summaryrefslogtreecommitdiffhomepage
path: root/tracker-pt/point_tracker.h
blob: b867cea48506804663127dc4160a5cfcfcb5743c (plain)
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
/* 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.
 */

#pragma once

#include "compat/timer.hpp"
#include "ftnoir_tracker_pt_settings.h"
#include "affine.hpp"
#include "numeric.hpp"
#include "camera.h"

#include <opencv2/core.hpp>
#include <cstddef>
#include <memory>
#include <vector>
#include <array>
#include <QObject>

namespace impl {

// ----------------------------------------------------------------------------
// Describes a 3-point model
// nomenclature as in
// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]

using namespace types;

struct PointModel final
{
    static constexpr unsigned N_POINTS = 3;

    vec3 M01;      // M01 in model frame
    vec3 M02;      // M02 in model frame

    vec3 u;        // unit vector perpendicular to M01,M02-plane

    mat22 P;

    enum Model { Clip, Cap, Custom };

    PointModel(settings_pt& s);
    void set_model(settings_pt& s);
    void get_d_order(const vec2* points, unsigned* d_order, const vec2& 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 final
{
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<vec2>& projected_points, const PointModel& model, const CamInfo& info, int init_phase_timeout);
    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);
    void invalidate_pose() { X_CM = Affine(); }

private:
    // the points in model order
    using PointOrder = std::array<vec2, 3>;

    bool maybe_use_old_point_order(const PointOrder& order, const CamInfo& info);
    PointOrder prev_order, prev_scaled_order;

    PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
    PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, const CamInfo& info);
    int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length);  // The POSIT algorithm, returns the number of iterations

    Affine X_CM; // transform from model to camera

    Timer t;
    bool init_phase, prev_order_valid;
};

} // ns types

using impl::PointTracker;
using impl::PointModel;