#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 &p, vpMatrix &dM)=0

virtual void	dWarpCompo (const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0

virtual void	getdW0 (const int &v, const int &u, const double &dv, const double &du, double *dIdW)=0

virtual void	getdWdp0 (const int &v, const int &u, double *dIdW)=0

virtual void	getParamInverse (const vpColVector &p, vpColVector &p_inv) const =0

virtual void	getParamPyramidDown (const vpColVector &p, vpColVector &p_down)=0

virtual void	getParamPyramidUp (const vpColVector &p, vpColVector &p_up)=0

virtual bool	isESMcompatible () const =0

virtual void	pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0

virtual void	warpX (const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0

virtual void	warpX (const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0

virtual void	warpXInv (const vpColVector &X1, vpColVector &X2, const vpColVector &p)=0

Inherited functionalities from vpTemplateTrackerWarp
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

unsigned int	nbParam

Detailed Description

Examples:: templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarp.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarp()

vpTemplateTrackerWarp::vpTemplateTrackerWarp ( )

inline

Default constructor.

Definition at line 68 of file vpTemplateTrackerWarp.h.

◆ ~vpTemplateTrackerWarp()

virtual vpTemplateTrackerWarp::~vpTemplateTrackerWarp ( )

inlinevirtual

Destructor.

Definition at line 72 of file vpTemplateTrackerWarp.h.

Member Function Documentation

◆ dWarp()

virtual void vpTemplateTrackerWarp::dWarp	(	const vpColVector &	X1,
		const vpColVector &	X2,
		const vpColVector &	p,
		vpMatrix &	dM
	)

pure virtual

Compute the derivative matrix of the warping function at point $X=(u,v)$ according to the model parameters:

$\frac{\partial M}{\partial p}(X_1, X_2, p)$

Parameters

X1	: Vector corresponding to the coordinates of the point to consider in the derivative computation.
X2	: Vector corresponding to the coordinates of the point to consider in the derivative computation.
p	: Vector that contains the parameters of the warping function.
dM	: Resulting warping model derivative returned as a matrix.

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

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 &	p,
		const double *	dwdp0,
		vpMatrix &	dM
	)

pure virtual

Compute the compositionnal derivative matrix of the warping function according to the model parameters.

Parameters

X1	: Point to consider in the derivative computation.
X2	: Point to consider in the derivative computation.
p	: Vector that contains the parameters of the warping function.
dwdp0	: Derivative matrix of the warping function according to the initial warping function parameters (p=0).
dM	: Resulting warping model compositionnal derivative returned as a 2-by-3 matrix.

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

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 &	v,
		const int &	u,
		const double &	dv,
		const double &	du,
		double *	dIdW
	)

pure virtual

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

Parameters

v	: Coordinate (along the image rows axis) of the point to consider in the image.
u	: Coordinate (along the image columns axis) of the point to consider in the image.
dv	: Derivative on the v-axis (along the rows) of the point (u,v).
du	: Derivative on the u-axis (along the columns) of the point (u,v).
dIdW	: Resulting derivative matrix (image according to the warping function).

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

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

◆ getdWdp0()

virtual void vpTemplateTrackerWarp::getdWdp0	(	const int &	v,
		const int &	u,
		double *	dIdW
	)

pure virtual

Compute the derivative of the warping model $M$ according to the initial parameters $p_0$ at point $X=(u,v)$ :

$\frac{\partial M}{\partial p}(X, p_0)$

Parameters

v	: Coordinate (along the image rows axis) of the point X(u,v) to consider in the image.
u	: Coordinate (along the image columns axis) of the point X(u,v) to consider in the image.
dIdW	: Resulting 2-by-3 derivative matrix.

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

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 217 of file vpTemplateTrackerWarp.h.

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

◆ getParamInverse()

virtual void vpTemplateTrackerWarp::getParamInverse	(	const vpColVector &	p,
		vpColVector &	p_inv
	)		const

pure virtual

Compute inverse of the RT warping transformation.

Parameters

p	: Vector that contains the parameters corresponding to the transformation to inverse.
p_inv	: Vector that contains the parameters of the inverse transformation ${M(p)}^{-1}$ .

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

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

◆ getParamPyramidDown()

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

pure virtual

Get the parameters of the warping function one level down where image size is divided by two along the lines and the columns.

Parameters

p	: Vector that contains the current parameters of the warping function.
p_down	: Vector that contains the resulting parameters one level down.

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

Referenced by vpTemplateTracker::trackPyr().

◆ getParamPyramidUp()

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

pure virtual

Get the parameters of the warping function one level up where image size is multiplied by two along the lines and the columns.

Parameters

p	: Vector that contains the current parameters of the warping function.
p_up	: Vector that contains the resulting parameters one level up.

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

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

◆ pRondp()

virtual void vpTemplateTrackerWarp::pRondp	(	const vpColVector &	p1,
		const vpColVector &	p2,
		vpColVector &	p12
	)		const

pure virtual

Compute the RT transformation resulting from the composition of two other RT transformations.

Parameters

p1	: Vector that contains the parameters corresponding to first transformation.
p2	: Vector that contains the parameters corresponding to second transformation.
p12	: Vector that contains the resulting transformation $p_{12} = p_1 \circ p_2$ .

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

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpHomographySL3::isESMcompatible(), vpTemplateTrackerWarpHomography::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 224 of file vpTemplateTrackerWarp.h.

◆ 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 &	v1,
		const int &	u1,
		double &	v2,
		double &	u2,
		const vpColVector &	p
	)

pure virtual

Warp point $X_1=(u_1,v_1)$ using the transformation model with parameters $p$ .

$X_2 = {^2}M_1(p) * X_1$

Parameters

v1	: Coordinate (along the image rows axis) of the point to warp.
u1	: Coordinate (along the image columns axis) of the point to warp.
v2	: Coordinate of the warped point along the image rows axis.
u2	: Coordinate of the warped point along the image column axis.
p	: Vector that contains the parameters of the transformation.

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

◆ warpX() [2/2]

virtual void vpTemplateTrackerWarp::warpX	(	const vpColVector &	X1,
		vpColVector &	X2,
		const vpColVector &	p
	)

pure virtual

Warp point $X_1=(u_1,v_1)$ using the RT transformation model.

$X_1 = M(p) * X_2$

Parameters

X1	: Vector corresponding to the coordinates of the point to warp.
X2	: Vector corresponding to the coordinates of the warped point.
p	: Vector that contains the parameters of the RT transformation.

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

◆ warpXInv()

virtual void vpTemplateTrackerWarp::warpXInv	(	const vpColVector &	X1,
		vpColVector &	X2,
		const vpColVector &	p
	)

pure virtual

Warp a point X1 with the inverse transformation $M$ .

$X_2 = {\left( {^1}M_2 \right) }^{-1} \; X_1$

Parameters

X1	: Vector corresponding to the coordinates (u,v) of the point to warp.
X2	: Vector corresponding to the coordinates (u,v) of the warped point.
p	: Parameters corresponding to the warping RT model ${^1}M_2$ .

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

Referenced by vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpHomographySL3::isESMcompatible(), and vpTemplateTrackerWarpHomography::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

Internal value used by homography warp model.

Definition at line 61 of file vpTemplateTrackerWarp.h.

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

◆ nbParam

unsigned int vpTemplateTrackerWarp::nbParam

protected

Number of parameters used to model warp transformation.

Definition at line 62 of file vpTemplateTrackerWarp.h.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarp()

◆ ~vpTemplateTrackerWarp()

Member Function Documentation

◆ dWarp()

◆ dWarpCompo()

◆ getDistanceBetweenZoneAndWarpedZone()

◆ getdW0()

◆ getdWdp0()

◆ getNbParam()

◆ getParamInverse()

◆ getParamPyramidDown()

◆ getParamPyramidUp()

◆ isESMcompatible()

◆ pRondp()

◆ setNbParam()

◆ warp()

◆ warpTriangle()

◆ warpX() [1/2]

◆ warpX() [2/2]

◆ warpXInv()

◆ warpZone()

Member Data Documentation

◆ denom

◆ nbParam