vpImageFilter.h

/****************************************************************************
 *
 * $Id: vpImageFilter.h 4991 2014-11-21 16:03:09Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Various image tools, convolution, ...
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/



#ifndef vpImageFilter_H
#define vpImageFilter_H

#include <visp/vpImage.h>
#include <visp/vpImageException.h>
#include <visp/vpMatrix.h>
#include <visp/vpMath.h>

#include <fstream>
#include <iostream>
#include <math.h>
#include <string.h>

class VISP_EXPORT vpImageFilter
{

public:
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  static void canny(const vpImage<unsigned char>& I,
                    vpImage<unsigned char>& Ic,
                    const unsigned int gaussianFilterSize,
                    const double thresholdCanny,
                    const unsigned int apertureSobel);
#endif

  template<class T>
  static double derivativeFilterX(const vpImage<T> &I,
                                  const unsigned int r, const unsigned int c)
  {
    return (2047.0 *(I[r][c+1] - I[r][c-1])
            +913.0 *(I[r][c+2] - I[r][c-2])
            +112.0 *(I[r][c+3] - I[r][c-3]))/8418.0;
  }

  template<class T>
  static double derivativeFilterY(const vpImage<T> &I,
                                  const unsigned int r, const unsigned int c)
  {
    return (2047.0 *(I[r+1][c] - I[r-1][c])
            +913.0 *(I[r+2][c] - I[r-2][c])
            +112.0 *(I[r+3][c] - I[r-3][c]))/8418.0;
  }

  template<class T>
  static double derivativeFilterX(const vpImage<T> &I,
                                  const unsigned int r, const unsigned int c,
                                  const double *filter, const unsigned int size)
  {
    unsigned int i;
    double result;

    result = 0;

    for(i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r][c+i] - I[r][c-i]) ;
    }
    return result;
  }



  template<class T>
  static double derivativeFilterY(const vpImage<T> &I,
                                  const unsigned int r, const unsigned int c,
                                  const double *filter, const unsigned int size)
  {
    unsigned int i;
    double result;

    result = 0;

    for(i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r+i][c] - I[r-i][c]) ;
    }
    return result;
  }

  static void filter(const vpImage<double> &I,
                     vpImage<double>& Iu,
                     vpImage<double>& Iv,
                     const vpMatrix& M) ;


  static void filter(const vpImage<unsigned char> &I,
                     vpImage<double>& If,
                     const vpMatrix& M) ;


  static void filter(const vpImage<unsigned char> &I, vpImage<double>& GI, const double *filter,unsigned  int size);
  static void filter(const vpImage<double> &I, vpImage<double>& GI, const double *filter,unsigned  int size);

  static inline unsigned char filterGaussXPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
  {
    return (unsigned char)((1.*I[i][j-2]+4.*I[i][j-1]+6.*I[i][j]+4.*I[i][j+1]+1.*I[i][j+2])/16.);
  }
  static inline unsigned char filterGaussYPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
  {
    return (unsigned char)((1.*I[i-2][j]+4.*I[i-1][j]+6.*I[i][j]+4.*I[i+1][j]+1.*I[i+2][j])/16.);
  }

  static void filterX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned  int size);
  static void filterX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned  int size);

  static inline double filterX(const vpImage<unsigned char> &I,
                               unsigned int r, unsigned int c,
                               const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
    }
    return result+filter[0]*I[r][c];
  }


  static inline double filterXLeftBorder(const vpImage<unsigned char> &I,
                                         unsigned int r, unsigned int c,
                                         const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(c>i)
        result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
      else
        result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterXRightBorder(const vpImage<unsigned char> &I,
                                          unsigned int r, unsigned int c,
                                          const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(c+i<I.getWidth())
        result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
      else
        result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterX(const vpImage<double> &I,
                               unsigned int r, unsigned int c,
                               const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterXLeftBorder(const vpImage<double> &I,
                                         unsigned int r, unsigned int c,
                                         const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(c>i)
        result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
      else
        result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterXRightBorder(const vpImage<double> &I,
                                          unsigned int r, unsigned int c,
                                          const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(c+i<I.getWidth())
        result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
      else
        result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static void filterY(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned  int size);
  static void filterY(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned  int size);
  static inline double filterY(const vpImage<unsigned char> &I,
                               unsigned int r, unsigned int c,
                               const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  double static inline filterYTopBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(r>i)
        result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
      else
        result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  double static inline filterYBottomBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(r+i<I.getHeight())
        result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
      else
        result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterYTopBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(r>i)
        result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
      else
        result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterYBottomBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      if(r+i<I.getHeight())
        result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
      else
        result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static inline double filterY(const vpImage<double> &I,
                               unsigned int r, unsigned int c,
                               const double *filter,unsigned  int size)
  {
    double result;

    result = 0;

    for(unsigned int i=1; i<=(size-1)/2; i++)
    {
      result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
    }
    return result+filter[0]*I[r][c];
  }

  static void gaussianBlur(const vpImage<unsigned char> &I, vpImage<double>& GI, unsigned int size=7, double sigma=0., bool normalize=true);
  template<class T>
  static double gaussianFilter(const vpImage<T> & fr,
                               const unsigned int r, const unsigned int c)
  {
    //filter Gaussien
    return (
          15.0 * fr[r][c]
          + 12.0 * ( fr[r-1][c]  + fr[r][c-1]  + fr[r+1][c]   + fr[r][c+1]   )
          + 9.0  * ( fr[r-1][c-1] + fr[r+1][c-1] + fr[r-1][c+1] + fr[r+1][c+1])
          + 5.0  * ( fr[r-2][c]   + fr[r][c-2]   + fr[r+2][c]   + fr[r][c+2] )
          + 4.0  * ( fr[r-2][c+1] + fr[r-2][c-1] + fr[r-1][c-2] + fr[r+1][c-2] +
                     fr[r+2][c-1] + fr[r+2][c+1] + fr[r-1][c+2] + fr[r+1][c+2] )
          + 2.0  * ( fr[r-2][c-2] + fr[r+2][c-2] + fr[r-2][c+2] + fr[r+2][c+2] )
          )
        /159.0;
  }
  //operation pour pyramide gaussienne
  static void getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
  static void getGaussXPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
  static void getGaussYPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);

  static void getGaussianKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);
  static void getGaussianDerivativeKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);

  //fonction renvoyant le gradient en X de l'image I pour traitement pyramidal => dimension /2
  static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx);
  static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
  static void getGradX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
  static void getGradXGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *gaussianKernel,
                              const double *gaussianDerivativeKernel, unsigned  int size);

  //fonction renvoyant le gradient en Y de l'image I
  static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy);
  static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
  static void getGradY(const vpImage<double> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
  static void getGradYGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *gaussianKernel,
                              const double *gaussianDerivativeKernel,unsigned  int size);

} ;


#endif