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OpenCV
4.6.0
Open Source Computer Vision
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Classes | |
class | cv::rapid::GOSTracker |
class | cv::rapid::OLSTracker |
class | cv::rapid::Rapid |
wrapper around silhouette based 3D object tracking function for uniform access More... | |
class | cv::rapid::Tracker |
Abstract base class for stateful silhouette trackers. More... | |
implements "RAPID-a video rate object tracker" [98] with the dynamic control point extraction of [56]
void cv::rapid::convertCorrespondencies | ( | InputArray | cols, |
InputArray | srcLocations, | ||
OutputArray | pts2d, | ||
InputOutputArray | pts3d = noArray() , |
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InputArray | mask = noArray() |
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#include <opencv2/rapid.hpp>
Collect corresponding 2d and 3d points based on correspondencies and mask
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 |
void cv::rapid::drawCorrespondencies | ( | InputOutputArray | bundle, |
InputArray | cols, | ||
InputArray | colors = noArray() |
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#include <opencv2/rapid.hpp>
Debug draw markers of matched correspondences onto a lineBundle
bundle | the lineBundle |
cols | column coordinates in the line bundle |
colors | colors for the markers. Defaults to white. |
void cv::rapid::drawSearchLines | ( | InputOutputArray | img, |
InputArray | locations, | ||
const Scalar & | color | ||
) |
#include <opencv2/rapid.hpp>
Debug draw search lines onto an image
img | the output image |
locations | the source locations of a line bundle |
color | the line color |
void cv::rapid::drawWireframe | ( | InputOutputArray | img, |
InputArray | pts2d, | ||
InputArray | tris, | ||
const Scalar & | color, | ||
int | type = LINE_8 , |
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bool | cullBackface = false |
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#include <opencv2/rapid.hpp>
Draw a wireframe of a triangle mesh
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 |
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 | ||
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#include <opencv2/rapid.hpp>
Extract control points from the projected silhouette of a mesh
see [56] Sec 2.1, Step b
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 |
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
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 |
void cv::rapid::findCorrespondencies | ( | InputArray | bundle, |
OutputArray | cols, | ||
OutputArray | response = noArray() |
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) |
#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)
bundle | the line bundle |
cols | correspondence-position per line in line-bundle-space |
response | the sobel response for the selected point |
float cv::rapid::rapid | ( | InputArray | img, |
int | num, | ||
int | len, | ||
InputArray | pts3d, | ||
InputArray | tris, | ||
InputArray | K, | ||
InputOutputArray | rvec, | ||
InputOutputArray | tvec, | ||
double * | rmsd = 0 |
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) |
#include <opencv2/rapid.hpp>
High level function to execute a single rapid [98] iteration
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 |