Visual Servoing Platform version 3.5.0
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
86void 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
105void 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
127void 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 column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
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 getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void getdWdp0(const int &v, const int &u, double *dIdW)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
unsigned int nbParam
Number of parameters used to model warp transformation.