Remove .bat files, actually finish rename this time

1 files changed, 0 insertions, 114 deletions

diff --git a/ftnoir_tracker_pt/xxx_point_tracker.h b/ftnoir_tracker_pt/xxx_point_tracker.h
deleted file mode 100644
index 21baad19..00000000
--- a/ftnoir_tracker_pt/xxx_point_tracker.h
+++ /dev/null
@@ -1,114 +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.

- */

-

-#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)

-	// dt : time since last call

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

-	boost::shared_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