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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>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include "FTNoIR_Tracker_PT/boost-compat.h"
#endif
#include <list>
// ----------------------------------------------------------------------------
// Affine 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 FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
{
return FrameTrafo(X*Y.R, X*Y.t);
}
inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
{
return FrameTrafo(X.R*Y, 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; // discriminant 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 fov, float dt, int w, int h);
boost::shared_ptr<PointModel> point_model;
bool dynamic_pose_resolution;
float dt_reset;
FrameTrafo get_pose() const { return X_CM; }
void reset();
protected:
cv::Vec2f project(const cv::Vec3f& v_M, float fov, int w, int h)
{
if (!rvec.empty() && !tvec.empty() && fov > 0)
{
const float HT_PI = 3.1415926535;
const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180);
const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0);
cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
intrinsics.at<float> (0, 0) = focal_length_w;
intrinsics.at<float> (1, 1) = focal_length_h;
intrinsics.at<float> (0, 2) = w/2;
intrinsics.at<float> (1, 2) = h/2;
std::vector<cv::Point3f> xs;
xs.push_back(v_M);
cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);
std::vector<cv::Point2f> rets(1);
cv::projectPoints(xs, rvec, tvec, intrinsics, dist_coeffs, rets);
return rets[0];
}
return cv::Vec2f();
}
bool find_correspondences(const std::vector<cv::Vec2f>& points, float fov, int w, int h);
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();
void POSIT(float fov, int w, int h); // 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;
cv::Mat rvec, tvec;
};
#endif //POINTTRACKER_H
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