vpTemplateTrackerWarpSRT.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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;
}

void vpTemplateTrackerWarpSRT::getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
{
  p_down[0] = p[0];
  p_down[1] = p[1];
  p_down[2] = p[2] / 2.;
  p_down[3] = p[3] / 2.;
}

void vpTemplateTrackerWarpSRT::getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
{
  p_up[0] = p[0];
  p_up[1] = p[1];
  p_up[2] = p[2] * 2.;
  p_up[3] = p[3] * 2.;
}

void vpTemplateTrackerWarpSRT::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
{
  dIdW[0] = u * du + v * dv;
  dIdW[1] = -v * du + u * dv;
  dIdW[2] = du;
  dIdW[3] = dv;
}

void vpTemplateTrackerWarpSRT::getdWdp0(const int &v, const int &u, double *dIdW)
{
  dIdW[0] = u;
  dIdW[1] = -v;
  dIdW[2] = 1.;
  dIdW[3] = 0;

  dIdW[4] = v;
  dIdW[5] = u;
  dIdW[6] = 0;
  dIdW[7] = 1.;
}

void vpTemplateTrackerWarpSRT::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
{
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];

  u2 = scale * (c * u1 - s * v1) + p[2];
  v2 = scale * (s * u1 + c * v1) + p[3];
}

void vpTemplateTrackerWarpSRT::warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
{
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];

  X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
  X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
}

void vpTemplateTrackerWarpSRT::dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p,
                                    vpMatrix &dM)
{
  double u = X[0];
  double v = X[1];
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];
  double c_u_s_v = c * u - s * v;
  double s_u_c_v = s * u + c * v;

  dM[0][0] = c_u_s_v;
  dM[0][1] = - scale * s_u_c_v;
  dM[0][2] = 1;
  dM[0][3] = 0;

  dM[1][0] = s_u_c_v;
  dM[1][1] = scale * c_u_s_v;
  dM[1][2] = 0;
  dM[1][3] = 1;
}

void vpTemplateTrackerWarpSRT::dWarpCompo(const vpColVector &, const vpColVector &,
                                         const vpColVector &p, const double *dwdp0, vpMatrix &dM)
{
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];

  for (unsigned int i = 0; i < nbParam; i++) {
    dM[0][i] = scale * (c * dwdp0[i] - s * dwdp0[i + nbParam]);
    dM[1][i] = scale * (s * dwdp0[i] + c * dwdp0[i + nbParam]);
  }
}

void vpTemplateTrackerWarpSRT::warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
{
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];

  X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
  X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
}

void vpTemplateTrackerWarpSRT::getParamInverse(const vpColVector &p, vpColVector &p_inv) const
{
  double c = cos(p[1]);
  double s = sin(p[1]);
  double scale = 1.0 + p[0];
  double u = p[2];
  double v = p[3];

  p_inv[0] = 1.0 / scale - 1.0;
  p_inv[1] = atan2(-s, c);
  p_inv[2] = -(c * u + s * v) / scale;
  p_inv[3] = (s * u - c * v) / scale;
}

void vpTemplateTrackerWarpSRT::pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
{
  double c1 = cos(p1[1]);
  double s1 = sin(p1[1]);
  double c2 = cos(p2[1]);
  double s2 = sin(p2[1]);
  double scale1 = 1.0 + p1[0];
  double scale2 = 1.0 + p2[0];
  double u1 = p1[2];
  double v1 = p1[3];
  double u2 = p2[2];
  double v2 = p2[3];

  p12[0] = scale1 * scale2 - 1.0;
  p12[1] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
  p12[2] = scale1 * (c1 * u2 - s1 * v2) + u1;
  p12[3] = scale1 * (s1 * u2 + c1 * v2) + v1;
}