vpMbKltTracker.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Model based tracker using only KLT
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpTrackingException.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/mbt/vpMbKltTracker.h>

#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))

#if defined(__APPLE__) && defined(__MACH__) // Apple OSX and iOS (Darwin)
#include <TargetConditionals.h>             // To detect OSX or IOS using TARGET_OS_IPHONE or TARGET_OS_IOS macro
#endif

vpMbKltTracker::vpMbKltTracker()
  :
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
    cur(),
#else
    cur(NULL),
#endif
    c0Mo(), firstInitialisation(true), maskBorder(5), threshold_outlier(0.5), percentGood(0.6), ctTc0(), tracker(),
    kltPolygons(), kltCylinders(), circles_disp(), m_nbInfos(0), m_nbFaceUsed(0), m_L_klt(), m_error_klt(), m_w_klt(),
    m_weightedError_klt(), m_robust_klt()
{
  tracker.setTrackerId(1);
  tracker.setUseHarris(1);
  tracker.setMaxFeatures(10000);
  tracker.setWindowSize(5);
  tracker.setQuality(0.01);
  tracker.setMinDistance(5);
  tracker.setHarrisFreeParameter(0.01);
  tracker.setBlockSize(3);
  tracker.setPyramidLevels(3);

  angleAppears = vpMath::rad(65);
  angleDisappears = vpMath::rad(75);

#ifdef VISP_HAVE_OGRE
  faces.getOgreContext()->setWindowName("MBT Klt");
#endif

  m_lambda = 0.8;
  m_maxIter = 200;
}

vpMbKltTracker::~vpMbKltTracker()
{
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
  if (cur != NULL) {
    cvReleaseImage(&cur);
    cur = NULL;
  }
#endif

  // delete the Klt Polygon features
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly != NULL) {
      delete kltpoly;
    }
    kltpoly = NULL;
  }
  kltPolygons.clear();

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;
    if (kltPolyCylinder != NULL) {
      delete kltPolyCylinder;
    }
    kltPolyCylinder = NULL;
  }
  kltCylinders.clear();

  // delete the structures used to display circles
  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles_disp.begin(); it != circles_disp.end(); ++it) {
    vpMbtDistanceCircle *ci = *it;
    if (ci != NULL) {
      delete ci;
    }
    ci = NULL;
  }

  circles_disp.clear();
}

void vpMbKltTracker::init(const vpImage<unsigned char> &I)
{
  if (!modelInitialised) {
    throw vpException(vpException::fatalError, "model not initialized");
  }

  bool reInitialisation = false;
  if (!useOgre)
    faces.setVisible(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);
  else {
#ifdef VISP_HAVE_OGRE
    if (!faces.isOgreInitialised()) {
      faces.setBackgroundSizeOgre(I.getHeight(), I.getWidth());
      faces.setOgreShowConfigDialog(ogreShowConfigDialog);
      faces.initOgre(cam);
      // Turn off Ogre config dialog display for the next call to this
      // function since settings are saved in the ogre.cfg file and used
      // during the next call
      ogreShowConfigDialog = false;
    }

    faces.setVisibleOgre(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);

#else
    faces.setVisible(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);
#endif
  }
  reinit(I);
}

void vpMbKltTracker::reinit(const vpImage<unsigned char> &I)
{
  c0Mo = cMo;
  ctTc0.eye();

  vpImageConvert::convert(I, cur);

  cam.computeFov(I.getWidth(), I.getHeight());

  if (useScanLine) {
    faces.computeClippedPolygons(cMo, cam);
    faces.computeScanLineRender(cam, I.getWidth(), I.getHeight());
  }

// mask
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
  cv::Mat mask((int)I.getRows(), (int)I.getCols(), CV_8UC1, cv::Scalar(0));
#else
  IplImage *mask = cvCreateImage(cvSize((int)I.getWidth(), (int)I.getHeight()), IPL_DEPTH_8U, 1);
  cvZero(mask);
#endif

  vpMbtDistanceKltPoints *kltpoly;
  vpMbtDistanceKltCylinder *kltPolyCylinder;
  if (useScanLine) {
    vpImageConvert::convert(faces.getMbScanLineRenderer().getMask(), mask);
  } else {
    unsigned char val = 255 /* - i*15*/;
    for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
      kltpoly = *it;
      if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2) {
        // need to changeFrame when reinit() is called by postTracking
        // other solution is
        kltpoly->polygon->changeFrame(cMo);
        kltpoly->polygon->computePolygonClipped(cam); // Might not be necessary when scanline is activated
        kltpoly->updateMask(mask, val, maskBorder);
      }
    }

    for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
         ++it) {
      kltPolyCylinder = *it;

      if (kltPolyCylinder->isTracked()) {
        for (unsigned int k = 0; k < kltPolyCylinder->listIndicesCylinderBBox.size(); k++) {
          unsigned int indCylBBox = (unsigned int)kltPolyCylinder->listIndicesCylinderBBox[k];
          if (faces[indCylBBox]->isVisible() && faces[indCylBBox]->getNbPoint() > 2u) {
            faces[indCylBBox]->computePolygonClipped(cam); // Might not be necessary when scanline is activated
          }
        }

        kltPolyCylinder->updateMask(mask, val, maskBorder);
      }
    }
  }

  tracker.initTracking(cur, mask);
  //  tracker.track(cur); // AY: Not sure to be usefull but makes sure that
  //  the points are valid for tracking and avoid too fast reinitialisations.
  //  vpCTRACE << "init klt. detected " << tracker.getNbFeatures() << "
  //  points" << std::endl;

  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    kltpoly = *it;
    if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2) {
      kltpoly->init(tracker, m_mask);
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    kltPolyCylinder = *it;

    if (kltPolyCylinder->isTracked())
      kltPolyCylinder->init(tracker, cMo);
  }

#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
  cvReleaseImage(&mask);
#endif
}

void vpMbKltTracker::resetTracker()
{
  cMo.eye();

#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
  if (cur != NULL) {
    cvReleaseImage(&cur);
    cur = NULL;
  }
#endif

  // delete the Klt Polygon features
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly != NULL) {
      delete kltpoly;
    }
    kltpoly = NULL;
  }
  kltPolygons.clear();

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;
    if (kltPolyCylinder != NULL) {
      delete kltPolyCylinder;
    }
    kltPolyCylinder = NULL;
  }
  kltCylinders.clear();

  // delete the structures used to display circles
  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles_disp.begin(); it != circles_disp.end(); ++it) {
    vpMbtDistanceCircle *ci = *it;
    if (ci != NULL) {
      delete ci;
    }
    ci = NULL;
  }

  circles_disp.clear();

  m_computeInteraction = true;
  firstInitialisation = true;
  computeCovariance = false;

  tracker.setTrackerId(1);
  tracker.setUseHarris(1);

  tracker.setMaxFeatures(10000);
  tracker.setWindowSize(5);
  tracker.setQuality(0.01);
  tracker.setMinDistance(5);
  tracker.setHarrisFreeParameter(0.01);
  tracker.setBlockSize(3);
  tracker.setPyramidLevels(3);

  angleAppears = vpMath::rad(65);
  angleDisappears = vpMath::rad(75);

  clippingFlag = vpPolygon3D::NO_CLIPPING;

  maskBorder = 5;
  threshold_outlier = 0.5;
  percentGood = 0.6;

  m_lambda = 0.8;
  m_maxIter = 200;

  faces.reset();

  m_optimizationMethod = vpMbTracker::GAUSS_NEWTON_OPT;

  useScanLine = false;

#ifdef VISP_HAVE_OGRE
  useOgre = false;
#endif
}

std::vector<vpImagePoint> vpMbKltTracker::getKltImagePoints() const
{
  std::vector<vpImagePoint> kltPoints;
  for (unsigned int i = 0; i < static_cast<unsigned int>(tracker.getNbFeatures()); i++) {
    long id;
    float x_tmp, y_tmp;
    tracker.getFeature((int)i, id, x_tmp, y_tmp);
    kltPoints.push_back(vpImagePoint(y_tmp, x_tmp));
  }

  return kltPoints;
}

std::map<int, vpImagePoint> vpMbKltTracker::getKltImagePointsWithId() const
{
  std::map<int, vpImagePoint> kltPoints;
  for (unsigned int i = 0; i < static_cast<unsigned int>(tracker.getNbFeatures()); i++) {
    long id;
    float x_tmp, y_tmp;
    tracker.getFeature((int)i, id, x_tmp, y_tmp);
#if TARGET_OS_IPHONE
    kltPoints[(int)id] = vpImagePoint(y_tmp, x_tmp);
#else
    kltPoints[id] = vpImagePoint(y_tmp, x_tmp);
#endif
  }

  return kltPoints;
}

void vpMbKltTracker::setKltOpencv(const vpKltOpencv &t)
{
  tracker.setMaxFeatures(t.getMaxFeatures());
  tracker.setWindowSize(t.getWindowSize());
  tracker.setQuality(t.getQuality());
  tracker.setMinDistance(t.getMinDistance());
  tracker.setHarrisFreeParameter(t.getHarrisFreeParameter());
  tracker.setBlockSize(t.getBlockSize());
  tracker.setPyramidLevels(t.getPyramidLevels());
}

void vpMbKltTracker::setCameraParameters(const vpCameraParameters &camera)
{
  //  for (unsigned int i = 0; i < faces.size(); i += 1){
  //    faces[i]->setCameraParameters(camera);
  //  }

  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    kltpoly->setCameraParameters(camera);
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;
    kltPolyCylinder->setCameraParameters(camera);
  }

  this->cam = camera;
}

void vpMbKltTracker::setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo)
{
  if (!kltCylinders.empty()) {
    std::cout << "WARNING: Cannot set pose when model contains cylinder(s). "
                 "This feature is not implemented yet."
              << std::endl;
    std::cout << "Tracker will be reinitialized with the given pose." << std::endl;
    cMo = cdMo;
    init(I);
  } else {
    vpMbtDistanceKltPoints *kltpoly;

#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
    std::vector<cv::Point2f> init_pts;
    std::vector<long> init_ids;
    std::vector<cv::Point2f> guess_pts;
#else
    unsigned int nbp = 0;
    for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
      kltpoly = *it;
      if (kltpoly->polygon->isVisible() && kltpoly->polygon->getNbPoint() > 2)
        nbp += (*it)->getCurrentNumberPoints();
    }

    CvPoint2D32f *init_pts = NULL;
    init_pts = (CvPoint2D32f *)cvAlloc(tracker.getMaxFeatures() * sizeof(init_pts[0]));
    long *init_ids = (long *)cvAlloc((unsigned int)tracker.getMaxFeatures() * sizeof(long));
    unsigned int iter_pts = 0;

    CvPoint2D32f *guess_pts = NULL;
    guess_pts = (CvPoint2D32f *)cvAlloc(tracker.getMaxFeatures() * sizeof(guess_pts[0]));
#endif

    vpHomogeneousMatrix cdMc = cdMo * cMo.inverse();
    vpHomogeneousMatrix cMcd = cdMc.inverse();

    vpRotationMatrix cdRc;
    vpTranslationVector cdtc;

    cdMc.extract(cdRc);
    cdMc.extract(cdtc);

    // unsigned int nbCur = 0;

    for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
      kltpoly = *it;

      if (kltpoly->polygon->isVisible() && kltpoly->polygon->getNbPoint() > 2) {
        kltpoly->polygon->changeFrame(cdMo);

        // Get the normal to the face at the current state cMo
        vpPlane plan(kltpoly->polygon->p[0], kltpoly->polygon->p[1], kltpoly->polygon->p[2]);
        plan.changeFrame(cMcd);

        vpColVector Nc = plan.getNormal();
        Nc.normalize();

        double invDc = 1.0 / plan.getD();

        // Create the homography
        vpMatrix cdHc;
        vpGEMM(cdtc, Nc, -invDc, cdRc, 1.0, cdHc, VP_GEMM_B_T);
        cdHc /= cdHc[2][2];

        // Create the 2D homography
        vpMatrix cdGc = cam.get_K() * cdHc * cam.get_K_inverse();

        // Points displacement
        std::map<int, vpImagePoint>::const_iterator iter = kltpoly->getCurrentPoints().begin();
        // nbCur+= (unsigned int)kltpoly->getCurrentPoints().size();
        for (; iter != kltpoly->getCurrentPoints().end(); ++iter) {
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
#if TARGET_OS_IPHONE
          if (std::find(init_ids.begin(), init_ids.end(), (long)(kltpoly->getCurrentPointsInd())[(int)iter->first]) !=
              init_ids.end())
#else
          if (std::find(init_ids.begin(), init_ids.end(),
                        (long)(kltpoly->getCurrentPointsInd())[(size_t)iter->first]) != init_ids.end())
#endif
          {
            // KLT point already processed (a KLT point can exist in another
            // vpMbtDistanceKltPoints due to possible overlapping faces)
            continue;
          }
#endif

          vpColVector cdp(3);
          cdp[0] = iter->second.get_j();
          cdp[1] = iter->second.get_i();
          cdp[2] = 1.0;

#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
          cv::Point2f p((float)cdp[0], (float)cdp[1]);
          init_pts.push_back(p);
#if TARGET_OS_IPHONE
          init_ids.push_back((size_t)(kltpoly->getCurrentPointsInd())[(int)iter->first]);
#else
          init_ids.push_back((size_t)(kltpoly->getCurrentPointsInd())[(size_t)iter->first]);
#endif
#else
          init_pts[iter_pts].x = (float)cdp[0];
          init_pts[iter_pts].y = (float)cdp[1];
          init_ids[iter_pts] = (kltpoly->getCurrentPointsInd())[(size_t)iter->first];
#endif

          double p_mu_t_2 = cdp[0] * cdGc[2][0] + cdp[1] * cdGc[2][1] + cdGc[2][2];

          if (fabs(p_mu_t_2) < std::numeric_limits<double>::epsilon()) {
            cdp[0] = 0.0;
            cdp[1] = 0.0;
            throw vpException(vpException::divideByZeroError, "the depth of the point is calculated to zero");
          }

          cdp[0] = (cdp[0] * cdGc[0][0] + cdp[1] * cdGc[0][1] + cdGc[0][2]) / p_mu_t_2;
          cdp[1] = (cdp[0] * cdGc[1][0] + cdp[1] * cdGc[1][1] + cdGc[1][2]) / p_mu_t_2;

// Set value to the KLT tracker
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
          cv::Point2f p_guess((float)cdp[0], (float)cdp[1]);
          guess_pts.push_back(p_guess);
#else
          guess_pts[iter_pts].x = (float)cdp[0];
          guess_pts[iter_pts++].y = (float)cdp[1];
#endif
        }
      }
    }

    vpImageConvert::convert(I, cur);

#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
    tracker.setInitialGuess(init_pts, guess_pts, init_ids);
#else
    tracker.setInitialGuess(&init_pts, &guess_pts, init_ids, iter_pts);

    if (init_pts)
      cvFree(&init_pts);
    init_pts = NULL;

    if (guess_pts)
      cvFree(&guess_pts);
    guess_pts = NULL;

    if (init_ids)
      cvFree(&init_ids);
    init_ids = NULL;
#endif

    bool reInitialisation = false;
    if (!useOgre)
      faces.setVisible(I, cam, cdMo, angleAppears, angleDisappears, reInitialisation);
    else {
#ifdef VISP_HAVE_OGRE
      faces.setVisibleOgre(I, cam, cdMo, angleAppears, angleDisappears, reInitialisation);
#else
      faces.setVisible(I, cam, cdMo, angleAppears, angleDisappears, reInitialisation);
#endif
    }

    cam.computeFov(I.getWidth(), I.getHeight());

    if (useScanLine) {
      faces.computeClippedPolygons(cdMo, cam);
      faces.computeScanLineRender(cam, I.getWidth(), I.getHeight());
    }

    for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
      kltpoly = *it;
      if (kltpoly->polygon->isVisible() && kltpoly->polygon->getNbPoint() > 2) {
        kltpoly->polygon->computePolygonClipped(cam);
        kltpoly->init(tracker, m_mask);
      }
    }

    cMo = cdMo;
    c0Mo = cMo;
    ctTc0.eye();
  }
}

void vpMbKltTracker::initFaceFromCorners(vpMbtPolygon &polygon)
{
  vpMbtDistanceKltPoints *kltPoly = new vpMbtDistanceKltPoints();
  kltPoly->setCameraParameters(cam);
  kltPoly->polygon = &polygon;
  kltPoly->hiddenface = &faces;
  kltPoly->useScanLine = useScanLine;
  kltPolygons.push_back(kltPoly);
}
void vpMbKltTracker::initFaceFromLines(vpMbtPolygon &polygon)
{
  vpMbtDistanceKltPoints *kltPoly = new vpMbtDistanceKltPoints();
  kltPoly->setCameraParameters(cam);
  kltPoly->polygon = &polygon;
  kltPoly->hiddenface = &faces;
  kltPoly->useScanLine = useScanLine;
  kltPolygons.push_back(kltPoly);
}

void vpMbKltTracker::preTracking(const vpImage<unsigned char> &I)
{
  vpImageConvert::convert(I, cur);
  tracker.track(cur);

  m_nbInfos = 0;
  m_nbFaceUsed = 0;
  //  for (unsigned int i = 0; i < faces.size(); i += 1){
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2) {
      kltpoly->computeNbDetectedCurrent(tracker, m_mask);
      //       faces[i]->ransac();
      if (kltpoly->hasEnoughPoints()) {
        m_nbInfos += kltpoly->getCurrentNumberPoints();
        m_nbFaceUsed++;
      }
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;

    if (kltPolyCylinder->isTracked()) {
      kltPolyCylinder->computeNbDetectedCurrent(tracker);
      if (kltPolyCylinder->hasEnoughPoints()) {
        m_nbInfos += kltPolyCylinder->getCurrentNumberPoints();
        m_nbFaceUsed++;
      }
    }
  }
}

bool vpMbKltTracker::postTracking(const vpImage<unsigned char> &I, vpColVector &w)
{
  // # For a better Post Tracking, tracker should reinitialize if so faces
  // don't have enough points but are visible. # Here we are not doing it for
  // more speed performance.
  bool reInitialisation = false;

  unsigned int initialNumber = 0;
  unsigned int currentNumber = 0;
  unsigned int shift = 0;
  //  for (unsigned int i = 0; i < faces.size(); i += 1){
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2) {
      initialNumber += kltpoly->getInitialNumberPoint();
      if (kltpoly->hasEnoughPoints()) {
        vpSubColVector sub_w(w, shift, 2 * kltpoly->getCurrentNumberPoints());
        shift += 2 * kltpoly->getCurrentNumberPoints();
        kltpoly->removeOutliers(sub_w, threshold_outlier);

        currentNumber += kltpoly->getCurrentNumberPoints();
      }
      //       else{
      //         reInitialisation = true;
      //         break;
      //       }
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;

    if (kltPolyCylinder->isTracked()) {
      initialNumber += kltPolyCylinder->getInitialNumberPoint();
      if (kltPolyCylinder->hasEnoughPoints()) {
        vpSubColVector sub_w(w, shift, 2 * kltPolyCylinder->getCurrentNumberPoints());
        shift += 2 * kltPolyCylinder->getCurrentNumberPoints();
        kltPolyCylinder->removeOutliers(sub_w, threshold_outlier);

        currentNumber += kltPolyCylinder->getCurrentNumberPoints();
      }
    }
  }

  //   if(!reInitialisation){
  double value = percentGood * (double)initialNumber;
  if ((double)currentNumber < value) {
    //     std::cout << "Too many point disappear : " << initialNumber << "/"
    //     << currentNumber << std::endl;
    reInitialisation = true;
  } else {
    if (!useOgre)
      faces.setVisible(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);
    else {
#ifdef VISP_HAVE_OGRE
      faces.setVisibleOgre(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);
#else
      faces.setVisible(I, cam, cMo, angleAppears, angleDisappears, reInitialisation);
#endif
    }
  }
  //   }

  if (reInitialisation)
    return true;

  return false;
}

void vpMbKltTracker::computeVVS()
{
  vpMatrix L_true; // interaction matrix without weighting
  vpMatrix LVJ_true;
  vpColVector v; // "speed" for VVS

  vpMatrix LTL;
  vpColVector LTR;
  vpHomogeneousMatrix cMoPrev;
  vpHomogeneousMatrix ctTc0_Prev;
  vpColVector error_prev;
  double mu = m_initialMu;

  double normRes = 0;
  double normRes_1 = -1;
  unsigned int iter = 0;

  vpMbKltTracker::computeVVSInit();

  while (((int)((normRes - normRes_1) * 1e8) != 0) && (iter < m_maxIter)) {
    vpMbKltTracker::computeVVSInteractionMatrixAndResidu();

    bool reStartFromLastIncrement = false;
    computeVVSCheckLevenbergMarquardt(iter, m_error_klt, error_prev, cMoPrev, mu, reStartFromLastIncrement);
    if (reStartFromLastIncrement) {
      ctTc0 = ctTc0_Prev;
    }

    if (!reStartFromLastIncrement) {
      vpMbTracker::computeVVSWeights(m_robust_klt, m_error_klt, m_w_klt);

      if (computeCovariance) {
        L_true = m_L_klt;
        if (!isoJoIdentity) {
          vpVelocityTwistMatrix cVo;
          cVo.buildFrom(cMo);
          LVJ_true = (m_L_klt * cVo * oJo);
        }
      }

      normRes_1 = normRes;
      normRes = 0.0;

      for (unsigned int i = 0; i < m_error_klt.getRows(); i++) {
        m_weightedError_klt[i] = m_error_klt[i] * m_w_klt[i];
        normRes += m_weightedError_klt[i];
      }

      if ((iter == 0) || m_computeInteraction) {
        for (unsigned int i = 0; i < m_error_klt.getRows(); i++) {
          for (unsigned int j = 0; j < 6; j++) {
            m_L_klt[i][j] *= m_w_klt[i];
          }
        }
      }

      computeVVSPoseEstimation(isoJoIdentity, iter, m_L_klt, LTL, m_weightedError_klt, m_error_klt, error_prev, LTR, mu,
                               v);

      cMoPrev = cMo;
      ctTc0_Prev = ctTc0;
      ctTc0 = vpExponentialMap::direct(v).inverse() * ctTc0;
      cMo = ctTc0 * c0Mo;
    } // endif(!reStartFromLastIncrement)

    iter++;
  }

  computeCovarianceMatrixVVS(isoJoIdentity, m_w_klt, cMoPrev, L_true, LVJ_true, m_error_klt);
}

void vpMbKltTracker::computeVVSInit()
{
  unsigned int nbFeatures = 2 * m_nbInfos;

  m_L_klt.resize(nbFeatures, 6, false, false);
  m_error_klt.resize(nbFeatures, false);

  m_weightedError_klt.resize(nbFeatures, false);
  m_w_klt.resize(nbFeatures, false);
  m_w_klt = 1;

  m_robust_klt.resize(nbFeatures);
  m_robust_klt.setThreshold(2 / cam.get_px());
}

void vpMbKltTracker::computeVVSInteractionMatrixAndResidu()
{
  unsigned int shift = 0;
  vpHomography H;

  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2 &&
        kltpoly->hasEnoughPoints()) {
      vpSubColVector subR(m_error_klt, shift, 2 * kltpoly->getCurrentNumberPoints());
      vpSubMatrix subL(m_L_klt, shift, 0, 2 * kltpoly->getCurrentNumberPoints(), 6);

      try {
        kltpoly->computeHomography(ctTc0, H);
        kltpoly->computeInteractionMatrixAndResidu(subR, subL);
      } catch (...) {
        throw vpTrackingException(vpTrackingException::fatalError, "Cannot compute interaction matrix");
      }

      shift += 2 * kltpoly->getCurrentNumberPoints();
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;

    if (kltPolyCylinder->isTracked() && kltPolyCylinder->hasEnoughPoints()) {
      vpSubColVector subR(m_error_klt, shift, 2 * kltPolyCylinder->getCurrentNumberPoints());
      vpSubMatrix subL(m_L_klt, shift, 0, 2 * kltPolyCylinder->getCurrentNumberPoints(), 6);

      try {
        kltPolyCylinder->computeInteractionMatrixAndResidu(ctTc0, subR, subL);
      } catch (...) {
        throw vpTrackingException(vpTrackingException::fatalError, "Cannot compute interaction matrix");
      }

      shift += 2 * kltPolyCylinder->getCurrentNumberPoints();
    }
  }
}

void vpMbKltTracker::track(const vpImage<unsigned char> &I)
{
  preTracking(I);

  if (m_nbInfos < 4 || m_nbFaceUsed == 0) {
    throw vpTrackingException(vpTrackingException::notEnoughPointError, "Error: not enough features");
  }

  computeVVS();

  if (postTracking(I, m_w_klt))
    reinit(I);
}

void vpMbKltTracker::loadConfigFile(const std::string &configFile)
{
  // Load projection error config
  vpMbTracker::loadConfigFile(configFile);

#ifdef VISP_HAVE_XML2
  vpMbtKltXmlParser xmlp;

  xmlp.setMaxFeatures(10000);
  xmlp.setWindowSize(5);
  xmlp.setQuality(0.01);
  xmlp.setMinDistance(5);
  xmlp.setHarrisParam(0.01);
  xmlp.setBlockSize(3);
  xmlp.setPyramidLevels(3);
  xmlp.setMaskBorder(maskBorder);
  xmlp.setAngleAppear(vpMath::deg(angleAppears));
  xmlp.setAngleDisappear(vpMath::deg(angleDisappears));

  try {
    std::cout << " *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
    xmlp.parse(configFile.c_str());
  } catch (...) {
    vpERROR_TRACE("Can't open XML file \"%s\"\n ", configFile.c_str());
    throw vpException(vpException::ioError, "problem to parse configuration file.");
  }

  vpCameraParameters camera;
  xmlp.getCameraParameters(camera);
  setCameraParameters(camera);

  tracker.setMaxFeatures((int)xmlp.getMaxFeatures());
  tracker.setWindowSize((int)xmlp.getWindowSize());
  tracker.setQuality(xmlp.getQuality());
  tracker.setMinDistance(xmlp.getMinDistance());
  tracker.setHarrisFreeParameter(xmlp.getHarrisParam());
  tracker.setBlockSize((int)xmlp.getBlockSize());
  tracker.setPyramidLevels((int)xmlp.getPyramidLevels());
  maskBorder = xmlp.getMaskBorder();
  angleAppears = vpMath::rad(xmlp.getAngleAppear());
  angleDisappears = vpMath::rad(xmlp.getAngleDisappear());

  // if(useScanLine)
  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);

  if (xmlp.hasNearClippingDistance())
    setNearClippingDistance(xmlp.getNearClippingDistance());

  if (xmlp.hasFarClippingDistance())
    setFarClippingDistance(xmlp.getFarClippingDistance());

  if (xmlp.getFovClipping())
    setClipping(clippingFlag = clippingFlag | vpPolygon3D::FOV_CLIPPING);

  useLodGeneral = xmlp.getLodState();
  minLineLengthThresholdGeneral = xmlp.getMinLineLengthThreshold();
  minPolygonAreaThresholdGeneral = xmlp.getMinPolygonAreaThreshold();

  applyLodSettingInConfig = false;
  if (this->getNbPolygon() > 0) {
    applyLodSettingInConfig = true;
    setLod(useLodGeneral);
    setMinLineLengthThresh(minLineLengthThresholdGeneral);
    setMinPolygonAreaThresh(minPolygonAreaThresholdGeneral);
  }

#else
  vpTRACE("You need the libXML2 to read the config file %s", configFile.c_str());
#endif
}

void vpMbKltTracker::display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo_,
                             const vpCameraParameters &camera, const vpColor &col, const unsigned int thickness,
                             const bool displayFullModel)
{
  vpCameraParameters c = camera;

  if (clippingFlag > 3) // Contains at least one FOV constraint
    c.computeFov(I.getWidth(), I.getHeight());

  //  vpMbtDistanceKltPoints *kltpoly;
  //  vpMbtDistanceKltCylinder *kltPolyCylinder;

  // Previous version 12/08/2015
  //  for(std::list<vpMbtDistanceKltPoints*>::const_iterator
  //  it=kltPolygons.begin(); it!=kltPolygons.end(); ++it){
  //    kltpoly = *it;
  //    kltpoly->polygon->changeFrame(cMo_);
  //    kltpoly->polygon->computePolygonClipped(c);
  //  }
  faces.computeClippedPolygons(cMo_, c);

  if (useScanLine && !displayFullModel)
    faces.computeScanLineRender(cam, I.getWidth(), I.getHeight());

  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;

    kltpoly->display(I, cMo_, camera, col, thickness, displayFullModel);

    if (displayFeatures && kltpoly->hasEnoughPoints() && kltpoly->polygon->isVisible() && kltpoly->isTracked()) {
      kltpoly->displayPrimitive(I);
      //         faces[i]->displayNormal(I);
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;

    kltPolyCylinder->display(I, cMo_, camera, col, thickness, displayFullModel);

    if (displayFeatures && kltPolyCylinder->isTracked() && kltPolyCylinder->hasEnoughPoints())
      kltPolyCylinder->displayPrimitive(I);
  }

  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles_disp.begin(); it != circles_disp.end(); ++it) {
    (*it)->display(I, cMo_, camera, col, thickness, displayFullModel);
  }

#ifdef VISP_HAVE_OGRE
  if (useOgre)
    faces.displayOgre(cMo_);
#endif
}

void vpMbKltTracker::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo_,
                             const vpCameraParameters &camera, const vpColor &col, const unsigned int thickness,
                             const bool displayFullModel)
{
  vpCameraParameters c = camera;

  if (clippingFlag > 3) // Contains at least one FOV constraint
    c.computeFov(I.getWidth(), I.getHeight());

  //  vpMbtDistanceKltPoints *kltpoly;
  //  vpMbtDistanceKltCylinder *kltPolyCylinder;

  // Previous version 12/08/2015
  //  for(std::list<vpMbtDistanceKltPoints*>::const_iterator
  //  it=kltPolygons.begin(); it!=kltPolygons.end(); ++it){
  //    kltpoly = *it;
  //    kltpoly->polygon->changeFrame(cMo_);
  //    kltpoly->polygon->computePolygonClipped(c);
  //  }
  faces.computeClippedPolygons(cMo_, c);

  if (useScanLine && !displayFullModel)
    faces.computeScanLineRender(cam, I.getWidth(), I.getHeight());

  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;

    kltpoly->display(I, cMo_, camera, col, thickness, displayFullModel);

    if (displayFeatures && kltpoly->hasEnoughPoints() && kltpoly->polygon->isVisible() && kltpoly->isTracked()) {
      kltpoly->displayPrimitive(I);
      //         faces[i]->displayNormal(I);
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;

    kltPolyCylinder->display(I, cMo_, camera, col, thickness, displayFullModel);

    if (displayFeatures && kltPolyCylinder->isTracked() && kltPolyCylinder->hasEnoughPoints())
      kltPolyCylinder->displayPrimitive(I);
  }

  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles_disp.begin(); it != circles_disp.end(); ++it) {
    (*it)->display(I, cMo_, camera, col, thickness);
  }

#ifdef VISP_HAVE_OGRE
  if (useOgre)
    faces.displayOgre(cMo_);
#endif
}

void vpMbKltTracker::testTracking()
{
  unsigned int nbTotalPoints = 0;
  //  for (unsigned int i = 0; i < faces.size(); i += 1){
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly->polygon->isVisible() && kltpoly->isTracked() && kltpoly->polygon->getNbPoint() > 2 &&
        kltpoly->hasEnoughPoints()) {
      nbTotalPoints += kltpoly->getCurrentNumberPoints();
    }
  }

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;
    if (kltPolyCylinder->isTracked() && kltPolyCylinder->hasEnoughPoints())
      nbTotalPoints += kltPolyCylinder->getCurrentNumberPoints();
  }

  if (nbTotalPoints < 10) {
    std::cerr << "test tracking failed (too few points to realize a good tracking)." << std::endl;
    throw vpTrackingException(vpTrackingException::fatalError,
                              "test tracking failed (too few points to realize a good tracking).");
  }
}

void vpMbKltTracker::initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace,
                                  const std::string & /*name*/)
{
  vpMbtDistanceKltCylinder *kltPoly = new vpMbtDistanceKltCylinder();
  kltPoly->setCameraParameters(cam);

  kltPoly->buildFrom(p1, p2, radius);

  // Add the Cylinder BBox to the list of polygons
  kltPoly->listIndicesCylinderBBox.push_back(idFace + 1);
  kltPoly->listIndicesCylinderBBox.push_back(idFace + 2);
  kltPoly->listIndicesCylinderBBox.push_back(idFace + 3);
  kltPoly->listIndicesCylinderBBox.push_back(idFace + 4);

  kltPoly->hiddenface = &faces;
  kltPoly->useScanLine = useScanLine;
  kltCylinders.push_back(kltPoly);
}

void vpMbKltTracker::initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius,
                                const int /*idFace*/, const std::string &name)
{
  addCircle(p1, p2, p3, radius, name);
}

void vpMbKltTracker::addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r,
                               const std::string &name)
{
  bool already_here = false;

  //  for(std::list<vpMbtDistanceCircle*>::const_iterator
  //  it=circles_disp.begin(); it!=circles_disp[i].end(); ++it){
  //    ci = *it;
  //    if((samePoint(*(ci->p1),P1) && samePoint(*(ci->p2),P2) &&
  //    samePoint(*(ci->p3),P3)) ||
  //       (samePoint(*(ci->p1),P1) && samePoint(*(ci->p2),P3) &&
  //       samePoint(*(ci->p3),P2)) ){
  //      already_here = (std::fabs(ci->radius - r) <
  //      std::numeric_limits<double>::epsilon() * vpMath::maximum(ci->radius,
  //      r));
  //    }
  //  }

  if (!already_here) {
    vpMbtDistanceCircle *ci = new vpMbtDistanceCircle;

    ci->setCameraParameters(cam);
    ci->setName(name);
    ci->buildFrom(P1, P2, P3, r);
    circles_disp.push_back(ci);
  }
}

void vpMbKltTracker::reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
                                 const vpHomogeneousMatrix &cMo_, const bool verbose,
                                 const vpHomogeneousMatrix &T)
{
  this->cMo.eye();

#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
  if (cur != NULL) {
    cvReleaseImage(&cur);
    cur = NULL;
  }
#endif

  firstInitialisation = true;

  // delete the Klt Polygon features
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly != NULL) {
      delete kltpoly;
    }
    kltpoly = NULL;
  }
  kltPolygons.clear();

  for (std::list<vpMbtDistanceKltCylinder *>::const_iterator it = kltCylinders.begin(); it != kltCylinders.end();
       ++it) {
    vpMbtDistanceKltCylinder *kltPolyCylinder = *it;
    if (kltPolyCylinder != NULL) {
      delete kltPolyCylinder;
    }
    kltPolyCylinder = NULL;
  }
  kltCylinders.clear();

  // delete the structures used to display circles
  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles_disp.begin(); it != circles_disp.end(); ++it) {
    vpMbtDistanceCircle *ci = *it;
    if (ci != NULL) {
      delete ci;
    }
    ci = NULL;
  }

  faces.reset();

  loadModel(cad_name, verbose, T);
  initFromPose(I, cMo_);
}

void vpMbKltTracker::setUseKltTracking(const std::string &name, const bool &useKltTracking)
{
  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it) {
    vpMbtDistanceKltPoints *kltpoly = *it;
    if (kltpoly->polygon->getName() == name) {
      kltpoly->setTracked(useKltTracking);
    }
  }
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_mbt.a(vpMbKltTracker.cpp.o) has no
// symbols
void dummy_vpMbKltTracker(){};
#endif // VISP_HAVE_OPENCV