp ( )

inlinevirtual

Definition at line 68 of file vpTemplateTrackerWarp.h.

Member Function Documentation

dWarp()

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

pure 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.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and warp().

dWarpCompo()

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

pure 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.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), and vpTemplateTrackerMIESM::trackNoPyr().

getDistanceBetweenZoneAndWarpedZone()

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

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 warpX().

getdW0()

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

pure 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).

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), and vpTemplateTrackerMIInverseCompositional::initCompInverse().

getdWdp0()

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

pure 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).

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), and vpTemplateTrackerMIForwardCompositional::initCompo().

getNbParam()

unsigned int vpTemplateTrackerWarp::getNbParam ( ) const

inline

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().

getParamInverse()

virtual void vpTemplateTrackerWarp::getParamInverse ( const vpColVector &  ParamM, vpColVector &  ParamMinv  ) const

pure virtual

Get the inverse of the warping function parameters.

Parameters

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

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

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

getParamPyramidDown()

virtual void vpTemplateTrackerWarp::getParamPyramidDown ( const vpColVector &  p, vpColVector &  pdown  )

pure 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.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTracker::trackPyr().

getParamPyramidUp()

virtual void vpTemplateTrackerWarp::getParamPyramidUp ( const vpColVector &  p, vpColVector &  pup  )

pure 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.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTracker::trackPyr().

isESMcompatible()

virtual bool vpTemplateTrackerWarp::isESMcompatible ( ) const

pure virtual

Tells if the warping function is ESM compatible.

Returns

True if it is ESM compatible, False otherwise.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), and vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM().

pRondp()

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

pure 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.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpHomography::isESMcompatible(), vpTemplateTrackerWarpHomographySL3::isESMcompatible(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

setNbParam()

void vpTemplateTrackerWarp::setNbParam ( unsigned int  nb )

inline

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().

warp()

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

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(), dWarp(), vpMatrix::inverseByLU(), nbParam, vpMatrix::t(), and warpX().

Referenced by vpTemplateTrackerWarpHomographySL3::getParamPyramidDown(), and vpTemplateTrackerWarpHomographySL3::getParamPyramidUp().

warpTriangle()

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

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 warpX().

Referenced by warpZone().

warpX() [1/2]

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

pure 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 warp.

Implemented in vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), getDistanceBetweenZoneAndWarpedZone(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpHomography::isESMcompatible(), vpTemplateTrackerWarpHomographySL3::isESMcompatible(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), warp(), and warpTriangle().

warpX() [2/2]

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

pure virtual

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 vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpSRT, and vpTemplateTrackerWarpTranslation.

warpXInv()

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

pure virtual

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 vpTemplateTrackerWarpHomographySL3::isESMcompatible().

warpZone()

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

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.

Examples:

templateTracker.cpp.

Definition at line 62 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerZone::add(), vpTemplateTrackerZone::clear(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), and warpTriangle().

Referenced by vpTemplateTracker::display().

Member Data Documentation

denom

double vpTemplateTrackerWarp::denom

protected

Definition at line 61 of file vpTemplateTrackerWarp.h.

Referenced by vpTemplateTrackerWarpHomography::computeDenom(), vpTemplateTrackerWarpHomographySL3::computeDenom(), vpTemplateTrackerWarpHomography::dWarp(), vpTemplateTrackerWarpHomographySL3::dWarp(), vpTemplateTrackerWarpHomography::dWarpCompo(), vpTemplateTrackerWarpHomographySL3::dWarpCompo(), vpTemplateTrackerWarpHomography::warpX(), and vpTemplateTrackerWarpHomographySL3::warpX().

dW

vpMatrix vpTemplateTrackerWarp::dW

protected

Definition at line 62 of file vpTemplateTrackerWarp.h.

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

nbParam

unsigned int vpTemplateTrackerWarp::nbParam

protected

Definition at line 63 of file vpTemplateTrackerWarp.h.

Referenced by vpTemplateTrackerWarpRT::dWarpCompo(), vpTemplateTrackerWarpTranslation::dWarpCompo(), vpTemplateTrackerWarpSRT::dWarpCompo(), vpTemplateTrackerWarpAffine::dWarpCompo(), vpTemplateTrackerWarpHomography::dWarpCompo(), vpTemplateTrackerWarpHomographySL3::dWarpCompo(), vpTemplateTrackerWarpHomographySL3::findWarp(), vpTemplateTrackerWarpHomographySL3::getdW0(), vpTemplateTrackerWarpHomographySL3::getdWdp0(), vpTemplateTrackerWarpAffine::vpTemplateTrackerWarpAffine(), vpTemplateTrackerWarpHomography::vpTemplateTrackerWarpHomography(), vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3(), vpTemplateTrackerWarpRT::vpTemplateTrackerWarpRT(), vpTemplateTrackerWarpSRT::vpTemplateTrackerWarpSRT(), vpTemplateTrackerWarpTranslation::vpTemplateTrackerWarpTranslation(), and warp().