Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarpSRT.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 *
38*****************************************************************************/
39#include <visp3/tt/vpTemplateTrackerWarpSRT.h>
40
45
53{
54 p_down[0] = p[0];
55 p_down[1] = p[1];
56 p_down[2] = p[2] / 2.;
57 p_down[3] = p[3] / 2.;
58}
59
67{
68 p_up[0] = p[0];
69 p_up[1] = p[1];
70 p_up[2] = p[2] * 2.;
71 p_up[3] = p[3] * 2.;
72}
73
82void vpTemplateTrackerWarpSRT::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
83{
84 dIdW[0] = u * du + v * dv;
85 dIdW[1] = -v * du + u * dv;
86 dIdW[2] = du;
87 dIdW[3] = dv;
88}
89
101void vpTemplateTrackerWarpSRT::getdWdp0(const int &v, const int &u, double *dIdW)
102{
103 dIdW[0] = u;
104 dIdW[1] = -v;
105 dIdW[2] = 1.;
106 dIdW[3] = 0;
107
108 dIdW[4] = v;
109 dIdW[5] = u;
110 dIdW[6] = 0;
111 dIdW[7] = 1.;
112}
113
123void vpTemplateTrackerWarpSRT::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
124{
125 double c = cos(p[1]);
126 double s = sin(p[1]);
127 double scale = 1.0 + p[0];
128
129 u2 = scale * (c * u1 - s * v1) + p[2];
130 v2 = scale * (s * u1 + c * v1) + p[3];
131}
132
141{
142 double c = cos(p[1]);
143 double s = sin(p[1]);
144 double scale = 1.0 + p[0];
145
146 X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
147 X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
148}
149
161{
162 double u = X[0];
163 double v = X[1];
164 double c = cos(p[1]);
165 double s = sin(p[1]);
166 double scale = 1.0 + p[0];
167 double c_u_s_v = c * u - s * v;
168 double s_u_c_v = s * u + c * v;
169
170 dM[0][0] = c_u_s_v;
171 dM[0][1] = -scale * s_u_c_v;
172 dM[0][2] = 1;
173 dM[0][3] = 0;
174
175 dM[1][0] = s_u_c_v;
176 dM[1][1] = scale * c_u_s_v;
177 dM[1][2] = 0;
178 dM[1][3] = 1;
179}
180
189 const double *dwdp0, vpMatrix &dM)
190{
191 double c = cos(p[1]);
192 double s = sin(p[1]);
193 double scale = 1.0 + p[0];
194
195 for (unsigned int i = 0; i < nbParam; i++) {
196 dM[0][i] = scale * (c * dwdp0[i] - s * dwdp0[i + nbParam]);
197 dM[1][i] = scale * (s * dwdp0[i] + c * dwdp0[i + nbParam]);
198 }
199}
200
209{
210 double c = cos(p[1]);
211 double s = sin(p[1]);
212 double scale = 1.0 + p[0];
213
214 X2[0] = scale * (c * X1[0] - s * X1[1]) + p[2];
215 X2[1] = scale * (s * X1[0] + c * X1[1]) + p[3];
216}
217
225{
226 double c = cos(p[1]);
227 double s = sin(p[1]);
228 double scale = 1.0 + p[0];
229 double u = p[2];
230 double v = p[3];
231
232 p_inv[0] = 1.0 / scale - 1.0;
233 p_inv[1] = atan2(-s, c);
234 p_inv[2] = -(c * u + s * v) / scale;
235 p_inv[3] = (s * u - c * v) / scale;
236}
237
247{
248 double c1 = cos(p1[1]);
249 double s1 = sin(p1[1]);
250 double c2 = cos(p2[1]);
251 double s2 = sin(p2[1]);
252 double scale1 = 1.0 + p1[0];
253 double scale2 = 1.0 + p2[0];
254 double u1 = p1[2];
255 double v1 = p1[3];
256 double u2 = p2[2];
257 double v2 = p2[3];
258
259 p12[0] = scale1 * scale2 - 1.0;
260 p12[1] = atan2(s1 * c2 + c1 * s2, c1 * c2 - s1 * s2);
261 p12[2] = scale1 * (c1 * u2 - s1 * v2) + u1;
262 p12[3] = scale1 * (s1 * u2 + c1 * v2) + v1;
263}
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
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.