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diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
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-/* 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