Visual Servoing Platform  version 3.6.1 under development (2025-03-14)
vpRBDriftDetector.h
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30 
35 #ifndef VP_RB_DRIFT_DETECTOR_H
36 #define VP_RB_DRIFT_DETECTOR_H
37 
38 #include <visp3/core/vpConfig.h>
39 
40 #if defined(VISP_HAVE_NLOHMANN_JSON)
41 #include VISP_NLOHMANN_JSON(json_fwd.hpp)
42 #endif
43 
44 BEGIN_VISP_NAMESPACE
45 
48 class vpRGBa;
49 template <typename T> class vpImage;
50 
61 class VISP_EXPORT vpRBDriftDetector
62 {
63 public:
64  vpRBDriftDetector() = default;
65 
66  virtual ~vpRBDriftDetector() = default;
67 
76  virtual void update(const vpRBFeatureTrackerInput &previousFrame, const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cTo, const vpHomogeneousMatrix &cprevTo) = 0;
77 
85  virtual double getScore() const = 0;
86 
92  virtual bool hasDiverged() const = 0;
93 
99  virtual void display(const vpImage<vpRGBa> &I) = 0;
100 
101 #if defined(VISP_HAVE_NLOHMANN_JSON)
102  virtual void loadJsonConfiguration(const nlohmann::json &) = 0;
103 #endif
104 
105 };
106 
107 END_VISP_NAMESPACE
108 
109 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition: vpImage.h:131
Base interface for algorithms that should detect tracking drift for the render-based tracker.
virtual double getScore() const =0
Get the estimated tracking reliability. A high score should mean that the tracking is reliable....
virtual void loadJsonConfiguration(const nlohmann::json &)=0
virtual bool hasDiverged() const =0
Returns whether the tracking has diverged and should be reinitialized. This function should be called...
vpRBDriftDetector()=default
virtual ~vpRBDriftDetector()=default
virtual void update(const vpRBFeatureTrackerInput &previousFrame, const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cTo, const vpHomogeneousMatrix &cprevTo)=0
Update the algorithm after a new tracking step.
virtual void display(const vpImage< vpRGBa > &I)=0
Displays the information used for drift detection.
All the data related to a single tracking frame. This contains both the input data (from a real camer...
Definition: vpRGBa.h:70