cleanup silhouette point

lagadic · Sep 20, 2024 · dab15b8 · dab15b8
1 parent 7487929
commit dab15b8
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Showing 5 changed files with 102 additions and 120 deletions.
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteCCDTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteCCDTracker.h
@@ -247,7 +247,6 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
 protected:
  void updateCCDPoints(const vpHomogeneousMatrix &cMo);
  void computeLocalStatistics(const vpImage<vpRGBa> &I, vpCCDStatistics &stats);
-
  void computeErrorAndInteractionMatrix();
 
  vpCCDParameters m_ccdParameters;
@@ -260,15 +259,14 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
 
  vpMatrix m_sigma;
 
- vpColVector m_gradient; //! Sum of local gradients
- vpMatrix m_hessian; //! Sum of local hessians
-
  double m_vvsConvergenceThreshold;
  double tol;
+
  std::vector<vpColVector> m_gradients;
  std::vector<vpMatrix> m_hessians;
+ vpColVector m_gradient; //! Sum of local gradients
+ vpMatrix m_hessian; //! Sum of local hessians
  double m_temporalSmoothingFac; //! Smoothing factor used to integrate data from the previous frame.
-
 };
 END_VISP_NAMESPACE
 #endif
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteControlPoint.h b/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteControlPoint.h
@@ -69,34 +69,28 @@ class VISP_EXPORT vpRBSilhouetteControlPoint
 
  std::vector<vpMeSite> m_candidates;
  unsigned int m_numCandidates;
- vpMe *me;
+ const vpMe *m_me;
  vpMeSite s;
 
+ //! Normal to surface where the control point lies
+ vpColVector norm;
+ vpColVector normw;
+
  bool m_valid;
 
+ bool m_isSilhouette;
+
+ const vpCameraParameters *m_cam;
 public:
- const vpCameraParameters *cam;
 
  vpImagePoint icpoint;
 
  // the 3D point
  vpPoint cpoint;
  vpPoint cpointo;
 
- //! Normal to surface where the control point lies
- vpColVector norm;
- vpColVector normw;
-
- //! Gradient profile associated to the control Points
-
- double error;
-
- vpColVector L;
-
  double xs, ys, nxs, nys, Zs;
 
- bool isSilhouette;
- bool invnormal;
 
 public:
 
@@ -118,25 +112,22 @@ class VISP_EXPORT vpRBSilhouetteControlPoint
  void setValid(bool valid) { m_valid = valid; }
  bool isValid() const { return m_valid; }
 
- int outOfImage(int i, int j, int half, int rows, int cols) const;
- int outOfImage(const vpImagePoint &iP, int half, int rows, int cols) const;
 
+
+ const vpCameraParameters &getCameraParameters() const { return *m_cam; }
  bool siteIsValid() const { return s.getState() == vpMeSite::NO_SUPPRESSION; }
  const vpMeSite &getSite() const { return s; }
  vpMeSite &getSite() { return s; }
  const vpFeatureLine &getFeatureLine() const { return featureline; }
  const vpLine &getLine() const { return line; }
  double getTheta() const { return theta; }
-
- void setMovingEdge(vpMe *_me) { me = _me; }
- void setCameraParameters(const vpCameraParameters *_cam) { cam = _cam; }
+ bool isSilhouette() const { return m_isSilhouette; }
 
  void initControlPoint(const vpImage<unsigned char> &I, double cvlt);
  void detectSilhouette(const vpImage<float> &I);
- void buildPoint(int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc);
- void buildSilhouettePoint(int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc);
- void buildPlane(const vpPoint &pointn, const vpColVector &normal, vpPlane &plane);
- void buildPLine(const vpHomogeneousMatrix &oMc);
+ void buildPoint(int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc, const vpCameraParameters &cam, const vpMe &me);
+ void buildSilhouettePoint(int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc, const vpCameraParameters &cam);
+
  void update(const vpHomogeneousMatrix &_cMo);
  void updateSilhouettePoint(const vpHomogeneousMatrix &_cMo);
 
@@ -156,13 +147,17 @@ class VISP_EXPORT vpRBSilhouetteControlPoint
  */
  void trackMultipleHypotheses(const vpImage<unsigned char> &I);
 
- void initInteractionMatrixError();
- void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
- void computeInteractionMatrixErrorMH(const vpHomogeneousMatrix &cMo);
+ void computeMeInteractionMatrixError(const vpHomogeneousMatrix &cMo, unsigned int i, vpMatrix &L, vpColVector &e);
+ void computeMeInteractionMatrixErrorMH(const vpHomogeneousMatrix &cMo, unsigned int i, vpMatrix &L, vpColVector &e);
 
 private:
- void sample(const vpImage<unsigned char> &) { }
  bool isLineDegenerate() const;
+
+ int outOfImage(int i, int j, int half, int rows, int cols) const;
+ int outOfImage(const vpImagePoint &iP, int half, int rows, int cols) const;
+ void buildPlane(const vpPoint &pointn, const vpColVector &normal, vpPlane &plane);
+ void buildPLine(const vpHomogeneousMatrix &oMc);
+
 };
 
 END_VISP_NAMESPACE