vpMeSite.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Moving edges.
 */
 
#include <cmath>  // std::fabs
#include <limits> // numeric_limits
#include <stdlib.h>
#include <visp3/core/vpTrackingException.h>
#include <visp3/me/vpMe.h>
#include <visp3/me/vpMeSite.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
static bool horsImage(int i, int j, int half, int rows, int cols)
{
  int half_1 = half + 1;
  int half_3 = half + 3;
  return ((0 < (half_1 - i)) || (((i - rows) + half_3) > 0) || (0 < (half_1 - j)) || (((j - cols) + half_3) > 0));
}
#endif
 
void vpMeSite::init()
{
  // Site components
  m_alpha = 0.0;
  m_convlt = 0.0;
  m_weight = -1;
  m_contrastThreshold = 10000.0;
 
  m_selectDisplay = NONE;
 
  // Pixel components
  m_i = 0;
  m_j = 0;
  m_ifloat = m_i;
  m_jfloat = m_j;
 
  m_mask_sign = 1;
 
  m_normGradient = 0;
 
  m_state = NO_SUPPRESSION;
}
 
vpMeSite::vpMeSite()
  : m_i(0), m_j(0), m_ifloat(0), m_jfloat(0), m_mask_sign(1), m_alpha(0.), m_convlt(0.), m_normGradient(0),
  m_weight(1), m_contrastThreshold(10000.0), m_selectDisplay(NONE), m_state(NO_SUPPRESSION)
{ }
 
vpMeSite::vpMeSite(const double &ip, const double &jp)
  : m_i(0), m_j(0), m_ifloat(0), m_jfloat(0), m_mask_sign(1), m_alpha(0.), m_convlt(0.), m_normGradient(0),
  m_weight(1), m_contrastThreshold(10000.0), m_selectDisplay(NONE), m_state(NO_SUPPRESSION)
{
  m_i = vpMath::round(ip);
  m_j = vpMath::round(jp);
  m_ifloat = ip;
  m_jfloat = jp;
}
 
vpMeSite::vpMeSite(const vpMeSite &mesite)
  : m_i(0), m_j(0), m_ifloat(0), m_jfloat(0), m_mask_sign(1), m_alpha(0.), m_convlt(0.), m_normGradient(0),
  m_weight(1), m_contrastThreshold(10000.0), m_selectDisplay(NONE), m_state(NO_SUPPRESSION)
{
  *this = mesite;
}
 
// More an Update than init
// For points in meter form (to avoid approximations)
void vpMeSite::init(const double &ip, const double &jp, const double &alphap)
{
  // Note: keep old value of m_convlt, contrast and threshold
  m_selectDisplay = NONE;
 
  m_ifloat = ip;
  m_i = vpMath::round(ip);
  m_jfloat = jp;
  m_j = vpMath::round(jp);
  m_alpha = alphap;
  m_mask_sign = 1;
}
 
// initialise with convolution()
void vpMeSite::init(const double &ip, const double &jp, const double &alphap, const double &convltp)
{
  m_selectDisplay = NONE;
  m_ifloat = ip;
  m_i = static_cast<int>(ip);
  m_jfloat = jp;
  m_j = static_cast<int>(jp);
  m_alpha = alphap;
  m_convlt = convltp;
  m_mask_sign = 1;
}
 
// initialise with convolution and sign
void vpMeSite::init(const double &ip, const double &jp, const double &alphap, const double &convltp, const int &sign)
{
  m_selectDisplay = NONE;
  m_ifloat = ip;
  m_i = static_cast<int>(ip);
  m_jfloat = jp;
  m_j = static_cast<int>(jp);
  m_alpha = alphap;
  m_convlt = convltp;
  m_mask_sign = sign;
}
 
// initialise with convolution and sign
void vpMeSite::init(const double &ip, const double &jp, const double &alphap, const double &convltp, const int &sign, const double &contrastThreshold)
{
  m_selectDisplay = NONE;
  m_ifloat = ip;
  m_i = static_cast<int>(ip);
  m_jfloat = jp;
  m_j = static_cast<int>(jp);
  m_alpha = alphap;
  m_convlt = convltp;
  m_mask_sign = sign;
  m_contrastThreshold = contrastThreshold;
}
 
vpMeSite &vpMeSite::operator=(const vpMeSite &m)
{
  m_i = m.m_i;
  m_j = m.m_j;
  m_ifloat = m.m_ifloat;
  m_jfloat = m.m_jfloat;
  m_mask_sign = m.m_mask_sign;
  m_alpha = m.m_alpha;
  m_convlt = m.m_convlt;
  m_normGradient = m.m_normGradient;
  m_weight = m.m_weight;
  m_contrastThreshold = m.m_contrastThreshold;
  m_selectDisplay = m.m_selectDisplay;
  m_state = m.m_state;
 
  return *this;
}
 
vpMeSite *vpMeSite::getQueryList(const vpImage<unsigned char> &I, const int &range) const
{
  unsigned int range_ = static_cast<unsigned int>(range);
  // Size of query list includes the point on the line
  vpMeSite *list_query_pixels = new vpMeSite[(2 * range_) + 1];
 
  // range : +/- the range within which the pixel's
  // correspondent will be sought
 
  double salpha = sin(m_alpha);
  double calpha = cos(m_alpha);
  int n = 0;
  vpImagePoint ip;
 
  for (int k = -range; k <= range; ++k) {
    double ii = m_ifloat + (k * salpha);
    double jj = m_jfloat + (k * calpha);
 
    // Display
    if ((m_selectDisplay == RANGE_RESULT) || (m_selectDisplay == RANGE)) {
      ip.set_i(ii);
      ip.set_j(jj);
      vpDisplay::displayCross(I, ip, 1, vpColor::yellow);
    }
 
    // Copy parent's convolution
    vpMeSite pel;
    pel.init(ii, jj, m_alpha, m_convlt, m_mask_sign, m_contrastThreshold);
    pel.setDisplay(m_selectDisplay); // Display
 
    // Add site to the query list
    list_query_pixels[n] = pel;
    ++n;
  }
 
  return list_query_pixels;
}
 
// Specific function for ME
double vpMeSite::convolution(const vpImage<unsigned char> &I, const vpMe *me)
{
  int half;
  int height_ = static_cast<int>(I.getHeight());
  int width_ = static_cast<int>(I.getWidth());
 
  double conv = 0.0;
  unsigned int msize = me->getMaskSize();
  half = static_cast<int>((msize - 1) >> 1);
 
  if (horsImage(m_i, m_j, half + me->getStrip(), height_, width_)) {
    conv = 0.0;
    m_i = 0;
    m_j = 0;
  }
  else {
    // Calculate tangent angle from normal
    double theta = m_alpha + (M_PI / 2);
    // Move tangent angle to within 0->M_PI for a positive
    // mask index
    while (theta < 0) {
      theta += M_PI;
    }
    while (theta > M_PI) {
      theta -= M_PI;
    }
 
    // Convert radians to degrees
    int thetadeg = vpMath::round((theta * 180) / M_PI);
 
    const int flatAngle = 180;
    if (abs(thetadeg) == flatAngle) {
      thetadeg = 0;
    }
 
    unsigned int index_mask = static_cast<unsigned int>(thetadeg / static_cast<double>(me->getAngleStep()));
 
    unsigned int i_ = static_cast<unsigned int>(m_i);
    unsigned int j_ = static_cast<unsigned int>(m_j);
    unsigned int half_ = static_cast<unsigned int>(half);
 
    unsigned int ihalf = i_ - half_;
    unsigned int jhalf = j_ - half_;
 
    for (unsigned int a = 0; a < msize; ++a) {
      unsigned int ihalfa = ihalf + a;
      for (unsigned int b = 0; b < msize; ++b) {
        conv += m_mask_sign * me->getMask()[index_mask][a][b] * I(ihalfa, jhalf + b);
      }
    }
  }
 
  return conv;
}
 
void vpMeSite::track(const vpImage<unsigned char> &I, const vpMe *me, const bool &test_contrast)
{
  int max_rank = -1;
  double max_convolution = 0;
  double max = 0;
  double contrast = 0;
 
  // range = +/- range of pixels within which the correspondent
  // of the current pixel will be sought
  unsigned int range = me->getRange();
 
  vpMeSite *list_query_pixels = getQueryList(I, static_cast<int>(range));
 
  double contrast_max = 1 + me->getMu2();
  double contrast_min = 1 - me->getMu1();
 
  // array in which likelihood ratios will be stored
  double *likelihood = new double[(2 * range) + 1];
 
  if (test_contrast) {
    double diff = 1e6;
    for (unsigned int n = 0; n < ((2 * range) + 1); ++n) {
      //   convolution results
      double convolution_ = list_query_pixels[n].convolution(I, me);
      double threshold = list_query_pixels[n].getContrastThreshold();
 
      if (me->getLikelihoodThresholdType() == vpMe::NORMALIZED_THRESHOLD) {
        threshold = 2.0 * threshold;
      }
      else {
        double n_d = me->getMaskSize();
        threshold = threshold / (100.0 * n_d * trunc(n_d / 2.0));
      }
 
      // luminance ratio of reference pixel to potential correspondent pixel
      // the luminance must be similar, hence the ratio value should
      // lay between, for instance, 0.5 and 1.5 (parameter tolerance)
      likelihood[n] = fabs(convolution_ + m_convlt);
 
      if (likelihood[n] > threshold) {
        contrast = convolution_ / m_convlt;
        if ((contrast > contrast_min) && (contrast < contrast_max) && (fabs(1 - contrast) < diff)) {
          diff = fabs(1 - contrast);
          max_convolution = convolution_;
          max = likelihood[n];
          max_rank = static_cast<int>(n);
        }
      }
    }
  }
  else { // test on contrast only
    for (unsigned int n = 0; n < ((2 * range) + 1); ++n) {
      double threshold = list_query_pixels[n].getContrastThreshold();
 
      if (me->getLikelihoodThresholdType() == vpMe::NORMALIZED_THRESHOLD) {
        threshold = 2.0 * threshold;
      }
      else {
        double n_d = me->getMaskSize();
        threshold = threshold / (100.0 * n_d * trunc(n_d / 2.0));
      }
 
      // convolution results
      double convolution_ = list_query_pixels[n].convolution(I, me);
      likelihood[n] = fabs(2 * convolution_);
      if ((likelihood[n] > max) && (likelihood[n] > threshold)) {
        max_convolution = convolution_;
        max = likelihood[n];
        max_rank = static_cast<int>(n);
      }
    }
  }
 
  vpImagePoint ip;
 
  if (max_rank >= 0) {
    if ((m_selectDisplay == RANGE_RESULT) || (m_selectDisplay == RESULT)) {
      ip.set_i(list_query_pixels[max_rank].m_i);
      ip.set_j(list_query_pixels[max_rank].m_j);
      vpDisplay::displayPoint(I, ip, vpColor::red);
    }
 
    *this = list_query_pixels[max_rank]; // The vpMeSite2 is replaced by the
    // vpMeSite2 of max likelihood
    m_normGradient = vpMath::sqr(max_convolution);
 
    m_convlt = max_convolution;
 
    delete[] list_query_pixels;
    delete[] likelihood;
  }
  else // none of the query sites is better than the threshold
  {
    if ((m_selectDisplay == RANGE_RESULT) || (m_selectDisplay == RESULT)) {
      ip.set_i(list_query_pixels[0].m_i);
      ip.set_j(list_query_pixels[0].m_j);
      vpDisplay::displayPoint(I, ip, vpColor::green);
    }
    m_normGradient = 0;
    if (std::fabs(contrast) > std::numeric_limits<double>::epsilon()) {
      m_state = CONTRAST; // contrast suppression
    }
    else {
      m_state = THRESHOLD; // threshold suppression
    }
 
    delete[] list_query_pixels;
    delete[] likelihood; // modif portage
  }
}
 
int vpMeSite::operator!=(const vpMeSite &m) { return ((m.m_i != m_i) || (m.m_j != m_j)); }
 
VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpMeSite &vpMeS)
{
  return (os << "Alpha: " << vpMeS.m_alpha << "  Convolution: " << vpMeS.m_convlt << "  Weight: " << vpMeS.m_weight << "  Threshold: " << vpMeS.m_contrastThreshold);
}
 
void vpMeSite::display(const vpImage<unsigned char> &I) { vpMeSite::display(I, m_ifloat, m_jfloat, m_state); }
 
void vpMeSite::display(const vpImage<vpRGBa> &I) { vpMeSite::display(I, m_ifloat, m_jfloat, m_state); }
 
// Static functions
 
void vpMeSite::display(const vpImage<unsigned char> &I, const double &i, const double &j, const vpMeSiteState &state)
{
  const unsigned int crossSize = 3;
  switch (state) {
  case NO_SUPPRESSION:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::green, 1);
    break;
 
  case CONTRAST:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::blue, 1);
    break;
 
  case THRESHOLD:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::purple, 1);
    break;
 
  case M_ESTIMATOR:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::red, 1);
    break;
 
  case OUTSIDE_ROI_MASK:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::cyan, 1);
    break;
 
  default:
    vpDisplay::displayCross(I, vpImagePoint(i, j), crossSize, vpColor::yellow, 1);
  }
}
 
void vpMeSite::display(const vpImage<vpRGBa> &I, const double &i, const double &j, const vpMeSiteState &state)
{
  switch (state) {
  case NO_SUPPRESSION:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::green, 1);
    break;
 
  case CONTRAST:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::blue, 1);
    break;
 
  case THRESHOLD:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::purple, 1);
    break;
 
  case M_ESTIMATOR:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::red, 1);
    break;
 
  case OUTSIDE_ROI_MASK:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::cyan, 1);
    break;
 
  default:
    vpDisplay::displayCross(I, vpImagePoint(i, j), 3, vpColor::yellow, 1);
  }
}