Run dos2unix on the tree. No user-facing changes.

1 files changed, 114 insertions, 114 deletions

diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 7eee580d..8967f806 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -1,114 +1,114 @@
-/* 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 <memory>

-#include <opencv2/opencv.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)

-	// dt : time since last call

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

-	std::auto_ptr<PointModel> point_model;

-

-	bool dynamic_pose_resolution;

-	float dt_reset;

-

-	FrameTrafo get_pose() const { return X_CM; }

-	void reset();

-

-protected:

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

-	{

-		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]);

-	}

-

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

-

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

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

-

-	void predict(float dt);

-	void update_velocities(float dt);

-	void reset_velocities();

-

-	

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

-

-	bool init_phase;

-	float dt_valid;	// time since last valid tracking result

-	cv::Vec3f v_t;	// velocities

-	cv::Vec3f v_r;

-	FrameTrafo X_CM; // trafo from model to camera

-	FrameTrafo X_CM_old;

-};

-

-#endif //POINTTRACKER_H

+/* 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 <memory>
+#include <opencv2/opencv.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)
+	// dt : time since last call
+	bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
+	std::auto_ptr<PointModel> point_model;
+
+	bool dynamic_pose_resolution;
+	float dt_reset;
+
+	FrameTrafo get_pose() const { return X_CM; }
+	void reset();
+
+protected:
+	inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
+	{
+		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]);
+	}
+
+	bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
+
+	cv::Vec2f p[PointModel::N_POINTS];	// the points in model order
+	cv::Vec2f p_exp[PointModel::N_POINTS];	// the expected point positions
+
+	void predict(float dt);
+	void update_velocities(float dt);
+	void reset_velocities();
+
+	
+	int POSIT(float f);  // The POSIT algorithm, returns the number of iterations
+
+	bool init_phase;
+	float dt_valid;	// time since last valid tracking result
+	cv::Vec3f v_t;	// velocities
+	cv::Vec3f v_r;
+	FrameTrafo X_CM; // trafo from model to camera
+	FrameTrafo X_CM_old;
+};
+
+#endif //POINTTRACKER_H