Visual Servoing Platform version 3.6.0
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vpTemplateTrackerWarpTranslation.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/vpTemplateTrackerWarpTranslation.h>
40
45
53{
54 p_down[0] = p[0] / 2.;
55 p_down[1] = p[1] / 2.;
56}
57
65{
66 p_up[0] = p[0] * 2.;
67 p_up[1] = p[1] * 2.;
68}
69
76void vpTemplateTrackerWarpTranslation::getdW0(const int &, const int &, const double &dv, const double &du,
77 double *dIdW)
78{
79 dIdW[0] = du;
80 dIdW[1] = dv;
81}
82
91void vpTemplateTrackerWarpTranslation::getdWdp0(const int &, const int &, double *dIdW)
92{
93 dIdW[0] = 1.;
94 dIdW[1] = 0;
95
96 dIdW[2] = 0;
97 dIdW[3] = 1.;
98}
99
109void vpTemplateTrackerWarpTranslation::warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
110{
111 u2 = u1 + p[0];
112 v2 = v1 + p[1];
113}
114
123{
124 X2[0] = X1[0] + p[0];
125 X2[1] = X1[1] + p[1];
126}
127
136 vpMatrix &dM)
137{
138 dM[0][0] = 1;
139 dM[0][1] = 0;
140 dM[1][0] = 0;
141 dM[1][1] = 1;
142}
143
151 const double *dwdp0, vpMatrix &dM)
152{
153 for (unsigned int i = 0; i < nbParam; i++) {
154 dM[0][i] = dwdp0[i];
155 dM[1][i] = dwdp0[i + nbParam];
156 }
157}
158
167{
168 X2[0] = X1[0] + p[0];
169 X2[1] = X1[1] + p[1];
170}
171
179{
180 p_inv[0] = -p[0];
181 p_inv[1] = -p[1];
182}
183
193{
194 p12[0] = p1[0] + p2[0];
195 p12[1] = p1[1] + p2[1];
196}
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
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.