Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpTemplateTrackerWarpRT.cpp
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31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
39 #include <visp3/tt/vpTemplateTrackerWarpRT.h>
40 
45 
53 {
54  p_down[0] = p[0];
55  p_down[1] = p[1] / 2.;
56  p_down[2] = p[2] / 2.;
57 }
58 
66 {
67  p_up[0] = p[0];
68  p_up[1] = p[1] * 2.;
69  p_up[2] = p[2] * 2.;
70 }
71 
80 void vpTemplateTrackerWarpRT::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
81 {
82  dIdW[0] = -v * du + u * dv;
83  dIdW[1] = du;
84  dIdW[2] = dv;
85 }
86 
98 void vpTemplateTrackerWarpRT::getdWdp0(const int &v, const int &u, double *dIdW)
99 {
100  dIdW[0] = -v;
101  dIdW[1] = 1.;
102  dIdW[2] = 0;
103 
104  dIdW[3] = u;
105  dIdW[4] = 0;
106  dIdW[5] = 1.;
107 }
108 
118 void vpTemplateTrackerWarpRT::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
119 {
120  double c = cos(p[0]);
121  double s = sin(p[0]);
122 
123  u2 = (c * u1) - (s * v1) + p[1];
124  v2 = (s * u1) + (c * v1) + p[2];
125 }
126 
135 {
136  double c = cos(p[0]);
137  double s = sin(p[0]);
138 
139  X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
140  X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
141 }
142 
154 {
155  double u = X[0];
156  double v = X[1];
157  double c = cos(p[0]);
158  double s = sin(p[0]);
159 
160  dM[0][0] = -s * u - c * v;
161  dM[0][1] = 1;
162  dM[0][2] = 0;
163 
164  dM[1][0] = c * u - s * v;
165  dM[1][1] = 0;
166  dM[1][2] = 1;
167 }
168 
177  const double *dwdp0, vpMatrix &dM)
178 {
179  double c = cos(p[0]);
180  double s = sin(p[0]);
181 
182  for (unsigned int i = 0; i < nbParam; i++) {
183  dM[0][i] = (c * dwdp0[i]) - (s * dwdp0[i + nbParam]);
184  dM[1][i] = (s * dwdp0[i]) + (c * dwdp0[i + nbParam]);
185  }
186 }
187 
196 {
197  double c = cos(p[0]);
198  double s = sin(p[0]);
199 
200  X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
201  X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
202 }
203 
211 {
212  double c = cos(p[0]);
213  double s = sin(p[0]);
214  double u = p[1];
215  double v = p[2];
216 
217  p_inv[0] = atan2(-s, c);
218  p_inv[1] = -(c * u + s * v);
219  p_inv[2] = s * u - c * v;
220 }
221 
231 {
232  double c1 = cos(p1[0]);
233  double s1 = sin(p1[0]);
234  double c2 = cos(p2[0]);
235  double s2 = sin(p2[0]);
236  double u1 = p1[1];
237  double v1 = p1[2];
238  double u2 = p2[1];
239  double v2 = p2[2];
240 
241  p12[0] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
242  p12[1] = c1 * u2 - s1 * v2 + u1;
243  p12[2] = s1 * u2 + c1 * v2 + v1;
244 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void getdWdp0(const int &v, const int &u, double *dIdW)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p, vpMatrix &dM)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
unsigned int nbParam
Number of parameters used to model warp transformation.