Remove display type parameter in display

lagadic · Dec 18, 2024 · 20203be · 20203be
1 parent b9e0dd1
commit 20203be
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Showing 14 changed files with 41 additions and 106 deletions.
diff --git a/modules/python/bindings/include/rbt/feature_tracker.hpp b/modules/python/bindings/include/rbt/feature_tracker.hpp
@@ -97,14 +97,14 @@ class TrampolineRBFeatureTracker : public vpRBFeatureTracker
       override(&frame, cMo, iteration);
     }
   }
-  virtual void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type) const VP_OVERRIDE
+  virtual void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth) const VP_OVERRIDE
   {
     pybind11::gil_scoped_acquire gil;  // Acquire the GIL while in this scope.
     // Try to look up the overridden method on the Python side.
     pybind11::function override = pybind11::get_override(this, "display");
     if (override) {  // method is found
       // Pybind seems to copy the frames, so we pass the pointers
-      override(cam, &I, &IRGB, &depth, type);
+      override(cam, &I, &IRGB, &depth);
     }
   }
   virtual const vpMatrix getCovariance() const VP_OVERRIDE

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBDenseDepthTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBDenseDepthTracker.h
@@ -128,7 +128,7 @@ class VISP_EXPORT vpRBDenseDepthTracker : public vpRBFeatureTracker
   void initVVS(const vpRBFeatureTrackerInput &/*frame*/, const vpRBFeatureTrackerInput &/*previousFrame*/, const vpHomogeneousMatrix &/*cMo*/) VP_OVERRIDE { }
   void computeVVSIter(const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration) VP_OVERRIDE;
 
-  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type) const VP_OVERRIDE;
+  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth) const VP_OVERRIDE;
 
   struct vpDepthPoint
   {

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTracker.h
@@ -50,12 +50,6 @@
 #include VISP_NLOHMANN_JSON(json.hpp)
 #endif
 
-enum vpRBFeatureDisplayType
-{
-  SIMPLE = 0,
-  IMPORTANCE = 1,
-  ERROR = 2
-};
 
 BEGIN_VISP_NAMESPACE
 /**
@@ -155,8 +149,7 @@ class VISP_EXPORT vpRBFeatureTracker
     const vpCameraParameters &cam,
     const vpImage<unsigned char> &I,
     const vpImage<vpRGBa> &IRGB,
-    const vpImage<unsigned char> &depth,
-    const vpRBFeatureDisplayType type) const = 0;
+    const vpImage<unsigned char> &depth) const = 0;
 
   /**
    * @}

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBKltTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBKltTracker.h
@@ -83,7 +83,7 @@ class VISP_EXPORT vpRBKltTracker : public vpRBFeatureTracker
 
   void computeVVSIter(const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration) VP_OVERRIDE;
 
-  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type) const VP_OVERRIDE;
+  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth) const VP_OVERRIDE;
 
   /**
    * \name Settings

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteCCDTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteCCDTracker.h
@@ -61,6 +61,15 @@
 
 BEGIN_VISP_NAMESPACE
 
+
+enum vpRBSilhouetteCCDDisplayType
+{
+  SIMPLE = 0,
+  WEIGHT = 1,
+  ERROR = 2,
+  INVALID = 3
+};
+
 class VISP_EXPORT vpCCDParameters
 {
 public:
@@ -239,6 +248,11 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
     m_minMaskConfidence = confidence;
   }
 
+  void setDisplayType(vpRBSilhouetteCCDDisplayType type)
+  {
+    m_displayType = type;
+  }
+
   /**
    * @}
    */
@@ -258,7 +272,7 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
     m_cov = m_sigma;
   }
 
-  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type) const VP_OVERRIDE;
+  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth) const VP_OVERRIDE;
 
 #if defined(VISP_HAVE_NLOHMANN_JSON)
   virtual void loadJsonConfiguration(const nlohmann::json &j) VP_OVERRIDE
@@ -303,6 +317,8 @@ class VISP_EXPORT vpRBSilhouetteCCDTracker : public vpRBFeatureTracker
 
   bool m_useMask;
   double m_minMaskConfidence;
+
+  vpRBSilhouetteCCDDisplayType m_displayType;
 };
 
 END_VISP_NAMESPACE

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteMeTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBSilhouetteMeTracker.h
@@ -82,7 +82,7 @@ class VISP_EXPORT vpRBSilhouetteMeTracker : public vpRBFeatureTracker
 
   void computeVVSIter(const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration) VP_OVERRIDE;
 
-  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type) const VP_OVERRIDE;
+  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth) const VP_OVERRIDE;
 
   /**
    * \name Settings

diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBTracker.h
@@ -211,7 +211,7 @@ class VISP_EXPORT vpRBTracker
    * @{
    */
   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 display(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth);
   /**
    * @}
    */
@@ -272,8 +272,6 @@ class VISP_EXPORT vpRBTracker
   std::shared_ptr<vpRBDriftDetector> m_driftDetector;
   std::shared_ptr<vpRBVisualOdometry> m_odometry;
 
-
-  // vpRBTrackerFilter m_filter;
 };
 
 END_VISP_NAMESPACE

diff --git a/modules/tracker/rbt/src/core/vpRBTracker.cpp b/modules/tracker/rbt/src/core/vpRBTracker.cpp
@@ -555,7 +555,7 @@ void vpRBTracker::displayMask(vpImage<unsigned char> &Imask) const
   }
 }
 
-void vpRBTracker::display(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth, const vpRBFeatureDisplayType type)
+void vpRBTracker::display(const vpImage<unsigned char> &I, const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &depth)
 {
   if (m_currentFrame.renders.normals.getSize() == 0) {
     return;
@@ -564,15 +564,13 @@ void vpRBTracker::display(const vpImage<unsigned char> &I, const vpImage<vpRGBa>
 
   for (std::shared_ptr<vpRBFeatureTracker> &tracker : m_trackers) {
     if (tracker->featuresShouldBeDisplayed()) {
-      tracker->display(m_currentFrame.cam, I, IRGB, depth, type);
+      tracker->display(m_currentFrame.cam, I, IRGB, depth);
     }
   }
 
   if (m_driftDetector) {
     m_driftDetector->display(IRGB);
   }
-
-  // vpDisplay::displayRectangle(IRGB, m_renderer.getBoundingBox(), vpColor::red);
 }
 
 vpObjectCentricRenderer &vpRBTracker::getRenderer()
@@ -594,7 +592,6 @@ void vpRBTracker::loadConfigurationFile(const std::string &filename)
   catch (nlohmann::json::parse_error &e) {
     std::stringstream msg;
     msg << "Could not parse JSON file : \n";
-
     msg << e.what() << std::endl;
     msg << "Byte position of error: " << e.byte;
     throw vpException(vpException::ioError, msg.str());

diff --git a/modules/tracker/rbt/src/features/vpRBDenseDepthTracker.cpp b/modules/tracker/rbt/src/features/vpRBDenseDepthTracker.cpp
@@ -152,8 +152,7 @@ void vpRBDenseDepthTracker::computeVVSIter(const vpRBFeatureTrackerInput &/*fram
 }
 
 void vpRBDenseDepthTracker::display(const vpCameraParameters &/*cam*/, const vpImage<unsigned char> &/*I*/,
-                                    const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &depth,
-                                    const vpRBFeatureDisplayType /*type*/) const
+                                    const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &depth) const
 {
   for (unsigned int i = 0; i < m_depthPoints.size(); ++i) {
     const vpDepthPoint &p = m_depthPoints[i];

diff --git a/modules/tracker/rbt/src/features/vpRBKltTracker.cpp b/modules/tracker/rbt/src/features/vpRBKltTracker.cpp
@@ -311,8 +311,7 @@ void vpRBKltTracker::computeVVSIter(const vpRBFeatureTrackerInput &/*frame*/, co
 }
 
 void vpRBKltTracker::display(const vpCameraParameters &cam, const vpImage<unsigned char> &I,
-                             const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &/*depth*/,
-                             const vpRBFeatureDisplayType /*type*/) const
+                             const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &/*depth*/) const
 {
   for (const std::pair<const long, vpTrackedKltPoint> &p : m_points) {
     double u = 0.0, v = 0.0;

diff --git a/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp b/modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp
@@ -141,7 +141,7 @@ template <class T> class FastVec3
 
 };
 
-vpRBSilhouetteCCDTracker::vpRBSilhouetteCCDTracker() : vpRBFeatureTracker(), m_vvsConvergenceThreshold(0.0), m_temporalSmoothingFac(0.1), m_useMask(false), m_minMaskConfidence(0.0)
+vpRBSilhouetteCCDTracker::vpRBSilhouetteCCDTracker() : vpRBFeatureTracker(), m_vvsConvergenceThreshold(0.0), m_temporalSmoothingFac(0.1), m_useMask(false), m_minMaskConfidence(0.0), m_displayType(vpRBSilhouetteCCDDisplayType::SIMPLE)
 { }
 
 void vpRBSilhouetteCCDTracker::extractFeatures(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput & /*previousFrame*/, const vpHomogeneousMatrix &/*cMo*/)
@@ -258,12 +258,11 @@ void vpRBSilhouetteCCDTracker::computeVVSIter(const vpRBFeatureTrackerInput &fra
 }
 
 void vpRBSilhouetteCCDTracker::display(const vpCameraParameters &/*cam*/, const vpImage<unsigned char> &/*I*/,
-                                       const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &/*depth*/,
-                                       const vpRBFeatureDisplayType type) const
+                                       const vpImage<vpRGBa> &IRGB, const vpImage<unsigned char> &/*depth*/) const
 {
   unsigned normal_points_number = floor(m_ccdParameters.h / m_ccdParameters.delta_h);
   unsigned nerror_per_point = 2 * normal_points_number * 3;
-  if (type == vpRBFeatureDisplayType::SIMPLE) {
+  if (m_displayType == vpRBSilhouetteCCDDisplayType::SIMPLE) {
 
     for (unsigned int i = 0; i < m_controlPoints.size(); ++i) {
       const vpRBSilhouetteControlPoint &p = m_controlPoints[i];
@@ -274,7 +273,7 @@ void vpRBSilhouetteCCDTracker::display(const vpCameraParameters &/*cam*/, const
       // vpDisplay::displayArrow(IRGB, p.icpoint, ip2, p.invnormal ? vpColor::red : vpColor::lightBlue);
     }
   }
-  else if (type == vpRBFeatureDisplayType::ERROR) {
+  else if (m_displayType == vpRBSilhouetteCCDDisplayType::ERROR) {
     vpColVector errorPerPoint(m_controlPoints.size());
     double maxPointError = 0.0;
     for (unsigned int i = 0; i < m_controlPoints.size(); ++i) {
@@ -305,7 +304,7 @@ void vpRBSilhouetteCCDTracker::display(const vpCameraParameters &/*cam*/, const
       ++idx;
     }
   }
-  else if (type == vpRBFeatureDisplayType::IMPORTANCE) {
+  else if (m_displayType == vpRBSilhouetteCCDDisplayType::WEIGHT) {
     vpColVector weightPerPoint(m_controlPoints.size());
     for (unsigned int i = 0; i < m_controlPoints.size(); ++i) {
       double sum = 0.0;
@@ -387,7 +386,7 @@ void vpRBSilhouetteCCDTracker::computeLocalStatistics(const vpImage<vpRGBa> &I,
 #if VISP_DEBUG_CCD_TRACKER
     if (std::isnan(nv_ptr[0]) || std::isnan(nv_ptr[1])) {
       throw vpException(vpException::fatalError, "x: %f, theta = %f", p.xs, p.getTheta());
-  }
+    }
 #endif
 
     int k = 0;
@@ -466,7 +465,7 @@ void vpRBSilhouetteCCDTracker::computeLocalStatistics(const vpImage<vpRGBa> &I,
       vic_ptr[10 * negative_normal + 9] = exp(-dist2[0] * dist2[0] / (2 * sigma * sigma)) / (sqrt(2 * CV_PI) * sigma);
       normalized_param[kk][1] += vic_ptr[10 * negative_normal + 7];
     }
-}
+  }
 
 #ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for

diff --git a/modules/tracker/rbt/src/features/vpRBSilhouetteMeTracker.cpp b/modules/tracker/rbt/src/features/vpRBSilhouetteMeTracker.cpp
@@ -184,80 +184,14 @@ void vpRBSilhouetteMeTracker::computeVVSIter(const vpRBFeatureTrackerInput &fram
 }
 
 void vpRBSilhouetteMeTracker::display(const vpCameraParameters &/*cam*/, const vpImage<unsigned char> &I,
-                                      const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &/*depth*/,
-                                      const vpRBFeatureDisplayType type) const
+                                      const vpImage<vpRGBa> &/*IRGB*/, const vpImage<unsigned char> &/*depth*/) const
 {
 
-  if (type == vpRBFeatureDisplayType::SIMPLE) {
-    for (const vpRBSilhouetteControlPoint &p: m_controlPoints) {
-      const vpMeSite &s = p.getSite();
-      s.display(I);
-      // vpImagePoint diff(p.nys * m_me.getRange(), p.nxs * m_me.getRange());
-      // vpImagePoint ip2 = p.icpoint + diff;
-      // vpDisplay::displayLine(I, p.icpoint, ip2, vpColor::lightBlue, 2);
-      // vpDisplay::displayPoint(I, p.icpoint, vpColor::red, 2);
-
-    }
-    // vpColor cs[6] = {
-    //   vpColor::red,
-    //   vpColor::blue,
-    //   vpColor::green,
-    //   vpColor::purple,
-    //   vpColor::cyan,
-    //   vpColor::darkGreen
-
-    // };
-    // unsigned colorIndex = 0;
-    // for (const vpTrackedSilhouetteLine &line: m_lines) {
-    //   if (line.getPoints().size() > 10) {
-    //     for (const vpRBSilhouetteControlPoint *p: line.getPoints()) {
-    //       vpDisplay::displayCross(I, p->getSite().m_i, p->getSite().m_j, 3, cs[colorIndex]);
-    //     }
-    //     colorIndex = (colorIndex + 1) % 6;
-    //   }
-    //   //line.getLine().display(I, cam);
-    // }
-  }
-  else if (type == vpRBFeatureDisplayType::IMPORTANCE) {
-    const double maxWeight = m_weights.getMaxValue();
-    unsigned idx = 0;
-    const vpColor bestColor = vpColor::green;
-    for (const vpRBSilhouetteControlPoint &p: m_controlPoints) {
-      const vpMeSite &s = p.getSite();
-
-      if (s.getState() == vpMeSite::NO_SUPPRESSION) {
-        double weight = m_weights[idx] / maxWeight;
-        vpColor c((unsigned char)((double)(bestColor.R) * weight), (unsigned char)((double)(bestColor.G) * weight), (unsigned char)((double)(bestColor.B) * weight));
-        vpDisplay::displayCross(I, s.get_i(), s.get_j(), 3, c, 1);
-      }
-      else {
-        s.display(I);
-      }
-      ++idx;
-    }
+  for (const vpRBSilhouetteControlPoint &p: m_controlPoints) {
+    const vpMeSite &s = p.getSite();
+    s.display(I);
   }
-  else if (type == vpRBFeatureDisplayType::ERROR) {
-    unsigned idx = 0;
-    const vpColor bestColor = vpColor::green;
-    double maxError = m_error.getMaxValue();
-
-    for (const vpRBSilhouetteControlPoint &p: m_controlPoints) {
-      const vpMeSite &s = p.getSite();
 
-      if (s.getState() == vpMeSite::NO_SUPPRESSION) {
-        double weight = m_error[idx] / maxError;
-        vpColor c((unsigned char)((double)(bestColor.R) * weight), (unsigned char)((double)(bestColor.G) * weight), (unsigned char)((double)(bestColor.B) * weight));
-        vpDisplay::displayCross(I, s.get_i(), s.get_j(), 3, c, 1);
-      }
-      else {
-        s.display(I);
-      }
-      ++idx;
-    }
-  }
-  else {
-    throw vpException(vpException::notImplementedError, "Display not implemented for unknown type");
-  }
 }
 
 END_VISP_NAMESPACE
diff --git a/tutorial/tracking/render-based/tutorial-rbt-realsense.cpp b/tutorial/tracking/render-based/tutorial-rbt-realsense.cpp
@@ -205,7 +205,7 @@ int main(int argc, const char **argv)
       vpDisplay::display(IdepthDisplay);
       vpDisplay::display(Id);
       // vpDisplay::display(Icol);
-      tracker.display(Id, Icol, IdepthDisplay, vpRBFeatureDisplayType::SIMPLE);
+      tracker.display(Id, Icol, IdepthDisplay);
       vpDisplay::displayFrame(Icol, cMo, cam, 0.05, vpColor::none, 2);
       vpDisplay::displayText(Id, 20, 5, "Right click to exit", vpColor::red);
       vpMouseButton::vpMouseButtonType button;

diff --git a/tutorial/tracking/render-based/tutorial-rbt-sequence.cpp b/tutorial/tracking/render-based/tutorial-rbt-sequence.cpp
@@ -205,7 +205,7 @@ int main(int argc, const char **argv)
       vpDisplay::flush(IProbaDisplay);
       vpDisplay::display(Id);
       // vpDisplay::display(Icol);
-      tracker.display(Id, Icol, depthDisplay, vpRBFeatureDisplayType::SIMPLE);
+      tracker.display(Id, Icol, depthDisplay);
       vpDisplay::displayFrame(Icol, cMo, cam, 0.05, vpColor::none, 2);
 
       vpDisplay::flush(Icol);