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17 #ifndef GAZEBO_RENDERING_CAMERA_HH_
18 #define GAZEBO_RENDERING_CAMERA_HH_
23 #include <boost/enable_shared_from_this.hpp>
30 #include <ignition/math/Angle.hh>
31 #include <ignition/math/Color.hh>
32 #include <ignition/math/Matrix4.hh>
33 #include <ignition/math/Pose3.hh>
34 #include <ignition/math/Quaternion.hh>
35 #include <ignition/math/Vector2.hh>
36 #include <ignition/math/Vector3.hh>
51 #include "gazebo/msgs/MessageTypes.hh"
85 public boost::enable_shared_from_this<Camera>
92 bool _autoRender =
true);
99 public:
virtual void Load(sdf::ElementPtr _sdf);
102 public:
virtual void Load();
111 public:
void UpdateCameraIntrinsics(
112 const double _cameraIntrinsicsFx,
const double _cameraIntrinsicsFy,
113 const double _cameraIntrinsicsCx,
const double _cameraIntrinsicsCy,
114 const double _cameraIntrinsicsS);
128 public:
static ignition::math::Matrix4d BuildNDCMatrix(
129 const double _left,
const double _right,
130 const double _bottom,
const double _top,
131 const double _near,
const double _far);
147 public:
static ignition::math::Matrix4d BuildPerspectiveMatrix(
148 const double _intrinsicsFx,
const double _intrinsicsFy,
149 const double _intrinsicsCx,
const double _intrinsicsCy,
150 const double _intrinsicsS,
151 const double _clipNear,
const double _clipFar);
172 public:
static ignition::math::Matrix4d BuildProjectionMatrix(
173 const double _imageWidth,
const double _imageHeight,
174 const double _intrinsicsFx,
const double _intrinsicsFy,
175 const double _intrinsicsCx,
const double _intrinsicsCy,
176 const double _intrinsicsS,
177 const double _clipNear,
const double _clipFar);
180 public:
virtual void Init();
184 public:
void SetRenderRate(
const double _hz);
188 public:
double RenderRate()
const;
195 public:
virtual void Render(
const bool _force =
false);
200 public:
virtual void PostRender();
207 public:
virtual void Update();
212 public:
virtual void Fini();
216 public:
bool Initialized()
const;
221 public:
void SetWindowId(
unsigned int _windowId);
225 public:
unsigned int WindowId()
const;
229 public:
void SetScene(
ScenePtr _scene);
233 public: ignition::math::Vector3d WorldPosition()
const;
237 public: ignition::math::Quaterniond WorldRotation()
const;
241 public:
virtual void SetWorldPose(
const ignition::math::Pose3d &_pose);
245 public: ignition::math::Pose3d WorldPose()
const;
249 public:
void SetWorldPosition(
const ignition::math::Vector3d &_pos);
253 public:
void SetWorldRotation(
const ignition::math::Quaterniond &_quat);
257 public:
void Translate(
const ignition::math::Vector3d &_direction);
263 public:
void Roll(
const ignition::math::Angle &_angle,
270 public:
void Pitch(
const ignition::math::Angle &_angle,
277 public:
void Yaw(
const ignition::math::Angle &_angle,
283 public:
virtual void SetClipDist(
const float _near,
const float _far);
287 public:
void SetHFOV(
const ignition::math::Angle &_angle);
291 public: ignition::math::Angle HFOV()
const;
295 public: ignition::math::Angle VFOV()
const;
300 public:
void SetImageSize(
const unsigned int _w,
const unsigned int _h);
304 public:
void SetImageWidth(
const unsigned int _w);
308 public:
void SetImageHeight(
const unsigned int _h);
312 public:
virtual unsigned int ImageWidth()
const;
316 public:
unsigned int ImageMemorySize()
const;
320 public:
unsigned int TextureWidth()
const;
324 public:
virtual unsigned int ImageHeight()
const;
328 public:
unsigned int ImageDepth()
const;
332 public: std::string ImageFormat()
const;
336 public:
unsigned int TextureHeight()
const;
340 public:
size_t ImageByteSize()
const;
347 public:
static size_t ImageByteSize(
const unsigned int _width,
348 const unsigned int _height,
349 const std::string &_format);
356 public:
double ZValue(
const int _x,
const int _y);
360 public:
double NearClip()
const;
364 public:
double FarClip()
const;
368 public:
void EnableSaveFrame(
const bool _enable);
372 public:
bool CaptureData()
const;
376 public:
void SetSaveFramePathname(
const std::string &_pathname);
381 public:
bool SaveFrame(
const std::string &_filename);
385 public: Ogre::Camera *OgreCamera()
const;
389 public: Ogre::Viewport *OgreViewport()
const;
393 public:
unsigned int ViewportWidth()
const;
397 public:
unsigned int ViewportHeight()
const;
401 public: ignition::math::Vector3d Up()
const;
405 public: ignition::math::Vector3d Right()
const;
409 public:
virtual float AvgFPS()
const;
413 public:
virtual unsigned int TriangleCount()
const;
417 public:
void SetAspectRatio(
float _ratio);
421 public:
float AspectRatio()
const;
425 public:
void SetSceneNode(Ogre::SceneNode *_node);
429 public: Ogre::SceneNode *SceneNode()
const;
436 public:
virtual const unsigned char *ImageData(
const unsigned int i = 0)
441 public: std::string Name()
const;
445 public: std::string ScopedName()
const;
449 public:
void SetName(
const std::string &_name);
452 public:
void ToggleShowWireframe();
456 public:
void ShowWireframe(
const bool _s);
460 public:
void SetCaptureData(
const bool _value);
463 public:
void SetCaptureDataOnce();
478 public:
bool StartVideo(
const std::string &_format,
479 const std::string &_filename =
"");
485 public:
bool StopVideo();
492 public:
bool SaveVideo(
const std::string &_filename);
500 public:
bool ResetVideo();
504 public:
void CreateRenderTexture(
const std::string &_textureName);
516 public:
bool WorldPointOnPlane(
const int _x,
const int _y,
517 const ignition::math::Planed &_plane,
518 ignition::math::Vector3d &_result);
527 public:
virtual void CameraToViewportRay(
const int _screenx,
529 ignition::math::Vector3d &_origin,
530 ignition::math::Vector3d &_dir)
const;
534 public:
virtual void SetRenderTarget(Ogre::RenderTarget *_target);
544 public:
void AttachToVisual(
const std::string &_visualName,
545 const bool _inheritOrientation,
546 const double _minDist = 0.0,
const double _maxDist = 0.0);
556 public:
void AttachToVisual(uint32_t _id,
557 const bool _inheritOrientation,
558 const double _minDist = 0.0,
const double _maxDist = 0.0);
562 public:
void TrackVisual(
const std::string &_visualName);
566 public: Ogre::Texture *RenderTexture()
const;
570 public: ignition::math::Vector3d Direction()
const;
577 std::function<
void (
const unsigned char *,
unsigned int,
unsigned int,
578 unsigned int,
const std::string &)> _subscriber);
588 public:
static bool SaveFrame(
const unsigned char *_image,
589 const unsigned int _width,
const unsigned int _height,
590 const int _depth,
const std::string &_format,
591 const std::string &_filename);
601 public:
bool IsVisible(
VisualPtr _visual);
607 public:
bool IsVisible(
const std::string &_visualName);
610 public:
bool IsAnimating()
const;
616 public:
virtual bool MoveToPosition(
const ignition::math::Pose3d &_pose,
626 public:
bool MoveToPositions(
627 const std::vector<ignition::math::Pose3d> &_pts,
629 std::function<
void()> _onComplete =
NULL);
633 public: std::string ScreenshotPath()
const;
644 public:
virtual bool SetProjectionType(
const std::string &_type);
649 public: std::string ProjectionType()
const;
655 public:
virtual bool SetBackgroundColor(
const common::Color &_color)
661 public:
virtual bool SetBackgroundColor(
662 const ignition::math::Color &_color);
666 public: ignition::math::Matrix4d ProjectionMatrix()
const;
671 public:
virtual ignition::math::Vector2i Project(
672 const ignition::math::Vector3d &_pt)
const;
681 public:
bool TrackIsStatic()
const;
687 public:
void SetTrackIsStatic(
const bool _isStatic);
693 public:
bool TrackUseModelFrame()
const;
700 public:
void SetTrackUseModelFrame(
const bool _useModelFrame);
705 public: ignition::math::Vector3d TrackPosition()
const;
710 public:
void SetTrackPosition(
const ignition::math::Vector3d &_pos);
715 public:
double TrackMinDistance()
const;
720 public:
double TrackMaxDistance()
const;
726 public:
void SetTrackMinDistance(
const double _dist);
732 public:
void SetTrackMaxDistance(
const double _dist);
739 public:
bool TrackInheritYaw()
const;
746 public:
void SetTrackInheritYaw(
const bool _inheritYaw);
749 protected:
virtual void RenderImpl();
752 protected:
void ReadPixelBuffer();
757 protected:
bool TrackVisualImpl(
const std::string &_visualName);
762 protected:
virtual bool TrackVisualImpl(
VisualPtr _visual);
773 protected:
virtual bool AttachToVisualImpl(
const std::string &_name,
774 const bool _inheritOrientation,
775 const double _minDist = 0,
const double _maxDist = 0);
786 protected:
virtual bool AttachToVisualImpl(uint32_t _id,
787 const bool _inheritOrientation,
788 const double _minDist = 0,
const double _maxDist = 0);
799 protected:
virtual bool AttachToVisualImpl(
VisualPtr _visual,
800 const bool _inheritOrientation,
801 const double _minDist = 0,
const double _maxDist = 0);
805 protected: std::string FrameFilename();
809 protected:
virtual void AnimationComplete();
812 protected:
virtual void UpdateFOV();
815 protected:
virtual void SetClipDist();
821 protected:
static double LimitFOV(
const double _fov);
829 protected:
virtual void SetFixedYawAxis(
const bool _useFixed,
830 const ignition::math::Vector3d &_fixedAxis =
831 ignition::math::Vector3d::UnitY);
834 private:
void LoadCameraIntrinsics();
843 private:
void ConvertRGBToBAYER(
unsigned char *_dst,
844 const unsigned char *_src,
const std::string &_format,
845 const int _width,
const int _height);
850 private:
static int OgrePixelFormat(
const std::string &_format);
854 private:
void OnCmdMsg(ConstCameraCmdPtr &_msg);
857 private:
void CreateCamera();
869 protected: sdf::ElementPtr
sdf;
933 unsigned int,
unsigned int,
unsigned int,
956 private: std::unique_ptr<CameraPrivate> dataPtr;
bool WorldPointOnPlane(const int _x, const int _y, const ignition::math::Planed &_plane, ignition::math::Vector3d &_result)
Get point on a plane.
virtual ~Camera()
Destructor.
bool TrackUseModelFrame() const
Get whether this camera's position is relative to tracked models.
virtual float AvgFPS() const
Get the average FPS.
unsigned int WindowId() const
Get the ID of the window this camera is rendering into.
bool TrackVisualImpl(const std::string &_visualName)
Implementation of the Camera::TrackVisual call.
float AspectRatio() const
Get the apect ratio.
virtual void CameraToViewportRay(const int _screenx, const int _screeny, ignition::math::Vector3d &_origin, ignition::math::Vector3d &_dir) const
Get a world space ray as cast from the camera through the viewport.
Definition: JointMaker.hh:39
std::string ProjectionType() const
Return the projection type as a string.
std::string scopedUniqueName
Scene scoped name of the camera with a unique ID.
Definition: Camera.hh:866
VisualPtr TrackedVisual() const
Get the visual tracked by this camera.
bool IsVisible(VisualPtr _visual)
Return true if the visual is within the camera's view frustum.
void TrackVisual(const std::string &_visualName)
Set the camera to track a scene node.
Ogre::AnimationState * animState
Animation state, used to animate the camera.
Definition: Camera.hh:946
void ShowWireframe(const bool _s)
Set whether to view the world in wireframe.
virtual void PostRender()
Post render.
void AttachToVisual(const std::string &_visualName, const bool _inheritOrientation, const double _minDist=0.0, const double _maxDist=0.0)
Attach the camera to a scene node.
virtual void Init()
Initialize the camera.
void SetRenderRate(const double _hz)
Set the render Hz rate.
Forward declarations for the common classes.
Definition: Animation.hh:26
bool StopVideo()
Turn off video recording.
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
void SetWindowId(unsigned int _windowId)
std::vector< event::ConnectionPtr > connections
The camera's event connections.
Definition: Camera.hh:937
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
bool SaveVideo(const std::string &_filename)
Save the last encoded video to disk.
std::string Name() const
Get the camera's unscoped name.
#define NULL
Definition: CommonTypes.hh:31
void SetHFOV(const ignition::math::Angle &_angle)
Set the camera FOV (horizontal)
bool SaveFrame(const std::string &_filename)
Save the last frame to disk.
boost::shared_ptr< Distortion > DistortionPtr
Definition: RenderTypes.hh:198
World frame.
Definition: RenderTypes.hh:253
void SetWorldRotation(const ignition::math::Quaterniond &_quat)
Set the world orientation.
virtual void UpdateFOV()
Update the camera's field of view.
std::string ScopedName() const
Get the camera's scoped name (scene_name::camera_name)
void EnableSaveFrame(const bool _enable)
Enable or disable saving.
ScenePtr GetScene() const
Get the scene this camera is in.
Ogre::Viewport * viewport
Viewport the ogre camera uses.
Definition: Camera.hh:884
virtual unsigned int ImageWidth() const
Get the width of the image.
Ogre::Texture * renderTexture
Texture that receives results from rendering.
Definition: Camera.hh:914
void Pitch(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the y-axis.
void Yaw(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_WORLD)
Rotate the camera around the z-axis.
void SetImageSize(const unsigned int _w, const unsigned int _h)
Set the image size.
ignition::math::Vector3d Direction() const
Get the camera's direction vector.
static double LimitFOV(const double _fov)
Limit field of view taking care of using a valid value for an OGRE camera.
sdf::ElementPtr sdf
Camera's SDF values.
Definition: Camera.hh:869
void CreateRenderTexture(const std::string &_textureName)
Set the render target.
common::Time LastRenderWallTime() const
Get the last time the camera was rendered.
virtual void RenderImpl()
Implementation of the render call.
void SetTrackPosition(const ignition::math::Vector3d &_pos)
Set the position of the camera when tracking a visual.
bool ResetVideo()
Reset video recording.
virtual void AnimationComplete()
Internal function used to indicate that an animation has completed.
void SetSceneNode(Ogre::SceneNode *_node)
Set the camera's scene node.
virtual bool SetBackgroundColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set background color for viewport (if viewport is not null)
void SetCaptureDataOnce()
Capture data once and save to disk.
void SetTrackIsStatic(const bool _isStatic)
Set whether this camera is static when tracking a model.
size_t ImageByteSize() const
Get the image size in bytes.
unsigned int TextureWidth() const
Get the width of the off-screen render texture.
Ogre::Camera * camera
The OGRE camera.
Definition: Camera.hh:881
void SetSaveFramePathname(const std::string &_pathname)
Set the save frame pathname.
ignition::math::Matrix4d ProjectionMatrix() const
Return the projection matrix of this camera.
Local frame.
Definition: RenderTypes.hh:247
std::string ImageFormat() const
Get the string representation of the image format.
bool TrackIsStatic() const
Get whether this camera is static when tracking a model.
unsigned char * bayerFrameBuffer
Buffer for a bayer image frame.
Definition: Camera.hh:893
Ogre::RenderTarget * renderTarget
Target that renders frames.
Definition: Camera.hh:911
A class for event processing.
Definition: Event.hh:97
static ignition::math::Matrix4d BuildNDCMatrix(const double _left, const double _right, const double _bottom, const double _top, const double _near, const double _far)
Computes the OpenGL NDC matrix.
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
bool initialized
True if initialized.
Definition: Camera.hh:943
void Roll(const ignition::math::Angle &_angle, ReferenceFrame _relativeTo=RF_LOCAL)
Rotate the camera around the x-axis.
Ogre::SceneNode * SceneNode() const
Get the camera's scene node.
virtual unsigned int ImageHeight() const
Get the height of the image.
bool captureData
True to capture frames into an image buffer.
Definition: Camera.hh:917
void SetName(const std::string &_name)
Set the camera's name.
bool TrackInheritYaw() const
Get whether this camera inherits the yaw rotation of the tracked model.
void SetImageWidth(const unsigned int _w)
Set the image height.
virtual bool AttachToVisualImpl(const std::string &_name, const bool _inheritOrientation, const double _minDist=0, const double _maxDist=0)
Attach the camera to a scene node.
rendering
Definition: RenderEngine.hh:31
ignition::math::Vector3d TrackPosition() const
Return the position of the camera when tracking a model.
unsigned int windowId
ID of the window that the camera is attached to.
Definition: Camera.hh:872
Ogre::Viewport * OgreViewport() const
Get a pointer to the Ogre::Viewport.
event::EventT< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> newImageFrame
Event triggered when a new frame is generated.
Definition: Camera.hh:934
void SetTrackInheritYaw(const bool _inheritYaw)
Set whether this camera inherits the yaw rotation of the tracked model.
Ogre::Texture * RenderTexture() const
Get the render texture.
std::string scopedName
Scene scoped name of the camera.
Definition: Camera.hh:863
unsigned int ImageDepth() const
Get the depth of the image in bytes per pixel.
ignition::math::Angle HFOV() const
Get the camera FOV (horizontal)
ScenePtr scene
Pointer to the scene.
Definition: Camera.hh:929
bool MoveToPositions(const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=NULL)
Move the camera to a series of poses (this is an animated motion).
unsigned int saveCount
Number of saved frames.
Definition: Camera.hh:896
ignition::math::Vector3d Up() const
Get the viewport up vector.
int imageFormat
Format for saving images.
Definition: Camera.hh:902
unsigned int textureHeight
Height of the render texture.
Definition: Camera.hh:878
Ogre::SceneNode * sceneNode
Scene node that controls camera position and orientation.
Definition: Camera.hh:887
static ignition::math::Matrix4d BuildPerspectiveMatrix(const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
Computes the OpenGL perspective matrix.
virtual void SetWorldPose(const ignition::math::Pose3d &_pose)
Set the global pose of the camera.
std::string screenshotPath
Path to saved screenshots.
Definition: Camera.hh:899
double FarClip() const
Get the far clip distance.
bool StartVideo(const std::string &_format, const std::string &_filename="")
Turn on video recording.
void SetTrackMaxDistance(const double _dist)
Set the maximum distance between the camera and tracked visual.
virtual unsigned int TriangleCount() const
Get the triangle count.
void Translate(const ignition::math::Vector3d &_direction)
Translate the camera.
double RenderRate() const
Get the render Hz rate.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
std::function< void()> onAnimationComplete
User callback for when an animation completes.
Definition: Camera.hh:952
virtual const unsigned char * ImageData(const unsigned int i=0) const
Get a pointer to the image data.
double ZValue(const int _x, const int _y)
Get the Z-buffer value at the given image coordinate.
unsigned int TextureHeight() const
Get the height of the off-screen render texture.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void SetRenderTarget(Ogre::RenderTarget *_target)
Set the camera's render target.
std::string ScreenshotPath() const
Get the path to saved screenshots.
static ignition::math::Matrix4d BuildProjectionMatrix(const double _imageWidth, const double _imageHeight, const double _intrinsicsFx, const double _intrinsicsFy, const double _intrinsicsCx, const double _intrinsicsCy, const double _intrinsicsS, const double _clipNear, const double _clipFar)
Computes the OpenGL projection matrix by multiplying the OpenGL Normalized Device Coordinates matrix ...
double TrackMaxDistance() const
Return the maximum distance to the tracked visual.
std::list< msgs::Request > requests
List of requests.
Definition: Camera.hh:940
virtual void Render(const bool _force=false)
Render the camera.
bool newData
True if new data is available.
Definition: Camera.hh:923
Defines a color.
Definition: Color.hh:36
void ReadPixelBuffer()
Read image data from pixel buffer.
event::ConnectionPtr ConnectNewImageFrame(std::function< void(const unsigned char *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect to the new image signal.
virtual void SetClipDist()
Set the clip distance based on stored SDF values.
void SetAspectRatio(float _ratio)
Set the aspect ratio.
common::Time prevAnimTime
Previous time the camera animation was updated.
Definition: Camera.hh:949
bool CaptureData() const
Return the value of this->captureData.
void SetWorldPosition(const ignition::math::Vector3d &_pos)
Set the world position.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
ignition::math::Vector3d Right() const
Get the viewport right vector.
ignition::math::Vector3d WorldPosition() const
Get the camera position in the world.
common::Time lastRenderWallTime
Time the last frame was rendered.
Definition: Camera.hh:926
virtual void Load()
Load the camera with default parameters.
void UpdateCameraIntrinsics(const double _cameraIntrinsicsFx, const double _cameraIntrinsicsFy, const double _cameraIntrinsicsCx, const double _cameraIntrinsicsCy, const double _cameraIntrinsicsS)
Updates the camera intrinsics.
virtual void Fini()
Finalize the camera.
double NearClip() const
Get the near clip distance.
void SetTrackMinDistance(const double _dist)
Set the minimum distance between the camera and tracked visual.
bool Initialized() const
Return true if the camera has been initialized.
bool IsAnimating() const
Return true if the camera is moving due to an animation.
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
std::string name
Name of the camera.
Definition: Camera.hh:860
void SetScene(ScenePtr _scene)
Set the scene this camera is viewing.
unsigned char * saveFrameBuffer
Buffer for a single image frame.
Definition: Camera.hh:890
Ogre::Camera * OgreCamera() const
Get a pointer to the ogre camera.
int imageWidth
Save image width.
Definition: Camera.hh:905
void ToggleShowWireframe()
Toggle whether to view the world in wireframe.
unsigned int ViewportHeight() const
Get the viewport height in pixels.
unsigned int textureWidth
Width of the render texture.
Definition: Camera.hh:875
bool captureDataOnce
True to capture a frame once and save to disk.
Definition: Camera.hh:920
ignition::math::Quaterniond WorldRotation() const
Get the camera's orientation in the world.
Camera(const std::string &_namePrefix, ScenePtr _scene, bool _autoRender=true)
Constructor.
DistortionPtr LensDistortion() const
Get the distortion model of this camera.
Basic camera sensor.
Definition: Camera.hh:84
unsigned int ViewportWidth() const
Get the viewport width in pixels.
virtual bool MoveToPosition(const ignition::math::Pose3d &_pose, const double _time)
Move the camera to a position (this is an animated motion).
virtual void SetFixedYawAxis(const bool _useFixed, const ignition::math::Vector3d &_fixedAxis=ignition::math::Vector3d::UnitY)
Tell the camera whether to yaw around its own local Y axis or a fixed axis of choice.
virtual bool SetProjectionType(const std::string &_type)
Set the type of projection used by the camera.
unsigned int ImageMemorySize() const
Get the memory size of this image.
int imageHeight
Save image height.
Definition: Camera.hh:908
ignition::math::Angle VFOV() const
Get the camera FOV (vertical)
void SetTrackUseModelFrame(const bool _useModelFrame)
Set whether this camera's position is relative to tracked models.
virtual ignition::math::Vector2i Project(const ignition::math::Vector3d &_pt) const
Project 3D world coordinates to 2D screen coordinates.
void SetCaptureData(const bool _value)
Set whether to capture data.
std::string FrameFilename()
Get the next frame filename based on SDF parameters.
void SetImageHeight(const unsigned int _h)
Set the image height.
ignition::math::Pose3d WorldPose() const
Get the world pose.
double TrackMinDistance() const
Return the minimum distance to the tracked visual.