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));
222 unsigned char val = 255 ;
223 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
236 kltPolyCylinder = *it;
241 if (
faces[indCylBBox]->isVisible() &&
faces[indCylBBox]->getNbPoint() > 2u) {
242 faces[indCylBBox]->computePolygonClipped(
m_cam);
257 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
266 kltPolyCylinder = *it;
282 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
284 if (kltpoly !=
nullptr) {
294 if (kltPolyCylinder !=
nullptr) {
295 delete kltPolyCylinder;
297 kltPolyCylinder =
nullptr;
345 #ifdef VISP_HAVE_OGRE
360 std::vector<vpImagePoint> kltPoints;
381 std::map<int, vpImagePoint> kltPoints;
386 #ifdef TARGET_OS_IPHONE
423 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
445 std::cout <<
"WARNING: Cannot set pose when model contains cylinder(s). "
446 "This feature is not implemented yet."
448 std::cout <<
"Tracker will be reinitialized with the given pose." << std::endl;
458 std::vector<cv::Point2f> init_pts;
459 std::vector<long> init_ids;
460 std::vector<cv::Point2f> guess_pts;
473 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
486 double invDc = 1.0 / plan.
getD();
490 vpGEMM(cdtc, Nc, -invDc, cdRc, 1.0, cdHc, VP_GEMM_B_T);
497 std::map<int, vpImagePoint>::const_iterator iter = kltpoly->
getCurrentPoints().begin();
500 #ifdef TARGET_OS_IPHONE
501 if (std::find(init_ids.begin(), init_ids.end(), (
long)(kltpoly->
getCurrentPointsInd())[(
int)iter->first]) !=
504 if (std::find(init_ids.begin(), init_ids.end(),
514 cdp[0] = iter->second.get_j();
515 cdp[1] = iter->second.get_i();
518 cv::Point2f p((
float)cdp[0], (
float)cdp[1]);
519 init_pts.push_back(p);
520 #ifdef TARGET_OS_IPHONE
526 double p_mu_t_2 = cdp[0] * cdGc[2][0] + cdp[1] * cdGc[2][1] + cdGc[2][2];
528 if (fabs(p_mu_t_2) < std::numeric_limits<double>::epsilon()) {
534 cdp[0] = (cdp[0] * cdGc[0][0] + cdp[1] * cdGc[0][1] + cdGc[0][2]) / p_mu_t_2;
535 cdp[1] = (cdp[0] * cdGc[1][0] + cdp[1] * cdGc[1][1] + cdGc[1][2]) / p_mu_t_2;
538 cv::Point2f p_guess((
float)cdp[0], (
float)cdp[1]);
539 guess_pts.push_back(p_guess);
552 bool reInitialisation =
false;
560 #ifdef VISP_HAVE_OGRE
584 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
671 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
705 bool reInitialisation =
false;
707 unsigned int initialNumber = 0;
708 unsigned int currentNumber = 0;
709 unsigned int shift = 0;
711 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
746 double value =
percentGood * (double)initialNumber;
747 if ((
double)currentNumber < value) {
750 reInitialisation =
true;
755 #ifdef VISP_HAVE_OGRE
764 if (reInitialisation)
787 double normRes_1 = -1;
788 unsigned int iter = 0;
796 while (((
int)((normRes - normRes_1) * 1e8) != 0) && (iter <
m_maxIter)) {
799 bool reStartFromLastIncrement =
false;
801 if (reStartFromLastIncrement) {
805 if (!reStartFromLastIncrement) {
810 if (!isoJoIdentity) {
827 for (
unsigned int j = 0; j < 6; j++) {
863 unsigned int shift = 0;
866 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1013 std::cout <<
" *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
1015 xmlp.
parse(configFile.c_str());
1017 vpERROR_TRACE(
"Can't open XML file \"%s\"\n ", configFile.c_str());
1074 bool displayFullModel)
1076 std::vector<std::vector<double> > models =
1079 for (
size_t i = 0; i < models.size(); i++) {
1086 double n20 = models[i][3];
1087 double n11 = models[i][4];
1088 double n02 = models[i][5];
1101 std::stringstream ss;
1108 #ifdef VISP_HAVE_OGRE
1126 const vpColor &col,
unsigned int thickness,
bool displayFullModel)
1128 std::vector<std::vector<double> > models =
1131 for (
size_t i = 0; i < models.size(); i++) {
1138 double n20 = models[i][3];
1139 double n11 = models[i][4];
1140 double n02 = models[i][5];
1153 std::stringstream ss;
1160 #ifdef VISP_HAVE_OGRE
1168 std::vector<std::vector<double> > features;
1170 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1175 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1185 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1210 bool displayFullModel)
1212 std::vector<std::vector<double> > models;
1234 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1236 std::vector<std::vector<double> > modelLines = kltpoly->
getModelForDisplay(cam, displayFullModel);
1237 models.insert(models.end(), modelLines.begin(), modelLines.end());
1243 std::vector<std::vector<double> > modelLines = kltPolyCylinder->
getModelForDisplay(cMo, cam);
1244 models.insert(models.end(), modelLines.begin(), modelLines.end());
1249 std::vector<double> paramsCircle = displayCircle->
getModelForDisplay(cMo, cam, displayFullModel);
1250 if (!paramsCircle.empty()) {
1251 models.push_back(paramsCircle);
1266 unsigned int nbTotalPoints = 0;
1268 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1283 if (nbTotalPoints < 10) {
1284 std::cerr <<
"test tracking failed (too few points to realize a good tracking)." << std::endl;
1286 "test tracking failed (too few points to realize a good tracking).");
1301 const std::string & )
1331 const std::string &name)
1345 const std::string &name)
1347 bool already_here =
false;
1362 if (!already_here) {
1392 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1394 if (kltpoly !=
nullptr) {
1404 if (kltPolyCylinder !=
nullptr) {
1405 delete kltPolyCylinder;
1407 kltPolyCylinder =
nullptr;
1414 if (ci !=
nullptr) {
1435 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1443 #elif !defined(VISP_BUILD_SHARED_LIBS)
1446 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)
virtual void initFaceFromLines(vpMbtPolygon &polygon) override
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.
virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="") override
vpHomogeneousMatrix ctTc0
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) override
std::list< vpMbtDistanceKltPoints * > kltPolygons
virtual void setKltOpencv(const vpKltOpencv &t)
cv::Mat cur
Temporary OpenCV image for fast conversion.
std::map< int, vpImagePoint > getKltImagePointsWithId() const
void resetTracker() override
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="") override
vpColVector m_weightedError_klt
Weighted error.
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 loadConfigFile(const std::string &configFile, bool verbose=true) override
virtual void track(const vpImage< unsigned char > &I) override
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
vpRobust m_robust_klt
Robust.
virtual void reinit(const vpImage< unsigned char > &I)
virtual void initFaceFromCorners(vpMbtPolygon &polygon) override
std::vector< vpImagePoint > getKltImagePoints() const
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) override
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) override
unsigned int maskBorder
Erosion of the mask.
unsigned int m_nbFaceUsed
virtual void testTracking() override
vpColVector m_w_klt
Robust weights.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
virtual void computeVVSInit() override
vpMatrix m_L_klt
Interaction matrix.
void setUseKltTracking(const std::string &name, const bool &useKltTracking)
void setCameraParameters(const vpCameraParameters &cam) override
virtual void init(const vpImage< unsigned char > &I) override
virtual void computeVVSInteractionMatrixAndResidu() 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 vpSubMatrix class provides a mask on a vpMatrix all properties of vpMat...
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)