1 files changed, 114 insertions, 114 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 7eee580d..8967f806 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -1,114 +1,114 @@
-/* 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
+/* 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