Visual Servoing Platform  version 3.3.1 under development (2020-10-22)
vpTemplateTrackerWarpSRT.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/vpTemplateTrackerWarpSRT.h>
41 
46 {
47  nbParam = 4;
48 }
49 
57 {
58  p_down[0] = p[0];
59  p_down[1] = p[1];
60  p_down[2] = p[2] / 2.;
61  p_down[3] = p[3] / 2.;
62 }
63 
71 {
72  p_up[0] = p[0];
73  p_up[1] = p[1];
74  p_up[2] = p[2] * 2.;
75  p_up[3] = p[3] * 2.;
76 }
77 
86 void vpTemplateTrackerWarpSRT::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
87 {
88  dIdW[0] = u * du + v * dv;
89  dIdW[1] = -v * du + u * dv;
90  dIdW[2] = du;
91  dIdW[3] = dv;
92 }
93 
105 void vpTemplateTrackerWarpSRT::getdWdp0(const int &v, const int &u, double *dIdW)
106 {
107  dIdW[0] = u;
108  dIdW[1] = -v;
109  dIdW[2] = 1.;
110  dIdW[3] = 0;
111 
112  dIdW[4] = v;
113  dIdW[5] = u;
114  dIdW[6] = 0;
115  dIdW[7] = 1.;
116 }
117 
127 void vpTemplateTrackerWarpSRT::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
128 {
129  double c = cos(p[1]);
130  double s = sin(p[1]);
131  double scale = 1.0 + p[0];
132 
133  u2 = scale * (c * u1 - s * v1) + p[2];
134  v2 = scale * (s * u1 + c * v1) + p[3];
135 }
136 
145 {
146  double c = cos(p[1]);
147  double s = sin(p[1]);
148  double scale = 1.0 + p[0];
149 
150  X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
151  X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
152 }
153 
165  vpMatrix &dM)
166 {
167  double u = X[0];
168  double v = X[1];
169  double c = cos(p[1]);
170  double s = sin(p[1]);
171  double scale = 1.0 + p[0];
172  double c_u_s_v = c * u - s * v;
173  double s_u_c_v = s * u + c * v;
174 
175  dM[0][0] = c_u_s_v;
176  dM[0][1] = - scale * s_u_c_v;
177  dM[0][2] = 1;
178  dM[0][3] = 0;
179 
180  dM[1][0] = s_u_c_v;
181  dM[1][1] = scale * c_u_s_v;
182  dM[1][2] = 0;
183  dM[1][3] = 1;
184 }
185 
194  const vpColVector &p, const double *dwdp0, vpMatrix &dM)
195 {
196  double c = cos(p[1]);
197  double s = sin(p[1]);
198  double scale = 1.0 + p[0];
199 
200  for (unsigned int i = 0; i < nbParam; i++) {
201  dM[0][i] = scale * (c * dwdp0[i] - s * dwdp0[i + nbParam]);
202  dM[1][i] = scale * (s * dwdp0[i] + c * dwdp0[i + nbParam]);
203  }
204 }
205 
214 {
215  double c = cos(p[1]);
216  double s = sin(p[1]);
217  double scale = 1.0 + p[0];
218 
219  X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
220  X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
221 }
222 
230 {
231  double c = cos(p[1]);
232  double s = sin(p[1]);
233  double scale = 1.0 + p[0];
234  double u = p[2];
235  double v = p[3];
236 
237  p_inv[0] = 1.0 / scale - 1.0;
238  p_inv[1] = atan2(-s, c);
239  p_inv[2] = -(c * u + s * v) / scale;
240  p_inv[3] = (s * u - c * v) / scale;
241 }
242 
252 {
253  double c1 = cos(p1[1]);
254  double s1 = sin(p1[1]);
255  double c2 = cos(p2[1]);
256  double s2 = sin(p2[1]);
257  double scale1 = 1.0 + p1[0];
258  double scale2 = 1.0 + p2[0];
259  double u1 = p1[2];
260  double v1 = p1[3];
261  double u2 = p2[2];
262  double v2 = p2[3];
263 
264  p12[0] = scale1 * scale2 - 1.0;
265  p12[1] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
266  p12[2] = scale1 * (c1 * u2 - s1 * v2) + u1;
267  p12[3] = scale1 * (s1 * u2 + c1 * v2) + v1;
268 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
void getdWdp0(const int &v, const int &u, double *dIdW)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &p, vpMatrix &dM)
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
unsigned int nbParam
Number of parameters used to model warp transformation.