vpMeSite.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://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.
 *
 * Authors:
 * Eric Marchand
 * Andrew Comport
 * Aurelien Yol
 *
 *****************************************************************************/

#include <visp3/me/vpMeSite.h>
#include <visp3/me/vpMe.h>
#include <visp3/core/vpTrackingException.h>
#include <stdlib.h>
#include <cmath>    // std::fabs
#include <limits>   // numeric_limits
#include <visp3/me/vpMeSite.h>


#ifndef DOXYGEN_SHOULD_SKIP_THIS
static
bool horsImage(int i , int j, int half, int rows, int cols)
{
  //return((i < half + 1) || ( i > (rows - half - 3) )||(j < half + 1) || (j > (cols - half - 3) )) ;
  int half_1 = half + 1;
  int half_3 = half + 3;
  //return((i < half + 1) || ( i > (rows - half - 3) )||(j < half + 1) || (j > (cols - 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
  alpha =  0.0 ;
  convlt = 0.0 ;
  weight=-1;

  selectDisplay = NONE ;

  // Pixel components
  i = 0 ;
  j = 0 ;
  v = 0 ;
  ifloat =i ;
  jfloat = j ;
  i_1 = 0 ;
  j_1 = 0 ;

  mask_sign = 1 ;

  normGradient = 0;
  
  state = NO_SUPPRESSION;
  
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  suppress = 0;
#endif
}

vpMeSite::vpMeSite()
  : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
    convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    , suppress(0)
#endif
{
}

vpMeSite::vpMeSite(double ip, double jp)
  : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
    convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    , suppress(0)
#endif
{
  i = vpMath::round(ip) ;
  j = vpMath::round(jp) ;
  ifloat = ip ;
  jfloat = jp ;
}

vpMeSite::vpMeSite (const vpMeSite &mesite)
  : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
    convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    , suppress(0)
#endif
{
  *this = mesite;
}

// More an Update than init
// For points in meter form (to avoid approximations)
void
vpMeSite::init(double ip, double jp, double alphap)
{
  // Note: keep old value of convlt, suppress and contrast
  selectDisplay = NONE ;

  ifloat = ip;
  i= vpMath::round(ip);
  jfloat = jp ;
  j = vpMath::round(jp);
  alpha = alphap ;
  mask_sign =1 ;

  v = 0 ;
  i_1 = 0 ;
  j_1 = 0 ;

}

// initialise with convolution
void
vpMeSite::init(double ip, double jp, double alphap, double convltp)
{
  selectDisplay = NONE ;
  ifloat = ip ;
  i= (int)ip ;
  jfloat = jp ;
  j =(int)jp  ;
  alpha = alphap ;
  convlt = convltp;
  mask_sign =1 ;

  v = 0 ;
  i_1 = 0 ;
  j_1 = 0 ;
}
// initialise with convolution and sign
void
vpMeSite::init(double ip, double jp, double alphap, double convltp, int sign)
{
  selectDisplay = NONE ;
  ifloat = ip ;
  i= (int)ip ;
  jfloat = jp ;
  j =(int)jp  ;
  alpha = alphap ;
  convlt = convltp;
  mask_sign = sign ;

  v = 0 ;
  i_1 = 0 ;
  j_1 = 0 ;
}

vpMeSite &vpMeSite::operator=(const vpMeSite &m)
{
  i = m.i;
  j = m.j;
  i_1 = m.i_1;
  j_1 = m.j_1;
  ifloat = m.ifloat;
  jfloat = m.jfloat;
  v = m.v;
  mask_sign = m.mask_sign;
  alpha = m.alpha;
  convlt = m.convlt;
  normGradient = m.normGradient;
  weight = m.weight;
  selectDisplay = m.selectDisplay;
  state = m.state;
  
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  suppress = m.suppress;
#endif
  
  return *this ;
}


// ===================================================================
// ===================================================================

vpMeSite*
vpMeSite::getQueryList(const vpImage<unsigned char> &I, const int range)
{

  int   k ;

  int n;
  vpMeSite *list_query_pixels ;
  list_query_pixels =  NULL ;

  unsigned int range_ = static_cast<unsigned int>(range);
  // Size of query list includes the point on the line
  list_query_pixels = new vpMeSite[2 * range_ + 1] ;

  // range : +/- the range within which the pixel's
  //correspondent will be sought

  double salpha = sin(alpha);
  double calpha = cos(alpha);
  n = 0 ;
  vpImagePoint ip;
    
  for(k = -range ; k <= range ; k++)
  {
    double ii = (ifloat+k*salpha);
    double jj = (jfloat+k*calpha);

    // Display
    if    ((selectDisplay==RANGE_RESULT)||(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, alpha, convlt,mask_sign) ;
    pel.setDisplay(selectDisplay) ;// Display

    // Add site to the query list
    list_query_pixels[n] = pel ;
    n++ ;
  }

  return(list_query_pixels) ;
}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
// ===================================================================
// ===================================================================
void
vpMeSite::getSign(const vpImage<unsigned char> &I, const int range)
{

  int   k ;

  double salpha = sin(alpha);
  double calpha = cos(alpha);

    //First extremity
  k = -range ;
  unsigned int i1 = static_cast<unsigned int>(vpMath::round(ifloat+k*salpha));
  unsigned int j1 = static_cast<unsigned int>(vpMath::round(jfloat+k*calpha));

    //Second extremity
  k = range ;
  unsigned int i2 = static_cast<unsigned int>(vpMath::round(ifloat+k*salpha));
  unsigned int j2 = static_cast<unsigned int>(vpMath::round(jfloat+k*calpha));

  // TODO: Here check if i1,j1,i2,j2 > 0 else ?? 
  if (I[i1][j1] > I[i2][j2]) mask_sign = 1 ; else mask_sign = -1 ;
}
#endif

// 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( i , j , half + me->getStrip() , height_, width_))
  {
    conv = 0.0 ;
    i = 0 ; j = 0 ;
  }
  else
  {
    // Calculate tangent angle from normal
    double theta  = 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) ;

    if(abs(thetadeg) == 180 )
    {
      thetadeg= 0 ;
    }

    unsigned int index_mask = (unsigned int)(thetadeg/(double)me->getAngleStep());

    unsigned int i_ = static_cast<unsigned int>(i);
    unsigned int j_ = static_cast<unsigned int>(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 += mask_sign* me->getMask()[index_mask][a][b] *
            //    I(i-half+a,j-half+b) ;
            I(ihalfa,jhalf+b) ;
      }
    }

  }

  return(conv) ;
}


void
vpMeSite::track(const vpImage<unsigned char>& I,
                const vpMe *me,
                const bool test_contraste)
{
  //   vpMeSite  *list_query_pixels ;
  //   int  max_rank =0 ;
  //   int max_rank1=0 ;
  //   int max_rank2 = 0;
  //   double  convolution = 0 ;
  //   double  max_convolution = 0 ;
  //   double max = 0 ;
  //   double contraste = 0;
  //   //  vpDisplay::display(I) ;
  //   //  vpERROR_TRACE("getclcik %d",me->getRange()) ;
  //   //  vpDisplay::getClick(I) ;
  //
  //   // range = +/- range of pixels within which the correspondent
  //   // of the current pixel will be sought
  //   int range  = me->getRange() ;
  //
  //   //  std::cout << i << "  " << j<<"  " << range << "  " << suppress  << std::endl ;
  //   list_query_pixels = getQueryList(I, range) ;
  //
  //   double  contraste_max = 1 + me->getMu2();
  //   double  contraste_min = 1 - me->getMu1();
  //
  //   // array in which likelihood ratios will be stored
  //   double  *likelihood= new double[ 2 * range + 1 ] ;
  //
  //   int ii_1 = i ;
  //   int jj_1 = j ;
  //   i_1 = i ;
  //   j_1 = j ;
  //   double threshold;
  //   threshold = me->getThreshold();
  //
  //   //    std::cout <<"---------------------"<<std::endl ;
  //   for(int n = 0 ; n < 2 * range + 1 ; n++)
  //     {
  //
  //       //   convolution results
  //       convolution = list_query_pixels[n].convolution(I, me) ;
  //
  //       // 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)
  //       if( test_contraste )
  //    {
  //      // Include this to eliminate temporal calculation
  //      if (convlt==0)
  //        {
  //          std::cout << "vpMeSite::track : Division by zero  convlt = 0" << std::endl ;
  //          delete []list_query_pixels ;
  //          delete []likelihood;
  //          throw(vpTrackingException(vpTrackingException::initializationError,
  //                    "Division by zero")) ;
  //        }
  //
  // //       contraste = fabs(convolution / convlt) ;
  //      contraste = convolution / convlt ;
  //      // likelihood ratios
  //      if((contraste > contraste_min) && (contraste < contraste_max))
  //        likelihood[n] = fabs(convolution + convlt ) ;
  //      else
  //        likelihood[n] = 0 ;
  //    }
  //       else
  //    likelihood[n] = fabs(2*convolution) ;
  //
  //
  //       // establishment of the maximal likelihood ratios's  rank
  //       // in the array, the value of the likelihood ratio can now be
  //     // referenced by its rank in the array
  //     if (likelihood[n] > max)
  //     {
  //       max_convolution= convolution;
  //       max = likelihood[n] ;
  //       max_rank = n ;
  //       max_rank2 = max_rank1;
  //       max_rank1 = max_rank;
  //     }
  //
  //   }
  //
  //   // test on the likelihood threshold if threshold==-1 then
  //   // the me->threshold is  selected
  //
  //   vpImagePoint ip;
  //
  //   //  if (test_contrast)
  //   if(max > threshold)
  //     {
  //       if ((selectDisplay==RANGE_RESULT)||(selectDisplay==RESULT))
  //    {
  //      ip.set_i( list_query_pixels[max_rank].i );
  //      ip.set_j( list_query_pixels[max_rank].j );
  //      vpDisplay::displayPoint(I, ip, vpColor::red);
  //    }
  //
  //       *this = list_query_pixels[max_rank] ;//The vpMeSite is replaced by the vpMeSite of max likelihood
  //       normGradient =  vpMath::sqr(max_convolution);
  //
  //       convlt = max_convolution;
  //       i_1 = ii_1; //list_query_pixels[max_rank].i ;
  //       j_1 = jj_1; //list_query_pixels[max_rank].j ;
  //       delete []list_query_pixels ;
  //       delete []likelihood;
  //     }
  //   else //none of the query sites is better than the threshold
  //     {
  //       if ((selectDisplay==RANGE_RESULT)||(selectDisplay==RESULT))
  //    {
  //      ip.set_i( list_query_pixels[max_rank].i );
  //      ip.set_j( list_query_pixels[max_rank].j );
  //      vpDisplay::displayPoint(I, ip, vpColor::green);
  //    }
  //       normGradient = 0 ;
  //       if(max == 0)
  //    suppress = 1; // contrast suppression
  //       else
  //    suppress = 2; // threshold suppression
  //
  //       delete []list_query_pixels ;
  //       delete []likelihood; // modif portage
  //     }

  vpMeSite  *list_query_pixels ;
  int  max_rank =-1 ;
  //   int max_rank1=-1 ;
  //   int max_rank2 = -1;
  double  max_convolution = 0 ;
  double max = 0 ;
  double contraste = 0;
  //  vpDisplay::display(I) ;
  //  vpERROR_TRACE("getclcik %d",me->range) ;
  //  vpDisplay::getClick(I) ;

  // range = +/- range of pixels within which the correspondent
  // of the current pixel will be sought
  unsigned int range  = me->getRange() ;

  //  std::cout << i << "  " << j<<"  " << range << "  " << suppress  << std::endl ;
  list_query_pixels = getQueryList(I, (int)range) ;

  double  contraste_max = 1 + me->getMu2();
  double  contraste_min = 1 - me->getMu1();

  // array in which likelihood ratios will be stored
  double  *likelihood= new double[ 2 * range + 1 ] ;

  int ii_1 = i ;
  int jj_1 = j ;
  i_1 = i ;
  j_1 = j ;
  double threshold;
  threshold = me->getThreshold() ;
  double diff = 1e6;

  //    std::cout <<"---------------------"<<std::endl ;
  for(unsigned int n = 0 ; n < 2 * range + 1 ; n++)
  {
    //   convolution results
    double convolution_ = list_query_pixels[n].convolution(I, me) ;

    // 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)
    if( test_contraste )
    {
      likelihood[n] = fabs(convolution_ + convlt );
      if (likelihood[n]> threshold)
      {
        contraste = convolution_ / convlt;
        if((contraste > contraste_min) && (contraste < contraste_max) && fabs(1-contraste) < diff)
        {
          diff = fabs(1-contraste);
          max_convolution= convolution_;
          max = likelihood[n] ;
          max_rank = (int)n ;
          //        max_rank2 = max_rank1;
          //        max_rank1 = max_rank;
        }
      }
    }

    else
    {
      likelihood[n] = fabs(2*convolution_) ;
      if (likelihood[n] > max  && likelihood[n] > threshold)
      {
        max_convolution= convolution_;
        max = likelihood[n] ;
        max_rank = (int)n ;
        //           max_rank2 = max_rank1;
        //           max_rank1 = max_rank;
      }
    }
  }
  
  // test on the likelihood threshold if threshold==-1 then
  // the me->threshold is  selected

  vpImagePoint ip;

  //  if (test_contrast)
  if(max_rank >= 0)
  {
    if ((selectDisplay==RANGE_RESULT)||(selectDisplay==RESULT))
    {
      ip.set_i( list_query_pixels[max_rank].i );
      ip.set_j( list_query_pixels[max_rank].j );
      vpDisplay::displayPoint(I, ip, vpColor::red);
    }
        
    *this = list_query_pixels[max_rank] ;//The vpMeSite2 is replaced by the vpMeSite2 of max likelihood
    normGradient =  vpMath::sqr(max_convolution);

    convlt = max_convolution;
    i_1 = ii_1; //list_query_pixels[max_rank].i ;
    j_1 = jj_1; //list_query_pixels[max_rank].j ;
    delete []list_query_pixels ;
    delete []likelihood;
  }
  else //none of the query sites is better than the threshold
  {
    if ((selectDisplay==RANGE_RESULT)||(selectDisplay==RESULT))
    {
      ip.set_i( list_query_pixels[0].i );
      ip.set_j( list_query_pixels[0].j );
      vpDisplay::displayPoint(I, ip, vpColor::green);
    }
    normGradient = 0 ;
    //if(contraste != 0)
    if(std::fabs(contraste) > std::numeric_limits<double>::epsilon())
      state = CONSTRAST; // contrast suppression
    else
      state = THRESHOLD; // threshold suppression

    delete []list_query_pixels ;
    delete []likelihood; // modif portage
  }
}

int vpMeSite::operator!=(const vpMeSite &m)
{
  return((m.i != i) || (m.j != j)) ;

}

VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpMeSite& vpMeS)
{
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  return (os << "Alpha: " << vpMeS.alpha
          << "  Convolution: " << vpMeS.convlt
          << "  Flag: " << vpMeS.suppress
          << "  Weight: " << vpMeS.weight );
#else
  return (os << "Alpha: " << vpMeS.alpha
          << "  Convolution: " << vpMeS.convlt
          << "  Weight: " << vpMeS.weight );
#endif
}

void vpMeSite::display(const vpImage<unsigned char>& I)
{
    vpMeSite::display(I,ifloat,jfloat,state);
}

//Static functions

void vpMeSite::display(const vpImage<unsigned char>& 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 CONSTRAST:
      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 TOO_NEAR:
      vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::cyan,1);
      break;

    default:
      vpDisplay::displayCross(I,vpImagePoint(i,j),3,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 CONSTRAST:
      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 TOO_NEAR:
      vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::cyan,1);
      break;

    default:
      vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::yellow,1);
  }
}