silhouette based 3D object tracking#

Detailed Description#

implements “RAPID-a video rate object tracker” [131] with the dynamic control point extraction of [84]

Classes#

Name	Description
`class` `cv::rapid::GOSTracker`	View details
`class` `cv::rapid::OLSTracker`	View details
`class` `cv::rapid::Rapid`	wrapper around silhouette based 3D object tracking function for uniform access View details
`class` `cv::rapid::Tracker`	Abstract base class for stateful silhouette trackers. View details

Function Documentation#

convertCorrespondencies()#

void cv::rapid::convertCorrespondencies(
InputArray cols,
InputArray srcLocations,
OutputArray pts2d,
InputOutputArray pts3d = noArray(),
InputArray mask = noArray() )

#include <opencv2/rapid.hpp>

Collect corresponding 2d and 3d points based on correspondencies and mask

Parameters

cols — correspondence-position per line in line-bundle-space
srcLocations — the source image location
pts2d — 2d points
pts3d — 3d points
mask — mask containing non-zero values for the elements to be retained

drawCorrespondencies()#

void cv::rapid::drawCorrespondencies(
InputOutputArray bundle,
InputArray cols,
InputArray colors = noArray() )

#include <opencv2/rapid.hpp>

Debug draw markers of matched correspondences onto a lineBundle

Parameters

bundle — the lineBundle
cols — column coordinates in the line bundle
colors — colors for the markers. Defaults to white.

drawSearchLines()#

void cv::rapid::drawSearchLines(
InputOutputArray img,
InputArray locations,
const Scalar & color )

#include <opencv2/rapid.hpp>

Debug draw search lines onto an image

Parameters

img — the output image
locations — the source locations of a line bundle
color — the line color

drawWireframe()#

void cv::rapid::drawWireframe(
InputOutputArray img,
InputArray pts2d,
InputArray tris,
const Scalar & color,
int type = LINE_8,
bool cullBackface = false )

#include <opencv2/rapid.hpp>

Draw a wireframe of a triangle mesh

Parameters

img — the output image
pts2d — the 2d points obtained by projectPoints
tris — triangle face connectivity
color — line color
type — line type. See LineTypes.
cullBackface — enable back-face culling based on CCW order

extractControlPoints()#

void cv::rapid::extractControlPoints(
int num,
int len,
InputArray pts3d,
InputArray rvec,
InputArray tvec,
InputArray K,
const Size & imsize,
InputArray tris,
OutputArray ctl2d,
OutputArray ctl3d )

#include <opencv2/rapid.hpp>

Extract control points from the projected silhouette of a mesh

see [84] Sec 2.1, Step b

Parameters

num — number of control points
len — search radius (used to restrict the ROI)
pts3d — the 3D points of the mesh
rvec — rotation between mesh and camera
tvec — translation between mesh and camera
K — camera intrinsic
imsize — size of the video frame
tris — triangle face connectivity
ctl2d — the 2D locations of the control points
ctl3d — matching 3D points of the mesh

extractLineBundle()#

void cv::rapid::extractLineBundle(
int len,
InputArray ctl2d,
InputArray img,
OutputArray bundle,
OutputArray srcLocations )

#include <opencv2/rapid.hpp>

Extract the line bundle from an image

Parameters

len — the search radius. The bundle will have 2*len + 1 columns.
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.
img — the image to read the pixel intensities values from
bundle — line bundle image with size ctl2d.rows() x (2 * len + 1) and the same type as img
srcLocations — the source pixel locations of bundle in img as CV_16SC2

findCorrespondencies()#

void cv::rapid::findCorrespondencies(
InputArray bundle,
OutputArray cols,
OutputArray response = noArray() )

#include <opencv2/rapid.hpp>

Find corresponding image locations by searching for a maximal sobel edge along the search line (a single row in the bundle)

Parameters

bundle — the line bundle
cols — correspondence-position per line in line-bundle-space
response — the sobel response for the selected point

rapid()#

float cv::rapid::rapid(
InputArray img,
int num,
int len,
InputArray pts3d,
InputArray tris,
InputArray K,
InputOutputArray rvec,
InputOutputArray tvec,
double * rmsd = 0 )

#include <opencv2/rapid.hpp>

High level function to execute a single rapid [131] iteration

Parameters

img — the video frame
num — number of search lines
len — search line radius
pts3d — the 3D points of the mesh
tris — triangle face connectivity
K — camera matrix
rvec — rotation between mesh and camera. Input values are used as an initial solution.
tvec — translation between mesh and camera. Input values are used as an initial solution.
rmsd — the 2d reprojection difference

Returns

ratio of search lines that could be extracted and matched

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