Visual Servoing Platform  version 3.2.0
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 
43 {
44  nbParam = 2;
45  dW.resize(2, nbParam);
46 }
47 
48 // get the parameter corresponding to the lower level of a gaussian pyramid
50 {
51  pdown[0] = p[0] / 2.;
52  pdown[1] = p[1] / 2.;
53 }
54 
56 {
57  pup[0] = p[0] * 2.;
58  pup[1] = p[1] * 2.;
59 }
60 
61 /*calcul de di*dw(x,p0)/dp
62  */
63 void vpTemplateTrackerWarpTranslation::getdW0(const int & /*i*/, const int & /*j*/, const double &dy, const double &dx,
64  double *dIdW)
65 {
66  dIdW[0] = dx;
67  dIdW[1] = dy;
68 }
69 /*calcul de dw(x,p0)/dp
70  */
71 void vpTemplateTrackerWarpTranslation::getdWdp0(const int & /*i*/, const int & /*j*/, double *dIdW)
72 {
73  dIdW[0] = 1.;
74  dIdW[1] = 0;
75 
76  dIdW[2] = 0;
77  dIdW[3] = 1.;
78 }
79 
80 void vpTemplateTrackerWarpTranslation::warpX(const int &i, const int &j, double &i2, double &j2,
81  const vpColVector &ParamM)
82 {
83  j2 = j + ParamM[0];
84  i2 = i + ParamM[1];
85 }
86 
88 {
89  vXres[0] = vX[0] + ParamM[0];
90  vXres[1] = vX[1] + ParamM[1];
91 }
92 
93 void vpTemplateTrackerWarpTranslation::dWarp(const vpColVector & /*X1*/, const vpColVector & /*X2*/,
94  const vpColVector & /*ParamM*/, vpMatrix &dW_)
95 {
96  dW_[0][0] = 1;
97  dW_[0][1] = 0;
98  dW_[1][0] = 0;
99  dW_[1][1] = 1;
100 }
101 
102 /*compute dw=dw/dx*dw/dp
103  */
104 void vpTemplateTrackerWarpTranslation::dWarpCompo(const vpColVector & /*X1*/, const vpColVector & /*X2*/,
105  const vpColVector & /*ParamM*/, const double *dwdp0, vpMatrix &dW_)
106 {
107  for (unsigned int i = 0; i < nbParam; i++) {
108  dW_[0][i] = dwdp0[i];
109  dW_[1][i] = dwdp0[i + nbParam];
110  }
111 }
112 
114 {
115  vXres[0] = vX[0] + ParamM[0];
116  vXres[1] = vX[1] + ParamM[1];
117 }
119 {
120  ParamMinv[0] = -ParamM[0];
121  ParamMinv[1] = -ParamM[1];
122 }
123 
124 void vpTemplateTrackerWarpTranslation::pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const
125 {
126  pres[0] = p1[0] + p2[0];
127  pres[1] = p1[1] + p2[1];
128 }
vpTemplateTrackerWarpTranslation::getParamPyramidUp
void getParamPyramidUp(const vpColVector &p, vpColVector &pup)
Definition: vpTemplateTrackerWarpTranslation.cpp:54
vpTemplateTrackerWarpTranslation::vpTemplateTrackerWarpTranslation
vpTemplateTrackerWarpTranslation()
Definition: vpTemplateTrackerWarpTranslation.cpp:41
vpTemplateTrackerWarpTranslation::getParamPyramidDown
void getParamPyramidDown(const vpColVector &p, vpColVector &pdown)
Definition: vpTemplateTrackerWarpTranslation.cpp:48
vpTemplateTrackerWarpTranslation::getdW0
void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW)
Definition: vpTemplateTrackerWarpTranslation.cpp:62
vpTemplateTrackerWarpTranslation::warpXInv
void warpXInv(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)
Definition: vpTemplateTrackerWarpTranslation.cpp:112
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpTemplateTrackerWarpTranslation::pRondp
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const
Definition: vpTemplateTrackerWarpTranslation.cpp:123
vpTemplateTrackerWarp::nbParam
unsigned int nbParam
Definition: vpTemplateTrackerWarp.h:62
vpTemplateTrackerWarpTranslation::dWarp
void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, vpMatrix &dW)
Definition: vpTemplateTrackerWarpTranslation.cpp:92
vpTemplateTrackerWarpTranslation::dWarpCompo
void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)
Definition: vpTemplateTrackerWarpTranslation.cpp:103
vpTemplateTrackerWarpTranslation::warpX
void warpX(const vpColVector &vX, vpColVector &vXres, const vpColVector &ParamM)
Definition: vpTemplateTrackerWarpTranslation.cpp:86
vpArray2D::resize
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:170
vpTemplateTrackerWarp::dW
vpMatrix dW
Definition: vpTemplateTrackerWarp.h:61
vpTemplateTrackerWarpTranslation::getdWdp0
void getdWdp0(const int &i, const int &j, double *dIdW)
Definition: vpTemplateTrackerWarpTranslation.cpp:70
vpTemplateTrackerWarpTranslation::getParamInverse
void getParamInverse(const vpColVector &ParamM, vpColVector &ParamMinv) const
Definition: vpTemplateTrackerWarpTranslation.cpp:117