vpTemplateTrackerWarpHomography Class Reference

#include <visp3/tt/vpTemplateTrackerWarpHomography.h>

Inheritance diagram for vpTemplateTrackerWarpHomography:

Public Member Functions
	vpTemplateTrackerWarpHomography ()
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	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)
vpHomography	getHomography (const vpColVector &ParamM) const
void	getParam (const vpHomography &H, vpColVector &par) 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)
void	warpXInv (const vpColVector &vX, vpColVector &vXres, 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)
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, and tutorial-template-tracker.cpp.

Definition at line 56 of file vpTemplateTrackerWarpHomography.h.

Constructor & Destructor Documentation

vpTemplateTrackerWarpHomography()

vpTemplateTrackerWarpHomography::vpTemplateTrackerWarpHomography

(

)

Definition at line 43 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::dW, vpTemplateTrackerWarp::nbParam, and vpArray2D< Type >::resize().

Member Function Documentation

computeDenom()

void vpTemplateTrackerWarpHomography::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 105 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom, and vpTrackingException::fatalError.

dWarp()

void vpTemplateTrackerWarpHomography::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 130 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

dWarpCompo()

void vpTemplateTrackerWarpHomography::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 150 of file vpTemplateTrackerWarpHomography.cpp.

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

getDistanceBetweenZoneAndWarpedZone()

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().

getdW0()

void vpTemplateTrackerWarpHomography::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 69 of file vpTemplateTrackerWarpHomography.cpp.

getdWdp0()

void vpTemplateTrackerWarpHomography::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 84 of file vpTemplateTrackerWarpHomography.cpp.

getHomography()

vpHomography vpTemplateTrackerWarpHomography::getHomography

(

const vpColVector &

ParamM

)

const

Return the homography defined by the given parameters

Parameters

ParamM

: Parameters of the homography.

Returns

An Homography via vpHomography.

Examples:

tutorial-template-tracker.cpp.

Definition at line 186 of file vpTemplateTrackerWarpHomography.cpp.

Referenced by getParamInverse(), and pRondp().

getNbParam()

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().

getParam()

void vpTemplateTrackerWarpHomography::getParam	(	const vpHomography &	H,
		vpColVector &	par
	)		const

Compute the parameters of the homography warping function according to the given vpHomography

Parameters

H	: Homography used to compute the parameters.
par	: Resulting warping function parameters.

Definition at line 201 of file vpTemplateTrackerWarpHomography.cpp.

Referenced by getParamInverse(), and pRondp().

getParamInverse()

void vpTemplateTrackerWarpHomography::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 179 of file vpTemplateTrackerWarpHomography.cpp.

References getHomography(), getParam(), and vpHomography::inverse().

getParamPyramidDown()

void vpTemplateTrackerWarpHomography::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 50 of file vpTemplateTrackerWarpHomography.cpp.

getParamPyramidUp()

void vpTemplateTrackerWarpHomography::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 59 of file vpTemplateTrackerWarpHomography.cpp.

isESMcompatible()

bool vpTemplateTrackerWarpHomography::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 170 of file vpTemplateTrackerWarpHomography.h.

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

pRondp()

void vpTemplateTrackerWarpHomography::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 214 of file vpTemplateTrackerWarpHomography.cpp.

References getHomography(), and getParam().

setNbParam()

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().

warp()

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

warpTriangle()

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().

warpX() [1/2]

void vpTemplateTrackerWarpHomography::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 124 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

warpX() [2/2]

void vpTemplateTrackerWarpHomography::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 117 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

warpXInv()

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

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.

Implements vpTemplateTrackerWarp.

Definition at line 166 of file vpTemplateTrackerWarpHomography.cpp.

References vpTrackingException::fatalError.

warpZone()

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.

Examples:

templateTracker.cpp.

Definition at line 62 of file vpTemplateTrackerWarp.cpp.

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

Referenced by vpTemplateTracker::display().

Member Data Documentation

denom

double vpTemplateTrackerWarp::denom

protectedinherited

Definition at line 61 of file vpTemplateTrackerWarp.h.

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

dW

vpMatrix vpTemplateTrackerWarp::dW

protectedinherited

Definition at line 62 of file vpTemplateTrackerWarp.h.

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

nbParam

unsigned int vpTemplateTrackerWarp::nbParam

protectedinherited

Definition at line 63 of file vpTemplateTrackerWarp.h.

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