vpColorHistogram.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 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.
 */

#ifndef VP_COLOR_HISTOGRAM_H
#define VP_COLOR_HISTOGRAM_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRGBa.h>
 
#include <vector>
#include <numeric>
 
BEGIN_VISP_NAMESPACE
 
template<typename T>
class vpImage;
class vpRGBa;
class vpRect;
class VISP_EXPORT vpColorHistogram
{
public:
 
  class VISP_EXPORT Builder
  {
  public:
    Builder(unsigned int N) : m_counts(N *N *N, 0), m_N(N), m_binSize(256 / N) { }
    inline void add(const vpRGBa &color)
    {
      unsigned int index = (color.R / m_binSize) * (m_N * m_N) + (color.G / m_binSize) * m_N + (color.B / m_binSize);
      ++m_counts[index];
    }
    void build(vpColorHistogram &histogram);
  private:
    std::vector<unsigned int> m_counts;
    unsigned int m_N, m_binSize;
  };
 
  vpColorHistogram();
  vpColorHistogram(unsigned int N);

  void setBinNumber(unsigned int N);
 
  unsigned int getBinNumber() const { return m_N; }

  unsigned int getNumPixels() const { return m_numPixels; }

  void build(const vpImage<vpRGBa> &image, const vpImage<bool> &mask);

  void build(const std::vector<unsigned int> &counts);

  void merge(const vpColorHistogram &other, float alpha);

  void computeProbas(const vpImage<vpRGBa> &image, vpImage<float> &proba) const;
  void computeProbas(const vpImage<vpRGBa> &image, vpImage<float> &proba, const vpRect &bb) const;

  inline unsigned int colorToIndex(const vpRGBa &p) const
  {
    return (p.R / m_binSize) * (m_N * m_N) + (p.G / m_binSize) * m_N + (p.B / m_binSize);
  }

  inline vpRGBa indexToColor(unsigned int index) const
  {
    vpRGBa c;
    c.R = (index / (m_N * m_N)) * m_binSize;
    c.G = ((index / m_N) % (m_N)) * m_binSize;
    c.B = (index % m_N) * m_binSize;
    c.A = 255;
    return c;
  }

  inline double probability(const vpRGBa &color) const
  {
    return m_probas[colorToIndex(color)];
  }
 
  double kl(const vpColorHistogram &other) const;
 
  double jsd(const vpColorHistogram &other) const;
 
  double hellinger(const vpColorHistogram &other) const;
 
  static void computeSplitHistograms(const vpImage<vpRGBa> &image, const vpImage<bool> &mask, vpColorHistogram &inMask, vpColorHistogram &outsideMask);
  static void computeSplitHistograms(const vpImage<vpRGBa> &image, const vpImage<bool> &mask, const vpRect &bbInside, vpColorHistogram &insideMask, vpColorHistogram &outsideMask);
  std::vector<vpRGBa> mostLikelyColors(unsigned int N) const
  {
    std::vector<size_t> bestIndices(N);
    std::vector<size_t> idx(m_probas.size());
    std::iota(idx.begin(), idx.end(), 0);
    std::partial_sort_copy(
      idx.begin(), idx.end(),
      bestIndices.begin(), bestIndices.end(),
      [*this](size_t i1, size_t i2) {return m_probas[i1] > m_probas[i2]; }
    );
 
    std::vector<vpRGBa> colors(N);
    for (unsigned int i = 0; i < N; ++i) {
      colors[i] = indexToColor(static_cast<unsigned int>(bestIndices[i]));
    }
    return colors;
  }
 
private:
  unsigned int m_N;
  unsigned int m_binSize;
  std::vector<float> m_probas;
  unsigned int m_numPixels;
};
 
END_VISP_NAMESPACE
 
#endif