mestimator setting for silhouetteMe

lagadic · Sep 20, 2024 · 161d97e · 161d97e
1 parent dab15b8
commit 161d97e
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteMeTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteMeTracker.h
@@ -50,7 +50,7 @@ class VISP_EXPORT vpRBSilhouetteMeTracker : public vpRBFeatureTracker
 public:
 
   vpRBSilhouetteMeTracker() :
-    vpRBFeatureTracker(), m_me(), m_numCandidates(1), m_globalVVSConvergenceThreshold(1.0),
+    vpRBFeatureTracker(), m_me(), m_numCandidates(1), m_robustMadMin(1.0), m_globalVVSConvergenceThreshold(1.0),
     m_singlePointConvergedThresholdPixels(3), m_useMask(false), m_minMaskConfidence(0.f)
   { }
 
@@ -105,6 +105,7 @@ class VISP_EXPORT vpRBSilhouetteMeTracker : public vpRBFeatureTracker
   vpMe m_me; //! Moving edge settings
   unsigned int m_numCandidates; //! Number of best candidates kept when finding correspondence points
   vpRobust m_robust; //! M-Estimator to filter outliers
+  double m_robustMadMin;
   double m_globalVVSConvergenceThreshold; //! Percentage of control points that should have converged to consider VVS as successful
   double m_singlePointConvergedThresholdPixels; //! Whether a single Control point is considered as converged
   bool m_useMask;

diff --git a/modules/tracker/rbt/src/features/vpRBSilhouetteMeTracker.cpp b/modules/tracker/rbt/src/features/vpRBSilhouetteMeTracker.cpp
@@ -81,7 +81,7 @@ void vpRBSilhouetteMeTracker::extractFeatures(const vpRBFeatureTrackerInput &fra
   }
   m_numFeatures = m_controlPoints.size();
 
-  m_robust.setMinMedianAbsoluteDeviation(std::max(m_singlePointConvergedThresholdPixels * 0.5, 1.0) / frame.cam.get_px());
+  m_robust.setMinMedianAbsoluteDeviation(m_robustMadMin / frame.cam.get_px());
 }