Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpTemplateTrackerWarpHomography.cpp
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 #include <visp3/core/vpTrackingException.h>
41 #include <visp3/tt/vpTemplateTrackerWarpHomography.h>
42 
47 {
48  nbParam = 8;
49 }
50 
58 {
59  p_down[0] = p[0];
60  p_down[1] = p[1];
61  p_down[2] = p[2] * 2.;
62  p_down[3] = p[3];
63  p_down[4] = p[4];
64  p_down[5] = p[5] * 2.;
65  p_down[6] = p[6] / 2.;
66  p_down[7] = p[7] / 2.;
67 }
68 
76 {
77  p_up[0] = p[0];
78  p_up[1] = p[1];
79  p_up[2] = p[2] / 2.;
80  p_up[3] = p[3];
81  p_up[4] = p[4];
82  p_up[5] = p[5] / 2.;
83  p_up[6] = p[6] * 2.;
84  p_up[7] = p[7] * 2.;
85 }
86 
95 void vpTemplateTrackerWarpHomography::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
96 {
97  double u_du_ = u * du;
98  double v_dv_ = v * dv;
99  dIdW[0] = u_du_;
100  dIdW[1] = u * dv;
101  dIdW[2] = -u * (u_du_ + v_dv_);
102  dIdW[3] = v * du;
103  dIdW[4] = v_dv_;
104  dIdW[5] = -v * (u_du_ + v_dv_);
105  dIdW[6] = du;
106  dIdW[7] = dv;
107 }
108 
120 void vpTemplateTrackerWarpHomography::getdWdp0(const int &v, const int &u, double *dIdW)
121 {
122  double uv_ = u * v;
123  dIdW[0] = u;
124  dIdW[1] = 0;
125  dIdW[2] = -u * u;
126  dIdW[3] = v;
127  dIdW[4] = 0;
128  dIdW[5] = - uv_;
129  dIdW[6] = 1.;
130  dIdW[7] = 0;
131 
132  dIdW[8] = 0;
133  dIdW[9] = u;
134  dIdW[10] = - uv_;
135  dIdW[11] = 0;
136  dIdW[12] = v;
137  dIdW[13] = -v * v;
138  dIdW[14] = 0;
139  dIdW[15] = 1.;
140 }
141 
152 {
153  double value = (p[2] * X[0] + p[5] * X[1] + 1.);
154 
155  if (std::fabs(value) > std::numeric_limits<double>::epsilon()) {
156  denom = (1. / value);
157  } else {
159  "Division by zero in vpTemplateTrackerWarpHomography::computeDenom()"));
160  }
161 }
162 
172 void vpTemplateTrackerWarpHomography::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
173 {
174  u2 = ((1. + p[0]) * u1 + p[3] * v1 + p[6]) * denom;
175  v2 = (p[1] * u1 + (1. + p[4]) * v1 + p[7]) * denom;
176 }
177 
188 {
189  X2[0] = ((1 + p[0]) * X1[0] + p[3] * X1[1] + p[6]) * denom;
190  X2[1] = (p[1] * X1[0] + (1 + p[4]) * X1[1] + p[7]) * denom;
191 }
192 
205  vpMatrix &dM)
206 {
207  double u = X[0];
208  double v = X[1];
209  dM[0][0] = u * denom;
210  dM[0][1] = 0;
211  dM[0][2] = -u * X[0] * denom;
212  dM[0][3] = v * denom;
213  dM[0][4] = 0;
214  dM[0][5] = -v * X[0] * denom;
215  dM[0][6] = denom;
216 
217  dM[1][1] = u * denom;
218  dM[1][2] = -u * X[1] * denom;
219  dM[1][4] = v * denom;
220  dM[1][5] = -v * X[1] * denom;
221  dM[1][7] = denom;
222 }
223 
236  const vpColVector &p, const double *dwdp0, vpMatrix &dM)
237 {
238  double dwdx0, dwdx1;
239  double dwdy0, dwdy1;
240 
241  dwdx0 = ((1. + p[0]) - X[0] * p[2]) * denom;
242  dwdx1 = (p[1] - X[1] * p[2]) * denom;
243  dwdy0 = (p[3] - X[0] * p[5]) * denom;
244  dwdy1 = ((1. + p[4]) - X[1] * p[5]) * denom;
245  for (unsigned int i = 0; i < nbParam; i++) {
246  dM[0][i] = dwdx0 * dwdp0[i] + dwdy0 * dwdp0[i + nbParam];
247  dM[1][i] = dwdx1 * dwdp0[i] + dwdy1 * dwdp0[i + nbParam];
248  }
249 }
250 
259 {
260  double value = (p[2] * X1[0] + p[5] * X1[1] + 1.);
261 
262  if (std::fabs(value) > std::numeric_limits<double>::epsilon()) {
263  X2[0] = ((1 + p[0]) * X1[0] + p[3] * X1[1] + p[6]) / value;
264  X2[1] = (p[1] * X1[0] + (1 + p[4]) * X1[1] + p[7]) / value;
265  } else {
266  throw(vpTrackingException(vpTrackingException::fatalError, "Division by zero in "
267  "vpTemplateTrackerWarpHomography::"
268  "warpXInv()"));
269  }
270 }
271 
279 {
280  double h_00 = 1. + p[0];
281  double h_10 = p[1];
282  double h_20 = p[2];
283  double h_01 = p[3];
284  double h_11 = 1. + p[4];
285  double h_21 = p[5];
286  double h_02 = p[6];
287  double h_12 = p[7];
288 
289  double h_inv_22 = (h_00 * h_11 - h_01 * h_10);
290 
291  if (std::fabs(h_inv_22) < std::numeric_limits<double>::epsilon()) {
292  throw(vpException(vpException::fatalError, "Cannot get homography inverse parameters. Matrix determinant is 0."));
293  }
294 
295  p_inv[0] = (h_11 - h_12 * h_21) / h_inv_22 - 1.;
296  p_inv[3] = (h_02 * h_21 - h_01) / h_inv_22;
297  p_inv[6] = (h_01 * h_12 - h_02 * h_11) / h_inv_22;
298 
299  p_inv[1] = (h_12 * h_20 - h_10) / h_inv_22;
300  p_inv[4] = (h_00 - h_02 * h_20) / h_inv_22 - 1.;
301  p_inv[7] = (h_02 * h_10 - h_00 * h_12) / h_inv_22;
302 
303  p_inv[2] = (h_10 * h_21 - h_11 * h_20) / h_inv_22;
304  p_inv[5] = (h_01 * h_20 - h_00 * h_21) / h_inv_22;
305 }
306 
314 {
315  vpHomography H;
316  H[0][0] = 1. + p[0];
317  H[1][0] = p[1];
318  H[2][0] = p[2];
319  H[0][1] = p[3];
320  H[1][1] = 1. + p[4];
321  H[2][1] = p[5];
322  H[0][2] = p[6];
323  H[1][2] = p[7];
324  H[2][2] = 1.;
325 
326  return H;
327 }
328 
335 {
336  p.resize(getNbParam(), false);
337  p[0] = H[0][0] / H[2][2] - 1.;
338  p[1] = H[1][0] / H[2][2];
339  p[2] = H[2][0] / H[2][2];
340  p[3] = H[0][1] / H[2][2];
341  p[4] = H[1][1] / H[2][2] - 1.;
342  p[5] = H[2][1] / H[2][2];
343  p[6] = H[0][2] / H[2][2];
344  p[7] = H[1][2] / H[2][2];
345 }
346 
353 {
354  p.resize(getNbParam(), false);
355  p[0] = H[0][0] / H[2][2] - 1.;
356  p[1] = H[1][0] / H[2][2];
357  p[2] = H[2][0] / H[2][2];
358  p[3] = H[0][1] / H[2][2];
359  p[4] = H[1][1] / H[2][2] - 1.;
360  p[5] = H[2][1] / H[2][2];
361  p[6] = H[0][2] / H[2][2];
362  p[7] = H[1][2] / H[2][2];
363 }
364 
374 {
375  double h1_00 = 1. + p1[0];
376  double h1_10 = p1[1];
377  double h1_20 = p1[2];
378  double h1_01 = p1[3];
379  double h1_11 = 1. + p1[4];
380  double h1_21 = p1[5];
381  double h1_02 = p1[6];
382  double h1_12 = p1[7];
383 
384  double h2_00 = 1. + p2[0];
385  double h2_10 = p2[1];
386  double h2_20 = p2[2];
387  double h2_01 = p2[3];
388  double h2_11 = 1. + p2[4];
389  double h2_21 = p2[5];
390  double h2_02 = p2[6];
391  double h2_12 = p2[7];
392 
393  double h12_22 = h1_20 * h2_02 + h1_21 * h2_12 + 1.;
394 
395  p12[0] = (h1_00 * h2_00 + h1_01 * h2_10 + h1_02 * h2_20) / h12_22 - 1.;
396  p12[3] = (h1_00 * h2_01 + h1_01 * h2_11 + h1_02 * h2_21) / h12_22;
397  p12[6] = (h1_00 * h2_02 + h1_01 * h2_12 + h1_02) / h12_22;
398 
399  p12[1] = (h1_10 * h2_00 + h1_11 * h2_10 + h1_12 * h2_20) / h12_22;
400  p12[4] = (h1_10 * h2_01 + h1_11 * h2_11 + h1_12 * h2_21) / h12_22 - 1.;
401  p12[7] = (h1_10 * h2_02 + h1_11 * h2_12 + h1_12) / h12_22;
402 
403  p12[2] = (h1_20 * h2_00 + h1_21 * h2_10 + h2_20) / h12_22;
404  p12[5] = (h1_20 * h2_01 + h1_21 * h2_11 + h2_21) / h12_22;
405 }
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
unsigned int getNbParam() const
error that can be emited by ViSP classes.
Definition: vpException.h:71
void dWarp(const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW)
void getdWdp0(const int &v, const int &u, double *dIdW)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
Error that can be emited by the vpTracker class and its derivates.
void dWarpCompo(const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW)
double denom
Internal value used by homography warp model.
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void computeDenom(vpColVector &X, const vpColVector &p)
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void getParam(const vpHomography &H, vpColVector &p) const
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
vpHomography getHomography(const vpColVector &ParamM) const
unsigned int nbParam
Number of parameters used to model warp transformation.