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rapid: add "Optimal Local Search" implementation

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also add Algorithm wrapper for rapid
This commit is contained in:
Pavel Rojtberg
2020-06-18 18:49:07 +02:00
parent 00fe2ed971
commit aaaf37ed70
6 changed files with 327 additions and 3 deletions
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27
modules/rapid/include/opencv2/rapid.hpp
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@@ -122,6 +122,33 @@ CV_EXPORTS_W void convertCorrespondencies(InputArray cols, InputArray srcLocatio
*/
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 */