36 #include <visp3/core/vpImageConvert.h>
37 #include <visp3/core/vpTrackingException.h>
38 #include <visp3/core/vpVelocityTwistMatrix.h>
39 #include <visp3/mbt/vpMbKltTracker.h>
40 #include <visp3/mbt/vpMbtXmlGenericParser.h>
42 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
44 #if defined(__APPLE__) && defined(__MACH__)
45 #include <TargetConditionals.h>
78 double h00 = H[0][0], h01 = H[0][1], h02 = H[0][2];
79 double h10 = H[1][0], h11 = H[1][1], h12 = H[1][2];
80 double h20 = H[2][0], h21 = H[2][1], h22 = H[2][2];
82 double A = h00 * px + u0 * h20;
83 double B = h01 * px + u0 * h21;
84 double C = h02 * px + u0 * h22;
85 double D = h10 * py + v0 * h20;
86 double E = h11 * py + v0 * h21;
87 double F = h12 * py + v0 * h22;
89 G[0][0] = A * one_over_px;
90 G[1][0] = D * one_over_px;
91 G[2][0] = h20 * one_over_px;
93 G[0][1] = B * one_over_py;
94 G[1][1] = E * one_over_py;
95 G[2][1] = h21 * one_over_py;
97 double u0_one_over_px = u0 * one_over_px;
98 double v0_one_over_py = v0 * one_over_py;
100 G[0][2] = -A * u0_one_over_px - B * v0_one_over_py + C;
101 G[1][2] = -D * u0_one_over_px - E * v0_one_over_py + F;
102 G[2][2] = -h20 * u0_one_over_px - h21 * v0_one_over_py + h22;
110 cur(), c0Mo(), firstInitialisation(true), maskBorder(5), threshold_outlier(0.5), percentGood(0.6), ctTc0(), tracker(),
111 kltPolygons(), kltCylinders(), circles_disp(), m_nbInfos(0), m_nbFaceUsed(0), m_L_klt(), m_error_klt(), m_w_klt(),
112 m_weightedError_klt(), m_robust_klt(), m_featuresToBeDisplayedKlt()
124 #ifdef VISP_HAVE_OGRE
139 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
141 if (kltpoly !=
nullptr) {
151 if (kltPolyCylinder !=
nullptr) {
152 delete kltPolyCylinder;
154 kltPolyCylinder =
nullptr;
176 bool reInitialisation =
false;
180 #ifdef VISP_HAVE_OGRE
215 cv::Mat mask((
int)I.
getRows(), (
int)I.
getCols(), CV_8UC1, cv::Scalar(0));
223 unsigned char val = 255 ;
224 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
237 kltPolyCylinder = *it;
242 if (
faces[indCylBBox]->isVisible() &&
faces[indCylBBox]->getNbPoint() > 2u) {
243 faces[indCylBBox]->computePolygonClipped(
m_cam);
258 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
267 kltPolyCylinder = *it;
283 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
285 if (kltpoly !=
nullptr) {
295 if (kltPolyCylinder !=
nullptr) {
296 delete kltPolyCylinder;
298 kltPolyCylinder =
nullptr;
346 #ifdef VISP_HAVE_OGRE
361 std::vector<vpImagePoint> kltPoints;
382 std::map<int, vpImagePoint> kltPoints;
387 #ifdef TARGET_OS_IPHONE
424 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
446 std::cout <<
"WARNING: Cannot set pose when model contains cylinder(s). "
447 "This feature is not implemented yet."
449 std::cout <<
"Tracker will be reinitialized with the given pose." << std::endl;
461 std::vector<cv::Point2f> init_pts;
462 std::vector<long> init_ids;
463 std::vector<cv::Point2f> guess_pts;
476 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
489 double invDc = 1.0 / plan.
getD();
493 vpGEMM(cdtc, Nc, -invDc, cdRc, 1.0, cdHc, VP_GEMM_B_T);
500 std::map<int, vpImagePoint>::const_iterator iter = kltpoly->
getCurrentPoints().begin();
503 #ifdef TARGET_OS_IPHONE
504 if (std::find(init_ids.begin(), init_ids.end(), (
long)(kltpoly->
getCurrentPointsInd())[(
int)iter->first]) !=
507 if (std::find(init_ids.begin(), init_ids.end(),
517 cdp[0] = iter->second.get_j();
518 cdp[1] = iter->second.get_i();
521 cv::Point2f p((
float)cdp[0], (
float)cdp[1]);
522 init_pts.push_back(p);
523 #ifdef TARGET_OS_IPHONE
529 double p_mu_t_2 = cdp[0] * cdGc[2][0] + cdp[1] * cdGc[2][1] + cdGc[2][2];
531 if (fabs(p_mu_t_2) < std::numeric_limits<double>::epsilon()) {
537 cdp[0] = (cdp[0] * cdGc[0][0] + cdp[1] * cdGc[0][1] + cdGc[0][2]) / p_mu_t_2;
538 cdp[1] = (cdp[0] * cdGc[1][0] + cdp[1] * cdGc[1][1] + cdGc[1][2]) / p_mu_t_2;
541 cv::Point2f p_guess((
float)cdp[0], (
float)cdp[1]);
542 guess_pts.push_back(p_guess);
556 bool reInitialisation =
false;
566 #ifdef VISP_HAVE_OGRE
592 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
679 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
713 bool reInitialisation =
false;
715 unsigned int initialNumber = 0;
716 unsigned int currentNumber = 0;
717 unsigned int shift = 0;
719 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
754 double value =
percentGood * (double)initialNumber;
755 if ((
double)currentNumber < value) {
758 reInitialisation =
true;
764 #ifdef VISP_HAVE_OGRE
773 if (reInitialisation)
796 double normRes_1 = -1;
797 unsigned int iter = 0;
805 while (((
int)((normRes - normRes_1) * 1e8) != 0) && (iter <
m_maxIter)) {
808 bool reStartFromLastIncrement =
false;
810 if (reStartFromLastIncrement) {
814 if (!reStartFromLastIncrement) {
819 if (!isoJoIdentity) {
836 for (
unsigned int j = 0; j < 6; j++) {
872 unsigned int shift = 0;
875 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1006 #if defined(VISP_HAVE_PUGIXML)
1025 std::cout <<
" *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
1027 xmlp.
parse(configFile.c_str());
1030 vpERROR_TRACE(
"Can't open XML file \"%s\"\n ", configFile.c_str());
1092 bool displayFullModel)
1094 std::vector<std::vector<double> > models =
1097 for (
size_t i = 0; i < models.size(); i++) {
1105 double n20 = models[i][3];
1106 double n11 = models[i][4];
1107 double n02 = models[i][5];
1120 std::stringstream ss;
1127 #ifdef VISP_HAVE_OGRE
1145 const vpColor &col,
unsigned int thickness,
bool displayFullModel)
1147 std::vector<std::vector<double> > models =
1150 for (
size_t i = 0; i < models.size(); i++) {
1158 double n20 = models[i][3];
1159 double n11 = models[i][4];
1160 double n02 = models[i][5];
1173 std::stringstream ss;
1180 #ifdef VISP_HAVE_OGRE
1188 std::vector<std::vector<double> > features;
1190 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1195 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1205 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1230 bool displayFullModel)
1232 std::vector<std::vector<double> > models;
1254 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1256 std::vector<std::vector<double> > modelLines = kltpoly->
getModelForDisplay(cam, displayFullModel);
1257 models.insert(models.end(), modelLines.begin(), modelLines.end());
1263 std::vector<std::vector<double> > modelLines = kltPolyCylinder->
getModelForDisplay(cMo, cam);
1264 models.insert(models.end(), modelLines.begin(), modelLines.end());
1269 std::vector<double> paramsCircle = displayCircle->
getModelForDisplay(cMo, cam, displayFullModel);
1270 if (!paramsCircle.empty()) {
1271 models.push_back(paramsCircle);
1286 unsigned int nbTotalPoints = 0;
1288 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1303 if (nbTotalPoints < 10) {
1304 std::cerr <<
"test tracking failed (too few points to realize a good tracking)." << std::endl;
1306 "test tracking failed (too few points to realize a good tracking).");
1321 const std::string & )
1351 const std::string &name)
1365 const std::string &name)
1367 bool already_here =
false;
1382 if (!already_here) {
1412 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1414 if (kltpoly !=
nullptr) {
1424 if (kltPolyCylinder !=
nullptr) {
1425 delete kltPolyCylinder;
1427 kltPolyCylinder =
nullptr;
1434 if (ci !=
nullptr) {
1455 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1463 #elif !defined(VISP_BUILD_SHARED_LIBS)
1465 void dummy_vpMbKltTracker() { };
void setWindowName(const Ogre::String &n)
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
unsigned int getRows() const
Generic class defining intrinsic camera parameters.
void computeFov(const unsigned int &w, const unsigned int &h)
double get_px_inverse() const
double get_py_inverse() const
Implementation of column vector and the associated operations.
vpColVector & normalize()
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionalities.
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint ¢er, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
@ divideByZeroError
Division by zero.
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void extract(vpRotationMatrix &R) const
Implementation of an homography and operations on homographies.
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getCols() const
unsigned int getHeight() const
unsigned int getRows() const
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
double getQuality() const
int getMaxFeatures() const
Get the list of lost feature.
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void track(const cv::Mat &I)
void setTrackerId(int tid)
int getWindowSize() const
Get the window size used to refine the corner locations.
int getNbFeatures() const
Get the number of current features.
void setHarrisFreeParameter(double harris_k)
void getFeature(const int &index, long &id, float &x, float &y) const
double getHarrisFreeParameter() const
Get the free parameter of the Harris detector.
void setMaxFeatures(int maxCount)
void setInitialGuess(const std::vector< cv::Point2f > &guess_pts)
void initTracking(const cv::Mat &I, const cv::Mat &mask=cv::Mat())
double getMinDistance() const
void setMinDistance(double minDistance)
int getBlockSize() const
Get the size of the averaging block used to track the features.
int getPyramidLevels() const
Get the list of features id.
void setUseHarris(int useHarrisDetector)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
static bool equal(double x, double y, double threshold=0.001)
static double deg(double rad)
Implementation of a matrix and operations on matrices.
vpAROgre * getOgreContext()
void computeClippedPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
vpMbScanLine & getMbScanLineRenderer()
unsigned int setVisibleOgre(unsigned int width, unsigned int height, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
void initOgre(const vpCameraParameters &cam=vpCameraParameters())
unsigned int setVisible(unsigned int width, unsigned int height, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed)
void setBackgroundSizeOgre(const unsigned int &h, const unsigned int &w)
void computeScanLineRender(const vpCameraParameters &cam, const unsigned int &w, const unsigned int &h)
void displayOgre(const vpHomogeneousMatrix &cMo)
void setOgreShowConfigDialog(bool showConfigDialog)
std::list< vpMbtDistanceKltCylinder * > kltCylinders
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
vpColVector m_error_klt
(s - s*)
vpHomogeneousMatrix c0Mo
Initial pose.
vpHomogeneousMatrix ctTc0
std::list< vpMbtDistanceKltPoints * > kltPolygons
virtual void computeVVSInit() vp_override
virtual void init(const vpImage< unsigned char > &I) vp_override
virtual void setKltOpencv(const vpKltOpencv &t)
cv::Mat cur
Temporary OpenCV image for fast conversion.
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) vp_override
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) vp_override
std::map< int, vpImagePoint > getKltImagePointsWithId() const
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
vpColVector m_weightedError_klt
Weighted error.
virtual void computeVVSInteractionMatrixAndResidu() vp_override
virtual ~vpMbKltTracker()
vpKltOpencv tracker
Points tracker.
virtual std::vector< std::vector< double > > getFeaturesForDisplayKlt()
void preTracking(const vpImage< unsigned char > &I)
void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name="")
virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="") vp_override
virtual void track(const vpImage< unsigned char > &I) vp_override
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
vpRobust m_robust_klt
Robust.
virtual void initFaceFromLines(vpMbtPolygon &polygon) vp_override
virtual void reinit(const vpImage< unsigned char > &I)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) vp_override
std::vector< vpImagePoint > getKltImagePoints() const
unsigned int maskBorder
Erosion of the mask.
unsigned int m_nbFaceUsed
vpColVector m_w_klt
Robust weights.
void setCameraParameters(const vpCameraParameters &cam) vp_override
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
virtual void testTracking() vp_override
vpMatrix m_L_klt
Interaction matrix.
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) vp_override
void setUseKltTracking(const std::string &name, const bool &useKltTracking)
virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="") vp_override
virtual void initFaceFromCorners(vpMbtPolygon &polygon) vp_override
void resetTracker() vp_override
double m_lambda
Gain of the virtual visual servoing stage.
double minLineLengthThresholdGeneral
Minimum line length threshold for LOD mode (general setting)
virtual void setMinLineLengthThresh(double minLineLengthThresh, const std::string &name="")
vpImage< unsigned char > m_I
Grayscale image buffer, used when passing color images.
bool useLodGeneral
True if LOD mode is enabled.
double minPolygonAreaThresholdGeneral
Minimum polygon area threshold for LOD mode (general setting)
bool m_computeInteraction
vpMatrix oJo
The Degrees of Freedom to estimate.
virtual void setMinPolygonAreaThresh(double minPolygonAreaThresh, const std::string &name="")
double m_initialMu
Initial Mu for Levenberg Marquardt optimization loop.
vpHomogeneousMatrix m_cMo
The current pose.
virtual void computeVVSCheckLevenbergMarquardt(unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=nullptr, const vpColVector *const m_w_prev=nullptr)
vpCameraParameters m_cam
The camera parameters.
bool useOgre
Use Ogre3d for visibility tests.
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
virtual void setLod(bool useLod, const std::string &name="")
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
vpMbtOptimizationMethod m_optimizationMethod
Optimization method used.
virtual void computeVVSPoseEstimation(const bool isoJoIdentity, unsigned int iter, vpMatrix &L, vpMatrix <L, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector <R, double &mu, vpColVector &v, const vpColVector *const w=nullptr, vpColVector *const m_w_prev=nullptr)
bool displayFeatures
If true, the features are displayed.
double angleDisappears
Angle used to detect a face disappearance.
virtual unsigned int getNbPolygon() const
virtual void setNearClippingDistance(const double &dist)
bool applyLodSettingInConfig
virtual void setFarClippingDistance(const double &dist)
bool m_isoJoIdentity
Boolean to know if oJo is identity (for fast computation)
bool useScanLine
Use Scanline for visibility tests.
virtual void setClipping(const unsigned int &flags)
double angleAppears
Angle used to detect a face appearance.
const vpImage< bool > * m_mask
Mask used to disable tracking on a part of image.
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
bool computeCovariance
Flag used to specify if the covariance matrix has to be computed or not.
unsigned int m_maxIter
Maximum number of iterations of the virtual visual servoing stage.
bool ogreShowConfigDialog
unsigned int clippingFlag
Flags specifying which clipping to used.
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
Manage a circle used in the model-based tracker.
void setCameraParameters(const vpCameraParameters &camera)
void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, double r)
std::vector< double > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
void setName(const std::string &circle_name)
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
virtual void setCameraParameters(const vpCameraParameters &_cam)
void buildFrom(const vpPoint &p1, const vpPoint &p2, const double &r)
void removeOutliers(const vpColVector &weight, const double &threshold_outlier)
unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker)
std::vector< std::vector< double > > getFeaturesForDisplay()
void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J)
bool useScanLine
Use scanline rendering.
void updateMask(cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)
void init(const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo)
std::vector< std::vector< double > > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
unsigned int getCurrentNumberPoints() const
std::vector< int > listIndicesCylinderBBox
Pointer to the polygon that define a face.
bool hasEnoughPoints() const
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
unsigned int getInitialNumberPoint() const
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
bool hasEnoughPoints() const
void updateMask(cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)
bool useScanLine
Use scanline rendering.
void computeInteractionMatrixAndResidu(vpColVector &_R, vpMatrix &_J)
unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker, const vpImage< bool > *mask=nullptr)
std::vector< std::vector< double > > getFeaturesForDisplay()
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
void init(const vpKltOpencv &_tracker, const vpImage< bool > *mask=nullptr)
virtual void setCameraParameters(const vpCameraParameters &_cam)
unsigned int getCurrentNumberPoints() const
std::map< int, int > & getCurrentPointsInd()
std::vector< std::vector< double > > getModelForDisplay(const vpCameraParameters &cam, bool displayFullModel=false)
vpMbtPolygon * polygon
Pointer to the polygon that define a face.
std::map< int, vpImagePoint > & getCurrentPoints()
unsigned int getInitialNumberPoint() const
void removeOutliers(const vpColVector &weight, const double &threshold_outlier)
void computeHomography(const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0)
void setTracked(const bool &track)
Implementation of a polygon of the model used by the model-based tracker.
std::string getName() const
virtual bool isVisible(const vpHomogeneousMatrix &cMo, double alpha, const bool &modulo=false, const vpCameraParameters &cam=vpCameraParameters(), unsigned int width=0, unsigned int height=0)
Parse an Xml file to extract configuration parameters of a mbtConfig object.
unsigned int getKltMaxFeatures() const
void setKltMinDistance(const double &mD)
unsigned int getKltBlockSize() const
void getCameraParameters(vpCameraParameters &cam) const
double getAngleAppear() const
void setKltMaskBorder(const unsigned int &mb)
double getLodMinLineLengthThreshold() const
unsigned int getKltMaskBorder() const
void setAngleDisappear(const double &adisappear)
double getKltQuality() const
double getAngleDisappear() const
void setKltPyramidLevels(const unsigned int &pL)
void setKltWindowSize(const unsigned int &w)
double getKltMinDistance() const
void setKltMaxFeatures(const unsigned int &mF)
void setAngleAppear(const double &aappear)
void setKltBlockSize(const unsigned int &bs)
void setKltHarrisParam(const double &hp)
void parse(const std::string &filename)
double getNearClippingDistance() const
void setKltQuality(const double &q)
bool hasNearClippingDistance() const
bool hasFarClippingDistance() const
unsigned int getKltPyramidLevels() const
double getKltHarrisParam() const
unsigned int getKltWindowSize() const
double getFarClippingDistance() const
bool getFovClipping() const
double getLodMinPolygonAreaThreshold() const
void setVerbose(bool verbose)
This class defines the container for a plane geometrical structure.
void changeFrame(const vpHomogeneousMatrix &cMo)
vpColVector getNormal() const
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void changeFrame(const vpHomogeneousMatrix &cMo)
unsigned int getNbPoint() const
vpPoint * p
corners in the object frame
void computePolygonClipped(const vpCameraParameters &cam=vpCameraParameters())
void setMinMedianAbsoluteDeviation(double mad_min)
Implementation of a rotation matrix and operations on such kind of matrices.
Definition of the vpSubMatrix class that provides a mask on a vpMatrix. All properties of vpMatrix ar...
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.
@ fatalError
Tracker fatal error.
Class that consider the case of a translation vector.
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)