Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpTemplateTrackerWarpTranslation.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/vpTemplateTrackerWarpTranslation.h>
40 
45 
53 {
54  p_down[0] = p[0] / 2.;
55  p_down[1] = p[1] / 2.;
56 }
57 
65 {
66  p_up[0] = p[0] * 2.;
67  p_up[1] = p[1] * 2.;
68 }
69 
76 void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du,
77  double *dIdW)
78 {
79  dIdW[0] = du;
80  dIdW[1] = dv;
81 }
82 
91 void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
92 {
93  dIdW[0] = 1.;
94  dIdW[1] = 0;
95 
96  dIdW[2] = 0;
97  dIdW[3] = 1.;
98 }
99 
109 void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
110 {
111  u2 = u1 + p[0];
112  v2 = v1 + p[1];
113 }
114 
123 {
124  X2[0] = X1[0] + p[0];
125  X2[1] = X1[1] + p[1];
126 }
127 
136  vpMatrix &dM)
137 {
138  dM[0][0] = 1;
139  dM[0][1] = 0;
140  dM[1][0] = 0;
141  dM[1][1] = 1;
142 }
143 
151  const double *dwdp0, vpMatrix &dM)
152 {
153  for (unsigned int i = 0; i < nbParam; i++) {
154  dM[0][i] = dwdp0[i];
155  dM[1][i] = dwdp0[i + nbParam];
156  }
157 }
158 
167 {
168  X2[0] = X1[0] + p[0];
169  X2[1] = X1[1] + p[1];
170 }
171 
179 {
180  p_inv[0] = -p[0];
181  p_inv[1] = -p[1];
182 }
183 
193 {
194  p12[0] = p1[0] + p2[0];
195  p12[1] = p1[1] + p2[1];
196 }
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 pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM)
void getdWdp0(const int &, const int &, double *dIdW)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
unsigned int nbParam
Number of parameters used to model warp transformation.