Fix weighting to reflect what's in Antoine's thesis

lagadic · Oct 23, 2024 · 87f23e3 · 87f23e3
1 parent 02b4911
commit 87f23e3
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTracker.h b/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTracker.h
@@ -178,9 +178,9 @@ class VISP_EXPORT vpRBFeatureTracker
   /**
    * \brief Get the importance of this tracker in the optimization step.
    *  The default computation is the following:
-   * \f$ \sqrt{w / N} \f$, where \f$ w\f$ is the weight defined by setTrackerWeight, and  \f$ N \f$ is the number of features.
+   * \f$ w / N \f$, where \f$ w\f$ is the weight defined by setTrackerWeight, and  \f$ N \f$ is the number of features.
    */
-  virtual double getVVSTrackerWeight() const { return sqrt(m_userVvsWeight / m_numFeatures); }
+  virtual double getVVSTrackerWeight() const { return m_userVvsWeight / m_numFeatures; }
   void setTrackerWeight(double weight) { m_userVvsWeight = weight; }
 
   /**

diff --git a/modules/tracker/rbt/src/core/vpRBTracker.cpp b/modules/tracker/rbt/src/core/vpRBTracker.cpp
@@ -496,11 +496,11 @@ std::vector<vpRBSilhouettePoint> vpRBTracker::extractSilhouettePoints(
       // double nx = cos(theta);
       // double ny = sin(theta);
       // const double Zn = Idepth[static_cast<unsigned int>(round(n + ny * 1))][static_cast<unsigned int>(round(m + nx * 2))];
-      if (m_verbose) {
-        if (fabs(theta) > M_PI + 1e-6) {
-          throw vpException(vpException::badValue, "Theta expected to be in -Pi, Pi range but was not");
-        }
+#if defined(VISP_DEBUG_RB_TRACKER)
+      if (fabs(theta) > M_PI + 1e-6) {
+        throw vpException(vpException::badValue, "Theta expected to be in -Pi, Pi range but was not");
       }
+#endif
       points.push_back(vpRBSilhouettePoint(n, m, norm, theta, Z));
       // if (Zn > 0) {
       //   theta = -theta;