Visual Servoing Platform  version 3.4.1 under development (2021-09-24)
vpMomentObject.cpp
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30  *
31  * Description:
32  * Object input structure used by moments.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <stdexcept>
40 #include <visp3/core/vpCameraParameters.h>
41 #include <visp3/core/vpConfig.h>
42 #include <visp3/core/vpMomentBasic.h>
43 #include <visp3/core/vpMomentObject.h>
44 #include <visp3/core/vpPixelMeterConversion.h>
45 
46 #include <cmath>
47 #include <limits>
48 
49 #ifdef VISP_HAVE_OPENMP
50 #include <omp.h>
51 #endif
52 #include <cassert>
53 
63 double vpMomentObject::calc_mom_polygon(unsigned int p, unsigned int q, const std::vector<vpPoint> &points)
64 {
65  unsigned int i, k, l;
66  double den, mom;
67  double x_p_k;
68  double y_l;
69  double y_q_l;
70 
71  den = static_cast<double>((p + q + 2) * (p + q + 1) * vpMath::comb(p + q, p));
72 
73  mom = 0.0;
74  for (i = 1; i <= points.size() - 1; i++) {
75  double s = 0.0;
76  double x_k = 1;
77  for (k = 0; k <= p; k++) {
78  y_l = 1;
79  x_p_k = pow(points[i - 1].get_x(), (int)(p - k));
80  for (l = 0; l <= q; l++) {
81  y_q_l = pow(points[i - 1].get_y(), (int)(q - l));
82 
83  s += static_cast<double>(vpMath::comb(k + l, l) * vpMath::comb(p + q - k - l, q - l) * x_k * x_p_k * y_l *
84  y_q_l);
85 
86  y_l *= points[i].get_y();
87  }
88  x_k *= points[i].get_x();
89  }
90 
91  s *= ((points[i - 1].get_x()) * (points[i].get_y()) - (points[i].get_x()) * (points[i - 1].get_y()));
92  mom += s;
93  }
94  mom /= den;
95  return (mom);
96 }
97 
111 void vpMomentObject::cacheValues(std::vector<double> &cache, double x, double y)
112 {
113  cache[0] = 1;
114 
115  for (unsigned int i = 1; i < order; i++)
116  cache[i] = cache[i - 1] * x;
117 
118  for (unsigned int j = order; j < order * order; j += order)
119  cache[j] = cache[j - order] * y;
120 
121  for (unsigned int j = 1; j < order; j++) {
122  for (unsigned int i = 1; i < order - j; i++) {
123  cache[j * order + i] = cache[j * order] * cache[i];
124  }
125  }
126 }
127 
132 void vpMomentObject::cacheValues(std::vector<double> &cache, double x, double y, double IntensityNormalized)
133 {
134 
135  cache[0] = IntensityNormalized;
136 
137  double invIntensityNormalized = 0.;
138  if (std::fabs(IntensityNormalized) >= std::numeric_limits<double>::epsilon())
139  invIntensityNormalized = 1.0 / IntensityNormalized;
140 
141  for (unsigned int i = 1; i < order; i++)
142  cache[i] = cache[i - 1] * x;
143 
144  for (unsigned int j = order; j < order * order; j += order)
145  cache[j] = cache[j - order] * y;
146 
147  for (unsigned int j = 1; j < order; j++) {
148  for (unsigned int i = 1; i < order - j; i++) {
149  cache[j * order + i] = cache[j * order] * cache[i] * invIntensityNormalized;
150  }
151  }
152 }
153 
228 void vpMomentObject::fromVector(std::vector<vpPoint> &points)
229 {
231  if (std::fabs(points.rbegin()->get_x() - points.begin()->get_x()) > std::numeric_limits<double>::epsilon() ||
232  std::fabs(points.rbegin()->get_y() - points.begin()->get_y()) > std::numeric_limits<double>::epsilon()) {
233  points.resize(points.size() + 1);
234  points[points.size() - 1] = points[0];
235  }
236  for (unsigned int j = 0; j < order * order; j++) {
237  values[j] = calc_mom_polygon(j % order, j / order, points);
238  }
239  } else {
240  std::vector<double> cache(order * order, 0.);
241  values.assign(order * order, 0);
242  for (unsigned int i = 0; i < points.size(); i++) {
243  cacheValues(cache, points[i].get_x(), points[i].get_y());
244  for (unsigned int j = 0; j < order; j++) {
245  for (unsigned int k = 0; k < order - j; k++) {
246  values[j * order + k] += cache[j * order + k];
247  }
248  }
249  }
250  }
251 }
252 
287 void vpMomentObject::fromImage(const vpImage<unsigned char> &image, unsigned char threshold,
288  const vpCameraParameters &cam)
289 {
290 #ifdef VISP_HAVE_OPENMP
291 #pragma omp parallel shared(threshold)
292  {
293  std::vector<double> curvals(order * order);
294  curvals.assign(order * order, 0.);
295 
296 #pragma omp for nowait // automatically organize loop counter between threads
297  for (int i = 0; i < (int)image.getCols(); i++) {
298  for (int j = 0; j < (int)image.getRows(); j++) {
299  unsigned int i_ = static_cast<unsigned int>(i);
300  unsigned int j_ = static_cast<unsigned int>(j);
301  if (image[j_][i_] > threshold) {
302  double x = 0;
303  double y = 0;
304  vpPixelMeterConversion::convertPoint(cam, i_, j_, x, y);
305 
306  double yval = 1.;
307  for (unsigned int k = 0; k < order; k++) {
308  double xval = 1.;
309  for (unsigned int l = 0; l < order - k; l++) {
310  curvals[(k * order + l)] += (xval * yval);
311  xval *= x;
312  }
313  yval *= y;
314  }
315  }
316  }
317  }
318 
319 #pragma omp master // only set this variable in master thread
320  {
321  values.assign(order * order, 0.);
322  }
323 
324 #pragma omp barrier
325  for (unsigned int k = 0; k < order; k++) {
326  for (unsigned int l = 0; l < order - k; l++) {
327 #pragma omp atomic
328  values[k * order + l] += curvals[k * order + l];
329  }
330  }
331  }
332 #else
333  std::vector<double> cache(order * order, 0.);
334  values.assign(order * order, 0);
335  for (unsigned int i = 0; i < image.getCols(); i++) {
336  for (unsigned int j = 0; j < image.getRows(); j++) {
337  if (image[j][i] > threshold) {
338  double x = 0;
339  double y = 0;
340  vpPixelMeterConversion::convertPoint(cam, i, j, x, y);
341  cacheValues(cache, x, y);
342  for (unsigned int k = 0; k < order; k++) {
343  for (unsigned int l = 0; l < order - k; l++) {
344  values[k * order + l] += cache[k * order + l];
345  }
346  }
347  }
348  }
349  }
350 #endif
351 
352  // Normalisation equivalent to sampling interval/pixel size delX x delY
353  double norm_factor = 1. / (cam.get_px() * cam.get_py());
354  for (std::vector<double>::iterator it = values.begin(); it != values.end(); ++it) {
355  *it = (*it) * norm_factor;
356  }
357 }
358 
371  vpCameraImgBckGrndType bg_type, bool normalize_with_pix_size)
372 {
373  std::vector<double> cache(order * order, 0.);
374  values.assign(order * order, 0);
375 
376  // (x,y) - Pixel co-ordinates in metres
377  double x = 0;
378  double y = 0;
379  // for indexing into cache[] and values[]
380  unsigned int idx = 0;
381  unsigned int kidx = 0;
382 
383  double intensity = 0;
384 
385  // double Imax = static_cast<double>(image.getMaxValue());
386 
387  double iscale = 1.0;
388  if (flg_normalize_intensity) { // This makes the image a probability density
389  // function
390  double Imax = 255.; // To check the effect of gray level change. ISR Coimbra
391  iscale = 1.0 / Imax;
392  }
393 
394  if (bg_type == vpMomentObject::WHITE) {
396  for (unsigned int j = 0; j < image.getRows(); j++) {
397  for (unsigned int i = 0; i < image.getCols(); i++) {
398  x = 0;
399  y = 0;
400  intensity = (double)(image[j][i]) * iscale;
401  double intensity_white = 1. - intensity;
402 
403  vpPixelMeterConversion::convertPoint(cam, i, j, x, y);
404  cacheValues(cache, x, y, intensity_white); // Modify 'cache' which has
405  // x^p*y^q to x^p*y^q*(1 -
406  // I(x,y))
407 
408  // Copy to "values"
409  for (unsigned int k = 0; k < order; k++) {
410  kidx = k * order;
411  for (unsigned int l = 0; l < order - k; l++) {
412  idx = kidx + l;
413  values[idx] += cache[idx];
414  }
415  }
416  }
417  }
418  } else {
420  for (unsigned int j = 0; j < image.getRows(); j++) {
421  for (unsigned int i = 0; i < image.getCols(); i++) {
422  x = 0;
423  y = 0;
424  intensity = (double)(image[j][i]) * iscale;
425  vpPixelMeterConversion::convertPoint(cam, i, j, x, y);
426 
427  // Cache values for fast moment calculation
428  cacheValues(cache, x, y,
429  intensity); // Modify 'cache' which has x^p*y^q to x^p*y^q*I(x,y)
430 
431  // Copy to moments array 'values'
432  for (unsigned int k = 0; k < order; k++) {
433  kidx = k * order;
434  for (unsigned int l = 0; l < order - k; l++) {
435  idx = kidx + l;
436  values[idx] += cache[idx];
437  }
438  }
439  }
440  }
441  }
442 
443  if (normalize_with_pix_size) {
444  // Normalisation equivalent to sampling interval/pixel size delX x delY
445  double norm_factor = 1. / (cam.get_px() * cam.get_py());
446  for (std::vector<double>::iterator it = values.begin(); it != values.end(); ++it) {
447  *it = (*it) * norm_factor;
448  }
449  }
450 }
451 
456 void vpMomentObject::init(unsigned int orderinp)
457 {
458  order = orderinp + 1;
460  flg_normalize_intensity = true; // By default, the intensity values are normalized
461  values.resize((order + 1) * (order + 1));
462  values.assign((order + 1) * (order + 1), 0);
463 }
464 
469 {
470  order = objin.getOrder() + 1;
471  type = objin.getType();
473  values.resize(objin.values.size());
474  values = objin.values;
475 }
476 
492 vpMomentObject::vpMomentObject(unsigned int max_order)
494 {
495  init(max_order);
496 }
497 
503 {
504  init(srcobj);
505 }
506 
528 const std::vector<double> &vpMomentObject::get() const { return values; }
529 
536 double vpMomentObject::get(unsigned int i, unsigned int j) const
537 {
538  assert(i + j <= getOrder());
539  if (i + j >= order)
540  throw vpException(vpException::badValue, "The requested value has not "
541  "been computed, you should "
542  "specify a higher order.");
543 
544  return values[j * order + i];
545 }
546 
553 void vpMomentObject::set(unsigned int i, unsigned int j, const double &value_ij)
554 {
555  assert(i + j <= getOrder());
556  if (i + j >= order)
557  throw vpException(vpException::badValue, "The requested value cannot be set, you should specify "
558  "a higher order for the moment object.");
559  values[j * order + i] = value_ij;
560 }
561 
577 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentObject &m)
578 {
579  for (unsigned int i = 0; i < m.values.size(); i++) {
580 
581  if (i % (m.order) == 0)
582  os << std::endl;
583 
584  if ((i % (m.order) + i / (m.order)) < m.order)
585  os << m.values[i];
586  else
587  os << "x";
588 
589  os << "\t";
590  }
591 
592  return os;
593 }
594 
600 void vpMomentObject::printWithIndices(const vpMomentObject &momobj, std::ostream &os)
601 {
602  std::vector<double> moment = momobj.get();
603  os << std::endl << "Order of vpMomentObject: " << momobj.getOrder() << std::endl;
604  // Print out values. This is same as printing using operator <<
605  for (unsigned int k = 0; k <= momobj.getOrder(); k++) {
606  for (unsigned int l = 0; l < (momobj.getOrder() + 1) - k; l++) {
607  os << "m[" << l << "," << k << "] = " << moment[k * (momobj.getOrder() + 1) + l] << "\t";
608  }
609  os << std::endl;
610  }
611  os << std::endl;
612 }
613 
641 {
642  std::vector<double> moment = momobj.get();
643  unsigned int order = momobj.getOrder();
644  vpMatrix M(order + 1, order + 1);
645  for (unsigned int k = 0; k <= order; k++) {
646  for (unsigned int l = 0; l < (order + 1) - k; l++) {
647  M[l][k] = moment[k * (order + 1) + l];
648  }
649  }
650  return M;
651 }
652 
662 {
663  // deliberate empty
664 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
vpMomentObject(unsigned int order)
unsigned int getRows() const
Definition: vpImage.h:218
static vpMatrix convertTovpMatrix(const vpMomentObject &momobj)
unsigned int getOrder() const
static void printWithIndices(const vpMomentObject &momobj, std::ostream &os)
error that can be emited by ViSP classes.
Definition: vpException.h:71
Class for generic objects.
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Not functional right now.
virtual ~vpMomentObject()
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentObject &v)
void fromImage(const vpImage< unsigned char > &image, unsigned char threshold, const vpCameraParameters &cam)
void init(unsigned int orderinp)
void cacheValues(std::vector< double > &cache, double x, double y)
unsigned int getCols() const
Definition: vpImage.h:179
void set(unsigned int i, unsigned int j, const double &value_ij)
Generic class defining intrinsic camera parameters.
const std::vector< double > & get() const
bool flg_normalize_intensity
unsigned int order
vpObjectType getType() const
void fromVector(std::vector< vpPoint > &points)
std::vector< double > values
vpObjectType type
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:230