Visual Servoing Platform  version 3.5.1 under development (2022-08-17)
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 
54 {
55  p_down[0] = p[0] / 2.;
56  p_down[1] = p[1] / 2.;
57 }
58 
66 {
67  p_up[0] = p[0] * 2.;
68  p_up[1] = p[1] * 2.;
69 }
70 
77 void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du,
78  double *dIdW)
79 {
80  dIdW[0] = du;
81  dIdW[1] = dv;
82 }
83 
92 void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
93 {
94  dIdW[0] = 1.;
95  dIdW[1] = 0;
96 
97  dIdW[2] = 0;
98  dIdW[3] = 1.;
99 }
100 
110 void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
111 {
112  u2 = u1 + p[0];
113  v2 = v1 + p[1];
114 }
115 
124 {
125  X2[0] = X1[0] + p[0];
126  X2[1] = X1[1] + p[1];
127 }
128 
137  vpMatrix &dM)
138 {
139  dM[0][0] = 1;
140  dM[0][1] = 0;
141  dM[1][0] = 0;
142  dM[1][1] = 1;
143 }
144 
152  const double *dwdp0, vpMatrix &dM)
153 {
154  for (unsigned int i = 0; i < nbParam; i++) {
155  dM[0][i] = dwdp0[i];
156  dM[1][i] = dwdp0[i + nbParam];
157  }
158 }
159 
168 {
169  X2[0] = X1[0] + p[0];
170  X2[1] = X1[1] + p[1];
171 }
172 
180 {
181  p_inv[0] = -p[0];
182  p_inv[1] = -p[1];
183 }
184 
194 {
195  p12[0] = p1[0] + p2[0];
196  p12[1] = p1[1] + p2[1];
197 }
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.