More occluded area tracker settings

src/psmoveconfigtool/AppStage_AdvancedSettings.cpp

@@ -231,7 +231,9 @@ TrackerConfig::config2ptree()
 	pt.put("excluded_opposed_cameras", exclude_opposed_cameras);
 
 	pt.put("min_valid_projection_area", min_valid_projection_area);
-	pt.put("min_occluded_area_on_loss", min_occluded_area_on_loss);
+	pt.put("occluded_area_on_loss_size", occluded_area_on_loss_size);
+	pt.put("occluded_area_ignore_trackers", occluded_area_ignore_trackers);
+	pt.put("occluded_area_regain_projection_size", occluded_area_regain_projection_size);
 	pt.put("min_points_in_contour", min_points_in_contour);
 	pt.put("max_tracker_position_deviation", max_tracker_position_deviation);
 
@@ -260,7 +262,9 @@ TrackerConfig::ptree2config(const boost::property_tree::ptree &pt)
 	exclude_opposed_cameras = pt.get<bool>("excluded_opposed_cameras", exclude_opposed_cameras);
 
 	min_valid_projection_area = pt.get<float>("min_valid_projection_area", min_valid_projection_area);
-	min_occluded_area_on_loss = pt.get<float>("min_occluded_area_on_loss", min_occluded_area_on_loss);
+	occluded_area_on_loss_size = pt.get<float>("occluded_area_on_loss_size", occluded_area_on_loss_size);
+	occluded_area_ignore_trackers = pt.get<int>("occluded_area_ignore_trackers", occluded_area_ignore_trackers);
+	occluded_area_regain_projection_size = pt.get<float>("occluded_area_regain_projection_size", occluded_area_regain_projection_size);
 	min_points_in_contour = pt.get<int>("min_points_in_contour", min_points_in_contour);
 	max_tracker_position_deviation = pt.get<float>("max_tracker_position_deviation", max_tracker_position_deviation);
 
@@ -618,12 +622,12 @@ void AppStage_AdvancedSettings::renderUI()
 				}
 
 				{
-					ImGui::Text("Minimum occluded area on tracking loss:");
+					ImGui::Text("Occluded area size on tracking loss:");
 					ImGui::SameLine(ImGui::GetWindowWidth() - 150.f);
 					ImGui::PushItemWidth(100.f);
-					if (ImGui::InputFloat("##MinimumOccludedAreaOnLoss", &cfg_tracker.min_occluded_area_on_loss, 1.f, 4.f, 2))
+					if (ImGui::InputFloat("##OccludedAreaOnLossSize", &cfg_tracker.occluded_area_on_loss_size, 1.f, 4.f, 2))
 					{
-						cfg_tracker.min_occluded_area_on_loss = static_cast<float>(std::fmax(0.f, std::fmin(99999.f, cfg_tracker.min_occluded_area_on_loss)));
+						cfg_tracker.occluded_area_on_loss_size = static_cast<float>(std::fmax(0.f, std::fmin(99999.f, cfg_tracker.occluded_area_on_loss_size)));
 					}
 					ImGui::PopItemWidth();
 
@@ -636,6 +640,41 @@ void AppStage_AdvancedSettings::renderUI()
 						);
 				}
 
+				{
+					ImGui::Text("Occluded area number of ignored trackers:");
+					ImGui::SameLine(ImGui::GetWindowWidth() - 150.f);
+					ImGui::PushItemWidth(100.f);
+					if (ImGui::InputInt("##OccludedAreaIgnoreTrackers", &cfg_tracker.occluded_area_ignore_trackers, 1, 5))
+					{
+						cfg_tracker.occluded_area_ignore_trackers = static_cast<int>(std::fmax(0.f, std::fmin(99999.f, cfg_tracker.occluded_area_ignore_trackers)));
+					}
+					ImGui::PopItemWidth();
+
+					if (ImGui::IsItemHovered())
+						ImGui::SetTooltip(
+							"The number of trackers that will ignore occluded areas (sorted by biggest projection).\n"
+							"(The default value is 0)"
+						);
+				}
+
+				{
+					ImGui::Text("Occluded area regain projection size:");
+					ImGui::SameLine(ImGui::GetWindowWidth() - 150.f);
+					ImGui::PushItemWidth(100.f);
+					if (ImGui::InputFloat("##OccludedAreaRegainProjectionSize", &cfg_tracker.occluded_area_regain_projection_size, 1.f, 4.f, 2))
+					{
+						cfg_tracker.occluded_area_regain_projection_size = static_cast<float>(std::fmax(0.f, std::fmin(99999.f, cfg_tracker.occluded_area_regain_projection_size)));
+					}
+					ImGui::PopItemWidth();
+
+					if (ImGui::IsItemHovered())
+						ImGui::SetTooltip(
+							"The tracker will regain the projection and remove its occlusion\n"
+							"if the projection size is bigger than the giving value.\n"
+							"(The default value is 16)"
+						);
+				}
+
 				{
 					ImGui::Text("Minimum points in contour:");
 					ImGui::SameLine(ImGui::GetWindowWidth() - 150.f);

src/psmoveconfigtool/AppStage_AdvancedSettings.h

@@ -39,15 +39,17 @@ class TrackerConfig : public PSMoveConfig
 
 		virtual_tracker_count = 0;
 		controller_position_smoothing = 0.f;
-		controller_position_prediction = 0.0f;
+		controller_position_prediction = 0.f;
 		controller_position_prediction_history = 5;
 		ignore_pose_from_one_tracker = true;
 		optical_tracking_timeout = 100;
 		tracker_sleep_ms = 1;
 		use_bgr_to_hsv_lookup_table = true;
 		exclude_opposed_cameras = false;
 		min_valid_projection_area = 6;
-		min_occluded_area_on_loss = 4;
+		occluded_area_on_loss_size = 4.f;
+		occluded_area_ignore_trackers = 0;
+		occluded_area_regain_projection_size = 16.f;
 		min_points_in_contour = 4;
 		max_tracker_position_deviation = 12.0f;
 		disable_roi = false;
@@ -70,7 +72,9 @@ class TrackerConfig : public PSMoveConfig
 	bool use_bgr_to_hsv_lookup_table;
 	bool exclude_opposed_cameras;
 	float min_valid_projection_area;
-	float min_occluded_area_on_loss;
+	float occluded_area_on_loss_size;
+	int occluded_area_ignore_trackers;
+	float occluded_area_regain_projection_size;
 	int min_points_in_contour;
 	float max_tracker_position_deviation;
 	bool disable_roi;

src/psmoveservice/Device/Manager/TrackerManager.cpp

@@ -31,7 +31,9 @@ TrackerManagerConfig::TrackerManagerConfig(const std::string &fnamebase)
 	use_bgr_to_hsv_lookup_table = true;
 	exclude_opposed_cameras = false;
 	min_valid_projection_area = 6;
-	min_occluded_area_on_loss = 4;
+	occluded_area_on_loss_size = 4.f;
+	occluded_area_ignore_trackers = 0;
+	occluded_area_regain_projection_size = 16.f;
 	min_points_in_contour = 4;
 	max_tracker_position_deviation = 12.0f;
 	disable_roi = false;
@@ -68,7 +70,9 @@ TrackerManagerConfig::config2ptree()
 	pt.put("excluded_opposed_cameras", exclude_opposed_cameras);
 
 	pt.put("min_valid_projection_area", min_valid_projection_area);
-	pt.put("min_occluded_area_on_loss", min_occluded_area_on_loss);
+	pt.put("occluded_area_on_loss_size", occluded_area_on_loss_size);
+	pt.put("occluded_area_ignore_trackers", occluded_area_ignore_trackers);
+	pt.put("occluded_area_regain_projection_size", occluded_area_regain_projection_size);
 	pt.put("min_points_in_contour", min_points_in_contour);
 	pt.put("max_tracker_position_deviation", max_tracker_position_deviation);
 
@@ -107,7 +111,9 @@ TrackerManagerConfig::ptree2config(const boost::property_tree::ptree &pt)
 		exclude_opposed_cameras = pt.get<bool>("excluded_opposed_cameras", exclude_opposed_cameras);
 
 		min_valid_projection_area = pt.get<float>("min_valid_projection_area", min_valid_projection_area);
-		min_occluded_area_on_loss = pt.get<float>("min_occluded_area_on_loss", min_occluded_area_on_loss);
+		occluded_area_on_loss_size = pt.get<float>("occluded_area_on_loss_size", occluded_area_on_loss_size);
+		occluded_area_ignore_trackers = pt.get<int>("occluded_area_ignore_trackers", occluded_area_ignore_trackers);
+		occluded_area_regain_projection_size = pt.get<float>("occluded_area_regain_projection_size", occluded_area_regain_projection_size);
 		min_points_in_contour = pt.get<int>("min_points_in_contour", min_points_in_contour);
 		max_tracker_position_deviation = pt.get<float>("max_tracker_position_deviation", max_tracker_position_deviation);
 

src/psmoveservice/Device/Manager/TrackerManager.h

@@ -60,7 +60,9 @@ class TrackerManagerConfig : public PSMoveConfig
 	bool use_bgr_to_hsv_lookup_table;
 	bool exclude_opposed_cameras;
 	float min_valid_projection_area;
-	float min_occluded_area_on_loss;
+	float occluded_area_on_loss_size;
+	int occluded_area_ignore_trackers;
+	float occluded_area_regain_projection_size;
 	int min_points_in_contour;
 	float max_tracker_position_deviation;
 	bool disable_roi;

src/psmoveservice/Device/View/ServerControllerView.cpp

@@ -555,7 +555,7 @@ void ServerControllerView::updateOpticalPoseEstimation(TrackerManager* tracker_m
 					//Create an occlusion area at the last seen valid tracked projection.
 					//If the projection center is near the occluded area it will not mark the projection as valid.
 					//This will remove jitter when the shape of the controllers is partially visible to the trackers.
-					if (trackerMgrConfig.min_occluded_area_on_loss >= 0.01)
+					if (trackerMgrConfig.occluded_area_on_loss_size >= 0.01)
 					{
 						int controller_id = this->getDeviceID();
 
@@ -577,14 +577,19 @@ void ServerControllerView::updateOpticalPoseEstimation(TrackerManager* tracker_m
 						{
 							if (bWasTracking || bIsVisibleThisUpdate)
 							{
-								if (abs(trackerPoseEstimateRef.projection.shape.ellipse.center.x - occluded_projection_tracker_ids[tracker_id][controller_id][0]) 
-											< trackerMgrConfig.min_occluded_area_on_loss
-									&& abs(trackerPoseEstimateRef.projection.shape.ellipse.center.y - occluded_projection_tracker_ids[tracker_id][controller_id][1]) 
-											< trackerMgrConfig.min_occluded_area_on_loss)
+								bool bInArea = (abs(trackerPoseEstimateRef.projection.shape.ellipse.center.x - occluded_projection_tracker_ids[tracker_id][controller_id][0])
+													< trackerMgrConfig.occluded_area_on_loss_size
+												&& abs(trackerPoseEstimateRef.projection.shape.ellipse.center.y - occluded_projection_tracker_ids[tracker_id][controller_id][1])
+													< trackerMgrConfig.occluded_area_on_loss_size);
+
+								bool bRegain = (fmaxf(trackerPoseEstimateRef.projection.screen_area, trackerMgrConfig.min_valid_projection_area) 
+													> trackerMgrConfig.occluded_area_regain_projection_size);
+
+								if (bInArea && !bRegain)
 								{
 									bIsOccluded = true;
 
-									trackerPoseEstimateRef.occlusionAreaSize = trackerMgrConfig.min_occluded_area_on_loss;
+									trackerPoseEstimateRef.occlusionAreaSize = trackerMgrConfig.occluded_area_on_loss_size;
 									trackerPoseEstimateRef.occlusionAreaPos.x = occluded_projection_tracker_ids[tracker_id][controller_id][0];
 									trackerPoseEstimateRef.occlusionAreaPos.y = occluded_projection_tracker_ids[tracker_id][controller_id][1];
 								}
@@ -597,7 +602,7 @@ void ServerControllerView::updateOpticalPoseEstimation(TrackerManager* tracker_m
 					}
 
 					// Ignore projections that are occluded BUT always pass atleast 2 biggest projected trackers.
-					if (!bIsOccluded || projections_found < 2)
+					if (!bIsOccluded || projections_found < trackerMgrConfig.occluded_area_ignore_trackers)
 					{
 						bOccluded = false;