isoCvDemo

• Feature point tracking

Demo

• https://youtu.be/hWySuIgFSls

Environment

• Use Pod to install Masonry and OpenCV (default version).

How to use

• Currently it only supports slow movement of camera or shoes.
• Also error will be accumulated.

Main Interface

• MainMenuViewController.m
• The last Optical Flow Demo is current version.

Tracking Interface

• ViewController.mm
• Image resolution is 640x480
• The brightness of image is fixed.
  • Clicking reset buttom can adjust image to current light.

Initialization

• Put shoes into the retangle and click start button to start tracking.
• Click reset buttom to back restart initialization.

Camera Pose Matrix (4x4)

• cvOpticalFlow.cpp
• function trackingFrontFromInitialNineGrid
• avgHomo is the homography matrix of shoes plane in two frame (initial frame and current frame)
• camera matrix is required to recover pose in function pose_estimation_2d2d
  • current camera matrix K is for 640x480 image by iphone 7
• R and t is the rotation matrix and transformation vector of camera pose
• Pose Matrix is saved in pose and printed

Note

The code is not up to date.