1 files changed, 147 insertions, 0 deletions
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
new file mode 100644
index 00000000..fd002948
--- /dev/null
+++ b/tracker-pt/point_tracker.h
@@ -0,0 +1,147 @@
+/* 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