#include <vpTemplateTrackerWarpHomography.h>

Inheritance diagram for vpTemplateTrackerWarpHomography:

Public Member Functions
	vpTemplateTrackerWarpHomography ()
void	computeDenom (vpColVector &X, const vpColVector &p)
void	dWarp (const vpColVector &, const vpColVector &X, const vpColVector &, vpMatrix &dW)
void	dWarpCompo (const vpColVector &X, const vpColVector &, const vpColVector &p, const double *dwdp0, vpMatrix &dW)
void	getdW0 (const int &v, const int &u, const double &dv, const double &du, double *dIdW)
void	getdWdp0 (const int &v, const int &u, double *dIdW)
vpHomography	getHomography (const vpColVector &ParamM) const
void	getParam (const vpHomography &H, vpColVector &p) const
void	getParam (const vpMatrix &H, vpColVector &p) const
void	getParamInverse (const vpColVector &p, vpColVector &p_inv) const
void	getParamPyramidDown (const vpColVector &p, vpColVector &p_down)
void	getParamPyramidUp (const vpColVector &p, vpColVector &p_up)
bool	isESMcompatible () const
void	pRondp (const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const
void	warpX (const vpColVector &X1, vpColVector &X2, const vpColVector &p)
void	warpX (const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)
void	warpXInv (const vpColVector &X1, vpColVector &X2, const vpColVector &p)
Inherited functionalities from vpTemplateTrackerWarp
double	getDistanceBetweenZoneAndWarpedZone (const vpTemplateTrackerZone &Z, const vpColVector &p)
unsigned int	getNbParam () const
void	setNbParam (unsigned int nb)
void	warp (const double ut0, const double vt0, int nb_pt, const vpColVector &p, double u, double v)
void	warpTriangle (const vpTemplateTrackerTriangle &in, const vpColVector &p, vpTemplateTrackerTriangle &out)
void	warpZone (const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out)

Protected Attributes
double	denom
unsigned int	nbParam

Detailed Description

This class consider the homography warping model with parameters such as

$\‍[M(p) = \left[ \begin{array}{ccc} h_1 + 1 & h_4 & h_7 \\ h_2 & h_5 + 1 & h_8 \\ h_3 & h_6 & 1 \end{array} \right] \‍]$

We recall that u axis is the image horizontal axis, and v axis is the image vertical axis. A point (u,v) with coordinates (0,0) is located in the top left image corner.

Tutorials & Examples

Tutorials
If you are interested in the Template Tracker (TT), you may have a look at:

Tutorial: Template tracking

Examples: templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 74 of file vpTemplateTrackerWarpHomography.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarpHomography()

BEGIN_VISP_NAMESPACE vpTemplateTrackerWarpHomography::vpTemplateTrackerWarpHomography ( )

Construct an homography model with 8 parameters initialized to zero.

Definition at line 44 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::nbParam.

Member Function Documentation

◆ computeDenom()

void vpTemplateTrackerWarpHomography::computeDenom	(	vpColVector &	X,
		const vpColVector &	p )

Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.

Parameters

X	: Point with coordinates (u, v) to consider.
p	: 8-dim vector that contains the current parameters of the warping function.

See also: warpX(const vpColVector &, vpColVector &, const vpColVector &); warpX(const int &, const int &, double &, double &, const vpColVector &); dWarp(), dWarpCompo()

Definition at line 147 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom, and vpTrackingException::fatalError.

◆ dWarp()

void vpTemplateTrackerWarpHomography::dWarp	(	const vpColVector &	X,
		const vpColVector &	X,
		const vpColVector &	,
		vpMatrix &	dM )

virtual

Compute the derivative matrix of the warping function at point according to the model parameters:

$\‍[\frac{\partial M}{\partial p}(X, p) \‍]$

Parameters

X	: 2-dim vector corresponding to the coordinates of the point to consider in the derivative computation.
dM	: Resulting warping model derivative returned as a 2-by-8 matrix.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 201 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

◆ dWarpCompo()

void vpTemplateTrackerWarpHomography::dWarpCompo	(	const vpColVector &	X,
		const vpColVector &	X,
		const vpColVector &	p,
		const double *	dwdp0,
		vpMatrix &	dM )

virtual

Compute the compositionnal derivative matrix of the warping function according to the model parameters.

Parameters

X	: 2-dim vector corresponding to the coordinates of the point to consider in the derivative computation.
p	: 8-dim vector that contains the parameters of the warping function.
dwdp0	: 2-by-8 derivative matrix of the warping function according to the initial warping function parameters (p=0).
dM	: Resulting warping model compositionnal derivative returned as a 2-by-8 matrix.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 232 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom, and vpTemplateTrackerWarp::nbParam.

◆ getDistanceBetweenZoneAndWarpedZone()

double vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone	(	const vpTemplateTrackerZone &	Z,
		const vpColVector &	p )

inherited

Compute the distance between a zone and its associated warped zone.

Parameters

Z	: Zone to consider.
p	: Parameters of the warping function.

Definition at line 69 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerTriangle::getCorner(), and warpX().

Referenced by warpXInv().

◆ getdW0()

void vpTemplateTrackerWarpHomography::getdW0	(	const int &	v,
		const int &	u,
		const double &	dv,
		const double &	du,
		double *	dIdW )

virtual

Compute the derivative of the image with relation to the warping function parameters.

Parameters

v	: Coordinate (along the image rows axis) of the point to consider in the image.
u	: Coordinate (along the image columns axis) of the point to consider in the image.
dv	: Derivative on the v-axis (along the rows) of the point (u,v).
du	: Derivative on the u-axis (along the columns) of the point (u,v).
dIdW	: Resulting derivative matrix (image according to the warping function).

Implements vpTemplateTrackerWarp.

Definition at line 90 of file vpTemplateTrackerWarpHomography.cpp.

◆ getdWdp0()

void vpTemplateTrackerWarpHomography::getdWdp0	(	const int &	v,
		const int &	u,
		double *	dIdW )

virtual

Compute the derivative of the warping model according to the initial parameters at point :

$\‍[\frac{\partial M}{\partial p}(X, p_0) \‍]$

Parameters

v	: Coordinate (along the image rows axis) of the point X(u,v) to consider in the image.
u	: Coordinate (along the image columns axis) of the point X(u,v) to consider in the image.
dIdW	: Resulting 2-by-8 derivative matrix.

Implements vpTemplateTrackerWarp.

Definition at line 116 of file vpTemplateTrackerWarpHomography.cpp.

◆ getHomography()

vpHomography vpTemplateTrackerWarpHomography::getHomography ( const vpColVector & p ) const

Return the homography corresponding to the parameters.

Parameters

p	: 8-dim vector that contains the parameters corresponding to the transformation to inverse.

Returns: Corresponding homography.

Examples: tutorial-template-tracker.cpp.

Definition at line 311 of file vpTemplateTrackerWarpHomography.cpp.

◆ getNbParam()

unsigned int vpTemplateTrackerWarp::getNbParam ( ) const

inlineinherited

Get the number of parameters of the warping function.

Returns: Number of parameters.

Definition at line 222 of file vpTemplateTrackerWarp.h.

References nbParam.

Referenced by vpTemplateTrackerWarpHomography::getParam(), and vpTemplateTrackerWarpHomography::getParam().

◆ getParam() [1/2]

void vpTemplateTrackerWarpHomography::getParam	(	const vpHomography &	H,
		vpColVector &	p ) const

Compute the parameters corresponding to an homography.

Parameters

[in]	H	: Homography
[out]	p	: 8-dim vector corresponding to the homography.

Definition at line 332 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::getNbParam().

◆ getParam() [2/2]

void vpTemplateTrackerWarpHomography::getParam	(	const vpMatrix &	H,
		vpColVector &	p ) const

Compute the parameters corresponding to an homography as a 3-by-3 matrix.

Parameters

[in]	H	: 3-by-3 matrix corresponding to an homography
[out]	p	: 8-dim vector corresponding to the homography.

Definition at line 350 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::getNbParam().

◆ getParamInverse()

void vpTemplateTrackerWarpHomography::getParamInverse	(	const vpColVector &	p,
		vpColVector &	p_inv ) const

virtual

Compute inverse of the warping transformation.

Parameters

p	: 8-dim vector that contains the parameters corresponding to the transformation to inverse.
p_inv	: 8-dim vector that contains the parameters of the inverse transformation ${M(p)}^{-1}$ .

Implements vpTemplateTrackerWarp.

Definition at line 276 of file vpTemplateTrackerWarpHomography.cpp.

References vpException::fatalError.

◆ getParamPyramidDown()

void vpTemplateTrackerWarpHomography::getParamPyramidDown	(	const vpColVector &	p,
		vpColVector &	p_down )

virtual

Get the parameters of the warping function one level down where image size is divided by two along the lines and the columns.

Parameters

p	: 8-dim vector that contains the current parameters of the warping function.
p_down	: 8-dim vector that contains the resulting parameters one level down.

Implements vpTemplateTrackerWarp.

Definition at line 52 of file vpTemplateTrackerWarpHomography.cpp.

◆ getParamPyramidUp()

void vpTemplateTrackerWarpHomography::getParamPyramidUp	(	const vpColVector &	p,
		vpColVector &	p_up )

virtual

Get the parameters of the warping function one level up where image size is multiplied by two along the lines and the columns.

Parameters

p	: 8-dim vector that contains the current parameters of the warping function.
p_up	: 8-dim vector that contains the resulting parameters one level up.

Implements vpTemplateTrackerWarp.

Definition at line 70 of file vpTemplateTrackerWarpHomography.cpp.

◆ isESMcompatible()

bool vpTemplateTrackerWarpHomography::isESMcompatible ( ) const

inlinevirtual

Tells if the warping function is ESM compatible.

Returns: false. Homography model is not compatible with ESM.

Implements vpTemplateTrackerWarp.

Definition at line 104 of file vpTemplateTrackerWarpHomography.h.

◆ pRondp()

void vpTemplateTrackerWarpHomography::pRondp	(	const vpColVector &	p1,
		const vpColVector &	p2,
		vpColVector &	p12 ) const

virtual

Compute the transformation resulting from the composition of two other transformations.

Parameters

p1	: 8-dim vector that contains the parameters corresponding to first transformation.
p2	: 8-dim vector that contains the parameters corresponding to second transformation.
p12	: 8-dim vector that contains the resulting transformation $p_{12} = p_1 \circ p_2$ .

Implements vpTemplateTrackerWarp.

Definition at line 371 of file vpTemplateTrackerWarpHomography.cpp.

◆ setNbParam()

void vpTemplateTrackerWarp::setNbParam ( unsigned int nb )

inlineinherited

Set the number of parameters of the warping function.

Parameters

nb	: New number of parameters.

Definition at line 229 of file vpTemplateTrackerWarp.h.

References nbParam.

◆ warp()

void vpTemplateTrackerWarp::warp	(	const double *	ut0,
		const double *	vt0,
		int	nb_pt,
		const vpColVector &	p,
		double *	u,
		double *	v )

inherited

Warp a list of points.

Parameters

ut0	: List of u coordinates of the points.
vt0	: List of v coordinates of the points.
nb_pt	: Number of points to consider.
p	: Parameters of the warp.
u	: Resulting u coordinates.
v	: resulting v coordinates.

Definition at line 91 of file vpTemplateTrackerWarp.cpp.

References warpX().

Referenced by vpTemplateTrackerWarpHomographySL3::getParamPyramidDown(), and vpTemplateTrackerWarpHomographySL3::getParamPyramidUp().

◆ warpTriangle()

BEGIN_VISP_NAMESPACE void vpTemplateTrackerWarp::warpTriangle	(	const vpTemplateTrackerTriangle &	in,
		const vpColVector &	p,
		vpTemplateTrackerTriangle &	out )

inherited

Warp a triangle and store the result in a new zone.

Parameters

in	: Triangle to warp.
p	: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out	: Resulting triangle.

Definition at line 38 of file vpTemplateTrackerWarp.cpp.

References vpException::dimensionError, vpTemplateTrackerTriangle::getCorners(), vpTemplateTrackerTriangle::init(), vpCTRACE, and warpX().

Referenced by warpZone().

◆ warpX() [1/2]

void vpTemplateTrackerWarpHomography::warpX	(	const int &	v1,
		const int &	u1,
		double &	v2,
		double &	u2,
		const vpColVector &	p )

virtual

Warp point using the transformation model with parameters .

$\‍[X_2 = {^2}M_1(p) * X_1\‍]$

Parameters

v1	: Coordinate (along the image rows axis) of the point to warp.
u1	: Coordinate (along the image columns axis) of the point to warp.
v2	: Coordinate of the warped point along the image rows axis.
u2	: Coordinate of the warped point along the image column axis.
p	: 8-dim vector that contains the parameters of the transformation.

Implements vpTemplateTrackerWarp.

Definition at line 169 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

◆ warpX() [2/2]

void vpTemplateTrackerWarpHomography::warpX	(	const vpColVector &	X1,
		vpColVector &	X2,
		const vpColVector &	p )

virtual

Warp point using the transformation model.

$\‍[X_2 = {^2}M_1(p) * X_1\‍]$

Parameters

X1	: 2-dim vector corresponding to the coordinates of the point to warp.
X2	: 2-dim vector corresponding to the coordinates of the warped point.
p	: 8-dim vector that contains the parameters of the transformation.

See also: computeDenom()

Implements vpTemplateTrackerWarp.

Definition at line 184 of file vpTemplateTrackerWarpHomography.cpp.

References vpTemplateTrackerWarp::denom.

◆ warpXInv()

void vpTemplateTrackerWarpHomography::warpXInv	(	const vpColVector &	X1,
		vpColVector &	X2,
		const vpColVector &	p )

virtual

Warp a point X1 with the inverse transformation .

$\‍[ X_2 = {\left({^1}M_2\right)}^{-1} \; X_1\‍]$

Parameters

X1	: 2-dim vector corresponding to the coordinates (u,v) of the point to warp.
X2	: 2-dim vector corresponding to the coordinates (u,v) of the warped point.
p	: Parameters corresponding to the warping model ${^1}M_2$ .

Implements vpTemplateTrackerWarp.

Definition at line 255 of file vpTemplateTrackerWarpHomography.cpp.

References vpTrackingException::fatalError.

◆ warpZone()

void vpTemplateTrackerWarp::warpZone	(	const vpTemplateTrackerZone &	in,
		const vpColVector &	p,
		vpTemplateTrackerZone &	out )

inherited

Warp a zone and store the result in a new zone.

Parameters

in	: Zone to warp.
p	: Parameters of the warping function. These parameters are estimated by the template tracker and returned using vpTemplateTracker::getp().
out	: Resulting zone.

Examples: templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerWarp.cpp.

References vpTemplateTrackerZone::add(), vpTemplateTrackerZone::clear(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), and warpTriangle().

Member Data Documentation

◆ denom

double vpTemplateTrackerWarp::denom

protectedinherited

Internal value used by homography warp model.

Definition at line 67 of file vpTemplateTrackerWarp.h.

◆ nbParam

unsigned int vpTemplateTrackerWarp::nbParam

protectedinherited

Number of parameters used to model warp transformation.

Definition at line 68 of file vpTemplateTrackerWarp.h.

Public Member Functions

Protected Attributes

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpTemplateTrackerWarpHomography()

Member Function Documentation

◆ computeDenom()

◆ dWarp()

◆ dWarpCompo()

◆ getDistanceBetweenZoneAndWarpedZone()

◆ getdW0()

◆ getdWdp0()

◆ getHomography()

◆ getNbParam()

◆ getParam() [1/2]

◆ getParam() [2/2]

◆ getParamInverse()

◆ getParamPyramidDown()

◆ getParamPyramidUp()

◆ isESMcompatible()

◆ pRondp()

◆ setNbParam()

◆ warp()

◆ warpTriangle()

◆ warpX() [1/2]

◆ warpX() [2/2]

◆ warpXInv()

◆ warpZone()

Member Data Documentation

◆ denom

◆ nbParam