Visual Servoing Platform  version 3.6.1 under development (2024-12-17)
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vpTemplateTrackerWarp Class Referenceabstract
tracker: ViSP trackers » tt: Template tracker module » Warping function

#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 59 of file vpTemplateTrackerWarp.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarp()

vpTemplateTrackerWarp::vpTemplateTrackerWarp ( )
inline

Default constructor.

Definition at line 69 of file vpTemplateTrackerWarp.h.

◆ ~vpTemplateTrackerWarp()

virtual vpTemplateTrackerWarp::~vpTemplateTrackerWarp ( )
inlinevirtual

Destructor.

Definition at line 73 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 $(u_1, v_1)$ of the point to consider in the derivative computation.
X2: Vector corresponding to the coordinates $(u_1, v_1)$ 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 vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpHomography, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIForwardAdditional::trackNoPyr().

◆ 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, vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpAffine, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), and vpTemplateTrackerMIForwardCompositional::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 69 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerTriangle::getCorner(), 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 vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::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 vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), and vpTemplateTrackerSSDForwardCompositional::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 vpTemplateTrackerWarpTranslation, vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpHomography, and vpTemplateTrackerWarpAffine.

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

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

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

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

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::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 91 of file vpTemplateTrackerWarp.cpp.

References warpX().

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

◆ warpTriangle()

BEGIN_VISP_NAMESPACE 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 38 of file vpTemplateTrackerWarp.cpp.

References vpException::dimensionError, vpTemplateTrackerTriangle::getCorners(), vpTemplateTrackerTriangle::init(), vpArray2D< Type >::size(), 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 $X_1=(u_1,v_1)$ to warp.
u1: Coordinate (along the image columns axis) of the point $X_1=(u_1,v_1)$ to warp.
v2: Coordinate of the warped point $X_2=(u_2,v_2)$ along the image rows axis.
u2: Coordinate of the warped point $X_2=(u_2,v_2)$ along the image column axis.
p: Vector that contains the parameters of the transformation.

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

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), getDistanceBetweenZoneAndWarpedZone(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), warp(), and warpTriangle().

◆ 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 $(u_1, v_1)$ of the point to warp.
X2: Vector corresponding to the coordinates $(u_2, v_2)$ of the warped point.
p: Vector that contains the parameters of the RT transformation.

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

◆ 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 vpTemplateTrackerWarpTranslation, vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, vpTemplateTrackerWarpHomography, and vpTemplateTrackerWarpAffine.

◆ 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 58 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 62 of file vpTemplateTrackerWarp.h.

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

◆ nbParam

unsigned int vpTemplateTrackerWarp::nbParam
protected

Number of parameters used to model warp transformation.

Definition at line 63 of file vpTemplateTrackerWarp.h.

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