Moved klt parameters json serialization to vpKltOpencv, working on be…

…tter integrating mask in klt tracker
lagadic · Sep 19, 2024 · 9e5c1b7 · 9e5c1b7
1 parent 635acf8
commit 9e5c1b7
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Showing 2 changed files with 50 additions and 15 deletions.
diff --git a/modules/tracker/klt/include/visp3/klt/vpKltOpencv.h b/modules/tracker/klt/include/visp3/klt/vpKltOpencv.h
@@ -52,6 +52,11 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/video/tracking.hpp>
 
+#if defined(VISP_HAVE_NLOHMANN_JSON)
+#include <nlohmann/json.hpp>
+#endif
+
+
 BEGIN_VISP_NAMESPACE
 /*!
  * \class vpKltOpencv
@@ -383,6 +388,12 @@ class VISP_EXPORT vpKltOpencv
    */
   void suppressFeature(const int &index);
 
+#ifdef VISP_HAVE_NLOHMANN_JSON
+
+  friend void to_json(nlohmann::json &j, const vpKltOpencv &array);
+  friend void from_json(const nlohmann::json &j, vpKltOpencv &array);
+#endif
+
 protected:
   cv::Mat m_gray; //!< Gray image
   cv::Mat m_prevGray; //!< Previous gray image
@@ -401,6 +412,35 @@ class VISP_EXPORT vpKltOpencv
   long m_next_points_id; //!< Id for the newt keypoint
   bool m_initial_guess; //!< true when initial guess is provided
 };
+
+#ifdef VISP_HAVE_NLOHMANN_JSON
+inline void to_json(nlohmann::json &j, const vpKltOpencv &klt)
+{
+  j = nlohmann::json {
+      {"maxFeatures", klt.getMaxFeatures()},
+      {"windowSize", klt.getWindowSize()},
+      {"quality", klt.getQuality()},
+      {"minDistance", klt.getMinDistance()},
+      {"useHarris", klt.m_useHarrisDetector},
+      {"harris", klt.getHarrisFreeParameter()},
+      {"blockSize", klt.getBlockSize()},
+      {"pyramidLevels", klt.getPyramidLevels()}
+  };
+}
+
+inline void from_json(const nlohmann::json &j, vpKltOpencv &klt)
+{
+  klt.setMaxFeatures(j.value("maxFeatures", 10000));
+  klt.setWindowSize(j.value("windowSize", 5));
+  klt.setQuality(j.value("quality", 0.01));
+  klt.setMinDistance(j.value("minDistance", 5));
+  klt.setUseHarris(j.value("useHarris", true));
+  klt.setHarrisFreeParameter(j.value("harris", 0.01));
+  klt.setBlockSize(j.value("blockSize", 3));
+  klt.setPyramidLevels(j.value("pyramidLevels", 3));
+}
+#endif
+
 END_VISP_NAMESPACE
 #endif
 #endif
diff --git a/tutorial/tracking/render-based/data/sequence1/dragon.json b/tutorial/tracking/render-based/data/sequence1/dragon.json
@@ -24,7 +24,7 @@
     },
     "sampling" : {
       "samplingRate": 1,
-      "numPoints": 512
+      "numPoints": 128
     }
   },
 
@@ -37,7 +37,7 @@
 },
 "drift": {
   "type": "probabilistic",
-  "colorUpdateRate": 0.3,
+  "colorUpdateRate": 0.1,
   "initialColorSigma": 15.0,
   "depthSigma": 0.01,
   "filteringMaxDistance": 0.001,
@@ -51,27 +51,22 @@
     "useMask": true,
     "minMaskConfidence": 0.7
   },
-  {
-    "type": "silhouetteColor",
-    "weight": 0.01,
-    "ccd": {
-      "h": 8,
-      "delta_h": 1
-    }
-  },
+
   {
     "type": "klt",
     "weight": 0.1,
+    "useMask": true,
+    "minMaskConfidence": 0.5,
     "maxReprojectionErrorPixels": 5.0,
-    "newPointsMinPixelDistance": 2,
+    "newPointsMinPixelDistance": 4,
     "minimumNumPoints": 20,
-    "blockSize": 3,
+    "blockSize": 5,
+    "useHarris": true,
     "harris": 0.05,
-    "maskBorder": 5,
-    "maxFeatures": 200,
+    "maxFeatures": 500,
     "minDistance": 5.0,
     "pyramidLevels": 3,
-    "quality": 0.1,
+    "quality": 0.05,
     "windowSize": 5
   }
 ]