diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/point_tracker.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_tracker.h | 33 |
1 files changed, 6 insertions, 27 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index e05e8f98..11034100 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 fov, float dt, int w, int h, const cv::Vec3f &headpos);
+ bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
boost::shared_ptr<PointModel> point_model;
bool dynamic_pose_resolution;
@@ -98,35 +98,15 @@ public: FrameTrafo get_pose() const { return X_CM; }
void reset();
- float fov;
- int _w, _h;
protected:
- cv::Vec2f project(const cv::Vec3f& v_M)
+ inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
{
- 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();
+ 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);
+ 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
@@ -136,7 +116,7 @@ protected: void reset_velocities();
- void POSIT(float fov, int w, int h, const cv::Vec3f &headpos); // The POSIT algorithm, returns the number of iterations
+ int POSIT(float f); // The POSIT algorithm, returns the number of iterations
bool init_phase;
float dt_valid; // time since last valid tracking result
@@ -144,7 +124,6 @@ protected: cv::Vec3f v_r;
FrameTrafo X_CM; // trafo from model to camera
FrameTrafo X_CM_old;
- cv::Mat rvec, tvec;
};
#endif //POINTTRACKER_H
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