vpTemplateTrackerWarpTranslation.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/vpTemplateTrackerWarpTranslation.h>

vpTemplateTrackerWarpTranslation::vpTemplateTrackerWarpTranslation()
{
  nbParam = 2;
}

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

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

void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
{
  dIdW[0] = du;
  dIdW[1] = dv;
}

void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
{
  dIdW[0] = 1.;
  dIdW[1] = 0;

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

void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
{
  u2 = u1 + p[0];
  v2 = v1 + p[1];
}

void vpTemplateTrackerWarpTranslation::warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
{
  X2[0] = X1[0] + p[0];
  X2[1] = X1[1] + p[1];
}

void vpTemplateTrackerWarpTranslation::dWarp(const vpColVector &, const vpColVector &, const vpColVector &,
                                             vpMatrix &dM)
{
  dM[0][0] = 1;
  dM[0][1] = 0;
  dM[1][0] = 0;
  dM[1][1] = 1;
}

void vpTemplateTrackerWarpTranslation::dWarpCompo(const vpColVector &, const vpColVector &,
                                                  const vpColVector &, const double *dwdp0, vpMatrix &dM)
{
  for (unsigned int i = 0; i < nbParam; i++) {
    dM[0][i] = dwdp0[i];
    dM[1][i] = dwdp0[i + nbParam];
  }
}

void vpTemplateTrackerWarpTranslation::warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
{
  X2[0] = X1[0] + p[0];
  X2[1] = X1[1] + p[1];
}

void vpTemplateTrackerWarpTranslation::getParamInverse(const vpColVector &p, vpColVector &p_inv) const
{
  p_inv[0] = -p[0];
  p_inv[1] = -p[1];
}

void vpTemplateTrackerWarpTranslation::pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
{
  p12[0] = p1[0] + p2[0];
  p12[1] = p1[1] + p2[1];
}