Introduce cMo in render data

lagadic · Dec 13, 2024 · 9a5d92d · 9a5d92d
1 parent 3684e5d
commit 9a5d92d
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerInput.h b/modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerInput.h
@@ -59,6 +59,7 @@ struct VISP_EXPORT vpRBRenderData
   vpImage<unsigned char> isSilhouette; //! Binary image indicating whether a given pixel is part of the silhouette
   double zNear, zFar; // clipping values
   vpRect boundingBox;
+  vpHomogeneousMatrix cMo; //! Pose of the object in the camera frame for which the renders were generated.
 
   vpRBRenderData() : zNear(0.0), zFar(0.0), boundingBox() { }
 
@@ -82,6 +83,7 @@ struct VISP_EXPORT vpRBRenderData
     zNear = o.zNear;
     zFar = o.zFar;
     boundingBox = o.boundingBox;
+    cMo = o.cMo;
     return *this;
   }
 
@@ -95,6 +97,7 @@ struct VISP_EXPORT vpRBRenderData
     zNear = std::move(o.zNear);
     zFar = std::move(o.zFar);
     boundingBox = std::move(o.boundingBox);
+    cMo = std::move(o.cMo);
     return *this;
   }
 };

diff --git a/modules/tracker/rbt/src/core/vpRBTracker.cpp b/modules/tracker/rbt/src/core/vpRBTracker.cpp
@@ -397,6 +397,8 @@ void vpRBTracker::updateRender(vpRBFeatureTrackerInput &frame)
 {
   m_renderer.setCameraPose(m_cMo.inverse());
 
+  frame.renders.cMo = m_cMo;
+
   // Update clipping distances
   frame.renders.normals.resize(m_imageHeight, m_imageWidth);
   frame.renders.silhouetteCanny.resize(m_imageHeight, m_imageWidth);
@@ -496,7 +498,7 @@ std::vector<vpRBSilhouettePoint> vpRBTracker::extractSilhouettePoints(
 #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) {
@@ -521,8 +523,8 @@ std::vector<vpRBSilhouettePoint> vpRBTracker::extractSilhouettePoints(
       // if (noNeighbor) {
       //   points.push_back(vpRBSilhouettePoint(n, m, norm, theta, Z));
       // }
-    }
   }
+}
 
   return points;
 }