introduce vvs parameters

Author: SamFlt

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

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;

modules/tracker/mbt/test/generic-with-dataset/testMbtJsonSettings.cpp

@@ -245,37 +245,53 @@ 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 +300,7 @@ 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 +317,7 @@ 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 +339,7 @@ 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 +351,7 @@ 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 +363,7 @@ 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 +374,7 @@ 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);

tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth-with-model-path.json

@@ -164,5 +164,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
 }

tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json

@@ -163,5 +163,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
 }

tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-and-depth.json.example

@@ -179,5 +179,12 @@
             }
         }
     },
+    //! [VVS]
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
+    //! [VVS]
     "version": "1.0"
 }

tutorial/tracking/model-based/generic-rgbd/model/cube/realsense-color-only.json

@@ -87,5 +87,10 @@
             }
         }
     },
+    "vvs" :{
+      "lambda": 1.0,
+      "maxIter": 30,
+      "initialMu": 0.01
+    },
     "version": "1.0"
 }