use levmarq instead of coplanar POSIT implemented in numerically unstable fashion

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

1 files changed, 27 insertions, 6 deletions

diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index 11034100..e05e8f98 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -90,7 +90,7 @@ public:
 	// track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)

 	// f : (focal length)/(sensor width)

 	// dt : time since last call

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

+    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos);

 	boost::shared_ptr<PointModel> point_model;

 

 	bool dynamic_pose_resolution;

@@ -98,15 +98,35 @@ public:
 

 	FrameTrafo get_pose() const { return X_CM; }

 	void reset();

+    float fov;

+    int _w, _h;

 

 protected:

-	inline cv::Vec2f project(const cv::Vec3f& v_M, float f)

+    cv::Vec2f project(const cv::Vec3f& v_M)

 	{

-		cv::Vec3f v_C = X_CM * v_M;

-		return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);

+        if (!rvec.empty() && !tvec.empty() && fov > 0)

+        {

+            const float HT_PI = 3.1415926535;

+            const int w = _w, h = _h;

+            const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180);

+            const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0);

+

+            cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);

+            intrinsics.at<float> (0, 0) = focal_length_w;

+            intrinsics.at<float> (1, 1) = focal_length_h;

+            intrinsics.at<float> (0, 2) = w/2;

+            intrinsics.at<float> (1, 2) = h/2;

+            std::vector<cv::Point3f> xs;

+            xs.push_back(v_M);

+            cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);

+            std::vector<cv::Point2f> rets(1);

+            cv::projectPoints(xs, rvec, tvec, intrinsics, dist_coeffs, rets);

+            return rets[0];

+        }

+        return cv::Vec2f();

 	}

 

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

+    bool find_correspondences(const std::vector<cv::Vec2f>& points);

 

 	cv::Vec2f p[PointModel::N_POINTS];	// the points in model order

 	cv::Vec2f p_exp[PointModel::N_POINTS];	// the expected point positions

@@ -116,7 +136,7 @@ protected:
 	void reset_velocities();

 

 	

-	int POSIT(float f);  // The POSIT algorithm, returns the number of iterations

+    void POSIT(float fov, int w, int h, const cv::Vec3f &headpos);  // The POSIT algorithm, returns the number of iterations

 

 	bool init_phase;

 	float dt_valid;	// time since last valid tracking result

@@ -124,6 +144,7 @@ protected:
 	cv::Vec3f v_r;

 	FrameTrafo X_CM; // trafo from model to camera

 	FrameTrafo X_CM_old;

+    cv::Mat rvec, tvec;

 };

 

 #endif //POINTTRACKER_H