Render-Based Tracking

.vscode/settings.json

@@ -205,4 +205,7 @@
     {"column": 120, "color": "#ffcc00"}
   ],
   "C_Cpp.default.compilerPath": "/usr/bin/g++",
+  "[json]": {
+    "editor.defaultFormatter": "vscode.json-language-features"
+  },
 }

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
  *******************************************/

doc/tutorial/rendering/tutorial-panda3d.dox

@@ -30,6 +30,14 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
 \section tutorial-panda3d-install Panda3D installation
 \subsection tutorial-panda3d-install-ubuntu Installation on Ubuntu
 
+- It is recommended to install the assimp package before installing Panda3D. This will allow you to load .obj files, which are a common and easily exportable format.
+  Without it, you will be restricted to .bam files, which is a panda specific format. To convert to a .bam file, see \ref tutorial-panda3d-file-conversion.
+
+  To install assimp, run:
+  \code{.sh}
+  $ sudo apt install libassimp-dev
+  \endcode
+
 - Installer are available for Ubuntu browsing the [download](https://www.panda3d.org/download/) page.
 
 - Hereafter you will find the instructions to build and install Panda3D from source on Ubuntu 22.04
@@ -90,6 +98,14 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
 
 - Hereafter you will find the instructions to build Panda3D from source on macOS.
 
+  - It is recommended to install the assimp package before installing Panda3D. This will allow you to load .obj files, which are a common and easily exportable format.
+  Without it, you will be restricted to .bam files, which is a panda specific format. To convert to a .bam file, see \ref tutorial-panda3d-file-conversion.
+
+  To install assimp, run:
+  \code{.sh}
+  $ brew install assimp
+  \endcode
+
   - On macOS, you will need to download a set of precompiled third-party packages in order to compile Panda3D.
     Navigate to PandaED [download page](https://www.panda3d.org/download/), select the lastest SDK
     (in our case SDK 1.10.14), and under `</> Source Code` section, download
@@ -113,7 +129,7 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
     \endcode
   - Build Panda3D from source
     \code{.sh}
-    $ python3 makepanda/makepanda.py --everything --installer --no-egl --no-gles --no-gles2 --no-opencv --no-python --threads $(sysctl -n hw.logicalcpu)
+    $ python3 makepanda/makepanda.py --everything --installer --no-opencv --no-python --threads $(sysctl -n hw.logicalcpu)
     \endcode
 
 - At this point you can either
@@ -165,6 +181,21 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
 
 - Installer are available for Windows browsing the [download](https://www.panda3d.org/download/) page.
 
+\section tutorial-panda3d-file-conversion Converting a mesh to Panda's file format
+
+If you did not install assimp before installing Panda, you are fairly restricted in what mesh format you can load with Panda.
+
+Panda's recommended format is .bam, a binary format specific to the engine itself.
+If you have Python, you can easily convert your model to a .bam file by doing the following:
+
+1. Installing the panda3D-gltf package: `pip install panda3d-gltf`
+2. From your favorite 3D modelling software export your model to GLTF (available in blender)
+3. Running the converter tool:
+   \code{.sh}
+    $ gltf2bam source.gltf output.bam
+   \endcode
+4. If you encounter issues, check the tool's settings with `gltf2bam -h`
+
 \section tutorial-panda3d-usage Using Panda3D for rendering
 
 An example that shows how to exploit Panda3D in ViSP to render a color image with support for textures and lighting, a

modules/ar/include/visp3/ar/vpPanda3DPostProcessFilter.h

@@ -99,8 +99,10 @@ class VISP_EXPORT vpPanda3DPostProcessFilter : public vpPanda3DBaseRenderer
   PointerTo<Texture> m_texture;
   PointerTo<GraphicsOutput> m_buffer;
 
-  static const char *FILTER_VERTEX_SHADER;
+  static const std::string FILTER_VERTEX_SHADER;
 };
+
 END_VISP_NAMESPACE
+
 #endif
 #endif

modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h

@@ -109,8 +109,8 @@ class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vp
   bool m_showSpeculars;
   PointerTo<Texture> m_colorTexture;
   PointerTo<GraphicsOutput> m_colorBuffer;
-  static const char *COOK_TORRANCE_VERT;
-  static const char *COOK_TORRANCE_FRAG;
+  static const std::string COOK_TORRANCE_VERT;
+  static const std::string COOK_TORRANCE_FRAG;
 
   NodePath m_backgroundImage;
   PointerTo<DisplayRegion> m_display2d;

modules/ar/src/panda3d-simulator/vpPanda3DPostProcessFilter.cpp

@@ -35,19 +35,18 @@
 #include <lightRampAttrib.h>
 
 BEGIN_VISP_NAMESPACE
-const char *vpPanda3DPostProcessFilter::FILTER_VERTEX_SHADER = R"shader(
-#version 330
-in vec4 p3d_Vertex;
-uniform mat4 p3d_ModelViewProjectionMatrix;
-in vec2 p3d_MultiTexCoord0;
-out vec2 texcoords;
-
-void main()
-{
-  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;
-  texcoords = p3d_MultiTexCoord0;
-}
-)shader";
+const std::string vpPanda3DPostProcessFilter::FILTER_VERTEX_SHADER =
+"#version 330\n"
+"in vec4 p3d_Vertex;\n"
+"uniform mat4 p3d_ModelViewProjectionMatrix;\n"
+"in vec2 p3d_MultiTexCoord0;\n"
+"out vec2 texcoords;\n"
+
+"void main()\n"
+"{\n"
+"  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;\n"
+"  texcoords = p3d_MultiTexCoord0;\n"
+"}\n";
 
 void vpPanda3DPostProcessFilter::setupScene()
 {
@@ -62,8 +61,8 @@ void vpPanda3DPostProcessFilter::setupScene()
     "Cannot add a postprocess filter to a renderer that does not define getMainOutputBuffer()");
   }
   m_shader = Shader::make(Shader::ShaderLanguage::SL_GLSL,
-                        FILTER_VERTEX_SHADER,
-                        m_fragmentShader);
+                          FILTER_VERTEX_SHADER,
+                          m_fragmentShader);
   m_renderRoot.set_shader(m_shader);
   m_renderRoot.set_shader_input("dp", LVector2f(1.0 / buffer->get_texture()->get_x_size(), 1.0 / buffer->get_texture()->get_y_size()));
   m_renderRoot.set_texture(buffer->get_texture());

modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp

@@ -37,7 +37,7 @@
 #include "texturePool.h"
 
 BEGIN_VISP_NAMESPACE
-const char *vpPanda3DRGBRenderer::COOK_TORRANCE_VERT =
+const std::string vpPanda3DRGBRenderer::COOK_TORRANCE_VERT =
 "#version 330\n"
 "in vec3 p3d_Normal;\n"
 "in vec4 p3d_Vertex;\n"
@@ -76,7 +76,7 @@ const char *vpPanda3DRGBRenderer::COOK_TORRANCE_VERT =
 "  F0 = computeF0(p3d_Material.refractiveIndex, p3d_Material.metallic, p3d_Material.baseColor.xyz);\n"
 "}\n";
 
-const char *vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG =
+const std::string vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG =
 "// Version 330, specified when generating shader\n"
 "#define M_PI 3.1415926535897932384626433832795\n"
 "in vec3 oNormal;\n"
@@ -200,8 +200,8 @@ void vpPanda3DRGBRenderer::addNodeToScene(const NodePath &object)
   }
 
   PT(Shader) shader = Shader::make(Shader::ShaderLanguage::SL_GLSL,
-                                    COOK_TORRANCE_VERT,
-                                    makeFragmentShader(hasTexture, m_showSpeculars));
+                                   COOK_TORRANCE_VERT,
+                                   makeFragmentShader(hasTexture, m_showSpeculars));
 
   objectInScene.set_shader(shader);
 

modules/ar/src/panda3d-simulator/vpPanda3DRendererSet.cpp

@@ -194,6 +194,8 @@ void vpPanda3DRendererSet::enableSharedDepthBuffer(vpPanda3DBaseRenderer &source
   }
 }
 
+END_VISP_NAMESPACE
+
 #elif !defined(VISP_BUILD_SHARED_LIBS)
 // Work around to avoid warning: libvisp_ar.a(vpPanda3DRendererSet.cpp.o) has no symbols
 void dummy_vpPanda3DRendererSet() { };

modules/core/include/visp3/core/vpPlane.h

@@ -48,10 +48,9 @@ BEGIN_VISP_NAMESPACE
 
   \brief This class defines the container for a plane geometrical structure.
 
-  A plane is given by the equation \f$Ax + By + Cz + D = 0\f$ where
-  (x,y,z) are the coordinates of a point and where \f$[A,B,C]^T\f$ is a normal
+  A plane is given by the equation \f$A*X + B*Y + C*Z + D = 0\f$ where
+  (X,Y,Z) are the coordinates of a point and where \f$[A,B,C]^T\f$ is the normal
   vector of the plane.
-
 */
 class VISP_EXPORT vpPlane
 {
@@ -66,14 +65,15 @@ class VISP_EXPORT vpPlane
   vpPlane();
   vpPlane(const vpPlane &P);
   vpPlane(double A, double B, double C, double D);
-  vpPlane(const vpPoint &P, const vpColVector &n, vpPlaneFrame frame = camera_frame);
+  vpPlane(const vpPoint &P, const vpColVector &normal, vpPlaneFrame frame = camera_frame);
   vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame = camera_frame);
 
   double computeZ(double x, double y) const;
 
-  void init(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame = camera_frame);
-  void init(const vpColVector &P, const vpColVector &n);
-  void init(const vpPlane &P);
+  vpPlane &init(const vpPoint &P, const vpColVector &normal, vpPlaneFrame frame = camera_frame);
+  vpPlane &init(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame = camera_frame);
+  vpPlane &init(const vpColVector &P, const vpColVector &n);
+  vpPlane &init(const vpPlane &P);
 
   // SET the parameter
   /*! Set plane parameter A. */
@@ -157,7 +157,7 @@ class VISP_EXPORT vpPlane
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPlane &p);
 
   // Operation with  Plane
-  void projectionPointOnPlan(const vpPoint &P, vpPoint &Pproj) const;
+  void projectionPointOnPlan(const vpPoint &P, vpPoint &Pproj, vpPlaneFrame frame = camera_frame) const;
 
   double rayIntersection(const vpPoint &M0, const vpPoint &M1, vpColVector &H) const;
 

modules/core/include/visp3/core/vpRGBa.h

@@ -45,6 +45,11 @@
 #include <visp3/core/vpConfig.h>
 #include <visp3/core/vpColVector.h>
 
+#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
+#include <type_traits>
+#endif
+
+
 BEGIN_VISP_NAMESPACE
 /*!
   \class vpRGBa
@@ -123,7 +128,7 @@ class VISP_EXPORT vpRGBa
   /*!
     Copy constructor.
   */
-  inline vpRGBa(const vpRGBa &v) : R(v.R), G(v.G), B(v.B), A(v.A) { }
+  inline vpRGBa(const vpRGBa &v) = default;
 
   /*!
     Create a RGBa value from a 4 dimension column vector.
@@ -143,9 +148,9 @@ class VISP_EXPORT vpRGBa
   vpRGBa &operator=(const unsigned char &v);
   vpRGBa &operator=(const unsigned int &v);
   vpRGBa &operator=(const int &v);
-  vpRGBa &operator=(const vpRGBa &v);
+  vpRGBa &operator=(const vpRGBa &v) = default;
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpRGBa &operator=(const vpRGBa &&v);
+  vpRGBa &operator=(vpRGBa &&v) = default;
 #endif
   vpRGBa &operator=(const vpColVector &v);
   bool operator==(const vpRGBa &v) const;
@@ -171,5 +176,11 @@ class VISP_EXPORT vpRGBa
 
   friend VISP_EXPORT vpRGBa operator*(const double &x, const vpRGBa &rgb);
 };
+
+#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
+static_assert(std::is_trivially_assignable_v<vpRGBa, vpRGBa>);
+static_assert(std::is_trivially_copyable_v<vpRGBa>);
+#endif
+
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpRGBf.h

@@ -43,6 +43,10 @@
 #include <visp3/core/vpConfig.h>
 #include <visp3/core/vpColVector.h>
 
+#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
+#include <type_traits>
+#endif
+
 BEGIN_VISP_NAMESPACE
 
 /*!
@@ -103,7 +107,7 @@ class VISP_EXPORT vpRGBf
   /*!
     Copy constructor.
   */
-  inline vpRGBf(const vpRGBf &v) : R(v.R), G(v.G), B(v.B) { }
+  inline vpRGBf(const vpRGBf &v) = default;
 
   /*!
     Create a RGB value from a 3 dimensional column vector.
@@ -116,9 +120,9 @@ class VISP_EXPORT vpRGBf
 
   vpRGBf &operator=(float v);
   vpRGBf &operator=(int v);
-  vpRGBf &operator=(const vpRGBf &v);
+  vpRGBf &operator=(const vpRGBf &v) = default;
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpRGBf &operator=(const vpRGBf &&v);
+  vpRGBf &operator=(vpRGBf &&v) = default;
 #endif
   vpRGBf &operator=(const vpColVector &v);
   bool operator==(const vpRGBf &v) const;
@@ -144,5 +148,12 @@ class VISP_EXPORT vpRGBf
   friend VISP_EXPORT vpRGBf operator*(double x, const vpRGBf &rgb);
   friend VISP_EXPORT vpRGBf operator*(float x, const vpRGBf &rgb);
 };
+
+#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
+static_assert(std::is_trivially_assignable_v<vpRGBf, vpRGBf>);
+static_assert(std::is_trivially_copyable_v<vpRGBf>);
+#endif
+
 END_VISP_NAMESPACE
+
 #endif