开启跟踪后，下一次再重新注册，姿态出现BUG #25
Description
@zz990099 您好， 谢谢您解决了#23 ，在我的测试中，遇到一个BUG
问题描述：
- 对一个物体进行第一帧注册，然后跟踪，姿态输出正确。此时再重新执行注册，姿态输出错误。（图3,图4）
- 对一个物体连续进行第一帧注册，不执行跟踪相关代码，无论执行多少次注册，输出姿态都是正确的。（如图1，图2）
- 也就是说，执行跟踪函数后，如果下一次再重新进行注册，会出现错误。
图1：第0次注册，姿态正确
图2：第1次注册，姿态正确
图3：跟踪打开下，第0次注册，姿态正确
图4：跟踪打开下，第1次注册，姿态错误
可能是使用跟踪track函数后某些姿态缓存没有清除？
测试代码
您可以用如下的代码进行测试，放在test_foundationpose.cpp当中即可
你可以修改 bool if_track = true;来开启关闭是否启动跟踪
每一轮检测后，会弹出图片，按下任意键会进行下一次检测
测试数据在t1.zip文件夹中
t1.zip
void test_track()
{
std::string refiner_engine_path = "/home/lcjpc/lcj/foundation-pose_tensor-rt/models/refiner_hwc_dynamic_fp16.engine";
std::string scorer_engine_path = "/home/lcjpc/lcj/foundation-pose_tensor-rt/models/scorer_hwc_dynamic_fp16.engine";
std::string demo_data_path = "/home/lcjpc/lcj/fdpose_tensorRT/test_data/t1";
std::string demo_textured_obj_path = demo_data_path + "/box_mesh/untitled1.obj";
std::string demo_textured_map_path = demo_data_path + "/box_mesh/TexturedMeshSimplified_0000_map_Kd.jpg";
std::string demo_name = "box";
auto [foundation_pose, mesh_loader] = CreateModel();
Eigen::Matrix3f intrinsic_in_mat = ReadCamK(demo_data_path + "/cam_K.txt");
const std::string first_rgb_path = demo_data_path + "/bgr.png";
const std::string first_depth_path = demo_data_path + "/depth.png";
const std::string first_mask_path = demo_data_path + "/mask.png";
auto [rgb, depth, mask] = ReadRgbDepthMask(first_rgb_path, first_depth_path, first_mask_path);
bool if_track = true;
for(int i = 0; i < 5; ++i)
{
Eigen::Matrix4f first_pose;
foundation_pose->Register(rgb.clone(), depth, mask, demo_name_, first_pose,5);
const Eigen::Vector3f object_dimension = mesh_loader->GetObjectDimension();
cv::Size image_size = rgb.size();
cv::Mat imshow = rgb.clone();
Eigen::Matrix4f draw_pose = detection_6d::ConvertPoseMesh2BBox(first_pose, mesh_loader);
draw3DBoundingBox(intrinsic_in_mat, draw_pose, image_size.height, image_size.width, object_dimension, imshow);
// Eigen::Matrix4f tf_to_center = Eigen::Matrix4f::Identity();
// tf_to_center.block<3, 1>(0, 3) = -mesh_loader->GetMeshModelCenter();
// out_pose = out_pose * tf_to_center * mesh->GetOrientBounds().inverse(); // !!!!!!!!!!!!
// out_pose = out_pose * tf_to_center; // move the frame to the orgin of the mesh
std::string content;
if(if_track)
{
content = "round " + std::to_string(i) + " track is On";
}
else
{
content = "round " + std::to_string(i) + " track is Off";
}
cv::putText(imshow,content,cv::Point(40,40),cv::FONT_HERSHEY_SIMPLEX,1.0,cv::Scalar(0,255,0),2);
cv::imshow("register", imshow);
if(if_track)
{
FPSCounter counter;
counter.Start();
for (int i = 0; i < 5; ++i)
{
Eigen::Matrix4f track_pose;
foundation_pose->Track(rgb.clone(), depth, first_pose, demo_name_, track_pose);
std::cout << "first_pose: \n" << first_pose << std::endl;
std::cout << "track_pose: \n" << track_pose << std::endl;
counter.Count(1);
cv::cvtColor(rgb, imshow, cv::COLOR_RGB2BGR);
Eigen::Matrix4f draw_pose = detection_6d::ConvertPoseMesh2BBox(track_pose, mesh_loader);
// out_pose = out_pose * tf.inverse();
draw3DBoundingBox(intrinsic_in_mat, draw_pose, image_size.height, image_size.width, object_dimension, imshow);
// Eigen::Matrix4f tf_to_center = Eigen::Matrix4f::Identity();
// tf_to_center.block<3, 1>(0, 3) = -mesh_loader->GetMeshModelCenter();
// out_pose = out_pose * tf_to_center * mesh->GetOrientBounds().inverse(); // !!!!!!!!!!!!
// out_pose = out_pose * tf_to_center; // move the frame to the orgin of the mesh
cv::imshow("track", imshow);
cv::waitKey(1);
}
}
cv::waitKey(0);
}
// LOG(WARNING) << "average fps: " << counter.GetFPS();
}
希望您的回复，谢谢！
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