1 files changed, 0 insertions, 88 deletions
diff --git a/tracker-points/point_tracker.h b/tracker-points/point_tracker.h
deleted file mode 100644
index 70c7a9fc..00000000
--- a/tracker-points/point_tracker.h
+++ /dev/null
@@ -1,88 +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.
- */
-
-#pragma once
-
-#include "compat/timer.hpp"
-#include "cv/affine.hpp"
-#include "cv/numeric.hpp"
-#include "pt-api.hpp"
-
-#include <cstddef>
-#include <memory>
-#include <vector>
-#include <array>
-
-#include <opencv2/core.hpp>
-
-#include <QObject>
-
-namespace pt_impl {
-
-// ----------------------------------------------------------------------------
-// Describes a 3-point model
-// nomenclature as in
-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-
-using namespace numeric_types;
-
-struct PointModel final
-{
-    static constexpr unsigned N_POINTS = 3;
-
-    vec3 M01;      // M01 in model frame
-    vec3 M02;      // M02 in model frame
-
-    vec3 u;        // unit vector perpendicular to M01,M02-plane
-
-    mat22 P;
-
-    enum Model { Clip, Cap, Custom };
-
-    explicit PointModel(const pt_settings& s);
-    void set_model(const pt_settings& s);
-
-    void get_d_order(const vec2* points, unsigned* d_order, const vec2& 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 final
-{
-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<vec2>& projected_points, const PointModel& model, const pt_camera_info& info, int init_phase_timeout);
-    Affine pose() const { return X_CM; }
-    vec2 project(const vec3& v_M, f focal_length);
-    vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
-    void reset_state();
-
-private:
-    // the points in model order
-    using PointOrder = std::array<vec2, 3>;
-
-    PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
-    PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, const pt_camera_info& info);
-    // The POSIT algorithm, returns the number of iterations
-    int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length);
-
-    Affine X_CM;  // transform from model to camera
-    Affine X_CM_expected;
-    PointOrder prev_positions;
-    Timer t;
-    bool init_phase = true;
-};
-
-} // ns pt_impl
-
-using PointTracker = pt_impl::PointTracker;
-using PointModel = pt_impl::PointModel;