Visual Servoing Platform  version 3.3.1 under development (2020-10-22)
vpTemplateTrackerWarpRT.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/tt/vpTemplateTrackerWarpRT.h>
41 
46 {
47  nbParam = 3;
48 }
49 
57 {
58  p_down[0] = p[0];
59  p_down[1] = p[1] / 2.;
60  p_down[2] = p[2] / 2.;
61 }
62 
70 {
71  p_up[0] = p[0];
72  p_up[1] = p[1] * 2.;
73  p_up[2] = p[2] * 2.;
74 }
75 
84 void vpTemplateTrackerWarpRT::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
85 {
86  dIdW[0] = -v * du + u * dv;
87  dIdW[1] = du;
88  dIdW[2] = dv;
89 }
90 
102 void vpTemplateTrackerWarpRT::getdWdp0(const int &v, const int &u, double *dIdW)
103 {
104  dIdW[0] = -v;
105  dIdW[1] = 1.;
106  dIdW[2] = 0;
107 
108  dIdW[3] = u;
109  dIdW[4] = 0;
110  dIdW[5] = 1.;
111 }
112 
122 void vpTemplateTrackerWarpRT::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
123 {
124  double c = cos(p[0]);
125  double s = sin(p[0]);
126 
127  u2 = (c * u1) - (s * v1) + p[1];
128  v2 = (s * u1) + (c * v1) + p[2];
129 }
130 
139 {
140  double c = cos(p[0]);
141  double s = sin(p[0]);
142 
143  X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
144  X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
145 }
146 
158  vpMatrix &dM)
159 {
160  double u = X[0];
161  double v = X[1];
162  double c = cos(p[0]);
163  double s = sin(p[0]);
164 
165  dM[0][0] = - s * u - c * v;
166  dM[0][1] = 1;
167  dM[0][2] = 0;
168 
169  dM[1][0] = c * u - s * v;
170  dM[1][1] = 0;
171  dM[1][2] = 1;
172 }
173 
182  const vpColVector &p, const double *dwdp0, vpMatrix &dM)
183 {
184  double c = cos(p[0]);
185  double s = sin(p[0]);
186 
187  for (unsigned int i = 0; i < nbParam; i++) {
188  dM[0][i] = (c * dwdp0[i]) - (s * dwdp0[i + nbParam]);
189  dM[1][i] = (s * dwdp0[i]) + (c * dwdp0[i + nbParam]);
190  }
191 }
192 
201 {
202  double c = cos(p[0]);
203  double s = sin(p[0]);
204 
205  X2[0] = (c * X1[0]) - (s * X1[1]) + p[1];
206  X2[1] = (s * X1[0]) + (c * X1[1]) + p[2];
207 }
208 
216 {
217  double c = cos(p[0]);
218  double s = sin(p[0]);
219  double u = p[1];
220  double v = p[2];
221 
222  p_inv[0] = atan2(-s, c);
223  p_inv[1] = -(c * u + s * v);
224  p_inv[2] = s * u - c * v;
225 }
226 
236 {
237  double c1 = cos(p1[0]);
238  double s1 = sin(p1[0]);
239  double c2 = cos(p2[0]);
240  double s2 = sin(p2[0]);
241  double u1 = p1[1];
242  double v1 = p1[2];
243  double u2 = p2[1];
244  double v2 = p2[2];
245 
246  p12[0] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
247  p12[1] = c1 * u2 - s1 * v2 + u1;
248  p12[2] = s1 * u2 + c1 * v2 + v1;
249 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p, vpMatrix &dM)
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void getdWdp0(const int &v, const int &u, double *dIdW)
unsigned int nbParam
Number of parameters used to model warp transformation.