Merge branch 'unstable' of https://github.com/opentrack/opentrack into dev/kalman

Conflicts:
	ftnoir_filter_kalman/ftnoir_filter_kalman.h

1 files changed, 0 insertions, 380 deletions

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
deleted file mode 100644
index dfefdaf8..00000000
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ /dev/null
@@ -1,380 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff

- *

- * Permission to use, copy, modify, and/or distribute this software for any

- * purpose with or without fee is hereby granted, provided that the above

- * copyright notice and this permission notice appear in all copies.

- */

-

-#include "point_tracker.h"

-

-#include <vector>

-#include <algorithm>

-#include <cmath>

-

-#include <QDebug>

-

-using namespace cv;

-using namespace boost;

-using namespace std;

-

-const float PI = 3.14159265358979323846f;

-

-// ----------------------------------------------------------------------------

-static void get_row(const Matx33f& m, int i, Vec3f& v)

-{

-	v[0] = m(i,0);

-	v[1] = m(i,1);

-	v[2] = m(i,2);

-}

-

-static void set_row(Matx33f& m, int i, const Vec3f& v)

-{

-	m(i,0) = v[0];

-	m(i,1) = v[1];

-	m(i,2) = v[2];

-}

-

-// ----------------------------------------------------------------------------

-PointModel::PointModel(Vec3f M01, Vec3f M02)

-	: M01(M01), 

-	  M02(M02)

-{	

-	// calculate u

-	u = M01.cross(M02);

-	u /= norm(u);

-

-	// calculate projection matrix on M01,M02 plane

-	float s11 = M01.dot(M01);

-	float s12 = M01.dot(M02);

-	float s22 = M02.dot(M02);

-	P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, 

-		                               -s12,  s11);

-

-	// calculate d and d_order for simple freetrack-like point correspondence

-	vector<Vec2f> points;

-	points.push_back(Vec2f(0,0));

-	points.push_back(Vec2f(M01[0], M01[1]));

-	points.push_back(Vec2f(M02[0], M02[1]));

-	// fit line to orthographically projected points

-	// ERROR: yields wrong results with colinear points?!

-	/*

-	Vec4f line;

-	fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);

-	d[0] = line[0]; d[1] = line[1];

-	*/

-	// TODO: fix this

-	d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);

-

-	// sort model points

-	get_d_order(points, d_order);

-}

-

-#ifdef OPENTRACK_API

-static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)

-{

-    return a.first < b.first;

-}

-#endif

-

-void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const

-{

-	// get sort indices with respect to d scalar product

-	vector< pair<float,int> > d_vals;

-	for (int i = 0; i<points.size(); ++i)

-		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));

-

-	struct

-    {

-        bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }

-    } comp;

-    std::sort(d_vals.begin(),

-              d_vals.end(),

-#ifdef OPENTRACK_API

-              d_vals_sort

-#else

-              comp

-#endif

-              );

-

-	for (int i = 0; i<points.size(); ++i)

-		d_order[i] = d_vals[i].second;

-}

-

-

-// ----------------------------------------------------------------------------

-PointTracker::PointTracker() 

-	: init_phase(true),

-	  dt_valid(0), 

-	  dt_reset(1), 

-	  v_t(0,0,0),

-	  v_r(0,0,0), 

-	  dynamic_pose_resolution(true)

-{

-	X_CM.t[2] = 1000;	// default position: 1 m away from cam;

-}

-

-void PointTracker::reset()

-{

-	// enter init phase and reset velocities

-	init_phase = true;

-	dt_valid = 0;

-	reset_velocities();

-}

-

-void PointTracker::reset_velocities()

-{	

-	v_t = Vec3f(0,0,0);

-	v_r = Vec3f(0,0,0);

-}

-

-

-bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)

-{

-	if (!dynamic_pose_resolution) init_phase = true;

-

-	dt_valid += dt;

-	// if there was no valid tracking result for too long, do a reset

-	if (dt_valid > dt_reset) 

-	{

-		//qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;

-		reset();

-	}

-

-    bool no_model =

-#ifdef OPENTRACK_API

-        point_model.get() == NULL;

-#else

-        !point_model;

-#endif

-

-	// if there is a pointtracking problem, reset the velocities

-    if (no_model || points.size() != PointModel::N_POINTS)

-	{

-		//qDebug()<<"Wrong number of points!";

-		reset_velocities();

-		return false;

-	}

-

-	X_CM_old = X_CM;	// backup old transformation for velocity calculation

-

-	if (!init_phase) 

-		predict(dt_valid);

-

-	// if there is a point correspondence problem something has gone wrong, do a reset

-	if (!find_correspondences(points, f))

-	{

-		//qDebug()<<"Error in finding point correspondences!";

-		X_CM = X_CM_old;	// undo prediction

-		reset();

-		return false;

-	}

-

-	int n_iter = POSIT(f);

-	//qDebug()<<"Number of POSIT iterations: "<<n_iter;

-

-	if (!init_phase)

-		update_velocities(dt_valid);

-

-	// we have a valid tracking result, leave init phase and reset time since valid result

-	init_phase = false;

-	dt_valid = 0;

-	return true;

-}

-

-void PointTracker::predict(float dt)

-{

-	// predict with constant velocity

-	Matx33f R;

-	Rodrigues(dt*v_r, R);

-	X_CM.R = R*X_CM.R;

-	X_CM.t += dt * v_t;

-}

-

-void PointTracker::update_velocities(float dt)

-{

-	// update velocities

-	Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);

-	v_r /= dt;

-	v_t = (X_CM.t - X_CM_old.t)/dt;

-}

-

-bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)

-{

-	if (init_phase) {

-		// We do a simple freetrack-like sorting in the init phase...

-		// sort points

-		int point_d_order[PointModel::N_POINTS];

-		point_model->get_d_order(points, point_d_order);

-

-		// set correspondences

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-		{

-			p[point_model->d_order[i]] = points[point_d_order[i]];

-		}

-	}

-	else {

-		// ... otherwise we look at the distance to the projection of the expected model points 

-		// project model points under current pose

-		p_exp[0] = project(Vec3f(0,0,0), f);

-		p_exp[1] = project(point_model->M01, f);

-		p_exp[2] = project(point_model->M02, f);

-

-		// set correspondences by minimum distance to projected model point

-		bool point_taken[PointModel::N_POINTS];

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-			point_taken[i] = false;

-

-		float min_sdist = 0;

-		int min_idx = 0;

-		

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-		{

-			// find closest point to projected model point i

-			for (int j=0; j<PointModel::N_POINTS; ++j)

-			{

-				Vec2f d = p_exp[i]-points[j];

-				float sdist = d.dot(d);

-				if (sdist < min_sdist || j==0) 

-				{

-					min_idx = j;

-					min_sdist = sdist;

-				}

-			}

-			// if one point is closest to more than one model point, abort

-			if (point_taken[min_idx]) return false;

-			point_taken[min_idx] = true;

-			p[i] = points[min_idx];

-		}

-	}

-	return true;

-}

-

-

-

-int PointTracker::POSIT(float f)

-{

-	// POSIT algorithm for coplanar points as presented in

-	// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]

-	// we use the same notation as in the paper here

-

-	// The expected rotation used for resolving the ambiguity in POSIT:

-	// In every iteration step the rotation closer to R_expected is taken 

-	Matx33f R_expected;	

-	if (init_phase)

-		R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation

-	else 

-		R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation

-	

-	// initial pose = last (predicted) pose

-	Vec3f k;

-    get_row(R_expected, 2, k);

-    float Z0 = init_phase ? 1000 : X_CM.t[2];

-

-	float old_epsilon_1 = 0;

-	float old_epsilon_2 = 0;

-	float epsilon_1 = 1;

-	float epsilon_2 = 1;

-

-	Vec3f I0, J0;

-	Vec2f I0_coeff, J0_coeff;

-

-	Vec3f I_1, J_1, I_2, J_2;

-	Matx33f R_1, R_2;

-	Matx33f* R_current;

-

-	const int MAX_ITER = 100;

-	const float EPS_THRESHOLD = 1e-4;

-

-	int i=1;

-	for (; i<MAX_ITER; ++i)

-	{

-		epsilon_1 = k.dot(point_model->M01)/Z0;

-		epsilon_2 = k.dot(point_model->M02)/Z0;

-

-		// vector of scalar products <I0, M0i> and <J0, M0i>

-		Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], 

-			         p[2][0]*(1.0 + epsilon_2) - p[0][0]);

-		Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],

-			         p[2][1]*(1.0 + epsilon_2) - p[0][1]);

-

-		// construct projection of I, J onto M0i plane: I0 and J0

-		I0_coeff = point_model->P * I0_M0i;

-		J0_coeff = point_model->P * J0_M0i;

-		I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;

-		J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;

-

-		// calculate u component of I, J		

-		float II0 = I0.dot(I0);

-		float IJ0 = I0.dot(J0);

-		float JJ0 = J0.dot(J0);

-		float rho, theta;

-		if (JJ0 == II0) {

-			rho = sqrt(abs(2*IJ0));

-			theta = -PI/4;

-			if (IJ0<0) theta *= -1;

-		}

-		else {

-			rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));

-			theta = atan( -2*IJ0 / (JJ0-II0) );

-			if (JJ0 - II0 < 0) theta += PI;

-			theta /= 2;

-		}

-

-		// construct the two solutions

-		I_1 = I0 + rho*cos(theta)*point_model->u;	

-		I_2 = I0 - rho*cos(theta)*point_model->u;

-

-		J_1 = J0 + rho*sin(theta)*point_model->u;

-		J_2 = J0 - rho*sin(theta)*point_model->u;

-

-		float norm_const = 1.0/norm(I_1); // all have the same norm

-		

-		// create rotation matrices

-		I_1 *= norm_const; J_1 *= norm_const;

-		I_2 *= norm_const; J_2 *= norm_const;

-

-		set_row(R_1, 0, I_1);

-		set_row(R_1, 1, J_1);

-		set_row(R_1, 2, I_1.cross(J_1));

-		

-		set_row(R_2, 0, I_2);

-		set_row(R_2, 1, J_2);

-		set_row(R_2, 2, I_2.cross(J_2));

-

-		// the single translation solution

-		Z0 = norm_const * f;

-

-		// pick the rotation solution closer to the expected one

-		// in simple metric d(A,B) = || I - A * B^T ||

-		float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());

-		float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());

-

-		if (R_1_deviation < R_2_deviation)

-			R_current = &R_1;

-		else

-			R_current = &R_2;

-

-		get_row(*R_current, 2, k);

-

-		// check for convergence condition

-		if (abs(epsilon_1 - old_epsilon_1) +  abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)

-			break;

-		old_epsilon_1 = epsilon_1;

-		old_epsilon_2 = epsilon_2;

-	}	

-

-	// apply results

-	X_CM.R = *R_current;

-	X_CM.t[0] = p[0][0] * Z0/f;

-	X_CM.t[1] = p[0][1] * Z0/f;

-	X_CM.t[2] = Z0;

-

-	return i;

-

-	//Rodrigues(X_CM.R, r);

-	//qDebug()<<"iter: "<<i;

-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];

-	//Vec3f r;

-	//

-	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';

-}