vpMbtMeEllipse.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
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 * 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.
 *
*****************************************************************************/
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
#include <visp3/mbt/vpMbtMeEllipse.h>
 
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpRobust.h>
#include <visp3/core/vpTrackingException.h>
#include <visp3/me/vpMe.h>
 
#include <algorithm> // (std::min)
#include <cmath>     // std::fabs
#include <limits>    // numeric_limits
 
vpMbtMeEllipse::vpMbtMeEllipse() : vpMeEllipse() { }
 
vpMbtMeEllipse::vpMbtMeEllipse(const vpMbtMeEllipse &me_ellipse) : vpMeEllipse(me_ellipse) { }
 
void vpMbtMeEllipse::computeProjectionError(const vpImage<unsigned char> &I, double &sumErrorRad,
                                            unsigned int &nbFeatures, const vpMatrix &SobelX, const vpMatrix &SobelY,
                                            bool display, unsigned int length, unsigned int thickness)
{
  sumErrorRad = 0;
  nbFeatures = 0;
 
  double offset = static_cast<double>(std::floor(SobelX.getRows() / 2.0f));
  int height = static_cast<int>(I.getHeight());
  int width = static_cast<int>(I.getWidth());
 
  double max_iImg = height - 1.;
  double max_jImg = width - 1.;
 
  vpColVector vecSite(2);
  vpColVector vecGrad(2);
 
  for (std::list<vpMeSite>::iterator it = m_meList.begin(); it != m_meList.end(); ++it) {
    double iSite = it->m_ifloat;
    double jSite = it->m_jfloat;
 
    if (!outOfImage(vpMath::round(iSite), vpMath::round(jSite), 0, height, width)) { // Check if necessary
      // The tangent angle to the ellipse at a site
      double theta = computeTheta(vpImagePoint(iSite, jSite));
 
      vecSite[0] = cos(theta);
      vecSite[1] = sin(theta);
      vecSite.normalize();
 
      double gradientX = 0;
      double gradientY = 0;
 
      for (unsigned int i = 0; i < SobelX.getRows(); i++) {
        double iImg = iSite + (i - offset);
        for (unsigned int j = 0; j < SobelX.getCols(); j++) {
          double jImg = jSite + (j - offset);
 
          if (iImg < 0)
            iImg = 0.0;
          if (jImg < 0)
            jImg = 0.0;
 
          if (iImg > max_iImg)
            iImg = max_iImg;
          if (jImg > max_jImg)
            jImg = max_jImg;
 
          gradientX += SobelX[i][j] * I((unsigned int)iImg, (unsigned int)jImg);
        }
      }
 
      for (unsigned int i = 0; i < SobelY.getRows(); i++) {
        double iImg = iSite + (i - offset);
        for (unsigned int j = 0; j < SobelY.getCols(); j++) {
          double jImg = jSite + (j - offset);
 
          if (iImg < 0)
            iImg = 0.0;
          if (jImg < 0)
            jImg = 0.0;
 
          if (iImg > max_iImg)
            iImg = max_iImg;
          if (jImg > max_jImg)
            jImg = max_jImg;
 
          gradientY += SobelY[i][j] * I((unsigned int)iImg, (unsigned int)jImg);
        }
      }
 
      double angle = atan2(gradientY, gradientX);
      while (angle < 0)
        angle += M_PI;
      while (angle > M_PI)
        angle -= M_PI;
 
      vecGrad[0] = cos(angle);
      vecGrad[1] = sin(angle);
      vecGrad.normalize();
 
      double angle1 = acos(vecSite * vecGrad);
      double angle2 = acos(vecSite * (-vecGrad));
 
      if (display) {
        vpDisplay::displayArrow(I, it->get_i(), it->get_j(), static_cast<int>(it->get_i() + length * cos(theta)),
                                static_cast<int>(it->get_j() + length * sin(theta)), vpColor::blue,
                                length >= 20 ? length / 5 : 4, length >= 20 ? length / 10 : 2, thickness);
        if (angle1 < angle2) {
          vpDisplay::displayArrow(I, it->get_i(), it->get_j(), static_cast<int>(it->get_i() + length * cos(angle)),
                                  static_cast<int>(it->get_j() + length * sin(angle)), vpColor::red,
                                  length >= 20 ? length / 5 : 4, length >= 20 ? length / 10 : 2, thickness);
        }
        else {
          vpDisplay::displayArrow(I, it->get_i(), it->get_j(),
                                  static_cast<int>(it->get_i() + length * cos(angle + M_PI)),
                                  static_cast<int>(it->get_j() + length * sin(angle + M_PI)), vpColor::red,
                                  length >= 20 ? length / 5 : 4, length >= 20 ? length / 10 : 2, thickness);
        }
      }
 
      sumErrorRad += std::min<double>(angle1, angle2);
 
      nbFeatures++;
    }
  }
}
 
void vpMbtMeEllipse::initTracking(const vpImage<unsigned char> &I, const vpImagePoint &center_p, double n20_p,
                                  double n11_p, double n02_p, bool doNotTrack, vpImagePoint *pt1,
                                  const vpImagePoint *pt2)
{
  if (pt1 != nullptr && pt2 != nullptr) {
    m_trackArc = true;
  }
 
  // useful for sample(I) : uc, vc, a, b, e, Ki, alpha1, alpha2
  m_uc = center_p.get_u();
  m_vc = center_p.get_v();
  m_n20 = n20_p;
  m_n11 = n11_p;
  m_n02 = n02_p;
 
  computeAbeFromNij();
  computeKiFromNij();
 
  if (m_trackArc) {
    m_alpha1 = computeAngleOnEllipse(*pt1);
    m_alpha2 = computeAngleOnEllipse(*pt2);
    if ((m_alpha2 <= m_alpha1) || (std::fabs(m_alpha2 - m_alpha1) < m_arcEpsilon)) {
      m_alpha2 += 2.0 * M_PI;
    }
    // useful for track(I)
    m_iP1 = *pt1;
    m_iP2 = *pt2;
  }
  else {
    m_alpha1 = 0.0;
    m_alpha2 = 2.0 * M_PI;
    // useful for track(I)
    vpImagePoint ip;
    computePointOnEllipse(m_alpha1, ip);
    m_iP1 = ip;
    m_iP2 = ip;
  }
  // useful for display(I) so useless if no display before track(I)
  m_iPc.set_uv(m_uc, m_vc);
 
  sample(I, doNotTrack);
 
  try {
    if (!doNotTrack)
      track(I);
  }
  catch (const vpException &exception) {
    throw(exception);
  }
}
 
void vpMbtMeEllipse::track(const vpImage<unsigned char> &I)
{
  try {
    vpMeTracker::track(I);
    if (m_mask != nullptr) {
      // Expected density could be modified if some vpMeSite are no more tracked because they are outside the mask.
      m_expectedDensity = static_cast<unsigned int>(m_meList.size());
    }
  }
  catch (const vpException &exception) {
    throw(exception);
  }
}
 
void vpMbtMeEllipse::updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &center_p, double n20_p,
                                      double n11_p, double n02_p)
{
  m_uc = center_p.get_u();
  m_vc = center_p.get_v();
  m_n20 = n20_p;
  m_n11 = n11_p;
  m_n02 = n02_p;
 
  computeAbeFromNij();
  computeKiFromNij();
 
  suppressPoints();
  reSample(I);
 
  // remet a jour l'angle delta pour chaque  point de la liste
  updateTheta();
}
 
void vpMbtMeEllipse::reSample(const vpImage<unsigned char> &I)
{
  if (!m_me) {
    vpDERROR_TRACE(2, "Tracking error: Moving edges not initialized");
    throw(vpTrackingException(vpTrackingException::initializationError, "Moving edges not initialized"));
  }
 
  unsigned int n = numberOfSignal();
  if ((double)n < 0.9 * m_expectedDensity) {
    sample(I);
    vpMeTracker::track(I);
  }
}
 
void vpMbtMeEllipse::sample(const vpImage<unsigned char> &I, bool doNotTrack)
{
  // Warning: similar code in vpMeEllipse::sample() except for display that is removed here
  if (!m_me) {
    throw(vpException(vpException::fatalError, "Moving edges on ellipse not initialized"));
  }
  // Delete old lists
  m_meList.clear();
  m_angleList.clear();
 
  int nbrows = static_cast<int>(I.getHeight());
  int nbcols = static_cast<int>(I.getWidth());
 
  if (std::fabs(m_me->getSampleStep()) <= std::numeric_limits<double>::epsilon()) {
    std::cout << "In vpMeEllipse::sample: ";
    std::cout << "function called with sample step = 0, set to 10 dg";
    m_me->setSampleStep(10.0);
  }
  double incr = vpMath::rad(m_me->getSampleStep()); // angle increment
  // alpha2 - alpha1 = 2 * M_PI for a complete ellipse
  m_expectedDensity = static_cast<unsigned int>(floor((m_alpha2 - m_alpha1) / incr));
 
  // starting angle for sampling
  double ang = m_alpha1 + ((m_alpha2 - m_alpha1) - static_cast<double>(m_expectedDensity) * incr) / 2.0;
  // sample positions
  for (unsigned int i = 0; i < m_expectedDensity; i++) {
    vpImagePoint iP;
    computePointOnEllipse(ang, iP);
    // If point is in the image, add to the sample list
    // Check done in (i,j) frame)
    if (!outOfImage(vpMath::round(iP.get_i()), vpMath::round(iP.get_j()), 0, nbrows, nbcols)) {
      double theta = computeTheta(iP);
      vpMeSite pix;
      // (i,j) frame used for vpMeSite
      pix.init(iP.get_i(), iP.get_j(), theta);
      pix.setDisplay(m_selectDisplay);
      pix.setState(vpMeSite::NO_SUPPRESSION);
      m_meList.push_back(pix);
      m_angleList.push_back(ang);
    }
    ang += incr;
  }
  if (!doNotTrack) {
    vpMeTracker::initTracking(I);
  }
}
 
void vpMbtMeEllipse::suppressPoints()
{
  // Loop through list of sites to track
  for (std::list<vpMeSite>::iterator it = m_meList.begin(); it != m_meList.end();) {
    vpMeSite s = *it; // current reference pixel
    if (s.getState() != vpMeSite::NO_SUPPRESSION)
      it = m_meList.erase(it);
    else
      ++it;
  }
}
 
#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS