Adding an option to control the smoothing weights for each model para…

…meter (#188)

Summary: Pull Request resolved: #188

Reviewed By: jeongseok-meta

Differential Revision: D68493913

fbshipit-source-id: 480f99dbf01e3e579a9c759fccb2f2bf310f1664

momentum/marker_tracking/marker_tracker.cpp

@@ -120,7 +120,17 @@ Eigen::MatrixXf trackSequence(
   }
 
   // add a smoothness constraint in parameter space
-  if (config.smoothing != 0) {
+  if (!config.smoothingWeights.cols()) {
+    // If per parameter weights are provided override the default weight
+    MT_CHECK(
+        config.smoothingWeights.cols() == character.parameterTransform.numAllModelParameters(),
+        "Smoothing weights vector should be equal to the number of model parameters {} vs {}",
+        config.smoothingWeights.cols(),
+        character.parameterTransform.numAllModelParameters());
+    auto smoothConstrFunc = std::make_shared<ModelParametersSequenceErrorFunction>(character);
+    smoothConstrFunc->setTargetWeights(config.smoothingWeights);
+    solverFunc.addSequenceErrorFunction(kAllFrames, smoothConstrFunc);
+  } else if (config.smoothing != 0) {
     auto smoothConstrFunc = std::make_shared<ModelParametersSequenceErrorFunction>(character);
     smoothConstrFunc->setWeight(config.smoothing);
     solverFunc.addSequenceErrorFunction(kAllFrames, smoothConstrFunc);

momentum/marker_tracking/marker_tracker.h

@@ -45,6 +45,9 @@ struct TrackingConfig : public BaseConfig {
   float smoothing = 0;
   /// The weight for the collision error function.
   float collisionErrorWeight = 0.0;
+  /// Smoothing weights per model parameter. The size of this vector should be equal to number of
+  /// model parameters and this overrides the value specific in smoothing
+  Eigen::VectorXf smoothingWeights{};
 };
 
 /// Configuration for refining an already tracked motion, eg. add smoothing and/or collision

pymomentum/marker_tracking/marker_tracking_pybind.cpp

@@ -96,21 +96,27 @@ PYBIND11_MODULE(marker_tracking, m) {
 
   trackingConfig.def(py::init<>())
       .def(
-          py::init<float, float, size_t, bool, float, float>(),
+          py::init<float, float, size_t, bool, float, float, Eigen::VectorXf>(),
           py::arg("min_vis_percent") = 0.0,
           py::arg("loss_alpha") = 2.0,
           py::arg("max_iter") = 30,
           py::arg("debug") = false,
           py::arg("smoothing") = 0.0,
-          py::arg("collision_error_weight") = 0.0)
+          py::arg("collision_error_weight") = 0.0,
+          py::arg("smoothing_weights") = Eigen::VectorXf())
       .def_readwrite(
           "smoothing",
           &marker_tracking::TrackingConfig::smoothing,
           "Smoothing weight; 0 to disable")
       .def_readwrite(
           "collision_error_weight",
           &marker_tracking::TrackingConfig::collisionErrorWeight,
-          "Collision error weight; 0 to disable");
+          "Collision error weight; 0 to disable")
+      .def_readwrite(
+          "smoothing_weights",
+          &marker_tracking::TrackingConfig::smoothingWeights,
+          R"(Smoothing weights per model parameter. The size of this vector should be 
+            equal to number of model parameters and this overrides the value specific in smoothing)");
 
   auto refineConfig = py::
       class_<marker_tracking::RefineConfig, marker_tracking::TrackingConfig>(
@@ -125,6 +131,7 @@ PYBIND11_MODULE(marker_tracking, m) {
               bool,
               float,
               float,
+              Eigen::VectorXf,
               float,
               bool,
               bool>(),
@@ -134,6 +141,7 @@ PYBIND11_MODULE(marker_tracking, m) {
           py::arg("debug") = false,
           py::arg("smoothing") = 0.0,
           py::arg("collision_error_weight") = 0.0,
+          py::arg("smoothing_weights") = Eigen::VectorXf(),
           py::arg("regularizer") = 0.0,
           py::arg("calib_id") = false,
           py::arg("calib_locators") = false)