Visual Servoing Platform  version 3.4.0
vpMbtMeLine.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Make the complete tracking of an object by using its CAD model
33  *
34  * Authors:
35  * Nicolas Melchior
36  * Romain Tallonneau
37  * Eric Marchand
38  *
39  *****************************************************************************/
40 #include <visp3/core/vpConfig.h>
41 #ifndef DOXYGEN_SHOULD_SKIP_THIS
42 
47 #include <algorithm> // (std::min)
48 #include <cmath> // std::fabs
49 #include <limits> // numeric_limits
50 
51 #include <visp3/core/vpRobust.h>
52 #include <visp3/core/vpTrackingException.h>
53 #include <visp3/mbt/vpMbtMeLine.h>
54 
56 static void normalizeAngle(double &delta)
57 {
58  while (delta > M_PI) {
59  delta -= M_PI;
60  }
61  while (delta < -M_PI) {
62  delta += M_PI;
63  }
64 }
65 
69 vpMbtMeLine::vpMbtMeLine()
70  : rho(0.), theta(0.), theta_1(M_PI / 2), delta(0.), delta_1(0), sign(1), a(0.), b(0.), c(0.), imin(0), imax(0),
71  jmin(0), jmax(0), expecteddensity(0.)
72 {
73 }
74 
78 vpMbtMeLine::~vpMbtMeLine() { list.clear(); }
79 
95 void vpMbtMeLine::initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
96  double rho_, double theta_,
97  bool doNoTrack)
98 {
99  vpCDEBUG(1) << " begin vpMeLine::initTracking()" << std::endl;
100 
101  try {
102  // 1. On fait ce qui concerne les droites (peut etre vide)
103  // Points extremites
104  PExt[0].ifloat = (float)ip1.get_i();
105  PExt[0].jfloat = (float)ip1.get_j();
106  PExt[1].ifloat = (float)ip2.get_i();
107  PExt[1].jfloat = (float)ip2.get_j();
108 
109  this->rho = rho_;
110  this->theta = theta_;
111  theta_1 = theta_;
112 
113  a = cos(theta);
114  b = sin(theta);
115  c = -rho;
116 
117  delta = -theta + M_PI / 2.0;
118  normalizeAngle(delta);
119  delta_1 = delta;
120 
121  sample(I, doNoTrack);
122  expecteddensity = (double)list.size();
123 
124  if (!doNoTrack)
126  } catch (...) {
127  throw; // throw the original exception
128  }
129  vpCDEBUG(1) << " end vpMeLine::initTracking()" << std::endl;
130 }
131 
139 void vpMbtMeLine::sample(const vpImage<unsigned char> &I, bool doNoTrack)
140 {
141  int rows = (int)I.getHeight();
142  int cols = (int)I.getWidth();
143  double n_sample;
144 
145  // if (me->getSampleStep==0)
146  if (std::fabs(me->getSampleStep()) <= std::numeric_limits<double>::epsilon()) {
147  throw(vpTrackingException(vpTrackingException::fatalError, "Function vpMbtMeLine::sample() called with "
148  "moving-edges sample step = 0"));
149  }
150 
151  // i, j portions of the line_p
152  double diffsi = PExt[0].ifloat - PExt[1].ifloat;
153  double diffsj = PExt[0].jfloat - PExt[1].jfloat;
154 
155  double length_p = sqrt((vpMath::sqr(diffsi) + vpMath::sqr(diffsj)));
156 
157  // number of samples along line_p
158  n_sample = length_p / (double)me->getSampleStep();
159 
160  double stepi = diffsi / (double)n_sample;
161  double stepj = diffsj / (double)n_sample;
162 
163  // Choose starting point
164  double is = PExt[1].ifloat;
165  double js = PExt[1].jfloat;
166 
167  // Delete old list
168  list.clear();
169 
170  // sample positions at i*me->getSampleStep() interval along the
171  // line_p, starting at PSiteExt[0]
172 
173  vpImagePoint ip;
174  for (int i = 0; i <= vpMath::round(n_sample); i++) {
175  // If point is in the image, add to the sample list
176  if (!outOfImage(vpMath::round(is), vpMath::round(js), (int)(me->getRange() + me->getMaskSize() + 1), (int)rows,
177  (int)cols) && vpMeTracker::inMask(m_mask, vpMath::round(is), vpMath::round(js))) {
178  vpMeSite pix; //= list.value();
179  pix.init((int)is, (int)js, delta, 0, sign);
180 
181  if (!doNoTrack)
182  pix.track(I, me, false);
183 
184  pix.setDisplay(selectDisplay);
185 
186  if (vpDEBUG_ENABLE(3)) {
187  ip.set_i(is);
188  ip.set_j(js);
190  }
191 
192  list.push_back(pix);
193  }
194  is += stepi;
195  js += stepj;
196  }
197 
198  vpCDEBUG(1) << "end vpMeLine::sample() : ";
199  vpCDEBUG(1) << list.size() << " point inserted in the list " << std::endl;
200 }
201 
207 void vpMbtMeLine::suppressPoints(const vpImage<unsigned char> &I)
208 {
209  for (std::list<vpMeSite>::iterator it = list.begin(); it != list.end();) {
210  vpMeSite s = *it; // current reference pixel
211 
212  if (fabs(sin(theta)) > 0.9) // Vertical line management
213  {
214  if ((s.i < imin) || (s.i > imax)) {
216  }
217  }
218 
219  else if (fabs(cos(theta)) > 0.9) // Horizontal line management
220  {
221  if ((s.j < jmin) || (s.j > jmax)) {
223  }
224  }
225 
226  else {
227  if ((s.i < imin) || (s.i > imax) || (s.j < jmin) || (s.j > jmax)) {
229  }
230  }
231 
232  if (outOfImage(s.i, s.j, (int)(me->getRange() + me->getMaskSize() + 1), (int)I.getHeight(), (int)I.getWidth())) {
234  }
235 
237  it = list.erase(it);
238  else
239  ++it;
240  }
241 }
242 
249 void vpMbtMeLine::seekExtremities(const vpImage<unsigned char> &I)
250 {
251  vpCDEBUG(1) << "begin vpMeLine::sample() : " << std::endl;
252 
253  int rows = (int)I.getHeight();
254  int cols = (int)I.getWidth();
255  double n_sample;
256 
257  // if (me->getSampleStep()==0)
258  if (std::fabs(me->getSampleStep()) <= std::numeric_limits<double>::epsilon()) {
259  throw(vpTrackingException(vpTrackingException::fatalError, "Function called with sample step = 0"));
260  }
261 
262  // i, j portions of the line_p
263  double diffsi = PExt[0].ifloat - PExt[1].ifloat;
264  double diffsj = PExt[0].jfloat - PExt[1].jfloat;
265 
266  double s = vpMath::sqr(diffsi) + vpMath::sqr(diffsj);
267 
268  double di = diffsi / sqrt(s); // pas de risque de /0 car d(P1,P2) >0
269  double dj = diffsj / sqrt(s);
270 
271  double length_p = sqrt(s); /*(vpMath::sqr(diffsi)+vpMath::sqr(diffsj))*/
272 
273  // number of samples along line_p
274  n_sample = length_p / (double)me->getSampleStep();
275  double sample_step = (double)me->getSampleStep();
276 
277  vpMeSite P;
278  P.init((int)PExt[0].ifloat, (int)PExt[0].jfloat, delta_1, 0, sign);
279  P.setDisplay(selectDisplay);
280 
281  unsigned int memory_range = me->getRange();
282  me->setRange(1);
283 
284  for (int i = 0; i < 3; i++) {
285  P.ifloat = P.ifloat + di * sample_step;
286  P.i = (int)P.ifloat;
287  P.jfloat = P.jfloat + dj * sample_step;
288  P.j = (int)P.jfloat;
289 
290  if ((P.i < imin) || (P.i > imax) || (P.j < jmin) || (P.j > jmax)) {
291  if (vpDEBUG_ENABLE(3))
293  } else if (!outOfImage(P.i, P.j, (int)(me->getRange() + me->getMaskSize() + 1), (int)rows, (int)cols)) {
294  P.track(I, me, false);
295 
296  if (P.getState() == vpMeSite::NO_SUPPRESSION) {
297  list.push_back(P);
298  if (vpDEBUG_ENABLE(3))
300  } else if (vpDEBUG_ENABLE(3))
302  }
303  }
304 
305  P.init((int)PExt[1].ifloat, (int)PExt[1].jfloat, delta_1, 0, sign);
306  P.setDisplay(selectDisplay);
307  for (int i = 0; i < 3; i++) {
308  P.ifloat = P.ifloat - di * sample_step;
309  P.i = (int)P.ifloat;
310  P.jfloat = P.jfloat - dj * sample_step;
311  P.j = (int)P.jfloat;
312 
313  if ((P.i < imin) || (P.i > imax) || (P.j < jmin) || (P.j > jmax)) {
314  if (vpDEBUG_ENABLE(3))
316  }
317 
318  else if (!outOfImage(P.i, P.j, (int)(me->getRange() + me->getMaskSize() + 1), (int)rows, (int)cols)) {
319  P.track(I, me, false);
320 
321  if (P.getState() == vpMeSite::NO_SUPPRESSION) {
322  list.push_back(P);
323  if (vpDEBUG_ENABLE(3))
325  } else if (vpDEBUG_ENABLE(3))
327  }
328  }
329 
330  me->setRange(memory_range);
331 
332  vpCDEBUG(1) << "end vpMeLine::sample() : ";
333  vpCDEBUG(1) << n_sample << " point inserted in the list " << std::endl;
334 }
335 
350 void vpMbtMeLine::computeProjectionError(const vpImage<unsigned char> &_I, double &_sumErrorRad,
351  unsigned int &_nbFeatures,
352  const vpMatrix &SobelX, const vpMatrix &SobelY,
353  bool display, unsigned int length,
354  unsigned int thickness)
355 {
356  _sumErrorRad = 0;
357  _nbFeatures = 0;
358  double deltaNormalized = theta;
359  unsigned int iter = 0;
360 
361  while (deltaNormalized < 0)
362  deltaNormalized += M_PI;
363  while (deltaNormalized > M_PI)
364  deltaNormalized -= M_PI;
365 
366  vpColVector vecLine(2);
367  vecLine[0] = cos(deltaNormalized);
368  vecLine[1] = sin(deltaNormalized);
369  vecLine.normalize();
370 
371  double offset = std::floor(SobelX.getRows() / 2.0f);
372 
373  for (std::list<vpMeSite>::const_iterator it = list.begin(); it != list.end(); ++it) {
374  if (iter != 0 && iter + 1 != list.size()) {
375  double gradientX = 0;
376  double gradientY = 0;
377 
378  double iSite = it->ifloat;
379  double jSite = it->jfloat;
380 
381  for (unsigned int i = 0; i < SobelX.getRows(); i++) {
382  double iImg = iSite + (i - offset);
383  for (unsigned int j = 0; j < SobelX.getCols(); j++) {
384  double jImg = jSite + (j - offset);
385 
386  if (iImg < 0)
387  iImg = 0.0;
388  if (jImg < 0)
389  jImg = 0.0;
390 
391  if (iImg > _I.getHeight() - 1)
392  iImg = _I.getHeight() - 1;
393  if (jImg > _I.getWidth() - 1)
394  jImg = _I.getWidth() - 1;
395 
396  gradientX += SobelX[i][j] * _I((unsigned int)iImg, (unsigned int)jImg);
397  }
398  }
399 
400  for (unsigned int i = 0; i < SobelY.getRows(); i++) {
401  double iImg = iSite + (i - offset);
402  for (unsigned int j = 0; j < SobelY.getCols(); j++) {
403  double jImg = jSite + (j - offset);
404 
405  if (iImg < 0)
406  iImg = 0.0;
407  if (jImg < 0)
408  jImg = 0.0;
409 
410  if (iImg > _I.getHeight() - 1)
411  iImg = _I.getHeight() - 1;
412  if (jImg > _I.getWidth() - 1)
413  jImg = _I.getWidth() - 1;
414 
415  gradientY += SobelY[i][j] * _I((unsigned int)iImg, (unsigned int)jImg);
416  }
417  }
418 
419  double angle = atan2(gradientX, gradientY);
420  while (angle < 0)
421  angle += M_PI;
422  while (angle > M_PI)
423  angle -= M_PI;
424 
425  vpColVector vecGrad(2);
426  vecGrad[0] = cos(angle);
427  vecGrad[1] = sin(angle);
428  vecGrad.normalize();
429 
430  double angle1 = acos(vecLine * vecGrad);
431  double angle2 = acos(vecLine * (-vecGrad));
432 
433  if (display) {
434  vpDisplay::displayArrow(_I, it->get_i(), it->get_j(), (int)(it->get_i() + length*cos(deltaNormalized)),
435  (int)(it->get_j() + length*sin(deltaNormalized)), vpColor::blue,
436  length >= 20 ? length/5 : 4, length >= 20 ? length/10 : 2, thickness);
437  if (angle1 < angle2) {
438  vpDisplay::displayArrow(_I, it->get_i(), it->get_j(), (int)(it->get_i() + length*cos(angle)),
439  (int)(it->get_j() + length*sin(angle)), vpColor::red,
440  length >= 20 ? length/5 : 4, length >= 20 ? length/10 : 2, thickness);
441  } else {
442  vpDisplay::displayArrow(_I, it->get_i(), it->get_j(), (int)(it->get_i() + length*cos(angle+M_PI)),
443  (int)(it->get_j() + length*sin(angle+M_PI)), vpColor::red,
444  length >= 20 ? length/5 : 4, length >= 20 ? length/10 : 2, thickness);
445  }
446  }
447 
448  // double angle1 = sqrt(vpMath::sqr(deltaNormalized-angle));
449  // double angle2 = sqrt(vpMath::sqr(deltaNormalized-
450  // (angle-M_PI)));
451 
452  _sumErrorRad += (std::min)(angle1, angle2);
453 
454  // if(std::fabs(deltaNormalized-angle) > M_PI / 2)
455  // {
456  // sumErrorRad += sqrt(vpMath::sqr(deltaNormalized-angle)) - M_PI
457  // / 2;
458  // } else {
459  // sumErrorRad += sqrt(vpMath::sqr(deltaNormalized-angle));
460  // }
461 
462  _nbFeatures++;
463  }
464  iter++;
465  }
466 }
467 
478 void vpMbtMeLine::reSample(const vpImage<unsigned char> &I)
479 {
480  unsigned int n = numberOfSignal();
481 
482  if ((double)n < 0.5 * expecteddensity && n > 0) {
483  double delta_new = delta;
484  delta = delta_1;
485  sample(I);
486  expecteddensity = (double)list.size();
487  delta = delta_new;
488  // 2. On appelle ce qui n'est pas specifique
489  {
491  }
492  }
493 }
494 
507 void vpMbtMeLine::reSample(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2)
508 {
509  size_t n = list.size();
510 
511  if ((double)n < 0.5 * expecteddensity /*&& n > 0*/) // n is always > 0
512  {
513  double delta_new = delta;
514  delta = delta_1;
515  PExt[0].ifloat = (float)ip1.get_i();
516  PExt[0].jfloat = (float)ip1.get_j();
517  PExt[1].ifloat = (float)ip2.get_i();
518  PExt[1].jfloat = (float)ip2.get_j();
519  sample(I);
520  expecteddensity = (double)list.size();
521  delta = delta_new;
523  }
524 }
525 
529 void vpMbtMeLine::updateDelta()
530 {
531  vpMeSite p_me;
532 
533  double diff = 0;
534 
535  // if(fabs(theta) == M_PI )
536  if (std::fabs(std::fabs(theta) - M_PI) <=
537  vpMath::maximum(std::fabs(theta), (double)M_PI) * std::numeric_limits<double>::epsilon()) {
538  theta = 0;
539  }
540 
541  diff = fabs(theta - theta_1);
542  if (diff > M_PI / 2.0)
543  sign *= -1;
544 
545  theta_1 = theta;
546 
547  delta = -theta + M_PI / 2.0;
548  normalizeAngle(delta);
549 
550  for (std::list<vpMeSite>::iterator it = list.begin(); it != list.end(); ++it) {
551  p_me = *it;
552  p_me.alpha = delta;
553  p_me.mask_sign = sign;
554  *it = p_me;
555  }
556  delta_1 = delta;
557 }
558 
564 void vpMbtMeLine::track(const vpImage<unsigned char> &I)
565 {
566  try {
568  if (m_mask != NULL) {
569  // Expected density could be modified if some vpMeSite are no more tracked because they are outside the mask.
570  expecteddensity = (double)list.size();
571  }
572  } catch (...) {
573  throw; // throw the original exception
574  }
575 }
576 
585 void vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, double rho_, double theta_)
586 {
587  this->rho = rho_;
588  this->theta = theta_;
589  a = cos(theta);
590  b = sin(theta);
591  c = -rho;
592  // recherche de point aux extremite de la droites
593  // dans le cas d'un glissement
594  suppressPoints(I);
595  seekExtremities(I);
596  suppressPoints(I);
597  setExtremities();
598  // reechantillonage si necessaire
599  reSample(I);
600 
601  // remet a jour l'angle delta pour chaque point de la liste
602  updateDelta();
603 }
604 
615 void vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
616  double rho_, double theta_)
617 {
618  this->rho = rho_;
619  this->theta = theta_;
620  a = cos(theta);
621  b = sin(theta);
622  c = -rho;
623  // recherche de point aux extremite de la droites
624  // dans le cas d'un glissement
625  suppressPoints(I);
626  seekExtremities(I);
627  suppressPoints(I);
628  setExtremities();
629  // reechantillonage si necessaire
630  reSample(I, ip1, ip2);
631 
632  // remet a jour l'angle delta pour chaque point de la liste
633  updateDelta();
634 }
635 
639 void vpMbtMeLine::setExtremities()
640 {
641  double i_min = +1e6;
642  double j_min = +1e6;
643  double i_max = -1;
644  double j_max = -1;
645 
646  // Loop through list of sites to track
647  for (std::list<vpMeSite>::const_iterator it = list.begin(); it != list.end(); ++it) {
648  vpMeSite s = *it; // current reference pixel
649  if (s.ifloat < i_min) {
650  i_min = s.ifloat;
651  j_min = s.jfloat;
652  }
653 
654  if (s.ifloat > i_max) {
655  i_max = s.ifloat;
656  j_max = s.jfloat;
657  }
658  }
659 
660  if (!list.empty()) {
661  PExt[0].ifloat = i_min;
662  PExt[0].jfloat = j_min;
663  PExt[1].ifloat = i_max;
664  PExt[1].jfloat = j_max;
665  }
666 
667  if (fabs(i_min - i_max) < 25) {
668  for (std::list<vpMeSite>::const_iterator it = list.begin(); it != list.end(); ++it) {
669  vpMeSite s = *it; // current reference pixel
670  if (s.jfloat < j_min) {
671  i_min = s.ifloat;
672  j_min = s.jfloat;
673  }
674 
675  if (s.jfloat > j_max) {
676  i_max = s.ifloat;
677  j_max = s.jfloat;
678  }
679  }
680 
681  if (!list.empty()) {
682  PExt[0].ifloat = i_min;
683  PExt[0].jfloat = j_min;
684  PExt[1].ifloat = i_max;
685  PExt[1].jfloat = j_max;
686  }
687  bubbleSortJ();
688  }
689 
690  else
691  bubbleSortI();
692 }
693 
694 static bool sortByI(const vpMeSite &s1, const vpMeSite &s2) { return (s1.ifloat > s2.ifloat); }
695 
696 void vpMbtMeLine::bubbleSortI()
697 {
698 #if 0
699  unsigned int nbElmt = list.size();
700  for (unsigned int pass = 1; pass < nbElmt; pass++)
701  {
702  list.front();
703  for (unsigned int i=0; i < nbElmt-pass; i++)
704  {
705  vpMeSite s1 = list.value();
706  vpMeSite s2 = list.nextValue();
707  if (s1.ifloat > s2.ifloat)
708  list.swapRight();
709  else
710  list.next();
711  }
712  }
713 #endif
714  list.sort(sortByI);
715 }
716 
717 static bool sortByJ(const vpMeSite &s1, const vpMeSite &s2) { return (s1.jfloat > s2.jfloat); }
718 
719 void vpMbtMeLine::bubbleSortJ()
720 {
721 #if 0
722  unsigned int nbElmt = list.size();
723  for(unsigned int pass=1; pass < nbElmt; pass++)
724  {
725  list.front();
726  for (unsigned int i=0; i < nbElmt-pass; i++)
727  {
728  vpMeSite s1 = list.value();
729  vpMeSite s2 = list.nextValue();
730  if (s1.jfloat > s2.jfloat)
731  list.swapRight();
732  else
733  list.next();
734  }
735  }
736 #endif
737  list.sort(sortByJ);
738 }
739 
740 #endif
unsigned int getRange() const
Definition: vpMe.h:179
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
unsigned int getMaskSize() const
Definition: vpMe.h:142
void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
void init()
Definition: vpMeSite.cpp:66
double get_i() const
Definition: vpImagePoint.h:203
unsigned int getWidth() const
Definition: vpImage.h:246
double jfloat
Definition: vpMeSite.h:89
#define vpDEBUG_ENABLE(level)
Definition: vpDebug.h:538
Point removed because too near image borders.
Definition: vpMeSite.h:82
Performs search in a given direction(normal) for a given distance(pixels) for a given &#39;site&#39;...
Definition: vpMeSite.h:71
double alpha
Definition: vpMeSite.h:93
int i
Definition: vpMeSite.h:87
int mask_sign
Definition: vpMeSite.h:91
unsigned int getCols() const
Definition: vpArray2D.h:279
static const vpColor green
Definition: vpColor.h:220
double get_j() const
Definition: vpImagePoint.h:214
static const vpColor red
Definition: vpColor.h:217
vpMeSiteState getState() const
Definition: vpMeSite.h:190
static Type maximum(const Type &a, const Type &b)
Definition: vpMath.h:145
double ifloat
Definition: vpMeSite.h:89
Error that can be emited by the vpTracker class and its derivates.
Point used by the tracker.
Definition: vpMeSite.h:78
static const vpColor cyan
Definition: vpColor.h:226
void set_i(double ii)
Definition: vpImagePoint.h:166
static void displayArrow(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)
static double sqr(double x)
Definition: vpMath.h:116
Point removed due to a contrast problem.
Definition: vpMeSite.h:79
void setDisplay(vpMeSiteDisplayType select)
Definition: vpMeSite.h:139
#define vpCDEBUG(level)
Definition: vpDebug.h:511
void track(const vpImage< unsigned char > &I)
Track sampled pixels.
unsigned int getRows() const
Definition: vpArray2D.h:289
void setState(const vpMeSiteState &flag)
Definition: vpMeSite.h:176
static int round(double x)
Definition: vpMath.h:245
void set_j(double jj)
Definition: vpImagePoint.h:177
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
int j
Definition: vpMeSite.h:87
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
static bool inMask(const vpImage< bool > *mask, unsigned int i, unsigned int j)
void initTracking(const vpImage< unsigned char > &I)
unsigned int getHeight() const
Definition: vpImage.h:188
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
void setRange(const unsigned int &r)
Definition: vpMe.h:271
double getSampleStep() const
Definition: vpMe.h:285
void track(const vpImage< unsigned char > &im, const vpMe *me, bool test_contraste=true)
Definition: vpMeSite.cpp:355
static const vpColor blue
Definition: vpColor.h:223