Auto filter optimization

autoscoper/src/ui/AutoscoperMainWindow.cpp

@@ -2107,6 +2107,18 @@ void AutoscoperMainWindow::on_toolButtonTrackCurrent_clicked() {
   tracking_dialog->retrack();
 }*/
 
+void AutoscoperMainWindow::on_toolButtonFilterTuning_clicked() {
+  // Probably should prompt the user to save the current filters if they want
+  if (tracker) {
+    this->filters_widget->clearFilters();
+    this->filters_widget->setupFilterTuning();
+    redrawGL();
+    // Clear the filters
+    this->filters_widget->updateFiltersAfterTuning(this->tracker->optimizeFilters());
+    // Once completed update the filters in the UI
+  }
+}
+
 void AutoscoperMainWindow::on_actionExport_NCC_as_csv_triggered(bool checked) {
   QString filename = get_filename(true, "*.ncc");
   if (filename.compare("") != 0) {

autoscoper/src/ui/AutoscoperMainWindow.h

@@ -278,6 +278,8 @@ class AutoscoperMainWindow : public QMainWindow{
     void on_toolButtonTrackCurrent_clicked();
     //void on_toolButtonRetrack_clicked();
 
+    void on_toolButtonFilterTuning_clicked();
+
 
     //Shortcuts
     void key_w_pressed();

autoscoper/src/ui/FilterDockWidget.cpp

@@ -91,3 +91,15 @@ void FilterDockWidget::loadFilterSettings(int camera, QString filename)
 void FilterDockWidget::addCamera(View * view){
   dock->treeWidget->addCamera(view);
 }
+
+void FilterDockWidget::clearFilters() {
+  dock->treeWidget->clearFilters();
+}
+
+void FilterDockWidget::setupFilterTuning() {
+  dock->treeWidget->setupFilterTuning();
+}
+
+void FilterDockWidget::updateFiltersAfterTuning(std::vector<float> & filter_params) {
+  dock->treeWidget->updateFiltersAfterTuning(filter_params);
+}

autoscoper/src/ui/FilterDockWidget.h

@@ -71,6 +71,10 @@ class FilterDockWidget : public QDockWidget{
     void loadAllSettings(QString directory);
     void loadFilterSettings(int camera, QString filename);
 
+    void clearFilters();
+    void setupFilterTuning();
+    void updateFiltersAfterTuning(std::vector<float> & filter_params);
+
     AutoscoperMainWindow * getMainWindow(){return mainwindow;};
 
   private:

autoscoper/src/ui/FilterTreeWidget.cpp

@@ -51,6 +51,7 @@
 #include "ui/FilterTreeWidgetItem.h"
 #include "ui/FilterDockWidget.h"
 #include "ui/AutoscoperMainWindow.h"
+#include "ui/FilterTreeWidgetParameter.h"
 
 #include "View.hpp"
 #include <math.h>
@@ -308,6 +309,75 @@ void FilterTreeWidget::loadFilterSettings(int camera, QString filename)
   }
 }
 
+void FilterTreeWidget::clearFilters() {
+  for (int i = 0; i < this->topLevelItemCount(); ++i) {
+    CameraTreeWidgetItem* camera = dynamic_cast<CameraTreeWidgetItem*> (topLevelItem(i));
+    if (camera) {
+      for (int j = 0; j < camera->childCount(); ++j) {
+        ModelViewTreeWidgetItem* model = dynamic_cast<ModelViewTreeWidgetItem*> (camera->child(j));
+        if (model) {
+          model->clearFilters();
+        }
+      }
+    }
+  }
+}
+
+void FilterTreeWidget::setupFilterTuning() {
+  // Right now we want to add a sobel filter to each drr renderer and to each rad renderer
+  for (int i = 0; i < this->topLevelItemCount(); ++i) {
+    CameraTreeWidgetItem* camera = dynamic_cast<CameraTreeWidgetItem*> (topLevelItem(i));
+    if (camera) {
+      for (int j = 0; j < camera->childCount(); ++j) {
+        ModelViewTreeWidgetItem* model = dynamic_cast<ModelViewTreeWidgetItem*> (camera->child(j));
+        if (model) {
+          if (model->getType() == 1) { // DRR
+            FilterTreeWidgetItem* filter = new FilterTreeWidgetItem(0); // Sobel
+            filter->addToModelViewTreeWidgetItem(this, model);
+          }
+          else if (model->getType() == 0) { // RAD
+            FilterTreeWidgetItem* filter = new FilterTreeWidgetItem(0); // Sobel
+            filter->addToModelViewTreeWidgetItem(this, model);
+          }
+        }
+      }
+    }
+  }
+}
+
+void FilterTreeWidget::updateFiltersAfterTuning(std::vector<float>& filter_params) {
+   //Vector is organized as [cam0_rad_scale, cam0_rad_blend, cam0_drr_scale, cam0_drr_blend, cam1_rad_scale, cam1_rad_blend, cam1_drr_scale, cam1_drr_blend]
+   //Right now we want to add a sobel filter to each drr renderer and to each rad renderer
+  for (int i = 0; i < this->topLevelItemCount(); ++i) {
+    CameraTreeWidgetItem* camera = dynamic_cast<CameraTreeWidgetItem*> (topLevelItem(i));
+    if (camera) {
+      for (int j = 0; j < camera->childCount(); ++j) {
+        ModelViewTreeWidgetItem* model = dynamic_cast<ModelViewTreeWidgetItem*> (camera->child(j));
+        if (model) {
+          if (model->getType() == 1) { // DRR
+            FilterTreeWidgetItem* filter = dynamic_cast<FilterTreeWidgetItem*> (model->child(0));
+            if (filter) {
+              std::vector<FilterTreeWidgetParameter*>* fp = filter->getParameters();
+              fp->at(1)->value = filter_params.at(4 * i + 2 * j + 1);
+              fp->at(0)->value = filter_params.at(4 * i + 2 * j);
+              filter->updateFilter();
+            }
+          }
+          else if (model->getType() == 0) { // RAD
+            FilterTreeWidgetItem* filter = dynamic_cast<FilterTreeWidgetItem*> (model->child(0));
+            if (filter) {
+              std::vector<FilterTreeWidgetParameter*>* fp = filter->getParameters();
+              fp->at(1)->value = filter_params.at(4 * i + 2 * j + 1);
+              fp->at(0)->value = filter_params.at(4 * i + 2 * j);
+              filter->updateFilter();
+            }
+          }
+          }
+        }
+      }
+    }
+}
+
 void FilterTreeWidget::toggle_drrs(){
   for(int i=0;i<this->topLevelItemCount(); ++i){
     CameraTreeWidgetItem * camera = dynamic_cast<CameraTreeWidgetItem*> (topLevelItem(i));

autoscoper/src/ui/FilterTreeWidget.h

@@ -70,6 +70,10 @@ class FilterTreeWidget : public QTreeWidget{
     void saveAllSettings(QString directory);
     void loadAllSettings(QString directory);
     void loadFilterSettings(int camera, QString filename);
+
+    void clearFilters();
+    void setupFilterTuning();
+    void updateFiltersAfterTuning(std::vector<float>& filter_params);
   private:
     void printTree();
     void resetFilterTree();

autoscoper/src/ui/ModelViewTreeWidgetItem.cpp

@@ -291,6 +291,14 @@ void ModelViewTreeWidgetItem::removeFilter(FilterTreeWidgetItem* filterItem, boo
   if(removeFromTree)this->removeChild(filterItem);
 }
 
+void ModelViewTreeWidgetItem::clearFilters() {
+  for (auto filterItem : filterTreeWidgets) {
+    this->removeChild(filterItem);
+  }
+  filterTreeWidgets.clear();
+  m_filters->clear();
+}
+
 void ModelViewTreeWidgetItem::printFilters(){
   for(int i = 0; i < filterTreeWidgets.size(); i++){
     fprintf(stderr,"          Filter%d %s\n",i,filterTreeWidgets[i]->getName().toStdString().c_str());

autoscoper/src/ui/ModelViewTreeWidgetItem.h

@@ -84,6 +84,7 @@ class ModelViewTreeWidgetItem : public QObject ,public  QTreeWidgetItem
   void loadSettings(std::ifstream & file);
   void loadFilters(std::ifstream & file);
   void toggleVisible();
+  void clearFilters();
 
 private:
   void init();

autoscoper/src/ui/ui-files/AutoscoperMainWindow.ui

@@ -7,7 +7,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
+    <width>987</width>
     <height>600</height>
    </rect>
   </property>
@@ -384,6 +384,30 @@ Dialog</string>
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="Line" name="line_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QToolButton" name="toolButtonFilterTuning">
+         <property name="minimumSize">
+          <size>
+           <width>85</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Auto Filter
+Tuning</string>
+         </property>
+         <property name="autoRaise">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
        <item>
         <spacer name="horizontalSpacer">
          <property name="orientation">
@@ -410,7 +434,7 @@ Dialog</string>
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>800</width>
+     <width>987</width>
      <height>25</height>
     </rect>
    </property>

libautoscoper/CMakeLists.txt

@@ -4,7 +4,10 @@ set(libautoscoper_HEADERS
   src/CoordFrame.hpp
   src/DownhillSimplex.hpp
   src/Filter.hpp
+  src/FilterParticle.hpp
   src/KeyCurve.hpp
+  src/Particle.hpp
+  src/PositionParticle.hpp
   src/PSO.hpp
   src/TiffImage.h
   src/Tracker.hpp
@@ -21,6 +24,8 @@ set(libautoscoper_SOURCES
   src/Camera.cpp
   src/CoordFrame.cpp
   src/DownhillSimplex.cpp
+  src/FilterParticle.cpp
+  src/PositionParticle.cpp
   src/PSO.cpp
   src/KeyCurve.cpp
   src/TiffImage.cpp

libautoscoper/src/FilterParticle.cpp

@@ -0,0 +1,71 @@
+#include "FilterParticle.hpp"
+
+// Default constructor
+FilterParticle::FilterParticle() : Particle(8) {
+  this->Filter_Settings = std::vector<float>(this->NUM_OF_DIMENSIONS, 0.f);
+  this->Velocity = std::vector<float>(this->NUM_OF_DIMENSIONS, 0.f);
+}
+
+// Copy constructor
+FilterParticle::FilterParticle(const FilterParticle& p) : Particle(8) {
+  this->Filter_Settings = p.Filter_Settings;
+  this->Velocity = p.Velocity;
+  this->NCC = p.NCC;
+}
+
+// Filter settings constructor
+FilterParticle::FilterParticle(const std::vector<float>& filter_settings) : Particle(8) {
+  this->Filter_Settings = filter_settings;
+  this->Velocity = std::vector<float>(this->NUM_OF_DIMENSIONS, 0.f);
+}
+
+// Constructor with rand range
+FilterParticle::FilterParticle(float start_range_min, float start_range_max) : Particle(8) {
+  this->Filter_Settings = std::vector<float>(this->NUM_OF_DIMENSIONS, 0.f);
+  this->Velocity = std::vector<float>(this->NUM_OF_DIMENSIONS, 0.f);
+  for (int i = 0; i < this->NUM_OF_DIMENSIONS; i++) {
+    this->Filter_Settings[i] = getRandom(start_range_min, start_range_max);
+  }
+}
+
+void FilterParticle::updateParticle(const Particle& pBest, const Particle& gBest, float omega) {
+  // Check that the particles are the same type
+  const FilterParticle* p = dynamic_cast<const FilterParticle*>(&pBest);
+  const FilterParticle* g = dynamic_cast<const FilterParticle*>(&gBest);
+  if (p == nullptr || g == nullptr) {
+    std::cout << "Error: Either pBest or gBest is not a FilterParticle" << std::endl;
+    return;
+  }
+  for (int dim = 0; dim < this->NUM_OF_DIMENSIONS; dim++) {
+    float rp = getRandomClamped();
+    float rg = getRandomClamped();
+
+    this->Velocity[dim] =
+      omega * this->Velocity[dim]
+      + c1 * rp * (p->Filter_Settings[dim] - this->Filter_Settings[dim])
+      + c2 * rg * (g->Filter_Settings[dim] - this->Filter_Settings[dim]);
+
+    this->Filter_Settings[dim] += this->Velocity[dim];
+  }
+}
+
+// Assignment operator
+Particle& FilterParticle::operator=(const Particle& p) {
+  const FilterParticle* fp = dynamic_cast<const FilterParticle*>(&p);
+  if (fp == nullptr) {
+    std::cerr << "ERROR: p is not a FilterParticle" << std::endl;
+    return *this;
+  }
+  this->Filter_Settings = fp->Filter_Settings;
+  this->Velocity = fp->Velocity;
+  this->NCC = fp->NCC;
+  return *this;
+}
+
+// Output operator
+std::ostream& operator<<(std::ostream& os, const FilterParticle& p) {
+  os << "Filter Settings: " << p.Filter_Settings << std::endl;
+  os << "Velocity: " << p.Velocity << std::endl;
+  os << "NCC: " << p.NCC;
+  return os;
+}

libautoscoper/src/FilterParticle.hpp

@@ -0,0 +1,20 @@
+#include "Particle.hpp"
+#include "View.hpp"
+
+struct FilterParticle : public Particle {
+  std::vector<float> Filter_Settings; // Organized as [cam0_rad_scale, cam0_rad_blend, cam0_drr_scale, cam0_drr_blend, cam1_rad_scale, cam1_rad_blend, cam1_drr_scale, cam1_drr_blend]
+
+  // Default constructor
+  FilterParticle();
+  // Copy constructor
+  FilterParticle(const FilterParticle& p);
+  // Filter settings constructor
+  FilterParticle(const std::vector<float>& filter_settings);
+  // Random initialization constructor
+  FilterParticle(float start_range_min, float start_range_max);
+  // Assignment operator
+  Particle& operator=(const Particle& p);
+  void updateParticle(const Particle& pBest, const Particle& gBest, float omega);
+};
+
+extern std::ostream& operator<<(std::ostream& os, const FilterParticle& p);