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-rw-r--r--tracker-pt/ftnoir_tracker_pt_dialog.cpp5
-rw-r--r--tracker-pt/point_extractor.cpp2
-rw-r--r--tracker-pt/point_tracker.cpp54
-rw-r--r--tracker-pt/point_tracker.h7
4 files changed, 36 insertions, 32 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index d3d68efc..a5108ec1 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -10,10 +10,7 @@
#include "cv/video-property-page.hpp"
#include "compat/camera-names.hpp"
-#include <opencv2/core/core.hpp>
-#include <memory>
-#include <vector>
-#include <QMessageBox>
+#include <opencv2/core.hpp>
#include <QString>
#include <QDebug>
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 48816780..7cd46fe2 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -69,7 +69,7 @@ void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
const double radius = max(0., (max_radius-min_radius) * s.threshold / 256);
const int area = int(round(3 * M_PI * (min_radius + radius)*(min_radius+radius)));
auto ptr = reinterpret_cast<const float*>(hist.ptr(0));
- for (int i = sz-1; i > 0; i--)
+ for (int i = sz-1; i > 1; i--)
{
cnt += ptr[i];
if (cnt >= area)
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 7873a010..d2071556 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -15,6 +15,7 @@ using namespace pt_types;
#include <vector>
#include <algorithm>
#include <cmath>
+#include <iterator>
#include <QDebug>
@@ -67,17 +68,17 @@ void PointModel::set_model(settings_pt& s)
}
}
-void PointModel::get_d_order(const std::vector<vec2>& points, int* d_order, const vec2& d) const
+void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const
{
// fit line to orthographically projected points
- using t = std::pair<f,int>;
- std::vector<t> d_vals;
+ using t = std::pair<f,unsigned>;
+ t d_vals[3];
// get sort indices with respect to d scalar product
for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
- d_vals.push_back(std::pair<f, int>(d.dot(points[i]), i));
+ d_vals[i] = t(d.dot(points[i]), i);
- std::sort(d_vals.begin(),
- d_vals.end(),
+ std::sort(d_vals,
+ d_vals + 3u,
[](const t& a, const t& b) { return a.first < b.first; });
for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
@@ -89,7 +90,7 @@ PointTracker::PointTracker() : init_phase(true)
{
}
-PointTracker::PointOrder PointTracker::find_correspondences_previous(const std::vector<vec2>& points,
+PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2* points,
const PointModel& model,
f focal_length,
int w,
@@ -157,33 +158,33 @@ void PointTracker::track(const std::vector<vec2>& points,
}
if (!dynamic_pose || init_phase)
- order = find_correspondences(points, model);
+ order = find_correspondences(points.data(), model);
else
+ order = find_correspondences_previous(points.data(), model, focal_length, w, h);
+
+ if (POSIT(model, order, focal_length) != -1)
{
- order = find_correspondences_previous(points, model, focal_length, w, h);
+ init_phase = false;
+ t.start();
}
-
- POSIT(model, order, focal_length);
- init_phase = false;
- t.start();
}
-PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<vec2>& points, const PointModel& model)
+PointTracker::PointOrder PointTracker::find_correspondences(const vec2* points, const PointModel& model)
{
+ static const Affine a(mat33::eye(), vec3(0, 0, 1));
// We do a simple freetrack-like sorting in the init phase...
+ unsigned point_d_order[PointModel::N_POINTS];
+ unsigned model_d_order[PointModel::N_POINTS];
// sort points
- int point_d_order[PointModel::N_POINTS];
- int model_d_order[PointModel::N_POINTS];
vec2 d(model.M01[0]-model.M02[0], model.M01[1]-model.M02[1]);
model.get_d_order(points, point_d_order, d);
// calculate d and d_order for simple freetrack-like point correspondence
- model.get_d_order(std::vector<vec2> {
- vec2{0,0},
- vec2(model.M01[0], model.M01[1]),
- vec2(model.M02[0], model.M02[1])
- },
- model_d_order,
- d);
+ vec2 pts[3] = {
+ vec2(0, 0),
+ vec2(model.M01[0], model.M01[1]),
+ vec2(model.M02[0], model.M02[1])
+ };
+ model.get_d_order(pts, model_d_order, d);
// set correspondences
PointOrder p;
for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
@@ -200,7 +201,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
// The expected rotation used for resolving the ambiguity in POSIT:
// In every iteration step the rotation closer to R_expected is taken
- mat33 R_expected = mat33::eye();
+ static const mat33 R_expected(mat33::eye());
// initial pose = last (predicted) pose
vec3 k;
@@ -345,6 +346,11 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
vec2 PointTracker::project(const vec3& v_M, f focal_length)
{
+ return project(v_M, focal_length, X_CM);
+}
+
+vec2 PointTracker::project(const vec3& v_M, f focal_length, const Affine& X_CM)
+{
vec3 v_C = X_CM * v_M;
return vec2(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]);
}
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 5576b41b..9530c338 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -70,7 +70,7 @@ public:
PointModel(settings_pt& s);
void set_model(settings_pt& s);
- void get_d_order(const std::vector<vec2>& points, int* d_order, const vec2& d) const;
+ void get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const;
};
// ----------------------------------------------------------------------------
@@ -87,13 +87,14 @@ public:
void track(const std::vector<vec2>& projected_points, const PointModel& model, f focal_length, bool dynamic_pose, int init_phase_timeout, int w, int h);
Affine pose() { 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);
private:
// the points in model order
using PointOrder = std::array<vec2, 3>;
- PointOrder find_correspondences(const std::vector<vec2>& projected_points, const PointModel &model);
- PointOrder find_correspondences_previous(const std::vector<vec2>& points, const PointModel &model, f focal_length, int w, int h);
+ PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
+ PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, f focal_length, int w, int h);
int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length); // The POSIT algorithm, returns the number of iterations
Affine X_CM; // trafo from model to camera
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-27 08:27:33 +0000