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Various fixes for compat with ViSP 3.6.0 #137

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merged 5 commits into from
Apr 19, 2024
Merged

Various fixes for compat with ViSP 3.6.0 #137

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b20564e
Update doc for ros2 usage
fspindle Apr 24, 2023
c8119d5
Remove useless files
fspindle Apr 24, 2023
0388999
Merge remote-tracking branch 'upstream/rolling' into rolling
fspindle Apr 19, 2024
403da82
Sync with visp vscode setiings
fspindle Apr 19, 2024
cc8a7e6
Fix compat with ViSP 3.6.0 or later
fspindle Apr 19, 2024
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247 changes: 173 additions & 74 deletions .vscode/settings.json
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Original file line number Diff line number Diff line change
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51 changes: 31 additions & 20 deletions visp_auto_tracker/src/tracking.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@ namespace tracking
Tracker_::Tracker_(CmdLine &cmd, vpDetectorBase *detector, vpMbTracker *tracker, bool flush_display)
:

cmd(cmd), iter_(0), flashcode_center_(640 / 2, 480 / 2), detector_(detector), tracker_(tracker),
flush_display_(flush_display)
cmd(cmd), iter_(0), flashcode_center_(640 / 2, 480 / 2), detector_(detector), tracker_(tracker),
flush_display_(flush_display)
{
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"), "starting tracker");
cvTrackingBox_init_ = false;
Expand Down Expand Up @@ -121,7 +121,8 @@ bool Tracker_::flashcode_detected(input_ready const &evt)
if (cmd.get_code_message().empty()) {
cmd.set_code_message_index(0); // we retain the largest code at index 0
return true;
} else {
}
else {
for (size_t i = 0; i < detector_->getNbObjects(); i++) {
if (detector_->getMessage(i) == cmd.get_code_message()) {
cmd.set_code_message_index(i);
Expand Down Expand Up @@ -152,7 +153,8 @@ bool Tracker_::flashcode_redetected(input_ready const &evt)
if (cmd.get_code_message().empty()) {
cmd.set_code_message_index(0); // we retain the largest code at index 0
return true;
} else {
}
else {
for (size_t i = 0; i < detector_->getNbObjects(); i++) {
if (detector_->getMessage(i) == cmd.get_code_message()) {
cmd.set_code_message_index(i);
Expand Down Expand Up @@ -217,7 +219,8 @@ bool Tracker_::model_detected(msm::front::none const &)
cMo_ = cMo_lag;
pose.computePose(vpPose::VIRTUAL_VS, cMo_);
// vpDisplay::displayFrame(*I_,cMo_,cam_,0.01,vpColor::none,2);
} catch (vpException &e) {
}
catch (vpException &e) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"), "Pose computation failed: " << e.getStringMessage());
return false;
}
Expand Down Expand Up @@ -262,7 +265,8 @@ bool Tracker_::model_detected(msm::front::none const &)
tracker_->track(Igray_); // track the object on this image
tracker_->getPose(cMo_); // get the pose
}
} catch (vpException &e) {
}
catch (vpException &e) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"), "Tracking failed");
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"), e.getStringMessage());
return false;
Expand Down Expand Up @@ -334,7 +338,7 @@ bool Tracker_::mbt_success(input_ready const &evt)

boost::accumulators::accumulator_set<unsigned char, boost::accumulators::stats<boost::accumulators::tag::median(
boost::accumulators::with_p_square_quantile)> >
acc;
acc;

int region_width = std::max((int)(std::abs(_u - _u_inner) * cmd.get_adhoc_recovery_size()), 1);
int region_height = std::max((int)(std::abs(_v - _v_inner) * cmd.get_adhoc_recovery_size()), 1);
Expand All @@ -353,7 +357,8 @@ bool Tracker_::mbt_success(input_ready const &evt)
return false;
}
}
} catch (vpException &e) {
}
catch (vpException &e) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"), "Tracking lost");
return false;
}
Expand Down Expand Up @@ -399,7 +404,8 @@ void Tracker_::track_model(input_ready const &evt)
tracker_me->getMovingEdge(tracker_me_config_);
tracker_me_config_.setRange(range);
tracker_me->setMovingEdge(tracker_me_config_);
} else
}
else
RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),
"error: could not init moving edges on tracker that doesn't support them.");
}
Expand Down Expand Up @@ -459,21 +465,26 @@ void Tracker_::updateMovingEdgeSites(visp_tracker::msg::MovingEdgeSites &sites)

for (; sitesIterator != line->meline->list.end(); ++sitesIterator)
#endif
{
visp_tracker::msg::MovingEdgeSite movingEdgeSite;
movingEdgeSite.x = sitesIterator->ifloat;
movingEdgeSite.y = sitesIterator->jfloat;
sites.moving_edge_sites.push_back(movingEdgeSite);
}
noVisibleLine = false;
{
visp_tracker::msg::MovingEdgeSite movingEdgeSite;
#if VISP_VERSION_INT >= VP_VERSION_INT(3, 6, 0) // ViSP >= 3.6.0
movingEdgeSite.x = sitesIterator->m_ifloat;
movingEdgeSite.y = sitesIterator->m_jfloat;
#else
movingEdgeSite.x = sitesIterator->ifloat;
movingEdgeSite.y = sitesIterator->jfloat;
#endif
sites.moving_edge_sites.push_back(movingEdgeSite);
}
noVisibleLine = false;
}
#if VISP_VERSION_INT >= VP_VERSION_INT(3, 0, 0) // ViSP >= 3.0.0
}
}
#endif
}
if (noVisibleLine)
RCLCPP_DEBUG_THROTTLE(rclcpp::get_logger("rclcpp"), clock, 10, "no distance lines");
#endif
}
if (noVisibleLine)
RCLCPP_DEBUG_THROTTLE(rclcpp::get_logger("rclcpp"), clock, 10, "no distance lines");
}

void Tracker_::updateKltPoints(visp_tracker::msg::KltPoints &klt)
Expand Down
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