Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
vpTemplateTrackerWarpTranslation.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/vpTemplateTrackerWarpTranslation.h>
41 
46 {
47  nbParam = 2;
48 }
49 
57 {
58  p_down[0] = p[0] / 2.;
59  p_down[1] = p[1] / 2.;
60 }
61 
69 {
70  p_up[0] = p[0] * 2.;
71  p_up[1] = p[1] * 2.;
72 }
73 
80 void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
81 {
82  dIdW[0] = du;
83  dIdW[1] = dv;
84 }
85 
94 void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
95 {
96  dIdW[0] = 1.;
97  dIdW[1] = 0;
98 
99  dIdW[2] = 0;
100  dIdW[3] = 1.;
101 }
102 
112 void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
113 {
114  u2 = u1 + p[0];
115  v2 = v1 + p[1];
116 }
117 
126 {
127  X2[0] = X1[0] + p[0];
128  X2[1] = X1[1] + p[1];
129 }
130 
139  vpMatrix &dM)
140 {
141  dM[0][0] = 1;
142  dM[0][1] = 0;
143  dM[1][0] = 0;
144  dM[1][1] = 1;
145 }
146 
154  const vpColVector &, const double *dwdp0, vpMatrix &dM)
155 {
156  for (unsigned int i = 0; i < nbParam; i++) {
157  dM[0][i] = dwdp0[i];
158  dM[1][i] = dwdp0[i + nbParam];
159  }
160 }
161 
170 {
171  X2[0] = X1[0] + p[0];
172  X2[1] = X1[1] + p[1];
173 }
174 
182 {
183  p_inv[0] = -p[0];
184  p_inv[1] = -p[1];
185 }
186 
196 {
197  p12[0] = p1[0] + p2[0];
198  p12[1] = p1[1] + p2[1];
199 }
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getdWdp0(const int &, const int &, double *dIdW)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
unsigned int nbParam
Number of parameters used to model warp transformation.