#include <visp3/tt/vpTemplateTrackerWarpHomographySL3.h>

Inheritance diagram for vpTemplateTrackerWarpHomographySL3:

Public Member Functions
	vpTemplateTrackerWarpHomographySL3 ()

virtual	~vpTemplateTrackerWarpHomographySL3 ()

void	computeCoeff (const vpColVector &p)

void	computeDenom (vpColVector &X, const vpColVector &)

void	dWarp (const vpColVector &X1, const vpColVector &X2, const vpColVector &, vpMatrix &dW)

void	dWarpCompo (const vpColVector &, const vpColVector &X, const vpColVector &, const double *dwdp0, vpMatrix &dW)

void	findWarp (const double ut0, const double vt0, const double u, const double v, int nb_pt, vpColVector &p)

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

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

void	getdWdp0 (const double &v, const double &u, double *dIdW)

vpHomography	getHomography () const

void	getParamInverse (const vpColVector &p, vpColVector &p_inv) const

void	getParamPyramidDown (const vpColVector &p, vpColVector &p_down)

void	getParamPyramidUp (const vpColVector &p, vpColVector &p_up)

bool	isESMcompatible () const

void	pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const

void	warpX (const vpColVector &X1, vpColVector &X2, const vpColVector &)

void	warpX (const int &v1, const int &u1, double &v2, double &u2, const vpColVector &)

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
vpMatrix	G

vpMatrix	dGx

std::vector< vpMatrix >	A

double	denom

unsigned int	nbParam

Detailed Description

Examples:: templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarpHomographySL3.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarpHomographySL3()

vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3 ( )

Construct an homography SL3 model with 8 parameters initialized to zero.

Definition at line 134 of file vpTemplateTrackerWarpHomographySL3.cpp.

References A, dGx, G, vpTemplateTrackerWarp::nbParam, and vpArray2D< Type >::resize().

◆ ~vpTemplateTrackerWarpHomographySL3()

vpTemplateTrackerWarpHomographySL3::~vpTemplateTrackerWarpHomographySL3 ( )

virtual

Definition at line 157 of file vpTemplateTrackerWarpHomographySL3.cpp.

Member Function Documentation

◆ computeCoeff()

void vpTemplateTrackerWarpHomographySL3::computeCoeff ( const vpColVector & p )

Compute the exponential of the homography matrix defined by the given parameters.

Parameters

p	: Parameters of the SL3 homography warping function.

Definition at line 272 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::expm(), and G.

Referenced by findWarp().

◆ computeDenom()

void vpTemplateTrackerWarpHomographySL3::computeDenom	(	vpColVector &	X,
		const vpColVector &
	)

Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.

Parameters

X	: Point with coordinates (u, v) to consider.

See also: warpX(const vpColVector &, vpColVector &, const vpColVector &); warpX(const int &, const int &, double &, double &, const vpColVector &); dWarp(), dWarpCompo()

Definition at line 262 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

◆ dWarp()

void vpTemplateTrackerWarpHomographySL3::dWarp	(	const vpColVector &	X1,
		const vpColVector &	X2,
		const vpColVector &	,
		vpMatrix &	dM
	)

virtual

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

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

Parameters

X1	: 2-dim vector corresponding to the coordinates of the point to consider in the derivative computation.
X2	: 2-dim vector corresponding to the coordinates of the point to consider in the derivative computation.
dM	: Resulting warping model derivative returned as a 2-by-8 matrix.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 348 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, dGx, and G.

◆ dWarpCompo()

void vpTemplateTrackerWarpHomographySL3::dWarpCompo	(	const vpColVector &	,
		const vpColVector &	X,
		const vpColVector &	,
		const double *	dwdp0,
		vpMatrix &	dM
	)

virtual

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

Parameters

X	: 2-dim vector corresponding to the coordinates of the point to consider in the derivative computation.
dwdp0	: 2-by-8 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-8 matrix.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 500 of file vpTemplateTrackerWarpHomographySL3.cpp.

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

◆ findWarp()

void vpTemplateTrackerWarpHomographySL3::findWarp	(	const double *	ut0,
		const double *	vt0,
		const double *	u,
		const double *	v,
		int	nb_pt,
		vpColVector &	p
	)

Find the displacement/warping function parameters from a list of points.

Parameters

ut0	: Original u coordinates.
vt0	: Original v coordinates.
u	: Warped u coordinates.
v	: Warped v coordinates.
nb_pt	: Number of points.
p	: Resulting warping function parameters.

Definition at line 55 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpMatrix::AtA(), computeCoeff(), computeDenom(), vpMatrix::computeHLM(), getdWdp0(), vpMatrix::inverseByLU(), vpTemplateTrackerWarp::nbParam, pRondp(), vpMatrix::t(), and warpX().

Referenced by getParamPyramidDown(), and getParamPyramidUp().

◆ 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 vpTemplateTrackerWarpHomographySL3::getdW0	(	const int &	v,
		const int &	u,
		const double &	dv,
		const double &	du,
		double *	dIdW
	)

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).

Implements vpTemplateTrackerWarp.

Definition at line 379 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

◆ getdWdp0() [1/2]

void vpTemplateTrackerWarpHomographySL3::getdWdp0	(	const int &	v,
		const int &	u,
		double *	dIdW
	)

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-8 derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 418 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

Referenced by findWarp().

◆ getdWdp0() [2/2]

void vpTemplateTrackerWarpHomographySL3::getdWdp0	(	const double &	v,
		const double &	u,
		double *	dIdW
	)

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-8 derivative matrix.

Definition at line 459 of file vpTemplateTrackerWarpHomographySL3.cpp.

References dGx, vpMatrix::eye(), G, and vpTemplateTrackerWarp::nbParam.

◆ getHomography()

vpHomography vpTemplateTrackerWarpHomographySL3::getHomography ( ) const

Return the homography corresponding to the parameters.

Returns: Corresponding homography.

Definition at line 326 of file vpTemplateTrackerWarpHomographySL3.cpp.

References G.

◆ getNbParam()

unsigned int vpTemplateTrackerWarp::getNbParam ( ) const

inlineinherited

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()

void vpTemplateTrackerWarpHomographySL3::getParamInverse	(	const vpColVector &	p,
		vpColVector &	p_inv
	)		const

virtual

Compute inverse of the warping transformation.

Parameters

p	: 8-dim vector that contains the parameters corresponding to the transformation to inverse.
p_inv	: 8-dim vector that contains the parameters of the inverse transformation ${M(p)}^{-1}$ .

Implements vpTemplateTrackerWarp.

Definition at line 515 of file vpTemplateTrackerWarpHomographySL3.cpp.

◆ getParamPyramidDown()

void vpTemplateTrackerWarpHomographySL3::getParamPyramidDown	(	const vpColVector &	p,
		vpColVector &	p_down
	)

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	: 8-dim vector that contains the current parameters of the warping function.
p_down	: 8-dim vector that contains the resulting parameters one level down.

Implements vpTemplateTrackerWarp.

Definition at line 167 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

◆ getParamPyramidUp()

void vpTemplateTrackerWarpHomographySL3::getParamPyramidUp	(	const vpColVector &	p,
		vpColVector &	p_up
	)

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	: 8-dim vector that contains the current parameters of the warping function.
p_up	: 8-dim vector that contains the resulting parameters one level up.

Implements vpTemplateTrackerWarp.

Definition at line 207 of file vpTemplateTrackerWarpHomographySL3.cpp.

References findWarp(), and vpTemplateTrackerWarp::warp().

◆ isESMcompatible()

bool vpTemplateTrackerWarpHomographySL3::isESMcompatible ( ) const

inlinevirtual

Tells if the warping function is ESM compatible.

Returns: true. Homography SL3 model is compatible with ESM.

Implements vpTemplateTrackerWarp.

Definition at line 92 of file vpTemplateTrackerWarpHomographySL3.h.

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

◆ pRondp()

void vpTemplateTrackerWarpHomographySL3::pRondp	(	const vpColVector &	p1,
		const vpColVector &	p2,
		vpColVector &	p12
	)		const

virtual

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

Parameters

p1	: 8-dim vector that contains the parameters corresponding to first transformation.
p2	: 8-dim vector that contains the parameters corresponding to second transformation.
p12	: 8-dim vector that contains the resulting transformation $p_{12} = p_1 \circ p_2$ .

Implements vpTemplateTrackerWarp.

Definition at line 528 of file vpTemplateTrackerWarpHomographySL3.cpp.

Referenced by findWarp().

◆ 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 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
	)

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 getParamPyramidDown(), and 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 vpTemplateTrackerWarpHomographySL3::warpX	(	const vpColVector &	X1,
		vpColVector &	X2,
		const vpColVector &
	)

virtual

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

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

Parameters

X1	: 2-dim vector corresponding to the coordinates of the point to warp.
X2	: 2-dim vector corresponding to the coordinates of the warped point.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 298 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

Referenced by findWarp().

◆ warpX() [2/2]

void vpTemplateTrackerWarpHomographySL3::warpX	(	const int &	v1,
		const int &	u1,
		double &	v2,
		double &	u2,
		const vpColVector &
	)

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.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 316 of file vpTemplateTrackerWarpHomographySL3.cpp.

References vpTemplateTrackerWarp::denom, and G.

◆ warpXInv()

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

pure virtualinherited

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(), isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), and vpTemplateTrackerWarpHomography::isESMcompatible().

◆ 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.