vpScale.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 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:
 * Median Absolute Deviation (MAD), MPDE, Mean shift kernel density
 *estimation.
 *
 * Authors:
 * Andrew Comport
 *
 *****************************************************************************/

#include <cmath>  // std::fabs
#include <limits> // numeric_limits
#include <stdlib.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpScale.h>

#define DEBUG_LEVEL2 0

vpScale::vpScale() : bandwidth(0.02), dimension(1)
{
#if (DEBUG_LEVEL2)
  std::cout << "vpScale constructor reached" << std::endl;
#endif
#if (DEBUG_LEVEL2)
  std::cout << "vpScale constructor finished" << std::endl;
#endif
}

vpScale::vpScale(double kernel_bandwidth, unsigned int dim) : bandwidth(kernel_bandwidth), dimension(dim)

{
#if (DEBUG_LEVEL2)
  std::cout << "vpScale constructor reached" << std::endl;
#endif
#if (DEBUG_LEVEL2)
  std::cout << "vpScale constructor finished" << std::endl;
#endif
}

vpScale::~vpScale() {}

// Calculate the modes of the density for the distribution
// and their associated errors
double vpScale::MeanShift(vpColVector &error)
{

  unsigned int n = error.getRows() / dimension;
  vpColVector density(n);
  vpColVector density_gradient(n);
  vpColVector mean_shift(n);

  unsigned int increment = 1;

  // choose smallest error as start point
  unsigned int i = 0;
  while (error[i] < 0 && error[i] < error[i + 1])
    i++;

  // Do mean shift until no shift
  while (increment >= 1 && i < n) {
    increment = 0;
    density[i] = KernelDensity(error, i);
    density_gradient[i] = KernelDensityGradient(error, i);
    mean_shift[i] = vpMath::sqr(bandwidth) * density_gradient[i] / ((dimension + 2) * density[i]);

    double tmp_shift = mean_shift[i];

    // Do mean shift
    while (tmp_shift > 0 && tmp_shift > error[i] - error[i + 1]) {
      i++;
      increment++;
      tmp_shift -= (error[i] - error[i - 1]);
    }
  }

  return error[i];
}

// Calculate the density of each point in the error vector
// Requires ordered set of errors
double vpScale::KernelDensity(vpColVector &error, unsigned int position)
{

  unsigned int n = error.getRows() / dimension;
  double density = 0;
  double Ke = 1;
  unsigned int j = position;

  vpColVector X(dimension);

  // Use each error in the bandwidth to calculate
  // the local density of error i
  // First treat larger errors
  // while(Ke !=0 && j<=n)
  while (std::fabs(Ke) > std::numeric_limits<double>::epsilon() && j <= n) {
    // Create vector of errors corresponding to each dimension of a feature
    for (unsigned int i = 0; i < dimension; i++) {
      X[i] = (error[position] - error[j]) / bandwidth;
      position++;
      j++;
    }
    position -= dimension; // reset position

    Ke = KernelDensity_EPANECHNIKOV(X);
    density += Ke;
  }

  Ke = 1;
  j = position;
  // Then treat smaller errors
  // while(Ke !=0 && j>=dimension)
  while (std::fabs(Ke) > std::numeric_limits<double>::epsilon() && j >= dimension) {
    // Create vector of errors corresponding to each dimension of a feature
    for (unsigned int i = 0; i < dimension; i++) {
      X[i] = (error[position] - error[j]) / bandwidth;
      position++;
      j--;
    }
    position -= dimension; // reset position

    Ke = KernelDensity_EPANECHNIKOV(X);
    density += Ke;
  }

  density *= 1 / (n * bandwidth);

  return density;
}

double vpScale::KernelDensityGradient(vpColVector &error, unsigned int position)
{

  unsigned int n = error.getRows() / dimension;
  double density_gradient = 0;
  double sum_delta = 0;
  double delta = 0;
  int nx = 0;

  double inside_kernel = 1;
  unsigned int j = position;
  // Use each error in the bandwidth to calculate
  // the local density gradient
  // First treat larger errors than current
  // while(inside_kernel !=0 && j<=n)
  while (std::fabs(inside_kernel) > std::numeric_limits<double>::epsilon() && j <= n) {
    delta = error[position] - error[j];
    if (vpMath::sqr(delta / bandwidth) < 1) {
      inside_kernel = 1;
      sum_delta += error[j] - error[position];
      j++;
      nx++;
    } else
      inside_kernel = 0;
  }

  inside_kernel = 1;
  j = position;
  // Then treat smaller errors than current
  // while(inside_kernel !=0 && j>=dimension)
  while (std::fabs(inside_kernel) > std::numeric_limits<double>::epsilon() && j >= dimension) {
    delta = error[position] - error[j];
    if (vpMath::sqr(delta / bandwidth) < 1) {
      inside_kernel = 1;
      sum_delta += error[j] - error[position];
      j--;
      nx++;
    } else
      inside_kernel = 0;
  }

  density_gradient = KernelDensityGradient_EPANECHNIKOV(sum_delta, n);

  return density_gradient;
}

// Epanechnikov_kernel for an d dimensional Euclidian space R^d
double vpScale::KernelDensity_EPANECHNIKOV(vpColVector &X)
{

  double XtX = X * X;
  double c; // Volume of an n dimensional unit sphere

  switch (dimension) {
  case 1:
    c = 2;
    break;
  case 2:
    c = M_PI;
    break;
  case 3:
    c = 4 * M_PI / 3;
    break;
  default:
    std::cout << "ERROR in vpScale::Kernel_EPANECHNIKOV : wrong dimension" << std::endl;
    exit(1);
  }

  if (XtX < 1)
    return 1 / (2 * c) * (dimension + 2) * (1 - XtX);
  else
    return 0;
}

// Epanechnikov_kernel for an d dimensional Euclidian space R^d
double vpScale::KernelDensityGradient_EPANECHNIKOV(double sumX, unsigned int n)
{

  double c; // Volume of an n dimensional unit sphere

  switch (dimension) {
  case 1:
    c = 2;
    break;
  case 2:
    c = M_PI;
    break;
  case 3:
    c = 4 * M_PI / 3;
    break;
  default:
    std::cout << "ERROR in vpScale::Kernel_EPANECHNIKOV : wrong dimension" << std::endl;
    exit(1);
  }

  // return sumX*(dimension+2)/(n*pow(bandwidth,
  // (double)dimension)*c*vpMath::sqr(bandwidth));
  return sumX * (dimension + 2) / (n * bandwidth * c * vpMath::sqr(bandwidth));
}