From 4f05cb2af239ca8471b77c9f1d1c32e8c4cd3abc Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 22 Mar 2013 21:48:28 +0100
Subject: Remove .bat files, actually finish rename this time

---
 ftnoir_tracker_pt/point_tracker.cpp | 352 ++++++++++++++++++++++++++++++++++++
 1 file changed, 352 insertions(+)
 create mode 100644 ftnoir_tracker_pt/point_tracker.cpp

(limited to 'ftnoir_tracker_pt/point_tracker.cpp')

diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
new file mode 100644
index 00000000..d617de19
--- /dev/null
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -0,0 +1,352 @@
+/* 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.
+ */
+
+#include "point_tracker.h"
+
+#include <vector>
+#include <algorithm>
+#include <cmath>
+
+#include <QDebug>
+
+using namespace cv;
+using namespace boost;
+using namespace std;
+
+const float PI = 3.14159265358979323846f;
+
+// ----------------------------------------------------------------------------
+static void get_row(const Matx33f& m, int i, Vec3f& v)
+{
+	v[0] = m(i,0);
+	v[1] = m(i,1);
+	v[2] = m(i,2);
+}
+
+static void set_row(Matx33f& m, int i, const Vec3f& v)
+{
+	m(i,0) = v[0];
+	m(i,1) = v[1];
+	m(i,2) = v[2];
+}
+
+// ----------------------------------------------------------------------------
+PointModel::PointModel(Vec3f M01, Vec3f M02)
+	: M01(M01), M02(M02)
+{	
+	// 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) * Matx22f(s22, -s12, 
+		                               -s12,  s11);
+
+	// calculate d and d_order for simple freetrack-like point correspondence
+	vector<Vec2f> points;
+	points.push_back(Vec2f(0,0));
+	points.push_back(Vec2f(M01[0], M01[1]));
+	points.push_back(Vec2f(M02[0], M02[1]));
+	// fit line to orthographically projected points
+	// ERROR: yields wrong results with colinear points?!
+	/*
+	Vec4f line;
+	fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);
+	d[0] = line[0]; d[1] = line[1];
+	*/
+	// TODO: fix this
+	d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);
+
+	// sort model points
+	get_d_order(points, d_order);
+}
+
+void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
+{
+	// get sort indices with respect to d scalar product
+	vector< pair<float,int> > d_vals;
+	for (int i = 0; i<points.size(); ++i)
+		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
+
+	struct
+	{
+		bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }
+	} comp;
+	sort(d_vals.begin(), d_vals.end(), comp);
+
+	for (int i = 0; i<points.size(); ++i)
+		d_order[i] = d_vals[i].second;
+}
+
+
+// ----------------------------------------------------------------------------
+PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)
+{
+	X_CM.t[2] = 1000;	// default position: 1 m away from cam;
+}
+
+void PointTracker::reset()
+{
+	// enter init phase and reset velocities
+	init_phase = true;
+	dt_valid = 0;
+	reset_velocities();
+}
+
+void PointTracker::reset_velocities()
+{	
+	v_t = Vec3f(0,0,0);
+	v_r = Vec3f(0,0,0);
+}
+
+
+bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
+{
+	if (!dynamic_pose_resolution) init_phase = true;
+
+	dt_valid += dt;
+	// if there was no valid tracking result for too long, do a reset
+	if (dt_valid > dt_reset) 
+	{
+		//qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
+		reset();
+	}
+
+	// if there is a pointtracking problem, reset the velocities
+	if (!point_model || points.size() != PointModel::N_POINTS) 
+	{
+		//qDebug()<<"Wrong number of points!";
+		reset_velocities();
+		return false;
+	}
+
+	X_CM_old = X_CM;	// backup old transformation for velocity calculation
+
+	if (!init_phase) 
+		predict(dt_valid);
+
+	// if there is a point correspondence problem something has gone wrong, do a reset
+	if (!find_correspondences(points, f))
+	{
+		//qDebug()<<"Error in finding point correspondences!";
+		X_CM = X_CM_old;	// undo prediction
+		reset();
+		return false;
+	}
+
+	int n_iter = POSIT(f);
+	//qDebug()<<"Number of POSIT iterations: "<<n_iter;
+
+	if (!init_phase)
+		update_velocities(dt_valid);
+
+	// we have a valid tracking result, leave init phase and reset time since valid result
+	init_phase = false;
+	dt_valid = 0;
+	return true;
+}
+
+void PointTracker::predict(float dt)
+{
+	// predict with constant velocity
+	Matx33f R;
+	Rodrigues(dt*v_r, R);
+	X_CM.R = R*X_CM.R;
+	X_CM.t += dt * v_t;
+}
+
+void PointTracker::update_velocities(float dt)
+{
+	// update velocities
+	Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
+	v_r /= dt;
+	v_t = (X_CM.t - X_CM_old.t)/dt;
+}
+
+bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
+{
+	if (init_phase) {
+		// We do a simple freetrack-like sorting in the init phase...
+		// sort points
+		int point_d_order[PointModel::N_POINTS];
+		point_model->get_d_order(points, point_d_order);
+
+		// set correspondences
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+		{
+			p[point_model->d_order[i]] = points[point_d_order[i]];
+		}
+	}
+	else {
+		// ... otherwise we look at the distance to the projection of the expected model points 
+		// project model points under current pose
+		p_exp[0] = project(Vec3f(0,0,0), f);
+		p_exp[1] = project(point_model->M01, f);
+		p_exp[2] = project(point_model->M02, f);
+
+		// set correspondences by minimum distance to projected model point
+		bool point_taken[PointModel::N_POINTS];
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+			point_taken[i] = false;
+
+		float min_sdist = 0;
+		int min_idx = 0;
+		
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+		{
+			// find closest point to projected model point i
+			for (int j=0; j<PointModel::N_POINTS; ++j)
+			{
+				Vec2f d = p_exp[i]-points[j];
+				float sdist = d.dot(d);
+				if (sdist < min_sdist || j==0) 
+				{
+					min_idx = j;
+					min_sdist = sdist;
+				}
+			}
+			// if one point is closest to more than one model point, abort
+			if (point_taken[min_idx]) return false;
+			point_taken[min_idx] = true;
+			p[i] = points[min_idx];
+		}
+	}
+	return true;
+}
+
+
+
+int PointTracker::POSIT(float f)
+{
+	// POSIT algorithm for coplanar points as presented in
+	// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+	// we use the same notation as in the paper here
+
+	// The expected rotation used for resolving the ambiguity in POSIT:
+	// In every iteration step the rotation closer to R_expected is taken 
+	Matx33f R_expected;	
+	if (init_phase)
+		R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
+	else 
+		R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
+	
+	// initial pose = last (predicted) pose
+	Vec3f k;
+	get_row(X_CM.R, 2, k);
+	float Z0 = X_CM.t[2];
+
+	float old_epsilon_1 = 0;
+	float old_epsilon_2 = 0;
+	float epsilon_1 = 1;
+	float epsilon_2 = 1;
+
+	Vec3f I0, J0;
+	Vec2f I0_coeff, J0_coeff;
+
+	Vec3f I_1, J_1, I_2, J_2;
+	Matx33f R_1, R_2;
+	Matx33f* R_current;
+
+	const int MAX_ITER = 100;
+	const float EPS_THRESHOLD = 1e-4;
+
+	int i=1;
+	for (; i<MAX_ITER; ++i)
+	{
+		epsilon_1 = k.dot(point_model->M01)/Z0;
+		epsilon_2 = k.dot(point_model->M02)/Z0;
+
+		// vector of scalar products <I0, M0i> and <J0, M0i>
+		Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], 
+			         p[2][0]*(1.0 + epsilon_2) - p[0][0]);
+		Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],
+			         p[2][1]*(1.0 + epsilon_2) - p[0][1]);
+
+		// construct projection of I, J onto M0i plane: I0 and J0
+		I0_coeff = point_model->P * I0_M0i;
+		J0_coeff = point_model->P * J0_M0i;
+		I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;
+		J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;
+
+		// calculate u component of I, J		
+		float II0 = I0.dot(I0);
+		float IJ0 = I0.dot(J0);
+		float JJ0 = J0.dot(J0);
+		float rho, theta;
+		if (JJ0 == II0) {
+			rho = sqrt(abs(2*IJ0));
+			theta = -PI/4;
+			if (IJ0<0) theta *= -1;
+		}
+		else {
+			rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
+			theta = atan( -2*IJ0 / (JJ0-II0) );
+			if (JJ0 - II0 < 0) theta += PI;
+			theta /= 2;
+		}
+
+		// construct the two solutions
+		I_1 = I0 + rho*cos(theta)*point_model->u;	
+		I_2 = I0 - rho*cos(theta)*point_model->u;
+
+		J_1 = J0 + rho*sin(theta)*point_model->u;
+		J_2 = J0 - rho*sin(theta)*point_model->u;
+
+		float norm_const = 1.0/norm(I_1); // all have the same norm
+		
+		// create rotation matrices
+		I_1 *= norm_const; J_1 *= norm_const;
+		I_2 *= norm_const; J_2 *= norm_const;
+
+		set_row(R_1, 0, I_1);
+		set_row(R_1, 1, J_1);
+		set_row(R_1, 2, I_1.cross(J_1));
+		
+		set_row(R_2, 0, I_2);
+		set_row(R_2, 1, J_2);
+		set_row(R_2, 2, I_2.cross(J_2));
+
+		// the single translation solution
+		Z0 = norm_const * f;
+
+		// pick the rotation solution closer to the expected one
+		// in simple metric d(A,B) = || I - A * B^T ||
+		float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
+		float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
+
+		if (R_1_deviation < R_2_deviation)
+			R_current = &R_1;
+		else
+			R_current = &R_2;
+
+		get_row(*R_current, 2, k);
+
+		// check for convergence condition
+		if (abs(epsilon_1 - old_epsilon_1) +  abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
+			break;
+		old_epsilon_1 = epsilon_1;
+		old_epsilon_2 = epsilon_2;
+	}	
+
+	// apply results
+	X_CM.R = *R_current;
+	X_CM.t[0] = p[0][0] * Z0/f;
+	X_CM.t[1] = p[0][1] * Z0/f;
+	X_CM.t[2] = Z0;
+
+	return i;
+
+	//Rodrigues(X_CM.R, r);
+	//qDebug()<<"iter: "<<i;
+	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
+	//Vec3f r;
+	//
+	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+}
-- 
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