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More settings getters and setters
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@SamFlt
SamFlt committed Sep 19, 2024
1 parent bf8b14c commit f8308a0
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Showing 5 changed files with 146 additions and 47 deletions.
40 changes: 39 additions & 1 deletion modules/tracker/rbt/include/visp3/rbt/vpRBDenseDepthTracker.h
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Expand Up @@ -77,8 +77,46 @@ class VISP_EXPORT vpRBDenseDepthTracker : public vpRBFeatureTracker
bool requiresSilhouetteCandidates() const VP_OVERRIDE { return false; }

/**
* @brief Method called when starting a tracking iteration
* \name Settings
* @{
*/
unsigned int getStep() const { return m_step; }
void setStep(unsigned int step)
{
if (step == 0) {
throw vpException(vpException::badValue, "Step should be greater than 0");
}
m_step = step;
}

/**
* \brief Returns whether the tracking algorithm should filter out points that are unlikely to be on the object according to the mask.
* If the mask is not computed beforehand, then it has no effect
*/
bool shouldUseMask() const { return m_useMask; }
void setShouldUseMask(bool useMask) { m_useMask = useMask; }

/**
* \brief Returns the minimum mask confidence that a pixel linked to depth point should have if it should be kept during tracking.
*
* This value is between 0 and 1
*/
float getMinimumMaskConfidence() const { return m_minMaskConfidence; }
void setMinimumMaskConfidence(float confidence)
{
if (confidence > 1.f || confidence < 0.f) {
throw vpException(vpException::badValue, "Mask confidence should be between 0 and 1");
}
m_minMaskConfidence = confidence;
}

/**
* \name Settings
* @}
*/

/**
* @brief Method called when starting a tracking iteration
*/
void onTrackingIterStart() VP_OVERRIDE { }
void onTrackingIterEnd() VP_OVERRIDE { }
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15 changes: 8 additions & 7 deletions modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteCCDTracker.h
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Expand Up @@ -188,14 +188,16 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker

vpRBSilhouetteCCDTracker();


bool requiresRGB() const VP_OVERRIDE { return true; }

bool requiresDepth() const VP_OVERRIDE { return false; }

bool requiresSilhouetteCandidates() const VP_OVERRIDE { return true; }

/**
* \name Settings
* @{
*/
void setCCDParameters(const vpCCDParameters &parameters) { m_ccdParameters = parameters; }
vpCCDParameters getCCDParameters() const { return m_ccdParameters; }
//void computeMask(const vpImage<vpRGBa> &render, vpCCDStatistics &stats);

/**
Expand All @@ -212,11 +214,11 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
* @param factor the new temporal smoothing factor. Should be greater than 0
*/
void setTemporalSmoothingFactor(double factor) { m_temporalSmoothingFac = factor; }

/**
* \brief Method called when starting a tracking iteration
*
* @}
*/


void onTrackingIterStart() VP_OVERRIDE { }
void onTrackingIterEnd() VP_OVERRIDE { }

Expand Down Expand Up @@ -265,7 +267,6 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
double m_vvsConvergenceThreshold;
double tol;
vpColVector error_ccd;
vpColVector weighted_error_ccd;
std::vector<vpColVector> m_gradients;
std::vector<vpMatrix> m_hessians;
double m_temporalSmoothingFac; //! Smoothing factor used to integrate data from the previous frame.
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128 changes: 96 additions & 32 deletions modules/tracker/rbt/include/visp3/rbt/vpRBTracker.h
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Expand Up @@ -74,51 +74,123 @@ class VISP_EXPORT vpRBTracker

~vpRBTracker() = default;

/**
* \name Information retrieval
* @{
*/
void getPose(vpHomogeneousMatrix &cMo) const;
void setPose(const vpHomogeneousMatrix &cMo);
vpObjectCentricRenderer &getRenderer();
const vpRBFeatureTrackerInput &getMostRecentFrame() const { return m_currentFrame; }
const vpRBTrackerLogger &getLogger() const { return m_logger; }

vpCameraParameters getCameraParameters() const;
void setCameraParameters(const vpCameraParameters &cam, unsigned h, unsigned w);
void setSilhouetteExtractionParameters(const vpSilhouettePointsExtractionSettings &settings);

void reset();
/**
* @}
*/

/**
* \name Settings
* @{
*/
void addTracker(std::shared_ptr<vpRBFeatureTracker> tracker);
void loadObjectModel(const std::string &file);

void track(const vpImage<unsigned char> &I);
void track(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB);
void track(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<float> &depth);
vpCameraParameters getCameraParameters() const;
void setCameraParameters(const vpCameraParameters &cam, unsigned h, unsigned w);

void addTracker(std::shared_ptr<vpRBFeatureTracker> tracker);
vpSilhouettePointsExtractionSettings getSilhouetteExtractionParameters() const
{
return m_depthSilhouetteSettings;
}

void displayMask(vpImage<unsigned char> &Imask) const;
void display(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type);
void setSilhouetteExtractionParameters(const vpSilhouettePointsExtractionSettings &settings);

vpObjectCentricRenderer &getRenderer();
const vpRBFeatureTrackerInput &getMostRecentFrame() const { return m_currentFrame; }
double getOptimizationGain() const { return m_lambda; }
void setOptimizationGain(double lambda)
{
if (lambda < 0.0) {
throw vpException(vpException::badValue, "Optimization gain should be greater to zero");
}
m_lambda = lambda;
}
unsigned int getMaxOptimizationIters() const { return m_vvsIterations; }
void setMaxOptimizationIters(unsigned int iters) { m_vvsIterations = iters; }

const std::shared_ptr<const vpRBDriftDetector> getDriftDetector() const { return m_driftDetector; }
double getOptimizationInitialMu() const { return m_muInit; }
void setOptimizationInitialMu(double mu)
{
if (mu < 0.0) {
throw vpException(vpException::badValue, "Optimization gain should be greater to zero");
}
m_muInit = mu;
}

#ifdef VISP_HAVE_MODULE_GUI
void initClick(const vpImage<unsigned char> &I, const std::string &initFile, bool displayHelp);
double getOptimizationMuIterFactor() const { return m_muIterFactor; }
void setOptimizationMuIterFactor(double factor)
{
if (factor < 0.0) {
throw vpException(vpException::badValue, "Optimization gain should be greater to zero");
}
m_muIterFactor = factor;
}

#endif
std::shared_ptr<vpRBDriftDetector> getDriftDetector() const { return m_driftDetector; }
void setDriftDetector(const std::shared_ptr<vpRBDriftDetector> &detector)
{
m_driftDetector = detector;
}

//vpRBTrackerFilter &getFilter() { return m_filter; }
std::shared_ptr<vpObjectMask> getObjectSegmentationMethod() const { return m_mask; }
void setObjectSegmentationMethod(const std::shared_ptr<vpObjectMask> &mask)
{
m_mask = mask;
}

#if defined(VISP_HAVE_NLOHMANN_JSON)
void loadConfigurationFile(const std::string &filename);
void loadConfiguration(const nlohmann::json &j);
#endif

/**
* @}
*/

void reset();

/**
* \name Tracking
* @{
*/
void track(const vpImage<unsigned char> &I);
void track(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB);
void track(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<float> &depth);
/**
* @}
*/

/**
* \name Display
* @{
*/
void displayMask(vpImage<unsigned char> &Imask) const;
void display(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type);
/**
* @}
*/

#ifdef VISP_HAVE_MODULE_GUI
void initClick(const vpImage<unsigned char> &I, const std::string &initFile, bool displayHelp);
#endif

protected:

void track(vpRBFeatureTrackerInput &input);
void updateRender(vpRBFeatureTrackerInput &frame);


std::vector<vpRBSilhouettePoint> extractSilhouettePoints(const vpImage<vpRGBf> &Inorm, const vpImage<float> &Idepth,
const vpImage<vpRGBf> &Ior, const vpImage<unsigned char> &Ivalid, const vpCameraParameters &cam, const vpHomogeneousMatrix &cTcp);
std::vector<vpRBSilhouettePoint> extractSilhouettePoints(
const vpImage<vpRGBf> &Inorm, const vpImage<float> &Idepth,
const vpImage<vpRGBf> &Ior, const vpImage<unsigned char> &Ivalid,
const vpCameraParameters &cam, const vpHomogeneousMatrix &cTcp);

vpMatrix getCovariance()
{
Expand All @@ -137,42 +209,34 @@ class VISP_EXPORT vpRBTracker
}
}


bool m_firstIteration; //! Whether this is the first iteration

std::vector<std::shared_ptr<vpRBFeatureTracker>> m_trackers; //! List of trackers

vpHomogeneousMatrix m_cMo;
vpHomogeneousMatrix m_cMoPrev;
vpCameraParameters m_cam;

vpRBFeatureTrackerInput m_currentFrame;
vpRBFeatureTrackerInput m_previousFrame;

vpHomogeneousMatrix m_cMo;
vpHomogeneousMatrix m_cMoPrev;
vpCameraParameters m_cam;

double m_lambda; //! VVS gain
unsigned m_vvsIterations; //! Max number of VVS iterations
double m_muInit; //! Initial mu value for Levenberg-Marquardt
double m_muIterFactor; //! Factor with which to multiply mu at every iteration during VVS.

vpSilhouettePointsExtractionSettings m_depthSilhouetteSettings;

vpPanda3DRenderParameters m_rendererSettings;
vpObjectCentricRenderer m_renderer;
//vpRenderer m_renderer;

unsigned m_imageHeight, m_imageWidth; //! Color and render image dimensions

vpRBTrackerLogger m_logger;

std::shared_ptr<vpObjectMask> m_mask;

std::shared_ptr<vpRBDriftDetector> m_driftDetector;

// vpRBTrackerFilter m_filter;

vpRBFeatureTrackerInput m_tempRenders;

};

END_VISP_NAMESPACE
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8 changes: 1 addition & 7 deletions modules/tracker/rbt/src/core/vpRBTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,9 +69,8 @@ vpRBTracker::vpRBTracker() : m_firstIteration(true), m_trackers(0), m_lambda(1.0
//m_renderer.addSubRenderer(std::make_shared<vpPanda3DRGBRenderer>(false));

m_renderer.setRenderParameters(m_rendererSettings);
//m_renderer.initFramework();
m_driftDetector = nullptr;

m_driftDetector = nullptr;
}

void vpRBTracker::getPose(vpHomogeneousMatrix &cMo) const
Expand Down Expand Up @@ -103,7 +102,6 @@ void vpRBTracker::setSilhouetteExtractionParameters(const vpSilhouettePointsExtr
m_depthSilhouetteSettings = settings;
}


void vpRBTracker::reset()
{
m_firstIteration = true;
Expand Down Expand Up @@ -202,8 +200,6 @@ void vpRBTracker::track(vpRBFeatureTrackerInput &input)
}
m_logger.setSilhouetteTime(m_logger.endTimer());



for (std::shared_ptr<vpRBFeatureTracker> &tracker : m_trackers) {
tracker->onTrackingIterStart();
}
Expand Down Expand Up @@ -377,8 +373,6 @@ void vpRBTracker::updateRender(vpRBFeatureTrackerInput &frame)
#endif
{
m_renderer.getRenderer<vpPanda3DDepthCannyFilter>()->getRender(frame.renders.silhouetteCanny, frame.renders.isSilhouette, frame.renders.boundingBox, m_imageHeight, m_imageWidth);
// m_renderer.placeRenderInto(m_tempRenders.renders.silhouetteCanny, frame.renders.silhouetteCanny, vpRGBf(0.f));
// m_renderer.placeRenderInto(m_tempRenders.renders.isSilhouette, frame.renders.isSilhouette, (unsigned char)(0));
}
// #pragma omp section
// {
Expand Down
2 changes: 2 additions & 0 deletions modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp
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Expand Up @@ -85,6 +85,8 @@ template <class T> class FastMat33





vpRBSilhouetteCCDTracker::vpRBSilhouetteCCDTracker() : vpRBFeatureTracker(), m_vvsConvergenceThreshold(0.0), m_temporalSmoothingFac(0.1)
{ }

Expand Down

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