Visual Servoing Platform version 3.5.0
vpTemplateTrackerWarpTranslation.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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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{
47 nbParam = 2;
48}
49
57{
58 p_down[0] = p[0] / 2.;
59 p_down[1] = p[1] / 2.;
60}
61
69{
70 p_up[0] = p[0] * 2.;
71 p_up[1] = p[1] * 2.;
72}
73
80void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
81{
82 dIdW[0] = du;
83 dIdW[1] = dv;
84}
85
94void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
95{
96 dIdW[0] = 1.;
97 dIdW[1] = 0;
98
99 dIdW[2] = 0;
100 dIdW[3] = 1.;
101}
102
112void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
113{
114 u2 = u1 + p[0];
115 v2 = v1 + p[1];
116}
117
126{
127 X2[0] = X1[0] + p[0];
128 X2[1] = X1[1] + p[1];
129}
130
139 vpMatrix &dM)
140{
141 dM[0][0] = 1;
142 dM[0][1] = 0;
143 dM[1][0] = 0;
144 dM[1][1] = 1;
145}
146
154 const vpColVector &, const double *dwdp0, vpMatrix &dM)
155{
156 for (unsigned int i = 0; i < nbParam; i++) {
157 dM[0][i] = dwdp0[i];
158 dM[1][i] = dwdp0[i + nbParam];
159 }
160}
161
170{
171 X2[0] = X1[0] + p[0];
172 X2[1] = X1[1] + p[1];
173}
174
182{
183 p_inv[0] = -p[0];
184 p_inv[1] = -p[1];
185}
186
196{
197 p12[0] = p1[0] + p2[0];
198 p12[1] = p1[1] + p2[1];
199}
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 pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void dWarpCompo(const vpColVector &, const vpColVector &, const vpColVector &, const double *dwdp0, vpMatrix &dM)
void warpX(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getParamPyramidUp(const vpColVector &p, vpColVector &p_up)
void warpXInv(const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void getdW0(const int &, const int &, const double &dv, const double &du, double *dIdW)
void dWarp(const vpColVector &, const vpColVector &, const vpColVector &, vpMatrix &dM)
void getdWdp0(const int &, const int &, double *dIdW)
void getParamInverse(const vpColVector &p, vpColVector &p_inv) const
void getParamPyramidDown(const vpColVector &p, vpColVector &p_down)
unsigned int nbParam
Number of parameters used to model warp transformation.