Merge pull request lagadic#1324 from SamFlt/feat_json_mbt_improvements

Feat: MBT JSON improvements
s-trinh · Feb 4, 2024 · b370a00 · b370a00
2 parents 63bfb48 + 8d8a92f
commit b370a00
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diff --git a/doc/tutorial/tracking/tutorial-tracking-mb-generic-json.dox b/doc/tutorial/tracking/tutorial-tracking-mb-generic-json.dox
@@ -47,6 +47,7 @@ Let us first examine the global settings (located at the root of the JSON struct
 \endcode
 
 If they are defined globally, they will take precedence over the values defined per tracker.
+Some settings such as the "vvs" options, are only defined globally
 
 <table>
 <tr><th colspan="2">Key</th><th>Type</th><th>Description</th><th>Optional</th></tr>
@@ -98,6 +99,29 @@ If they are defined globally, they will take precedence over the values defined
     <td>Whether to use ogre for visibility testing. OGRE must be installed, otherwise ignored. See vpMbGenericTracker::setOgreVisibilityTest()</td>
     <td>Yes</td>
 </tr>
+<tr><th colspan="5">vvs (optional)</th></tr>
+<tr>
+    <td>lambda</td>
+    <td>float</td>
+    <td>Virtual visual servoing gain
+    </td>
+    <td>vpMbGenericTracker::setLambda()</td>
+    <td>Yes</td>
+</tr>
+<tr>
+    <td>maxIter</td>
+    <td>integer > 0</td>
+    <td>Number of iterations for virtual visual servoing</td>
+    <td>vpMbGenericTracker::setMaxIter()</td>
+    <td>Yes</td>
+</tr>
+<tr>
+    <td>initialMu</td>
+    <td>float</td>
+    <td>Initial Mu for levenberg marquardt optimization</td>
+    <td>vpMbGenericTracker::setInitialMu(</td>
+    <td>Yes</td>
+</tr>
 </table>
 
 \subsection json-per-tracker-settings Individual camera tracker settings

diff --git a/modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h b/modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h
@@ -175,7 +175,8 @@
  *               "range": 4,
  *               "sampleStep": 10.0,
  *               "strip": 2,
- *               "threshold": 1500.0
+*                "thresholdType": "normalized",
+ *               "threshold": 20.0
  *           },
  *           "lod": {
  *               "minLineLengthThresholdGeneral": 50.0,
@@ -1022,6 +1023,7 @@ inline void from_json(const nlohmann::json &j, vpMbGenericTracker::TrackerWrappe
   //Edge tracker settings
   if (t.m_trackerType & vpMbGenericTracker::EDGE_TRACKER) {
     from_json(j.at("edge"), t.me);
+    t.setMovingEdge(t.me);
   }
   //KLT tracker settings
 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)

diff --git a/modules/tracker/mbt/src/vpMbGenericTracker.cpp b/modules/tracker/mbt/src/vpMbGenericTracker.cpp
@@ -3019,6 +3019,15 @@ void vpMbGenericTracker::loadConfigFileJSON(const std::string &settingsFile, boo
     setOgreVisibilityTest(visJson.value("ogre", useOgre));
     setScanLineVisibilityTest(visJson.value("scanline", useScanLine));
   }
+
+  // VVS global settings
+  if (settings.contains("vvs")) {
+    const json vvsJson = settings["vvs"];
+    setLambda(vvsJson.value("lambda", this->m_lambda));
+    setMaxIter(vvsJson.value("maxIter", this->m_maxIter));
+    setInitialMu(vvsJson.value("initialMu", this->m_initialMu));
+  }
+
   //If a 3D model is defined, load it
   if (settings.contains("model")) {
     loadModel(settings.at("model").get<std::string>(), verbose);
@@ -3047,6 +3056,12 @@ void vpMbGenericTracker::saveConfigFile(const std::string &settingsFile) const
     }
   }
   j["trackers"] = trackers;
+  j["vvs"] = json {
+    {"lambda", m_lambda},
+    {"maxIter", m_maxIter},
+    {"initialMu", m_initialMu}
+  };
+
   std::ofstream f(settingsFile);
   if (f.good()) {
     const unsigned indentLevel = 4;

diff --git a/modules/tracker/mbt/test/generic-with-dataset/testMbtJsonSettings.cpp b/modules/tracker/mbt/test/generic-with-dataset/testMbtJsonSettings.cpp
@@ -75,6 +75,17 @@ vpMbGenericTracker baseTrackerConstructor()
 
   t.setAngleAppear(vpMath::rad(60));
   t.setAngleDisappear(vpMath::rad(90));
+  vpMe me;
+  me.setSampleStep(2.0);
+  me.setMaskSize(7);
+  me.setMaskNumber(160);
+  me.setRange(8);
+  me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
+  me.setThreshold(20);
+  me.setMu1(0.2);
+  me.setMu2(0.3);
+  me.setSampleStep(4);
+  t.setMovingEdge(me);
   return t;
 }
 
@@ -103,7 +114,6 @@ void compareNamesAndTypes(const vpMbGenericTracker &t1, const vpMbGenericTracker
 void compareCameraParameters(const vpMbGenericTracker &t1, const vpMbGenericTracker &t2)
 {
   std::map<std::string, vpCameraParameters> c1, c2;
-  vpCameraParameters c;
   t1.getCameraParameters(c1);
   t2.getCameraParameters(c2);
   REQUIRE(c1 == c2);
@@ -185,6 +195,8 @@ SCENARIO("MBT JSON Serialization", "[json]")
             &vpMe::getMaskNumber, "Mask number should be equal",
             &vpMe::getMaskSign, "Mask sign should be equal",
             &vpMe::getMinSampleStep, "Min sample step should be equal",
+            &vpMe::getSampleStep, "Min sample step should be equal",
+
             &vpMe::getMu1, "Mu 1 should be equal",
             &vpMe::getMu2, "Mu 2 should be equal",
             &vpMe::getNbTotalSample, "Nb total sample should be equal",
@@ -245,37 +257,53 @@ SCENARIO("MBT JSON Serialization", "[json]")
         );
       }
 
+      THEN("VVS properties should be the same")
+      {
+        vpMbGenericTracker t2 = baseTrackerConstructor();
+        t2.setMaxIter(4096);
+        t2.setLambda(5.0);
+        t2.setInitialMu(5.0);
+
+        t2.loadConfigFile(jsonPath);
+
+        checkProperties(t1, t2,
+          &vpMbGenericTracker::getMaxIter, "VVS m iterations be the same",
+          &vpMbGenericTracker::getLambda, "VVS lambda should be the same",
+          &vpMbGenericTracker::getInitialMu, "VVS initial mu be the same"
+        );
+      }
+
       WHEN("Modifying JSON file/Using a custom JSON file")
       {
         THEN("Removing version from file generates an error on load")
         {
           modifyJson([](json &j) -> void {
             j.erase("version");
-            });
+          });
           REQUIRE_THROWS(t1.loadConfigFile(jsonPath));
         }
 
         THEN("Using an unsupported version generates an error on load")
         {
           modifyJson([](json &j) -> void {
             j["version"] = "0.0.0";
-            });
+          });
           REQUIRE_THROWS(t1.loadConfigFile(jsonPath));
         }
 
         THEN("Using an undefined reference camera generates an error")
         {
           modifyJson([](json &j) -> void {
             j["referenceCameraName"] = "C3";
-            });
+          });
           REQUIRE_THROWS(t1.loadConfigFile(jsonPath));
         }
 
         THEN("Not defining a transformation matrix for the reference camera is valid")
         {
           modifyJson([&t1](json &j) -> void {
             j["trackers"][t1.getReferenceCameraName()].erase("camTref");
-            });
+          });
           REQUIRE_NOTHROW(t1.loadConfigFile(jsonPath));
         }
 
@@ -284,7 +312,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
           modifyJson([&t1](json &j) -> void {
             std::string otherCamName = t1.getReferenceCameraName() == "C1" ? "C2" : "C1";
             j["trackers"][otherCamName].erase("camTref");
-            });
+          });
           REQUIRE_THROWS(t1.loadConfigFile(jsonPath));
         }
 
@@ -301,7 +329,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
             for (const auto &c : t1.getCameraNames()) {
               j["trackers"][c].erase("clipping");
             }
-            });
+          });
           REQUIRE_NOTHROW(t2.loadConfigFile(jsonPath, false));
           REQUIRE(t2.getClipping() == clipping);
           REQUIRE(t2.getNearClippingDistance() == clipping_near);
@@ -323,7 +351,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
               for (const auto &c : t1.getCameraNames()) {
                 j["trackers"][c]["clipping"].erase("near");
               }
-              });
+            });
             t2.loadConfigFile(jsonPath);
             REQUIRE(t2.getNearClippingDistance() == clipping_near);
             REQUIRE(t2.getFarClippingDistance() == t1.getFarClippingDistance());
@@ -335,7 +363,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
               for (const auto &c : t1.getCameraNames()) {
                 j["trackers"][c]["clipping"].erase("far");
               }
-              });
+            });
             t2.loadConfigFile(jsonPath);
             REQUIRE(t2.getNearClippingDistance() == t1.getNearClippingDistance());
             REQUIRE(t2.getFarClippingDistance() == clipping_far);
@@ -347,7 +375,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
               for (const auto &c : t1.getCameraNames()) {
                 j["trackers"][c]["clipping"].erase("flags");
               }
-              });
+            });
             t2.loadConfigFile(jsonPath);
             REQUIRE(t2.getNearClippingDistance() == t1.getNearClippingDistance());
             REQUIRE(t2.getFarClippingDistance() == t1.getFarClippingDistance());
@@ -358,7 +386,7 @@ SCENARIO("MBT JSON Serialization", "[json]")
     }
   }
 }
-int main(int argc, char *argv [])
+int main(int argc, char *argv[])
 {
   Catch::Session session; // There must be exactly one instance
   session.applyCommandLine(argc, argv);

diff --git a/modules/tracker/me/include/visp3/me/vpMe.h b/modules/tracker/me/include/visp3/me/vpMe.h
@@ -117,7 +117,7 @@
  * \code{.unparsed}
  * $ cat me.json
  * {"maskSign":0,"maskSize":5,"minSampleStep":4.0,"mu":[0.5,0.5],"nMask":180,"ntotalSample":0,"pointsToTrack":200,
- *  "range":5,"sampleStep":10.0,"strip":2,"threshold":20.0,"thresholdMarginRatio":-1.0,"minThreshold":-1.0,"thresholdType":1}
+ *  "range":5,"sampleStep":10.0,"strip":2,"threshold":20.0,"thresholdMarginRatio":-1.0,"minThreshold":-1.0,"thresholdType":"normalized"}
  * \endcode
  */
 class VISP_EXPORT vpMe
@@ -531,7 +531,7 @@ class VISP_EXPORT vpMe
    * @brief Retrieve a vpMe object from a JSON representation
    *
    * JSON content (key: type):
-   *  - thresholdType: int, vpMe::getLikelihoodThresholdType()
+   *  - thresholdType: either "old" or "normalized", vpMe::getLikelihoodThresholdType()
    *  - threshold: double, vpMe::setThreshold()
    *  - thresholdMarginRatio: double, vpMe::setThresholdMarginRatio()
    *  - minThreshold: double, vpMe::setMinThreshold()
@@ -564,7 +564,7 @@ class VISP_EXPORT vpMe
    *   "range": 7,
    *   "sampleStep": 4.0,
    *   "strip": 2,
-   *   "thresholdType": 1,
+   *   "thresholdType": "normalized",
    *   "threshold": 20.0,
    *   "thresholdMarginRatio": 0.75,
    *   "minThreshold": 20.0,
@@ -580,6 +580,11 @@ class VISP_EXPORT vpMe
 #ifdef VISP_HAVE_NLOHMANN_JSON
 #include <nlohmann/json.hpp>
 
+NLOHMANN_JSON_SERIALIZE_ENUM(vpMe::vpLikelihoodThresholdType, {
+  {vpMe::vpLikelihoodThresholdType::OLD_THRESHOLD, "old"},
+  {vpMe::vpLikelihoodThresholdType::NORMALIZED_THRESHOLD, "normalized"}
+});
+
 inline void to_json(nlohmann::json &j, const vpMe &me)
 {
   j = {
@@ -616,7 +621,7 @@ inline void from_json(const nlohmann::json &j, vpMe &me)
     me.setMu2(mus[1]);
   }
   me.setMinSampleStep(j.value("minSampleStep", me.getMinSampleStep()));
-
+  me.setSampleStep(j.value("sampleStep", me.getSampleStep()));
   me.setRange(j.value("range", me.getRange()));
   me.setNbTotalSample(j.value("ntotalSample", me.getNbTotalSample()));
   me.setPointsToTrack(j.value("pointsToTrack", me.getPointsToTrack()));

diff --git a/...acking/model-based/generic-rgbd/model/cube/realsense-color-and-depth-with-model-path.json b/...acking/model-based/generic-rgbd/model/cube/realsense-color-and-depth-with-model-path.json
@@ -60,6 +60,7 @@
                 "range": 7,
                 "sampleStep": 4.0,
                 "strip": 2,
+                "thresholdType": "old",
                 "threshold": 5000.0
             },
             "klt": {
@@ -163,5 +164,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
-}
+}
diff --git a/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json b/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json
@@ -59,6 +59,7 @@
                 "range": 7,
                 "sampleStep": 4.0,
                 "strip": 2,
+                "thresholdType": "old",
                 "threshold": 5000.0
             },
             "klt": {
@@ -162,5 +163,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
-}
+}
diff --git a/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json.example b/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json.example
@@ -65,6 +65,7 @@
                 "range": 7,
                 "sampleStep": 4.0,
                 "strip": 2,
+                "thresholdType": "old",
                 "threshold": 5000.0
             },
             //! [Edge]
@@ -178,5 +179,12 @@
             }
         }
     },
+    //! [VVS]
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
+    //! [VVS]
     "version": "1.0"
-}
+}
diff --git a/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-only.json b/tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-only.json
@@ -59,6 +59,7 @@
                 "range": 7,
                 "sampleStep": 4.0,
                 "strip": 2,
+                "thresholdType": "old",
                 "threshold": 5000.0
             },
             "klt": {
@@ -86,5 +87,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
-}
+}