Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarpAffine.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
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
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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/vpTemplateTrackerWarpAffine.h>
40
45
53{
54 p_down[0] = p[0];
55 p_down[1] = p[1];
56 p_down[2] = p[2];
57 p_down[3] = p[3];
58 p_down[4] = p[4] / 2.;
59 p_down[5] = p[5] / 2.;
60}
61
69{
70 p_up[0] = p[0];
71 p_up[1] = p[1];
72 p_up[2] = p[2];
73 p_up[3] = p[3];
74 p_up[4] = p[4] * 2.;
75 p_up[5] = p[5] * 2.;
76}
77
86void vpTemplateTrackerWarpAffine::getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
87{
88 dIdW[0] = u * du;
89 dIdW[1] = u * dv;
90 dIdW[2] = v * du;
91 dIdW[3] = v * dv;
92 dIdW[4] = du;
93 dIdW[5] = dv;
94}
95
107void vpTemplateTrackerWarpAffine::getdWdp0(const int &v, const int &u, double *dIdW)
108{
109 dIdW[0] = u;
110 dIdW[1] = 0;
111 dIdW[2] = v;
112 dIdW[3] = 0;
113 dIdW[4] = 1.;
114 dIdW[5] = 0;
115
116 dIdW[6] = 0;
117 dIdW[7] = u;
118 dIdW[8] = 0;
119 dIdW[9] = v;
120 dIdW[10] = 0;
121 dIdW[11] = 1.;
122}
123
133void vpTemplateTrackerWarpAffine::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
134{
135 u2 = (1 + p[0]) * u1 + p[2] * v1 + p[4];
136 v2 = p[1] * u1 + (1 + p[3]) * v1 + p[5];
137}
138
147{
148 X2[0] = (1.0 + p[0]) * X1[0] + p[2] * X1[1] + p[4];
149 X2[1] = p[1] * X1[0] + (1.0 + p[3]) * X1[1] + p[5];
150}
151
162{
163 double u = X[0];
164 double v = X[1];
165
166 dM[0][0] = u;
167 dM[0][1] = 0;
168 dM[0][2] = v;
169 dM[0][3] = 0;
170 dM[0][4] = 1;
171 dM[0][5] = 0;
172 dM[1][0] = 0;
173 dM[1][1] = u;
174 dM[1][2] = 0;
175 dM[1][3] = v;
176 dM[1][4] = 0;
177 dM[1][5] = 1;
178}
179
188 const double *dwdp0, vpMatrix &dM)
189{
190 for (unsigned int i = 0; i < nbParam; i++) {
191 dM[0][i] = (1. + p[0]) * dwdp0[i] + p[2] * dwdp0[i + nbParam];
192 dM[1][i] = p[1] * dwdp0[i] + (1. + p[3]) * dwdp0[i + nbParam];
193 }
194}
195
204{
205 X2[0] = (1 + p[0]) * X1[0] + p[2] * X1[1] + p[4];
206 X2[1] = p[1] * X1[0] + (1 + p[3]) * X1[1] + p[5];
207}
208
216{
217 double u = p[4];
218 double v = p[5];
219 double r_00 = 1 + p[0], r_01 = p[2];
220 double r_10 = p[1], r_11 = 1 + p[3];
221 double det = r_00 * r_11 - r_01 * r_10;
222 if (std::fabs(det) < std::numeric_limits<double>::epsilon()) {
223 throw(vpException(vpException::fatalError, "In vpTemplateTrackerWarpAffine::getParamInverse() "
224 "cannot inverse 2-by-2 matrix. Matrix determinant is 0."));
225 }
226
227 double ri_11 = r_00 / det;
228 double ri_00 = r_11 / det;
229 double ri_01 = -r_01 / det;
230 double ri_10 = -r_10 / det;
231
232 p_inv[0] = ri_00 - 1;
233 p_inv[1] = ri_10;
234 p_inv[2] = ri_01;
235 p_inv[3] = ri_11 - 1;
236 p_inv[4] = -(ri_00 * u + ri_01 * v);
237 p_inv[5] = -(ri_10 * u + ri_11 * v);
238}
239
249{
250 double r1_00 = 1 + p1[0], r1_01 = p1[2];
251 double r1_10 = p1[1], r1_11 = 1 + p1[3];
252 double r2_00 = 1 + p2[0], r2_01 = p2[2];
253 double r2_10 = p2[1], r2_11 = 1 + p2[3];
254 double u1 = p1[4];
255 double v1 = p1[5];
256 double u2 = p2[4];
257 double v2 = p2[5];
258
259 p12[0] = r1_00 * r2_00 + r1_01 * r2_10 - 1.;
260 p12[1] = r1_10 * r2_00 + r1_11 * r2_10;
261 p12[2] = r1_00 * r2_01 + r1_01 * r2_11;
262 p12[3] = r1_10 * r2_01 + r1_11 * r2_11 - 1.;
263 p12[4] = r1_00 * u2 + r1_01 * v2 + u1;
264 p12[5] = r1_10 * u2 + r1_11 * v2 + v1;
265}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void dWarp(const vpColVector &X, const vpColVector &, const vpColVector &, vpMatrix &dM)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dM)
void getdWdp0(const int &v, const int &u, double *dIdW)
unsigned int nbParam
Number of parameters used to model warp transformation.