Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpTemplateTrackerWarp Class Referenceabstract

#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 $(u_1, v_1)$ 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 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

◆ pRondp()

◆ 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 $X_1=(u_1,v_1)$ 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 vpTemplateTrackerWarpHomography, vpTemplateTrackerWarpAffine, vpTemplateTrackerWarpHomographySL3, vpTemplateTrackerWarpSRT, vpTemplateTrackerWarpRT, and vpTemplateTrackerWarpTranslation.

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), getDistanceBetweenZoneAndWarpedZone(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTrackerWarpRT::isESMcompatible(), vpTemplateTrackerWarpTranslation::isESMcompatible(), vpTemplateTrackerWarpAffine::isESMcompatible(), vpTemplateTrackerWarpSRT::isESMcompatible(), vpTemplateTrackerWarpHomographySL3::isESMcompatible(), vpTemplateTrackerWarpHomography::isESMcompatible(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::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 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

◆ nbParam