diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/point_tracker.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_tracker.h | 25 |
1 files changed, 23 insertions, 2 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index ca222a3b..efd40424 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -77,15 +77,36 @@ public: bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
boost::shared_ptr<PointModel> point_model;
+ float dt_reset;
+
FrameTrafo get_pose() const { return X_CM; }
+ void reset();
protected:
- bool find_correspondences(const std::vector<cv::Vec2f>& points);
+ 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();
- void POSIT(float f);
+
+ 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
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