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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/core/core.hpp>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include <memory>
#endif
#include <vector>
// ----------------------------------------------------------------------------
// 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;
PointModel(cv::Vec3f M01, cv::Vec3f M02);
PointModel();
inline const cv::Vec3f& get_M01() const { return M01; }
inline const cv::Vec3f& get_M02() const { return M02; }
private:
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;
template<typename vec>
void get_d_order(const std::vector<vec>& points, int* d_order, vec 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);
Affine pose() const { return X_CM; }
private:
// the points in model order
typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;
PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model);
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
};
#endif //POINTTRACKER_H
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