diff options
| author | Patrick Ruoff <c14-radioactive@19e81ba0-9b1a-49c3-bd6c-561e1906d5fb> | 2012-09-17 16:32:04 +0000 |
|---|---|---|
| committer | Patrick Ruoff <c14-radioactive@19e81ba0-9b1a-49c3-bd6c-561e1906d5fb> | 2012-09-17 16:32:04 +0000 |
| commit | cc3bc1c6d14de535f87e6601ed562b505d902fce (patch) | |
| tree | 215fff88ae282a197b80b9db926430380c36c946 /FTNoIR_Tracker_PT/point_tracker.h | |
| parent | f5df7884cf82b87fce50d3ff68c6a4bfa85064e9 (diff) | |
added pointtracker
created VC9 solution and project files for available projects
git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@143 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb
Diffstat (limited to 'FTNoIR_Tracker_PT/point_tracker.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_tracker.h | 91 |
1 files changed, 91 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h new file mode 100644 index 00000000..ca222a3b --- /dev/null +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -0,0 +1,91 @@ +/* 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.
+ */
+
+#ifndef POINTTRACKER_H
+#define POINTTRACKER_H
+
+#include <opencv2/opencv.hpp>
+#include <boost/shared_ptr.hpp>
+#include <list>
+
+// ----------------------------------------------------------------------------
+// Afine frame trafo
+class FrameTrafo
+{
+public:
+ FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
+ FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
+
+ cv::Matx33f R;
+ cv::Vec3f t;
+};
+
+inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
+{
+ return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
+}
+
+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
+{
+ return X.R*v + X.t;
+}
+
+// ----------------------------------------------------------------------------
+// Describes a 3-point model
+// nomenclature as in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+class PointModel
+{
+ friend class PointTracker;
+public:
+ static const int N_POINTS = 3;
+
+ PointModel(cv::Vec3f M01, cv::Vec3f M02);
+
+ const cv::Vec3f& get_M01() const { return M01; };
+ const cv::Vec3f& get_M02() const { return M02; };
+
+protected:
+ cv::Vec3f M01; // M01 in model frame
+ cv::Vec3f M02; // M02 in model frame
+
+ cv::Vec3f u; // unit vector perpendicular to M01,M02-plane
+
+ cv::Matx22f P;
+
+ cv::Vec2f d; // discrimant vector for point correspondence
+ int d_order[3]; // sorting of projected model points with respect to d scalar product
+
+ void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
+};
+
+// ----------------------------------------------------------------------------
+// Tracks a 3-point model
+// implementing the POSIT algorithm for coplanar points as presented in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+class PointTracker
+{
+public:
+ PointTracker();
+
+ // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
+ // f : (focal length)/(sensor width)
+ bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
+ boost::shared_ptr<PointModel> point_model;
+
+ FrameTrafo get_pose() const { return X_CM; }
+
+protected:
+ bool find_correspondences(const std::vector<cv::Vec2f>& points);
+ cv::Vec2f p[PointModel::N_POINTS]; // the points in model order
+
+ void POSIT(float f);
+
+ FrameTrafo X_CM; // trafo from model to camera
+};
+
+#endif //POINTTRACKER_H
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