vpFeatureLuminanceMapping.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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.
 *
 * Description:
 * Luminance based feature.
 */
 
#ifndef VP_FEATURE_LUMINANCE_MAPPING_H
#define VP_FEATURE_LUMINANCE_MAPPING_H
#include <visp3/core/vpConfig.h>
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#include <array>
#include <memory>
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeatureLuminance.h>
 
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpLuminanceMapping
{
public:
  vpLuminanceMapping(unsigned int mappingSize) : m_mappingSize(mappingSize) { }

  virtual ~vpLuminanceMapping() { }

  virtual void map(const vpImage<unsigned char> &I, vpColVector &s) = 0;

  virtual void interaction(const vpImage<unsigned char> &I, const vpMatrix &LI, const vpColVector &s, vpMatrix &L) = 0;

  virtual void inverse(const vpColVector &s, vpImage<unsigned char> &I) = 0;

  unsigned int getProjectionSize() const { return m_mappingSize; }

  unsigned int getBorder() const { return m_border; }

  void setBorder(unsigned border) { m_border = border; }
 
  static void imageAsVector(const vpImage<unsigned char> &I, vpColVector &Ivec, unsigned border);
  static void imageAsMatrix(const vpImage<unsigned char> &I, vpMatrix &Imat, unsigned border);
 
protected:
  unsigned m_mappingSize; 
  unsigned m_border; 
};

class VISP_EXPORT vpLuminancePCA : public vpLuminanceMapping
{
public:
  vpLuminancePCA() : vpLuminanceMapping(0), m_basis(nullptr), m_mean(nullptr), m_Ivec(0), m_Ih(0), m_Iw(0) { }

  virtual ~vpLuminancePCA() { }

  vpLuminancePCA(const std::shared_ptr<vpMatrix> &basis, const std::shared_ptr<vpColVector> &mean, const vpColVector &explainedVariance);

  vpLuminancePCA(const vpLuminancePCA &other);
 
  vpLuminancePCA &operator=(const vpLuminancePCA &other);

  void init(const std::shared_ptr<vpMatrix> &basis, const std::shared_ptr<vpColVector> &mean, const vpColVector &variance);

  std::shared_ptr<vpMatrix> getBasis() const { return m_basis; }
  std::shared_ptr<vpColVector> getMean() const { return m_mean; }

  vpColVector getExplainedVariance() const { return m_explainedVariance; }
 
  void map(const vpImage<unsigned char> &I, vpColVector &s) VP_OVERRIDE;
  void inverse(const vpColVector &s, vpImage<unsigned char> &I) VP_OVERRIDE;
  void interaction(const vpImage<unsigned char> &I, const vpMatrix &LI, const vpColVector &s, vpMatrix &L) VP_OVERRIDE;

  void save(const std::string &basisFilename, const std::string &meanFileName, const std::string &explainedVarianceFile) const;

  static vpLuminancePCA load(const std::string &basisFilename, const std::string &meanFileName, const std::string &explainedVarianceFile);
 
#ifdef VISP_HAVE_MODULE_IO
  static vpLuminancePCA learn(const std::vector<std::string> &imageFiles, const unsigned int projectionSize, const unsigned int imageBorder = 0);
#endif

  static vpLuminancePCA learn(const std::vector<vpImage<unsigned char>> &images, const unsigned int projectionSize, const unsigned int imageBorder = 0);
  static vpLuminancePCA learn(const vpMatrix &images, const unsigned int projectionSize);
 
 
private:
  std::shared_ptr<vpMatrix> m_basis; 
  std::shared_ptr<vpColVector> m_mean; 
  vpColVector m_explainedVariance; 
  vpColVector m_Ivec; 
  unsigned int m_Ih, m_Iw; 
};

class VISP_EXPORT vpLuminanceDCT : public vpLuminanceMapping
{
public:
  class VISP_EXPORT vpMatrixZigZagIndex
  {
  public:
    vpMatrixZigZagIndex();
    void init(unsigned rows, unsigned cols);
    void getValues(const vpMatrix &m, unsigned int start, unsigned int end, vpColVector &s) const;

    void setValues(const vpColVector &s, unsigned int start, vpMatrix &m) const;
 
  private:
    std::vector<unsigned> m_rowIndex; // Contains the row index of the nth value of the zigzag indexing
    std::vector<unsigned> m_colIndex; // Contains the row index of the nth value of the zigzag indexing
    unsigned m_rows;
    unsigned m_cols;
  };

  vpLuminanceDCT(const unsigned int k) : vpLuminanceMapping(k)
  {
    init(k);
  }

  void init(const unsigned int k)
  {
    m_mappingSize = k;
    m_border = vpFeatureLuminance::DEFAULT_BORDER;
    m_Ih = m_Iw = 0;
  }

  vpLuminanceDCT(const vpLuminanceDCT &other);
 
  vpLuminanceDCT &operator=(const vpLuminanceDCT &) = default;
 
  void map(const vpImage<unsigned char> &I, vpColVector &s) VP_OVERRIDE;
  void inverse(const vpColVector &s, vpImage<unsigned char> &I) VP_OVERRIDE;
  void interaction(const vpImage<unsigned char> &I, const vpMatrix &LI, const vpColVector &s, vpMatrix &L) VP_OVERRIDE;
 
private:
  void computeDCTMatrix(vpMatrix &D, unsigned int n) const;
  void computeDCTMatrices(unsigned int rows, unsigned int cols);
 
protected:
  unsigned int m_Ih, m_Iw; 
  vpMatrix m_Imat; 
  vpMatrix m_dct; 
  vpMatrix m_Dcols, m_Drows; 
  std::array<vpMatrix, 6> m_dIdrPlanes; 
  vpLuminanceDCT::vpMatrixZigZagIndex m_zigzag; 
};

class VISP_EXPORT vpFeatureLuminanceMapping : public vpBasicFeature
{
public:
  vpFeatureLuminanceMapping(const vpCameraParameters &cam, unsigned int h, unsigned int w, double Z, const std::shared_ptr<vpLuminanceMapping> mapping);
  vpFeatureLuminanceMapping(const vpFeatureLuminance &luminance, std::shared_ptr<vpLuminanceMapping> mapping);
  void init() VP_OVERRIDE;
  void init(const vpCameraParameters &cam, unsigned int h, unsigned int w, double Z, std::shared_ptr<vpLuminanceMapping> mapping);
  void init(const vpFeatureLuminance &luminance, std::shared_ptr<vpLuminanceMapping> mapping);
 
  vpFeatureLuminanceMapping(const vpFeatureLuminanceMapping &f);
  vpFeatureLuminanceMapping &operator=(const vpFeatureLuminanceMapping &f);
  vpFeatureLuminanceMapping *duplicate() const VP_OVERRIDE;
 
  virtual ~vpFeatureLuminanceMapping() = default;
 
  void buildFrom(vpImage<unsigned char> &I);
 
  void display(const vpCameraParameters &, const vpImage<unsigned char> &, const vpColor & = vpColor::green,
               unsigned int = 1) const VP_OVERRIDE
  { }
  void display(const vpCameraParameters &, const vpImage<vpRGBa> &, const vpColor & = vpColor::green,
               unsigned int = 1) const VP_OVERRIDE
  { }
 
  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
  void error(const vpBasicFeature &s_star, vpColVector &e);
 
  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
  void interaction(vpMatrix &L);
 
  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
 
  vpFeatureLuminance &getLuminanceFeature() { return m_featI; }
  std::shared_ptr<vpLuminanceMapping> &getMapping() { return m_mapping; }
 
private:
  std::shared_ptr<vpLuminanceMapping> m_mapping;
  vpFeatureLuminance m_featI;
  vpMatrix m_LI; 
  vpImage<unsigned char> I;
};
END_VISP_NAMESPACE
#endif
#endif