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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 <opencv2/opencv.hpp>
+#include <boost/shared_ptr.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);
+	boost::shared_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