Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add Tracking Map, Fix cloth edge visualization #50

Open
wants to merge 8 commits into
base: master
Choose a base branch
from
Open

Add Tracking Map, Fix cloth edge visualization #50

wants to merge 8 commits into from

Commits on Mar 27, 2023

  1. Add Multi-Template Tracking Map (#48) 

    # High-Level Description

Adds the ability for CDCPD to run on multiple deformable object configurations by storing a map of configurations by unique ID (ID unique to each deformable object configuration). This isn't particularly important now but opens the possibility for tracking multiple templates in the future.

This does NOT implement multiple template tracking in the sense of:
- Learning separate LLE weights for separate templates given different initial template states.
- Separating multiple deformable object configurations in the CPD step, meaning that the masked points that belong to another template still impact the CPD score of another, separate deformable object configuration.
- Using masked point association history to disambiguate multi-template (non-instance) segmentation, meaning that if CDCPD receives a mask indicating there are two deformable objects in the segmentation that are interacting, there's no way to tell them apart in the tracking's use of the segmented mask.

## Key Changes

- Adds a std::map to keep track of deformable object configurations (how tracked templates are stored) by unique IDs.
- Changes max segment length to be per edge so that edges can have different maximum lengths.
    - Something of this flavor is necessary to specify max edge lengths based on each template's (potentially different) edge lengths compared to any other template's edge lengths.
    - Though, it's up for debate as to whether this is the best way to handle this.
- Updates the RVIZ edge visualization to only connect tracked points that belong to the same template.
    - Accomplishes this by publishing a MarkerArray message instead of a single Marker message.
    - TODO: Connect points based on the edge list. This would make the visualization respect the actual edges and thus correctly visualize cloth.

## Miscellaneous Changes

- Formats CDCPD and Optimizer function signatures as they could have been considered hard to read.
    @dcolli23
    dcolli23 authored Mar 27, 2023
    Configuration menu
    Copy the full SHA
    4ddbc8a View commit details
    Browse the repository at this point in the history

  2. Rename CPD tolerance to tolerance_cpd 

    - Simply renames the CDCPD class "tolerance" member to "tolerance_cpd"
as the former is ambiguous as to what tolerance we're specifying.
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    d939d27 View commit details
    Browse the repository at this point in the history

  3. Add class for timing runtime execution 

    - Adds the Stopwatch class which is a super useful context manager
that automatically times a code block's runtime duration and outputs to
the given logger (by passing in the logger's name).
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    8a3fb9a View commit details
    Browse the repository at this point in the history

  4. Make tracking vertices, points, and edges private 

    - Makes the vertices, points, and edges of the DeformableObjectTracking
class private and provides getters/setters for these. Should prevent
people from making changes that will shoot them in the foot later.
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    f3dfdea View commit details
    Browse the repository at this point in the history

  5. Add testing of ConnectivityGraph 

    - Adds testing of ConnectivityGraph in DeformableObjectTracking's tests.
Not ideal but at least it has some tests.
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    be00408 View commit details
    Browse the repository at this point in the history

  6. Fix bug in cloth edge initialization 

    - When a non-square cloth was tracked, not all edges were connected.
This was due to using the number of points in the length direction for
the width direction.
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    82001cf View commit details
    Browse the repository at this point in the history

  7. Fix edge RVIZ visualization (#47) 

    - Fixes edge visualization in RVIZ to actually respect the edges
specfied in the template instead of just going off of point order.
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    c4b0299 View commit details
    Browse the repository at this point in the history

  8. Clean up compiler warnings 

    - Cleans up some compiler warnings introduced in earlier commits
    @dcolli23
    dcolli23 committed Mar 27, 2023
    Configuration menu
    Copy the full SHA
    d631378 View commit details
    Browse the repository at this point in the history