165 lines
6.4 KiB
C++
165 lines
6.4 KiB
C++
// This file is part of OpenCV project.
|
|
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
|
// of this distribution and at http://opencv.org/license.html.
|
|
|
|
#ifndef OPENCV_RAPID_HPP_
|
|
#define OPENCV_RAPID_HPP_
|
|
|
|
#include <opencv2/core.hpp>
|
|
#include <opencv2/imgproc.hpp>
|
|
|
|
/**
|
|
@defgroup rapid silhouette based 3D object tracking
|
|
|
|
implements "RAPID-a video rate object tracker" @cite harris1990rapid with the dynamic control point extraction of @cite drummond2002real
|
|
*/
|
|
|
|
namespace cv
|
|
{
|
|
namespace rapid
|
|
{
|
|
//! @addtogroup rapid
|
|
//! @{
|
|
|
|
/**
|
|
* Debug draw markers of matched correspondences onto a lineBundle
|
|
* @param bundle the lineBundle
|
|
* @param cols column coordinates in the line bundle
|
|
* @param colors colors for the markers. Defaults to white.
|
|
*/
|
|
CV_EXPORTS_W void drawCorrespondencies(InputOutputArray bundle, InputArray cols,
|
|
InputArray colors = noArray());
|
|
|
|
/**
|
|
* Debug draw search lines onto an image
|
|
* @param img the output image
|
|
* @param locations the source locations of a line bundle
|
|
* @param color the line color
|
|
*/
|
|
CV_EXPORTS_W void drawSearchLines(InputOutputArray img, InputArray locations, const Scalar& color);
|
|
|
|
/**
|
|
* Draw a wireframe of a triangle mesh
|
|
* @param img the output image
|
|
* @param pts2d the 2d points obtained by @ref projectPoints
|
|
* @param tris triangle face connectivity
|
|
* @param color line color
|
|
* @param type line type. See @ref LineTypes.
|
|
* @param cullBackface enable back-face culling based on CCW order
|
|
*/
|
|
CV_EXPORTS_W void drawWireframe(InputOutputArray img, InputArray pts2d, InputArray tris,
|
|
const Scalar& color, int type = LINE_8, bool cullBackface = false);
|
|
/**
|
|
* Extract control points from the projected silhouette of a mesh
|
|
*
|
|
* see @cite drummond2002real Sec 2.1, Step b
|
|
* @param num number of control points
|
|
* @param len search radius (used to restrict the ROI)
|
|
* @param pts3d the 3D points of the mesh
|
|
* @param rvec rotation between mesh and camera
|
|
* @param tvec translation between mesh and camera
|
|
* @param K camera intrinsic
|
|
* @param imsize size of the video frame
|
|
* @param tris triangle face connectivity
|
|
* @param ctl2d the 2D locations of the control points
|
|
* @param ctl3d matching 3D points of the mesh
|
|
*/
|
|
CV_EXPORTS_W void extractControlPoints(int num, int len, InputArray pts3d, InputArray rvec, InputArray tvec,
|
|
InputArray K, const Size& imsize, InputArray tris, OutputArray ctl2d,
|
|
OutputArray ctl3d);
|
|
/**
|
|
* Extract the line bundle from an image
|
|
* @param len the search radius. The bundle will have `2*len + 1` columns.
|
|
* @param ctl2d the search lines will be centered at this points and orthogonal to the contour defined by
|
|
* them. The bundle will have as many rows.
|
|
* @param img the image to read the pixel intensities values from
|
|
* @param bundle line bundle image with size `ctl2d.rows() x (2 * len + 1)` and the same type as @p img
|
|
* @param srcLocations the source pixel locations of @p bundle in @p img as CV_16SC2
|
|
*/
|
|
CV_EXPORTS_W void extractLineBundle(int len, InputArray ctl2d, InputArray img, OutputArray bundle,
|
|
OutputArray srcLocations);
|
|
|
|
/**
|
|
* Find corresponding image locations by searching for a maximal sobel edge along the search line (a single
|
|
* row in the bundle)
|
|
* @param bundle the line bundle
|
|
* @param cols correspondence-position per line in line-bundle-space
|
|
* @param response the sobel response for the selected point
|
|
*/
|
|
CV_EXPORTS_W void findCorrespondencies(InputArray bundle, OutputArray cols,
|
|
OutputArray response = noArray());
|
|
|
|
/**
|
|
* Collect corresponding 2d and 3d points based on correspondencies and mask
|
|
* @param cols correspondence-position per line in line-bundle-space
|
|
* @param srcLocations the source image location
|
|
* @param pts2d 2d points
|
|
* @param pts3d 3d points
|
|
* @param mask mask containing non-zero values for the elements to be retained
|
|
*/
|
|
CV_EXPORTS_W void convertCorrespondencies(InputArray cols, InputArray srcLocations, OutputArray pts2d,
|
|
InputOutputArray pts3d = noArray(), InputArray mask = noArray());
|
|
|
|
/**
|
|
* High level function to execute a single rapid @cite harris1990rapid iteration
|
|
*
|
|
* 1. @ref extractControlPoints
|
|
* 2. @ref extractLineBundle
|
|
* 3. @ref findCorrespondencies
|
|
* 4. @ref convertCorrespondencies
|
|
* 5. @ref solvePnPRefineLM
|
|
*
|
|
* @param img the video frame
|
|
* @param num number of search lines
|
|
* @param len search line radius
|
|
* @param pts3d the 3D points of the mesh
|
|
* @param tris triangle face connectivity
|
|
* @param K camera matrix
|
|
* @param rvec rotation between mesh and camera. Input values are used as an initial solution.
|
|
* @param tvec translation between mesh and camera. Input values are used as an initial solution.
|
|
* @param rmsd the 2d reprojection difference
|
|
* @return ratio of search lines that could be extracted and matched
|
|
*/
|
|
CV_EXPORTS_W float rapid(InputArray img, int num, int len, InputArray pts3d, InputArray tris, InputArray K,
|
|
InputOutputArray rvec, InputOutputArray tvec, CV_OUT double* rmsd = 0);
|
|
|
|
/// Abstract base class for stateful silhouette trackers
|
|
class CV_EXPORTS_W Tracker : public Algorithm
|
|
{
|
|
public:
|
|
virtual ~Tracker();
|
|
CV_WRAP virtual float
|
|
compute(InputArray img, int num, int len, InputArray K, InputOutputArray rvec, InputOutputArray tvec,
|
|
const TermCriteria& termcrit = TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS, 5, 1.5)) = 0;
|
|
CV_WRAP virtual void clearState() = 0;
|
|
};
|
|
|
|
/// wrapper around @ref rapid function for uniform access
|
|
class CV_EXPORTS_W Rapid : public Tracker
|
|
{
|
|
public:
|
|
CV_WRAP static Ptr<Rapid> create(InputArray pts3d, InputArray tris);
|
|
};
|
|
|
|
/** implements "Optimal local searching for fast and robust textureless 3D object tracking in highly
|
|
* cluttered backgrounds" @cite seo2013optimal
|
|
*/
|
|
class CV_EXPORTS_W OLSTracker : public Tracker
|
|
{
|
|
public:
|
|
CV_WRAP static Ptr<OLSTracker> create(InputArray pts3d, InputArray tris, int histBins = 8, uchar sobelThesh = 10);
|
|
};
|
|
|
|
/** implements "Global optimal searching for textureless 3D object tracking" @cite wang2015global
|
|
*/
|
|
class CV_EXPORTS_W GOSTracker : public Tracker
|
|
{
|
|
public:
|
|
CV_WRAP static Ptr<OLSTracker> create(InputArray pts3d, InputArray tris, int histBins = 4, uchar sobelThesh = 10);
|
|
};
|
|
//! @}
|
|
} /* namespace rapid */
|
|
} /* namespace cv */
|
|
|
|
#endif /* OPENCV_RAPID_HPP_ */
|