vpMeSite.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:
 * Moving edges.
 *
 * Authors:
 * Eric Marchand
 * Andrew Comport
 * Aurelien Yol
 *
 *****************************************************************************/
 
#include <cmath>  // std::fabs
#include <limits> // numeric_limits
#include <stdlib.h>
#include <visp3/core/vpTrackingException.h>
#include <visp3/me/vpMe.h>
#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)
{
  unsigned int range_ = static_cast<unsigned int>(range);
  // Size of query list includes the point on the line
  vpMeSite *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);
  int n = 0;
  vpImagePoint ip;
 
  for (int 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, 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
  //     }
 
  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 ;
  vpMeSite *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); }
 
void vpMeSite::display(const vpImage<vpRGBa> &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);
  }
}