<?xml version="1.0" encoding="UTF-8"?>
<VisionLib2 version='2.0'>
  <ActionPipe category='Action' enabled='1' name='main'>
  
    <IfAction category='Action' name='IfActionVideoEnabled'>
      <Keys size='1'>
        <key val='0_563585_'/>
      </Keys>
      <ActionConfig Condition='1==1'/>
      
      <ActionPipe category='Action' enabled='1' name='doTrackingAP'>
        <ActionPipe category='Action' enabled='1' name='TrackingAP'>

          <VideoSourceAction category='Action' enabled='1' name='VideoSourceAction'>
            <Keys size='2'>
              <key val='InstantVideo'/>
              <key val='Intrinsics'/>
            </Keys>
            <ActionConfig source_url='ds://device=0;mode=480x640;unit=0;'/>
          </VideoSourceAction> 
          
          <ImageConvertActionT__ImageT__RGB_FrameImageT__GREY_Frame category='Action' enabled='1' name='ImageConvertActionT'>
            <Keys size='2'>
              <key val='InstantVideo' what='source image, in'/>
              <key val='CurrentImageGreyL' what='target image, out'/>
            </Keys>
          </ImageConvertActionT__ImageT__RGB_FrameImageT__GREY_Frame>
           
          <ImageResizeAction category='Action' enabled='1' name='Action'>
            <Keys size='4'>
              <key val='InstantVideo' what='image to resize, in'/>
              <key val='InstantVideosmall' what='resized image , out'/>
              <key val='Intrinsics' what='image to resize, in'/>
              <key val='IntrinsicsSmall' what='resized image , out'/>
            </Keys>
            <ActionConfig Method='4' NewHeight='240' NewWidth='320'/>
          </ImageResizeAction> 

          <ImageConvertActionT__ImageT__RGB_FrameImageT__GREY_Frame category='Action' enabled='1' name='ImageConvertActionT'>
            <Keys size='2'>
              <key val='InstantVideosmall' what='source image, in'/>
              <key val='CurrentImageGrey' what='target image, out'/>
            </Keys>
          </ImageConvertActionT__ImageT__RGB_FrameImageT__GREY_Frame>
        
          <QuickImageUndistortAction category='Action' enabled='1' name='QuickImageUndistort'>
            <Keys size='4'>
              <key val='CurrentImageGrey' what='Image, in (RGB or Grey)'/>
              <key val='IntrinsicsSmall' what='ImageDataPerspective in'/>
              <key val='CurrentImageGreyU' what='Image out (RGB or Grey)'/>
              <key val='IntrinsicsOut' what='ImageDataPerspective out'/>
            </Keys>
            <ActionConfig FillMode='2' keyValB='0' keyValG='0' keyValR='0'/>
          </QuickImageUndistortAction>
          
          <BuildImagePyramidAction category='Action' enabled='1' name='BuildImagePyramidAction'>
            <Keys size='3'>
              <key val='CurrentImageGreyU' what='input image, in'/>
              <key val='CurrentImagePyramid' what='image pyramid, out'/>
              <key val='' what='zBuffer (optional), in'/>
            </Keys>
            <ActionConfig BlurOrigImage='0' GaussMaskSize='5' levels='5'/>
          </BuildImagePyramidAction>

          <IfAction category='Action' name='IfAnyObjPoseValid'>
            <Keys size='1'>
              <key val='0_001252356'/>
            </Keys>
            <ActionConfig Condition='[ExtrinsicDataObj1:PoseValid]==0'/>
              <ActionPipe category='Action' enabled='1' name='InitModeActionPipe'>
              
                <ActionPipe category='Action' enabled='1' name='InitObj1AP'>    
                  <ActionPipe category='Action' enabled='1' name='InitObj1DOT'>           
                    <DOTTrackerAction category='Action' name='ActionPipe'>
                      <Keys size='4'>
                        <key type='' val='InstantVideosmall' what='image source, in'/>
                        <key type='' val='World.Room.DOTDataModel1.DOTContainer' what='container with templates, in'/>
                        <key type='' val='DOTPoseOut' what='pose, out'/>
                        <key type='' val='IntrinsicsOut' what='intrinsic params of cam, in'/>
                      </Keys>
                      <ActionConfig ComputeDebugImage='0' ComputeDescriptorVisualization='0' DetectThreshold='0.8' FoundObjectClass='-1' HomogenousRegionThreshold='14' NoTemplatesFound='1' UseAlternativeMethod='1'/>
                    </DOTTrackerAction>
                     
                    <KLTProjectPointsAction category='Action' enabled='1' name='KLTProjectPoints'>
                      <Keys size='5'>
                        <key val='World.Room.KLTModel1' what=''/>
                        <key val='IntrinsicsOut' what=''/>
                        <key val='DOTPoseOut' what=''/>
                        <key val='CurrentImagePyramid' what=''/>
                        <key val='' what=''/>
                      </Keys>
                      <ActionConfig FillProjContWithInvalid='1' HandleDistortion='0' MaxOutOfImageRatio='10' PredictHomography='0' PredictValid='1'/>
                    </KLTProjectPointsAction>

                    <ActionPipe category='Action' enabled='0' name='TrackKLTModel'>       
                      <KLTTrackingAction category='Action' enabled='1' name='Action'>
                        <Keys size='3'>
                          <key val='CurrentImagePyramid' what='input image pyramid, in'/>
                          <key val='World.Room.KLTModel1' what='KLT Model, in/out'/>
                          <key val='' what='ExtrinsicData, in'/>
                        </Keys>
                        <ActionConfig CalcError='1' CalcProjective='0' CalcProjectiveTrans='0' DebugFeature='-1' DontUpdateAffineHelpers='0' EpsBT='0.03' EpsF2F='0.03' ErrorThreshold='30' LostOnlyTranslationPrediction='1' MaxBTIter='8' MaxBTLevel='5' MaxIter='8' MotionModel='AffineBI' StoreAnalyserData='0' TrackOnlyNotTrackedFeatures='0' WithF2FLostFeaturePrediction='0' WithF2FTracking='1' WithInitPatchUpdate='0' WithOnBorderTracking='0' WithQuadCorrespondences='0' WithReSample='0' WithRefPatchTracking='1' WithTransPrediction='1'/>
                      </KLTTrackingAction>

                      <PoseRANSACAction category='Action' enabled='1' name='PoseRANSACAction'>
                        <Keys size='3'>
                          <key val='IntrinsicsOut' what=''/>
                          <key val='World.Room.KLTModel1.ValidCorrespondences' what=''/>
                          <key val='ExtrinsicDataObj1' what=''/>                
                        </Keys>
                        <ActionConfig CalculateCovarianceFromPoints='1' ErrorTol='4' Frame2FrameEstimator='0' Frame2FrameTracking='0' LogCorrespondences='0' LogResults='0' MaxLoopcount='10' MinInCorresp='4' MinInliers='4' MinNbSamples='4' PROSAC='0' PercentageInliers='0.5' PlanarityThreshold='0.018' UpdatePointCovariances='0' bNLLSIter='1' bOnlyNLLSIter='0'/>
                      </PoseRANSACAction>
                    </ActionPipe>

                    <ExtrinsicDataCopyAction category='Action' enabled='1' name='ExtrinsicDataCopy'>
                      <Keys size='2'>
                        <key val='DOTPoseOut'/>
                        <key val='ExtrinsicDataObj1'/>
                      </Keys>
                      <ActionConfig ForceValid='1'/>
                    </ExtrinsicDataCopyAction>

                  </ActionPipe>
                </ActionPipe> 		  
   
                <ResetPoseAction category='Action' enabled='1' name='ResetKLTModel'>
                  <Keys size='3'>
                    <key val=''/>
                    <key val=''/>
                    <key val='World.Room.KLTModelOR'/>
                  </Keys>
                  <ActionConfig ResetKLTModel='1' AutomaticDisabling='0' ResetPose='0'/>
                </ResetPoseAction>
              </ActionPipe>
            
              <ActionPipe category='Action' enabled='1' name='TrackModeActionPipe'>
                <ActionPipe category='Action' enabled='1' name='OnlineRecoMapTrackingAP'>
                  <ExtrinsicDataCopyAction category='Action' enabled='1' name='ExtrinsicDataCopy'>
                    <Keys size='2'>
                      <key val='World.Room.ExtrinsicData'/>
                      <key val='PredictedPose'/>
                    </Keys>
                    <ActionConfig CycleCounter='0' ForceValid='0' IgnoreTranslation='0'/>
                  </ExtrinsicDataCopyAction>

                  <KLTProjectPointsAction category='Action' enabled='1' name='KLTProjectPoints'>
                    <Keys size='5'>
                      <key val='World.Room.KLTModelOR' what=''/>
                      <key val='IntrinsicsOut' what=''/>
                      <key val='PredictedPose' what=''/>
                      <key val='CurrentImagePyramid' what=''/>
                      <key val='ProjectedPointsContainer' what=''/>
                    </Keys>
                    <ActionConfig FillProjContWithInvalid='1' HandleDistortion='0' MaxOutOfImageRatio='10' PredictHomography='0' PredictValid='1'/> 
                  </KLTProjectPointsAction>

                  <KLTTrackingAction category='Action' enabled='1' name='Action'>
                    <Keys size='3'>
                      <key val='CurrentImagePyramid' what='input image pyramid, in'/>
                      <key val='World.Room.KLTModelOR' what='KLT Model, in/out'/>
                      <key val='' what='ExtrinsicData, in'/>
                    </Keys>
                    <ActionConfig CalcError='1' CalcProjective='0' CalcProjectiveTrans='0' DebugFeature='-1' DontUpdateAffineHelpers='0' EpsBT='0.03' EpsF2F='0.03' ErrorThreshold='30' LostOnlyTranslationPrediction='1' MaxBTIter='8' MaxBTLevel='5' MaxIter='8' MotionModel='AffineBI' StoreAnalyserData='0' TrackOnlyNotTrackedFeatures='0' WithF2FLostFeaturePrediction='0' WithF2FTracking='1' WithInitPatchUpdate='0' WithOnBorderTracking='0' WithQuadCorrespondences='0' WithReSample='0' WithRefPatchTracking='1' WithTransPrediction='1'/> 
                </KLTTrackingAction>
              </ActionPipe>

              <IfAction category='Action' name='IfObj1PoseValid'>
                <Keys size='1'>
                  <key val='0_001252356'/>
                </Keys>
                <ActionConfig Condition='[ExtrinsicDataObj1:PoseValid]==1'/>
                <ActionPipe category='Action' enabled='1' name='TrackObj1'>
                  <KLTProjectPointsAction category='Action' enabled='1' name='KLTProjectPoints'>
                    <Keys size='5'>
                      <key val='World.Room.KLTModel1' what=''/>
                      <key val='IntrinsicsOut' what=''/>
                      <key val='ExtrinsicDataObj1' what=''/>
                      <key val='CurrentImagePyramid' what=''/>
                      <key val='' what=''/>
                    </Keys>
                    <ActionConfig FillProjContWithInvalid='1' HandleDistortion='0' MaxOutOfImageRatio='10' PredictHomography='0' PredictValid='1'/> 
                  </KLTProjectPointsAction>
                  
                  <ComputeCameraAction category='Action' enabled='1' name='Action'>
                    <Keys size='3'>
                      <key val='IntrinsicsOut'/>
                      <key val='ExtrinsicDataObj1'/>
                      <key val='STCamera'/>
                    </Keys>
                    <ActionConfig CeilingTrack='0' ForceValid='0'/> 
                  </ComputeCameraAction>

                  <KLTSortByProbabilityAction category='Action' enabled='1' name='KLTSortByProbabilityAction'>
                    <Keys size='2'>
                      <key val='World.Room.KLTModel1'/>
                      <key val='STCamera'/>
                    </Keys>
                    <ActionConfig Plow='0'/>
                  </KLTSortByProbabilityAction>

                  <KLTSmartTrackingAction category='Action' enabled='1' name='Action'>
                    <Keys size='3'>
                      <key val='CurrentImagePyramid'/>
                      <key val='World.Room.KLTModel1'/>
                      <key val=''/>                  
                    </Keys>
                    <ActionConfig CalcError='1' EpsBT='0.03' EpsF2F='0.03' ErrorThreshold='25' Max3DFeatures='90' MaxBTIter='8' MaxBTTransLevel='1' MaxIter='8' Min3DFeatures='70' UseFWHack='1'/>
                  </KLTSmartTrackingAction> 

                  <MergeCorrespondencyAction category='Action' enabled='1' name='Action'>
                    <Keys size='2'>
                      <key val='World.Room.KLTModel1.ValidCorrespondences;World.Room.KLTModelOR.ValidCorrespondences'/>
                      <key val='MergedCorrespondences'/>
                    </Keys>
                    <ActionConfig MinNumber='4294967295'/>
                  </MergeCorrespondencyAction>

                  <IfAction category='Action' name='IfAction'>
                    <Keys size='1'>
                      <key val='0_003425126'/>
                    </Keys>
                    <ActionConfig Condition='[World.Room.ExtrinsicData:PoseValid]==0'/>
                    <PoseRANSACAction category='Action' enabled='1' name='PoseRANSACAction'>
                      <Keys size='9'> 
                        <key type='' val='IntrinsicsOut' what='intrinsic params'/>
                        <key type='' val='MergedCorrespondences' what='2d3d correspondences'/>
                        <key type='' val='ExtrinsicDataObj1' what='6 dof'/>
                        <key type='' val='RANSACIntern1_1' what='correspondency sample handling, intern'/>
                        <key type='' val='RANSACIntern2_1' what='correspondency , intern'/>
                        <key type='' val='RANSACIntern3_1' what='correspondency , intern'/>
                        <key type='' val='RANSACInternPose_1' what='internal pose'/>
                        <key type='' val='InternalOutputPose' what='internal output pose'/>
                        <key type='' val='InternalInputCorrespondences' what='Internal input correspondences (reference to corresps in global dataset)'/>
                      </Keys>
                      <ActionConfig CalculateCovarianceFromPoints='1' ErrorTol='9' Frame2FrameEstimator='1' Frame2FrameTracking='0' LogCorrespondences='0' LogResults='0' MaxLoopcount='10' MinInCorresp='6' MinInliers='4' MinNbSamples='4' PROSAC='0' PercentageInliers='0.5' PlanarityThreshold='0.018' UpdatePointCovariances='0' bNLLSIter='1' bOnlyNLLSIter='0'/> 
                    </PoseRANSACAction>

                    <PoseNLLSAction category='Action' enabled='1' name='nlls'>
                      <Keys size='5'>
                        <key val='IntrinsicsOut'/>
                        <key val='MergedCorrespondences'/>
                        <key val='ExtrinsicDataObj1'/>
                        <key val='ExtrinsicDataObj1'/>
                        <key val=''/>
                      </Keys>
                      <ActionConfig Accuracy='2' CalculateCovariance='0' CalculateCovarianceFromPoints='1' CheckValidity='1' DoubleEquation='0' Estimator='1' MaxProjError='9' Maxfev='70' MinNumfCorrespondences='3' PercentageInliers='0.5' RotOnly='0' TukeyConstant='3' UpdatePointCovariances='0' ValidityThreshold='50' WithoutRotY='0' Xtol='1e-006'/>
                    </PoseNLLSAction>
                  </IfAction>
                  
                  <ExtrinsicDataCopyAction category='Action' enabled='1' name='ExtrinsicDataCopy'>
                    <Keys size='2'>
                      <key val='ExtrinsicDataObj1'/>
                      <key val='World.Room.ExtrinsicData'/>
                    </Keys>
                    <ActionConfig CycleCounter='0' ForceValid='0' IgnoreTranslation='0'/>
                  </ExtrinsicDataCopyAction>

                  <KLTInvalidateAction category='Action' enabled='1' name='Action'>
                    <Keys size='3'>
                      <key val=''/>
                      <key val='MergedCorrespondences'/>
                      <key val=''/>
                    </Keys>
                    <ActionConfig ComputeDistance='0' MaxProjectionError='16'/>
                  </KLTInvalidateAction>

                </ActionPipe>
              </IfAction>
           
            </ActionPipe>
          </IfAction>

          <IfAction category='Action' name='IfAction'>
            <ActionConfig Condition='[World.Room.ExtrinsicData:PoseValid]==1'/>
              <ActionPipe category='Action' enabled='1' name='OnlineReconstructionAP'>

                <ComputeCameraAction category='Action' enabled='1' name='Action'>
                  <Keys size='3'>
                    <key val='IntrinsicsOut'/>
                    <key val='World.Room.ExtrinsicData'/>
                    <key val='Camera'/>
                  </Keys>
                  <ActionConfig CeilingTrack='0' ForceValid='0'/>
                </ComputeCameraAction>
              
                <KLTHistoryCorrespondencyProcessAction category='Action' enabled='1' name='Action'>
                  <Keys size='2'>
                    <key val='Camera'/>
                    <key val='World.Room.KLTModelOR.TrackedCorrespondences'/>
                  </Keys>
                  <ActionConfig Alpha='0.1' CollectHistory='0' MaxFramesKept='20' MinAngle='1' ProcessPoints='1'/>
                </KLTHistoryCorrespondencyProcessAction> 

                <KLTHistoryCorrespondencyProcessAction category='Action' enabled='1' name='Action'>
                  <Keys size='2'>
                    <key val='Camera'/>
                    <key val='World.Room.KLTModelOR.TrackedCorrespondences'/>
                  </Keys>
                  <ActionConfig Alpha='0.1' CollectHistory='1' MaxFramesKept='20' MinAngle='1' ProcessPoints='0'/>
                </KLTHistoryCorrespondencyProcessAction>

                <KLTTriangulationAction category='Action' enabled='1' name='Action'>
                  <Keys size='3'>
                    <key val='World.Room.KLTModelOR.TrackedCorrespondences'/>
                    <key val='Camera'/>
                    <key val='CurrentImagePyramid'/>
                  </Keys>
                  <ActionConfig ConsistencyCheck='0' InlierPercentage='0.6' LogTriangulationResults='0' MaxConditionNumberToSetValid='5' MaxRatioToSetValid='5e-006' MaxReprojectionError='2' MinAngleBetweenLineOfSights='5' MinDiffBetweenPriorAndUpdatedPointToSetValid='1e-005' MinInliers='4' MinRatioToSetInvalidAgain='0.1' WithNLLS='0' WithRefine='1'/>
                </KLTTriangulationAction>

                <IfAction category='Action' name='IfAction'>
                  <Keys size='1'>
                    <key val='0_193304_'/>
                  </Keys>
                  <ActionConfig Condition='[World.Room.KLTModelOR:ValidCorrespondences]&lt;15'/>

                  <ActionPipe category='Action' enabled='1' name='AddFeaturesAP'>
                    <KLTModelToPointContainerAction category='Action' enabled='1' name='KLTModelToPointContainerAction'>
                      <Keys size='2'>
                        <key val='World.Room.KLTModelOR'/>
                        <key val='ProjectedPointsContainer'/>
                      </Keys>   
                      <ActionConfig OnlyValid='1'/>                     
                    </KLTModelToPointContainerAction>

                    <ShiThomasiCornerDetectAction category='Action' enabled='1' name='ShiThomasiCornerDetect'>
                      <Keys size='3'>
                        <key val='CurrentImageGreyU' what='input image, in'/>
                        <key val='ProjectedPointsContainer' what='existing points, in, optional'/>
                        <key val='NewPoints4OnlineRecon' what='detected points, out'/>
                      </Keys>
                      <ActionConfig CornerCandidatesGridHeight='8' CornerCandidatesGridWidth='8' CornerThreshold='0.02' FeatureDistance='20' MaxNumOfCornersPerGridCell='15' PatchSize='4' ScaleFactor='0.0001' WithDebugOutput='1'/>
                    </ShiThomasiCornerDetectAction> 
                    
                    <!--
                    <FastFeatureExtractAction category='Action' enabled='1' name='FastFeatureExtract'>
                      <Keys size='5'>
                        <key val='CurrentImagePyramid' what='input image, in'/>
                        <key val='ProjectedPointsContainer' what='Correspondency Container of existing points, in'/> 
                        <key val='NewPoints4OnlineRecon' what='Correspondency Container of new feature points, out'/> 
                        <key val='' what='ZBuffer Image, in'/> 
                        <key val='' what='Debug output image, out'/> 
                      </Keys> 
                      <ActionConfig AppendFeatures='0' BorderDistance='4' ClearFeatureMap='1' ConsecutivePixelNumber='10' CornerThreshold='25' FeatureDistance='6' FeatureMapScale='0' MaxConsecutivePixelNumber='12' RotRefImage3DPoints='[0 0 0]' Sd3DPoint='0.5' TransRefImage3DPoints='[0 0 0]' WithRefImage3DPoints='0'/>
                    </FastFeatureExtractAction> 
                    -->

                    <InitKLTCorrespondencesAction category='Action' enabled='1' name='Action'>
                      <Keys size='5'>
                        <key type='' val='CurrentImagePyramid' what='ImagePyramid, in'/>
                        <key type='' val='NewPoints4OnlineRecon' what='Point2-Container of new feature points (also CorrespondencyCont. possible), in'/>
                        <key type='' val='Camera' what='Camera, in'/>
                        <key type='' val='World.Room.KLTModelOR' what='KLT Model, in/out'/>
                        <key type='' val='' what='Correspondency Container for initialized klt features, out'/>
                      </Keys>
                      <ActionConfig ClearAllCorrespondences='0' ClearPoint2Container='1' DoEntropyFiltering='0' InitQuality='50' MinBorderDistance='0' MinPatchEntropy='3.5' PatchSize='7' Persistent='0' Sd3DPoint='0.5' Valid3DOnly='0'/>
                    </InitKLTCorrespondencesAction>

                  </ActionPipe>
                </IfAction>
              </ActionPipe>
              <!-- OnlineReconstructionAP, only if extrinsic are valid -->
            </IfAction>
            <!-- if extrinsics are valid -->

            <IfAction category='Action' name='IfAction'>
              <Keys size='1'>
                <key val='0_00125126'/>
              </Keys>
              <ActionConfig Condition='[World.Room.ExtrinsicData:PoseValid]==1'/>

              <ExtrinsicDataCopyAction category='Action' enabled='1' name='ExtrinsicDataCopy'>
                <Keys size='2'>
                  <key val='World.Room.ExtrinsicData'/>
                  <key val='LastValidPose'/>
                </Keys>
                <ActionConfig CycleCounter='0' ForceValid='0' IgnoreTranslation='0'/>
              </ExtrinsicDataCopyAction>
            </IfAction>

          </ActionPipe>

          <ComputeCameraAction category='Action' enabled='1' name='ComputeCameraAction'>
            <Keys size='3'>
              <key val='Intrinsics'/>
              <key val='World.Room.ExtrinsicData'/>
              <key val='TrackedObject1Camera'/>
            </Keys>
            <ActionConfig CeilingTrack='0' ForceValid='0'/>
          </ComputeCameraAction>
      
          <IfAction category='Action' name='IfAction_CopyInstantCamera'>
            <Keys size='1'>
              <key val='0_563585_'/>
            </Keys>
            <ActionConfig Condition='[World.Room.ExtrinsicData:PoseValid]==1'/>
            
            <ComputeCameraAction category='Action' enabled='1' name='Action'>
              <Keys size='3'>
                <key val='Intrinsics'/>
                <key val='World.Room.ExtrinsicData'/>
                <key val='InstantCamera'/>
              </Keys>
              <ActionConfig CeilingTrack='0' ForceValid='0'/>
            </ComputeCameraAction>

            <ComputeCameraAction category='Action' enabled='1' name='Action'>
              <Keys size='3'>
                <key val='IntrinsicsOut'/>
                <key val='InvalidExtrinsicData'/>
                <key val='InstantCamera'/>
              </Keys>
              <ActionConfig CeilingTrack='0' ForceValid='0'/>
            </ComputeCameraAction>
          </IfAction> 

        </ActionPipe> 
      </IfAction> 

      <!-- ╔╤══════════════════════════════════════════════════════════════════════════════════════════════════╤╗ -->
      <!-- ╟┼──────────────────────────»»              Visualization               ««──────────────────────────┼╢ -->
      <!-- ╚╧══════════════════════════════════════════════════════════════════════════════════════════════════╧╝ -->

      <MegaWidgetActionPipe height='450' name='Viewer' show='1' width='592' x='0' y='0' enabled='0'>

        <Keys size='8'>
          <key val='mwap0' what='internal use, do not set or change!'/>
          <key val='CurrentImageGrey' what='background, Image*, in'/>
          <key val='' what='2D geometry, GeometryContainer, in'/>
          <key val='' what='3D geometry, GeometryContainer, in'/>
          <key val='' what='Camera extrinsic parameters, ExtrinsicData, in'/>
          <key val='' what='Camera intrinsic parameters, IntrinsicDataPerspective, in'/>
          <key val='' what='OSG 3D Models, OSGNodeData, in'/>
          <key val='' what='caption string, StringData, in'/>
        </Keys>
    
        <GenericDrawAction category='Action' enabled='1' name='KLTDrawer'>
          <Keys size='3'>
            <key val='World.Room.KLTModel1' what=''/>
            <key val='' what=''/>
            <key val='' what=''/>
          </Keys>
          <ActionConfig DrawAffine='1' DrawHomgraphy='0' DrawId='0' DrawOutOfScaleFeatures='0' />
        </GenericDrawAction> 

      </MegaWidgetActionPipe>  
    
      <MegaWidgetActionPipe height='450' name='Viewer' show='1' width='592' x='50' y='50' enabled='0'>

        <Keys size='8'>
          <key val='mwap1' what='internal use, do not set or change!'/>
          <key val='InstantVideosmall' what='background, Image*, in'/>
          <key val='' what='2D geometry, GeometryContainer, in'/>
          <key val='' what='3D geometry, GeometryContainer, in'/>
          <key val='' what='Camera extrinsic parameters, ExtrinsicData, in'/>
          <key val='' what='Camera intrinsic parameters, IntrinsicDataPerspective, in'/>
          <key val='' what='OSG 3D Models, OSGNodeData, in'/>
          <key val='' what='caption string, StringData, in'/>
        </Keys>

        <OSGDrawAction name='ActionPipe'>
          <Keys size='7'>
            <key val='' what=''/>
            <key val='osg_model;' what='objects to be rendered'/>
            <key val='Intrinsics' what='Camera for the view (IntrinsicDataPerspective)'/>
            <key val='World.Room.ExtrinsicData' what='Camera for the view (ExtrinsicData)'/>
            <key val='' what='Navigator output (IntrinsicDataPerspective)'/>
            <key val='' what='Navigator output (ExtrinsicData)'/>
            <key val='' what='Initial viewing position (ExtrinsicData)'/>
          </Keys>
          <ActionConfig FBO='0' FarFactor='10000' NearFactor='1' cloneModels='0' draw_crosses='1' draw_index='1' wireframe='0'/>
        </OSGDrawAction>

      </MegaWidgetActionPipe>  

    </ActionPipe>
    <!-- main -->

    <!-- ╔╤══════════════════════════════════════════════════════════════════════════════════════════════════╤╗ -->
    <!-- ║│                                                                                                  │║ -->
    <!-- ╟┼──────────────────────────»»                 Dataset                  ««──────────────────────────┼╢ -->
    <!-- ║│                                                                                                  │║ -->
    <!-- ╚╧══════════════════════════════════════════════════════════════════════════════════════════════════╧╝ -->

    <DataSet key=''>

      <!--OSGNodeData fileName="resource_dir:3dModels/HouseModel.wrl" key="osg_model"/-->
      <OSGNodeData fileName="resource_dir:3dModels/CoordFrame.wrl" key="osg_model"/>
     
      <ExtrinsicData bUseQuaternion='1' calibrated='0' key='ExtrinsicDataObj1' t='0'>
        <R rotation='1 0 0 0'/>
        <t translation='[0 0 0 ]'/>
        <Cov covariance='[0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ]'/>
      </ExtrinsicData>

      <IntrinsicDataPerspective calibrated='1' camerainfo='Logitech Pro9000' key='Intrinsics' opticsinfo='unknown vendor and type'>
        <Image_Resolution h='480' w='640'/>
        <!--Normalized principal point (invariant for a given camera)-->
        <Normalized_Principal_Point cx="0.5020" cy="0.4691"/>
        <!--Normalized focal length and skew (invariant for a given camera)-->
        <Normalized_Focal_Length_and_Skew fx="0.8261" fy="1.0845" s="0.0000000000e+00"/>
        <!--Radial and tangential lens distortion (invariant for a given camera)-->
        <Lens_Distortion k1="0.049468" k2="-0.133817" k3="0.002470" k4="0.000445" k5="0.0000000000e+00"/>
      </IntrinsicDataPerspective>

      <IntrinsicDataPerspective calibrated='1' camerainfo='Logitech Pro9000' key='IntrinsicsSmall' opticsinfo='unknown vendor and type'>
        <Image_Resolution h='240' w='320'/>
        <!--Normalized principal point (invariant for a given camera)-->
        <Normalized_Principal_Point cx="0.5020" cy="0.4691"/>
        <!--Normalized focal length and skew (invariant for a given camera)-->
        <Normalized_Focal_Length_and_Skew fx="0.8261" fy="1.0845" s="0.0000000000e+00"/>
        <!--Radial and tangential lens distortion (invariant for a given camera)-->
        <Lens_Distortion k1="0.049468" k2="-0.133817" k3="0.002470" k4="0.000445" k5="0.0000000000e+00"/>
      </IntrinsicDataPerspective>

      <IntrinsicDataPerspective calibrated='1' camerainfo='Logitech Pro9000' key='IntrinsicsOut' opticsinfo='unknown vendor and type'>
        <Image_Resolution h='240' w='320'/>
        <!--Normalized principal point (invariant for a given camera)-->
        <Normalized_Principal_Point cx="0.5020" cy="0.4691"/>
        <!--Normalized focal length and skew (invariant for a given camera)-->
        <Normalized_Focal_Length_and_Skew fx="0.8261" fy="1.0845" s="0.0000000000e+00"/>
        <!--Radial and tangential lens distortion (invariant for a given camera)-->
        <Lens_Distortion k1="0.049468" k2="-0.133817" k3="0.002470" k4="0.000445" k5="0.0000000000e+00"/>
      </IntrinsicDataPerspective>
    
      <ExtrinsicData bUseQuaternion='1' calibrated='0' key='InvalidExtrinsicData' t='0'>
        <R rotation='1 0 0 0'/>
        <t translation='[0 0 -1000000 ]'/>
        <Cov covariance='[0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ]'/>
      </ExtrinsicData>

      <ExtrinsicData bUseQuaternion='1' calibrated='0' key='LastValidPose' t='0'>
        <R rotation='0.4672474362 0.5177124886 -0.5622684582 0.4444184892'/>
        <t translation='[-0.705431 0.344395 0.169748 ]'/>
        <Cov covariance='[0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ]'/>
      </ExtrinsicData>
   
      <HSVLUT ExtColorDiff='0,100000' GreyColorRegion='20' key='HSVLUT' mode='0'/>
 
      <World key='World'>
        <TrackedObject enabled='1' key='Room'>
          <ExtrinsicData bUseQuaternion='1' calibrated='1' t='0'>
            <R rotation='0.8775825619 0.4794255386 0 0'/>
            <t translation='[0 0 0 ]'/>
            <Cov covariance='[1  0  0  0  0  0  ; 0  1.1  0  0  0  0  ; 0  0  0.9  0  0  0  ; 0  0  0  0.95  0  0  ; 0  0  0  0  0  0  ; 0  0  0  0  0  0  ]'/>
          </ExtrinsicData>

          <KLTHistoryModel NextFeatureId='0' key='KLTModelOR'>
            <CorrespondencyContainer/>
          </KLTHistoryModel>

          <Inline url='KLTModel.xml'/>  
          <!--Inline url='RTModel.xml'/> 
          <Inline url='RefDataModel.xml'/-->
          <Inline url='DOTDataModel.xml'/>	
        </TrackedObject>
      </World>
    
    </DataSet>

  <Activity name='NOP'/>

</VisionLib2>