1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
|
/* 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(0.5 * fov * HT_PI / 180);
const float focal_length_h = 0.5 * h / tan(0.5 * 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
|
