36 #include <visp3/core/vpImageConvert.h>
37 #include <visp3/core/vpDebug.h>
38 #include <visp3/core/vpTrackingException.h>
39 #include <visp3/core/vpVelocityTwistMatrix.h>
40 #include <visp3/mbt/vpMbKltTracker.h>
41 #include <visp3/mbt/vpMbtXmlGenericParser.h>
43 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
45 #if defined(__APPLE__) && defined(__MACH__)
46 #include <TargetConditionals.h>
51 #ifndef DOXYGEN_SHOULD_SKIP_THIS
82 double h00 = H[0][0], h01 = H[0][1], h02 = H[0][2];
83 double h10 = H[1][0], h11 = H[1][1], h12 = H[1][2];
84 double h20 = H[2][0], h21 = H[2][1], h22 = H[2][2];
86 double A = h00 * px + u0 * h20;
87 double B = h01 * px + u0 * h21;
88 double C = h02 * px + u0 * h22;
89 double D = h10 * py + v0 * h20;
90 double E = h11 * py + v0 * h21;
91 double F = h12 * py + v0 * h22;
93 G[0][0] = A * one_over_px;
94 G[1][0] = D * one_over_px;
95 G[2][0] = h20 * one_over_px;
97 G[0][1] = B * one_over_py;
98 G[1][1] = E * one_over_py;
99 G[2][1] = h21 * one_over_py;
101 double u0_one_over_px = u0 * one_over_px;
102 double v0_one_over_py = v0 * one_over_py;
104 G[0][2] = -A * u0_one_over_px - B * v0_one_over_py + C;
105 G[1][2] = -D * u0_one_over_px - E * v0_one_over_py + F;
106 G[2][2] = -h20 * u0_one_over_px - h21 * v0_one_over_py + h22;
116 cur(), c0Mo(), firstInitialisation(true), maskBorder(5), threshold_outlier(0.5), percentGood(0.6), ctTc0(), tracker(),
117 kltPolygons(), kltCylinders(), circles_disp(), m_nbInfos(0), m_nbFaceUsed(0), m_L_klt(), m_error_klt(), m_w_klt(),
118 m_weightedError_klt(), m_robust_klt(), m_featuresToBeDisplayedKlt()
130 #ifdef VISP_HAVE_OGRE
145 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
147 if (kltpoly !=
nullptr) {
157 if (kltPolyCylinder !=
nullptr) {
158 delete kltPolyCylinder;
160 kltPolyCylinder =
nullptr;
182 bool reInitialisation =
false;
186 #ifdef VISP_HAVE_OGRE
221 cv::Mat mask((
int)I.
getRows(), (
int)I.
getCols(), CV_8UC1, cv::Scalar(0));
229 unsigned char val = 255 ;
230 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
243 kltPolyCylinder = *it;
248 if (
faces[indCylBBox]->isVisible() &&
faces[indCylBBox]->getNbPoint() > 2u) {
249 faces[indCylBBox]->computePolygonClipped(
m_cam);
264 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
273 kltPolyCylinder = *it;
289 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
291 if (kltpoly !=
nullptr) {
301 if (kltPolyCylinder !=
nullptr) {
302 delete kltPolyCylinder;
304 kltPolyCylinder =
nullptr;
352 #ifdef VISP_HAVE_OGRE
367 std::vector<vpImagePoint> kltPoints;
388 std::map<int, vpImagePoint> kltPoints;
393 #ifdef TARGET_OS_IPHONE
430 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
452 std::cout <<
"WARNING: Cannot set pose when model contains cylinder(s). "
453 "This feature is not implemented yet."
455 std::cout <<
"Tracker will be reinitialized with the given pose." << std::endl;
467 std::vector<cv::Point2f> init_pts;
468 std::vector<long> init_ids;
469 std::vector<cv::Point2f> guess_pts;
482 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
495 double invDc = 1.0 / plan.
getD();
499 vpGEMM(cdtc, Nc, -invDc, cdRc, 1.0, cdHc, VP_GEMM_B_T);
506 std::map<int, vpImagePoint>::const_iterator iter = kltpoly->
getCurrentPoints().begin();
509 #ifdef TARGET_OS_IPHONE
510 if (std::find(init_ids.begin(), init_ids.end(), (
long)(kltpoly->
getCurrentPointsInd())[(
int)iter->first]) !=
513 if (std::find(init_ids.begin(), init_ids.end(),
523 cdp[0] = iter->second.get_j();
524 cdp[1] = iter->second.get_i();
527 cv::Point2f p((
float)cdp[0], (
float)cdp[1]);
528 init_pts.push_back(p);
529 #ifdef TARGET_OS_IPHONE
535 double p_mu_t_2 = cdp[0] * cdGc[2][0] + cdp[1] * cdGc[2][1] + cdGc[2][2];
537 if (fabs(p_mu_t_2) < std::numeric_limits<double>::epsilon()) {
543 cdp[0] = (cdp[0] * cdGc[0][0] + cdp[1] * cdGc[0][1] + cdGc[0][2]) / p_mu_t_2;
544 cdp[1] = (cdp[0] * cdGc[1][0] + cdp[1] * cdGc[1][1] + cdGc[1][2]) / p_mu_t_2;
547 cv::Point2f p_guess((
float)cdp[0], (
float)cdp[1]);
548 guess_pts.push_back(p_guess);
562 bool reInitialisation =
false;
572 #ifdef VISP_HAVE_OGRE
598 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
685 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
719 bool reInitialisation =
false;
721 unsigned int initialNumber = 0;
722 unsigned int currentNumber = 0;
723 unsigned int shift = 0;
725 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
760 double value =
percentGood * (double)initialNumber;
761 if ((
double)currentNumber < value) {
764 reInitialisation =
true;
770 #ifdef VISP_HAVE_OGRE
779 if (reInitialisation)
802 double normRes_1 = -1;
803 unsigned int iter = 0;
811 while (((
int)((normRes - normRes_1) * 1e8) != 0) && (iter <
m_maxIter)) {
814 bool reStartFromLastIncrement =
false;
816 if (reStartFromLastIncrement) {
820 if (!reStartFromLastIncrement) {
825 if (!isoJoIdentity) {
842 for (
unsigned int j = 0; j < 6; j++) {
878 unsigned int shift = 0;
881 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1012 #if defined(VISP_HAVE_PUGIXML)
1031 std::cout <<
" *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
1033 xmlp.
parse(configFile.c_str());
1036 vpERROR_TRACE(
"Can't open XML file \"%s\"\n ", configFile.c_str());
1098 bool displayFullModel)
1100 std::vector<std::vector<double> > models =
1103 for (
size_t i = 0; i < models.size(); i++) {
1111 double n20 = models[i][3];
1112 double n11 = models[i][4];
1113 double n02 = models[i][5];
1126 std::stringstream ss;
1133 #ifdef VISP_HAVE_OGRE
1151 const vpColor &col,
unsigned int thickness,
bool displayFullModel)
1153 std::vector<std::vector<double> > models =
1156 for (
size_t i = 0; i < models.size(); i++) {
1164 double n20 = models[i][3];
1165 double n11 = models[i][4];
1166 double n02 = models[i][5];
1179 std::stringstream ss;
1186 #ifdef VISP_HAVE_OGRE
1194 std::vector<std::vector<double> > features;
1196 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1201 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1211 features.insert(features.end(), currentFeatures.begin(), currentFeatures.end());
1236 bool displayFullModel)
1238 std::vector<std::vector<double> > models;
1260 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1262 std::vector<std::vector<double> > modelLines = kltpoly->
getModelForDisplay(cam, displayFullModel);
1263 models.insert(models.end(), modelLines.begin(), modelLines.end());
1269 std::vector<std::vector<double> > modelLines = kltPolyCylinder->
getModelForDisplay(cMo, cam);
1270 models.insert(models.end(), modelLines.begin(), modelLines.end());
1275 std::vector<double> paramsCircle = displayCircle->
getModelForDisplay(cMo, cam, displayFullModel);
1276 if (!paramsCircle.empty()) {
1277 models.push_back(paramsCircle);
1292 unsigned int nbTotalPoints = 0;
1294 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1309 if (nbTotalPoints < 10) {
1310 std::cerr <<
"test tracking failed (too few points to realize a good tracking)." << std::endl;
1312 "test tracking failed (too few points to realize a good tracking).");
1327 const std::string & )
1357 const std::string &name)
1371 const std::string &name)
1373 bool already_here =
false;
1388 if (!already_here) {
1418 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1420 if (kltpoly !=
nullptr) {
1430 if (kltPolyCylinder !=
nullptr) {
1431 delete kltPolyCylinder;
1433 kltPolyCylinder =
nullptr;
1440 if (ci !=
nullptr) {
1461 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1469 #elif !defined(VISP_BUILD_SHARED_LIBS)
1471 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 initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="") VP_OVERRIDE
virtual void setKltOpencv(const vpKltOpencv &t)
void resetTracker() VP_OVERRIDE
virtual void computeVVSInteractionMatrixAndResidu() VP_OVERRIDE
cv::Mat cur
Temporary OpenCV image for fast conversion.
void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
std::map< int, vpImagePoint > getKltImagePointsWithId() const
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) VP_OVERRIDE
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
vpColVector m_weightedError_klt
Weighted error.
virtual ~vpMbKltTracker()
vpKltOpencv tracker
Points tracker.
virtual std::vector< std::vector< double > > getFeaturesForDisplayKlt()
virtual void init(const vpImage< unsigned char > &I) VP_OVERRIDE
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 initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="") VP_OVERRIDE
virtual void initFaceFromCorners(vpMbtPolygon &polygon) VP_OVERRIDE
virtual void computeVVSInit() VP_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 setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE
std::vector< vpImagePoint > getKltImagePoints() const
unsigned int maskBorder
Erosion of the mask.
unsigned int m_nbFaceUsed
vpColVector m_w_klt
Robust weights.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
vpMatrix m_L_klt
Interaction matrix.
void setUseKltTracking(const std::string &name, const bool &useKltTracking)
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 initFaceFromLines(vpMbtPolygon &polygon) VP_OVERRIDE
virtual void track(const vpImage< unsigned char > &I) VP_OVERRIDE
virtual void testTracking() VP_OVERRIDE
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) 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 & build(const vpTranslationVector &t, const vpRotationMatrix &R)