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// 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);
};
//! @}
} /* namespace rapid */
} /* namespace cv */
#endif /* OPENCV_RAPID_HPP_ */
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