Group classes in doxygen, settings for klt tracker~

doc/mainpage.dox.in

@@ -526,6 +526,69 @@ in different ways. This will motivate us to continue the efforts.
   \defgroup group_mbt_xml_parser XML parsers
   XML parsers dedicated to model-based trackers.
 */
+
+
+/*******************************************
+ * Module rbt
+ *******************************************/
+/*!
+  \ingroup module_tracker
+  \defgroup module_rbt RBT: Render-Based Tracker module
+  Render-Based Tracker module
+*/
+
+/*!
+  \ingroup module_rbt
+  \defgroup group_rbt_core Core Render-Based Tracking functionalities
+
+  This group contains the core classes that make Render-Based tracking work. The main interface for Render-Based tracking is vpRBTracker.
+*/
+
+/*!
+  \ingroup module_rbt
+  \defgroup group_rbt_trackers Trackable features
+
+  These classes represent features that can be tracked by the render-based tracker. All trackable features should inherit from vpRBFeatureTracker
+
+*/
+
+/*!
+  \ingroup module_rbt
+  \defgroup group_rbt_mask Object segmentation
+
+  These classes allow to perform object segmentaiton from rendering information. This segmentation may be used downstream by feature trackers to filter features.
+  */
+
+/*!
+  \ingroup module_rbt
+  \defgroup group_rbt_drift Drift and divergence detection
+
+  These classes allow to detect tracking drift.
+*/
+
+/*!
+  \ingroup module_rbt
+  \defgroup group_rbt_rendering Rendering
+
+  This group contains additional rendering utilities.
+*/
+
+/*!
+  \ingroup module_mbt
+  \defgroup group_mbt_features Features
+  Model-based trackers features.
+*/
+/*!
+  \ingroup module_mbt
+  \defgroup group_mbt_faces Faces management
+  Faces management including visibility.
+*/
+/*!
+  \ingroup module_mbt
+  \defgroup group_mbt_xml_parser XML parsers
+  XML parsers dedicated to model-based trackers.
+*/
+
 /*******************************************
  * Module robot
  *******************************************/

modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h

@@ -923,15 +923,7 @@ inline void to_json(nlohmann::json &j, const vpMbGenericTracker::TrackerWrapper
   //KLT tracker settings
 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
   if (t.m_trackerType & vpMbGenericTracker::KLT_TRACKER) {
-    nlohmann::json klt = nlohmann::json {
-      {"maxFeatures", t.tracker.getMaxFeatures()},
-      {"windowSize", t.tracker.getWindowSize()},
-      {"quality", t.tracker.getQuality()},
-      {"minDistance", t.tracker.getMinDistance()},
-      {"harris", t.tracker.getHarrisFreeParameter()},
-      {"blockSize", t.tracker.getBlockSize()},
-      {"pyramidLevels", t.tracker.getPyramidLevels()}
-    };
+    nlohmann::json klt = t.tracker;
     klt["maskBorder"] = t.maskBorder;
     j["klt"] = klt;
   }
@@ -1034,14 +1026,7 @@ inline void from_json(const nlohmann::json &j, vpMbGenericTracker::TrackerWrappe
 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
   if (t.m_trackerType & vpMbGenericTracker::KLT_TRACKER) {
     const nlohmann::json klt = j.at("klt");
-    auto &ktrack = t.tracker;
-    ktrack.setMaxFeatures(klt.value("maxFeatures", 10000));
-    ktrack.setWindowSize(klt.value("windowSize", 5));
-    ktrack.setQuality(klt.value("quality", 0.01));
-    ktrack.setMinDistance(klt.value("minDistance", 5));
-    ktrack.setHarrisFreeParameter(klt.value("harris", 0.01));
-    ktrack.setBlockSize(klt.value("blockSize", 3));
-    ktrack.setPyramidLevels(klt.value("pyramidLevels", 3));
+    t.tracker = klt;
     t.setMaskBorder(klt.value("maskBorder", t.maskBorder));
     t.faces.getMbScanLineRenderer().setMaskBorder(t.maskBorder);
   }

modules/tracker/rbt/include/visp3/rbt/vpColorHistogramMask.h

@@ -51,6 +51,11 @@
 
 class vpRBFeatureTrackerInput;
 
+/**
+ * \brief A color histogram based segmentation algorithm.
+ *
+ * \ingroup group_rbt_mask
+ */
 class VISP_EXPORT vpColorHistogramMask : public vpObjectMask
 {
 public:

modules/tracker/rbt/include/visp3/rbt/vpObjectCentricRenderer.h

@@ -45,6 +45,11 @@
 #include <visp3/ar/vpPanda3DRendererSet.h>
 #include <visp3/core/vpRect.h>
 
+/*!
+
+  \brief Single object focused renderer
+  \ingroup group_rbt_rendering
+*/
 class VISP_EXPORT vpObjectCentricRenderer : public vpPanda3DRendererSet
 {
 public:

modules/tracker/rbt/include/visp3/rbt/vpObjectMask.h

@@ -48,6 +48,11 @@ class vpRBFeatureTrackerInput;
 #include <nlohmann/json_fwd.hpp>
 #endif
 
+/**
+ * \brief
+ *
+ * \ingroup group_rbt_mask
+ */
 class VISP_EXPORT vpObjectMask
 {
 public:

modules/tracker/rbt/include/visp3/rbt/vpObjectMaskFactory.h

@@ -41,6 +41,12 @@
 #include <visp3/rbt/vpDynamicFactory.h>
 #include <visp3/rbt/vpObjectMask.h>
 
+/**
+ * \brief A factory that can be used to create Object segmentation algorithms from JSON data.
+ *
+ * \ingroup group_rbt_mask
+ *
+ */
 class VISP_EXPORT vpObjectMaskFactory : public vpDynamicFactory<vpObjectMask>
 {
 private:

modules/tracker/rbt/include/visp3/rbt/vpPanda3DDepthFilters.h

@@ -46,10 +46,8 @@
 
 /**
  *
- * \ingroup group_ar_renderer_panda3d_filters
- * \brief Class that implements a gaussian filter on a grayscale image.
- * The grayscale image should be contained in the blue channel of the image.
- *
+ * \ingroup group_rbt_rendering
+ * \brief
  */
 class VISP_EXPORT vpPanda3DDepthGaussianBlur : public vpPanda3DPostProcessFilter
 {
@@ -63,7 +61,7 @@ class VISP_EXPORT vpPanda3DDepthGaussianBlur : public vpPanda3DPostProcessFilter
 };
 
 /**
- * \ingroup group_ar_renderer_panda3d_filters
+ * \ingroup group_rbt_rendering
  * \brief Implementation of canny filtering, using Sobel kernels.
  *
  * The results of the canny are filtered based on a threshold value (defined between 0 and 255), checking whether there is enough gradient information.

modules/tracker/rbt/include/visp3/rbt/vpRBDenseDepthTracker.h

@@ -61,7 +61,9 @@
 
 
 /**
- * @brief A base class for all features that can be used and tracker in the vpRenderBasedTracker
+ * @brief A tracker based on dense depth point-plane alignement
+ *
+ * \ingroup group_rbt_trackers
  *
  */
 class VISP_EXPORT vpRBDenseDepthTracker : public vpRBFeatureTracker

modules/tracker/rbt/include/visp3/rbt/vpRBDriftDetector.h

@@ -57,6 +57,7 @@ template <typename T> class vpImage;
  * - Call vpRBDriftDetector::update to update the drift detection parameters.
  * - use vpRBDriftDetector::hasDiverged to detect the drift, or vpRBDriftDetector::getScore to use the estimated tracking reliability.
  *
+ * \ingroup group_rbt_drift
  */
 class VISP_EXPORT vpRBDriftDetector
 {

modules/tracker/rbt/include/visp3/rbt/vpRBDriftDetectorFactory.h

@@ -41,6 +41,11 @@
 #include <visp3/rbt/vpDynamicFactory.h>
 #include <visp3/rbt/vpRBDriftDetector.h>
 
+/**
+ * \brief A factory that can be used to instanciate drift detection algorithms from JSON data.
+ *
+ * \ingroup group_rbt_drift
+ */
 class VISP_EXPORT vpRBDriftDetectorFactory : public vpDynamicFactory<vpRBDriftDetector>
 {
 private:

modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTracker.h

@@ -61,7 +61,9 @@ enum vpRBFeatureDisplayType
 
 
 /**
- * @brief A base class for all features that can be used and tracked in the vpRBTracker
+ * \brief A base class for all features that can be used and tracked in the vpRBTracker
+ *
+ * \ingroup group_rbt_trackers
  */
 class VISP_EXPORT vpRBFeatureTracker
 {
@@ -70,13 +72,13 @@ class VISP_EXPORT vpRBFeatureTracker
   vpRBFeatureTracker();
 
   /**
-   * @brief Return the type of feature that is used by this tracker
+   * \brief Return the type of feature that is used by this tracker
    *
-   * @return vpRBFeatureType
+   * \return vpRBFeatureType
    */
 
   /**
-   * @brief Get the number of features used to compute the pose update
+   * \brief Get the number of features used to compute the pose update
    *
    */
   unsigned getNumFeatures() const { return m_numFeatures; }
@@ -87,21 +89,21 @@ class VISP_EXPORT vpRBFeatureTracker
    */
 
   /**
-   * @brief Whether this tracker requires RGB image to extract features
+   * \brief Whether this tracker requires RGB image to extract features
    *
-   * @return true if the tracker requires an RGB image
-   * @return false otherwise
+   * \return true if the tracker requires an RGB image
+   * \return false otherwise
    */
   virtual bool requiresRGB() const = 0;
 
   /**
-   * @brief Whether this tracker requires depth image to extract features
+   * \brief Whether this tracker requires depth image to extract features
    *
    */
   virtual bool requiresDepth() const = 0;
 
   /**
-   * @brief Whether this tracker requires Silhouette candidates
+   * \brief Whether this tracker requires Silhouette candidates
    */
   virtual bool requiresSilhouetteCandidates() const = 0;
   /**
@@ -113,26 +115,27 @@ class VISP_EXPORT vpRBFeatureTracker
    * \name Core Tracking methods
    * @{
    */
+
   /**
-  * @brief Method called when starting a tracking iteration
+  * \brief Method called when starting a tracking iteration
   *
   */
   virtual void onTrackingIterStart() = 0;
 
   /**
-   * @brief Method called after the tracking iteration has finished
+   * \brief Method called after the tracking iteration has finished
    *
    */
   virtual void onTrackingIterEnd() = 0;
 
   /**
-   * @brief Extract features from the frame data and the current pose estimate
+   * \brief Extract features from the frame data and the current pose estimate
    *
    */
   virtual void extractFeatures(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) = 0;
 
   /**
-   * @brief Track the features
+   * \brief Track the features
    */
   virtual void trackFeatures(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) = 0;
 
@@ -156,9 +159,9 @@ class VISP_EXPORT vpRBFeatureTracker
    */
   const vpMatrix &getCovariance() const { return m_cov; }
   /**
-   * @brief Update the covariance matrix
+   * \brief Update the covariance matrix
    *
-   * @param lambda the visual servoing gain
+   * \param lambda the visual servoing gain
    */
   virtual void updateCovariance(const double lambda);
   /**
@@ -171,25 +174,25 @@ class VISP_EXPORT vpRBFeatureTracker
   bool vvsHasConverged() const { return m_vvsConverged; }
 
   /**
-   * @brief Get the importance of this tracker in the optimization step.
+   * \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.
    */
   virtual double getVVSTrackerWeight() const { return sqrt(m_userVvsWeight / m_numFeatures); }
   void setTrackerWeight(double weight) { m_userVvsWeight = weight; }
 
   /**
-   * @brief Get the leftside term of the Gauss-Newton optimization term
+   * \brief Get the leftside term of the Gauss-Newton optimization term
    */
   const vpMatrix &getLTL() const { return m_LTL; }
 
   /**
-   * @brief Get the rightside term of the Gauss-Newton optimization term
+   * \brief Get the rightside term of the Gauss-Newton optimization term
    */
   const vpColVector &getLTR() const { return m_LTR; }
 
   /**
-   * @brief Get a weighted version of the error vector.
+   * \brief Get a weighted version of the error vector.
    * This should not include the userVVSWeight, but may include reweighting to remove outliers, occlusions, etc.
    */
   const vpColVector &getWeightedError() const { return m_weighted_error; }

modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerFactory.h

@@ -41,6 +41,11 @@
 #include <visp3/rbt/vpRBFeatureTracker.h>
 #include <visp3/rbt/vpDynamicFactory.h>
 
+/**
+ * \brief A factory to instantiate feature trackers from JSON data
+ *
+ * \ingroup group_rbt_trackers
+ */
 class VISP_EXPORT vpRBFeatureTrackerFactory : public vpDynamicFactory<vpRBFeatureTracker>
 {
 private:

modules/tracker/rbt/include/visp3/rbt/vpRBFeatureTrackerInput.h

@@ -44,6 +44,11 @@
 
 #include <visp3/rbt/vpRBSilhouettePoint.h>
 
+/**
+ * \brief Render data storage
+ *
+ * \ingroup group_rbt_core
+ */
 struct VISP_EXPORT vpRBRenderData
 {
   vpImage<vpRGBf> normals; //! Image containing the per-pixel normal vector (RGB, in object space)
@@ -94,6 +99,12 @@ struct VISP_EXPORT vpRBRenderData
 
 };
 
+/**
+ * \brief All the data related to a single tracking frame.
+ * This contains both the input data (from a real camera/outside source) and renders from Panda.
+ *
+ * \ingroup group_rbt_core
+ */
 class VISP_EXPORT vpRBFeatureTrackerInput
 {
 public:

modules/tracker/rbt/include/visp3/rbt/vpRBInitializationHelper.h

@@ -12,6 +12,11 @@ template <typename T>
 class vpImage;
 
 
+/**
+ * \brief A set of utilities to perform initialization.
+ *
+ * \group core
+ */
 class VISP_EXPORT vpRBInitializationHelper
 {
 public: