1 files changed, 0 insertions, 147 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
deleted file mode 100644
index fd002948..00000000
--- a/ftnoir_tracker_pt/point_tracker.h
+++ /dev/null
@@ -1,147 +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/core/core.hpp>
-#include <memory>
-#include <vector>
-#include "opentrack-compat/timer.hpp"
-#include "ftnoir_tracker_pt_settings.h"
-
-#include <QObject>
-
-// ----------------------------------------------------------------------------
-// Affine frame trafo
-class Affine
-{
-public:
-    Affine() : R(cv::Matx33f::eye()), t(0,0,0) {}
-    Affine(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
-
-    cv::Matx33f R;
-    cv::Vec3f t;
-};
-
-inline Affine operator*(const Affine& X, const Affine& Y)
-{
-    return Affine(X.R*Y.R, X.R*Y.t + X.t);
-}
-
-inline Affine operator*(const cv::Matx33f& X, const Affine& Y)
-{
-    return Affine(X*Y.R, X*Y.t);
-}
-
-inline Affine operator*(const Affine& X, const cv::Matx33f& Y)
-{
-    return Affine(X.R*Y, X.t);
-}
-
-inline cv::Vec3f operator*(const Affine& 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 constexpr int N_POINTS = 3;
-
-    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;
-    
-    enum Model { Clip = 0, Cap = 1, Custom = 2 };
-
-    PointModel(settings_pt& s)
-    {
-        set_model(s);
-        // calculate u
-        u = M01.cross(M02);
-        u /= norm(u);
-
-        // calculate projection matrix on M01,M02 plane
-        float s11 = M01.dot(M01);
-        float s12 = M01.dot(M02);
-        float s22 = M02.dot(M02);
-        P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12,  s11);
-    }
-    
-    void set_model(settings_pt& s)
-    {
-        switch (s.active_model_panel)
-        {
-        case Clip:
-            M01 = cv::Vec3f(0, static_cast<double>(s.clip_ty), -static_cast<double>(s.clip_tz));
-            M02 = cv::Vec3f(0, -static_cast<double>(s.clip_by), -static_cast<double>(s.clip_bz));
-            break;
-        case Cap:
-            M01 = cv::Vec3f(-static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
-            M02 = cv::Vec3f(static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
-            break;
-        case Custom:
-            M01 = cv::Vec3f(s.m01_x, s.m01_y, s.m01_z);
-            M02 = cv::Vec3f(s.m02_x, s.m02_y, s.m02_z);
-            break;
-        }
-    }
-    
-    void get_d_order(const std::vector<cv::Vec2f>& points, int* d_order, cv::Vec2f d) 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
-    void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout);
-    Affine pose() const { return X_CM; }
-    cv::Vec2f project(const cv::Vec3f& v_M, float f);
-    void reset(const Affine& pose)
-    {
-        X_CM = pose;
-    }
-private:
-    // the points in model order
-    struct PointOrder
-    {
-        cv::Vec2f points[PointModel::N_POINTS];
-        PointOrder()
-        {
-            for (int i = 0; i < PointModel::N_POINTS; i++)
-                points[i] = cv::Vec2f(0, 0);
-        }
-    };
-
-    PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model);
-    PointOrder find_correspondences_previous(const std::vector<cv::Vec2f>& points, const PointModel &model, float f);
-    int POSIT(const PointModel& point_model, const PointOrder& order, float focal_length);  // The POSIT algorithm, returns the number of iterations
-
-    Affine X_CM; // trafo from model to camera
-
-    Timer t;
-    bool init_phase;
-};
-
-#endif //POINTTRACKER_H