vpMe.h

/****************************************************************************
 *
 * 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
 * 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:
 * Moving edges.
 *
*****************************************************************************/

 
#ifndef _vpMe_h_
#define _vpMe_h_
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>

class VISP_EXPORT vpMe
{
public:
  typedef enum
  {
    OLD_THRESHOLD = 0,
    NORMALIZED_THRESHOLD = 1
  } vpLikelihoodThresholdType;
 
private:
  vpLikelihoodThresholdType m_likelihood_threshold_type;
 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
private:
#endif
  double threshold; 
  double mu1;       
  double mu2;       
  double min_samplestep;
  unsigned int anglestep;
  int mask_sign;
  unsigned int range; 
  double sample_step; 
  int ntotal_sample;
  int points_to_track;
  unsigned int mask_size;
  unsigned int n_mask;
  // Strip: defines a "security strip" such that Seek_Extremities()
  // cannot return a new extremity which is too close to the
  // frame borders which may cause Get_Sampling_Grid to refuse
  // the that extremity
  int strip;
  vpMatrix *mask; 
 
public:
  vpMe();
  vpMe(const vpMe &me);
  virtual ~vpMe();

  vpMe &operator=(const vpMe &me);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpMe &operator=(const vpMe &&me);
#endif

  void checkSamplestep(double &sample_step)
  {
    if (sample_step < min_samplestep)
      sample_step = min_samplestep;
  }

  inline unsigned int getAngleStep() const { return anglestep; }
  inline vpMatrix *getMask() const { return mask; }
  inline unsigned int getMaskNumber() const { return n_mask; }
  inline int getMaskSign() const { return mask_sign; }
  inline unsigned int getMaskSize() const { return mask_size; }
  inline double getMinSampleStep() const { return min_samplestep; }
  inline double getMu1() const { return mu1; }
  inline double getMu2() const { return mu2; }
  inline int getNbTotalSample() const { return ntotal_sample; }
  inline int getPointsToTrack() const { return points_to_track; }
  inline unsigned int getRange() const { return range; }
  inline int getStrip() const { return strip; }

  inline double getThreshold() const { return threshold; }

  inline vpLikelihoodThresholdType getLikelihoodThresholdType() const { return m_likelihood_threshold_type; }

  void initMask(); // convolution masks - offset computation

  void print();

  void setAngleStep(const unsigned int &a) { anglestep = a; }
  void setMaskNumber(const unsigned int &a);

  void setMaskSign(const int &a) { mask_sign = a; }

  void setMaskSize(const unsigned int &a);
  void setMinSampleStep(const double &min) { min_samplestep = min; }

  void setMu1(const double &mu_1) { this->mu1 = mu_1; }

  void setMu2(const double &mu_2) { this->mu2 = mu_2; }

  void setNbTotalSample(const int &nb) { ntotal_sample = nb; }

  void setPointsToTrack(const int &n) { points_to_track = n; }

  void setRange(const unsigned int &r) { range = r; }

  void setSampleStep(const double &s) { sample_step = s; }

  inline double getSampleStep() const { return sample_step; }

  void setStrip(const int &a) { strip = a; }

  void setThreshold(const double &t) { threshold = t; }

  void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type) { m_likelihood_threshold_type = likelihood_threshold_type; }
 
#ifdef VISP_HAVE_NLOHMANN_JSON
  friend void to_json(nlohmann::json &j, const vpMe &me);

  friend void from_json(const nlohmann::json &j, vpMe &me);
#endif
};
#ifdef VISP_HAVE_NLOHMANN_JSON
#include <nlohmann/json.hpp>
 
inline void to_json(nlohmann::json &j, const vpMe &me)
{
  j = {
    {"thresholdType", me.getLikelihoodThresholdType()},
    {"threshold", me.getThreshold()},
    {"mu", {me.getMu1(), me.getMu2()}},
    {"minSampleStep", me.getMinSampleStep()},
    {"sampleStep", me.getSampleStep()},
    {"range", me.getRange()},
    {"ntotalSample", me.getNbTotalSample()},
    {"pointsToTrack", me.getPointsToTrack()},
    {"maskSize", me.getMaskSize()},
    {"nMask", me.getMaskNumber()},
    {"maskSign", me.getMaskSign()},
    {"strip", me.getStrip()}
  };
}
 
inline void from_json(const nlohmann::json &j, vpMe &me)
{
  if (j.contains("thresholdType")) {
    me.setLikelihoodThresholdType(j.value("thresholdType", me.getLikelihoodThresholdType()));
  }
  me.setThreshold(j.value("threshold", me.getThreshold()));
 
  if (j.contains("mu")) {
    std::vector<double> mus = j.at("mu").get<std::vector<double>>();
    assert((mus.size() == 2));
    me.setMu1(mus[0]);
    me.setMu2(mus[1]);
  }
  me.setMinSampleStep(j.value("minSampleStep", me.getMinSampleStep()));
 
  me.setRange(j.value("range", me.getRange()));
  me.setNbTotalSample(j.value("ntotalSample", me.getNbTotalSample()));
  me.setPointsToTrack(j.value("pointsToTrack", me.getPointsToTrack()));
  me.setMaskSize(j.value("maskSize", me.getMaskSize()));
  me.setMaskSign(j.value("maskSign", me.getMaskSign()));
  me.setStrip(j.value("strip", me.getStrip()));
  if (j.contains("angleStep") && j.contains("nMask")) {
    std::cerr << "both angle step and number of masks are defined, number of masks will take precedence" << std::endl;
    me.setMaskNumber(j["nMask"]);
  }
  else if (j.contains("angleStep")) {
    me.setAngleStep(j["angleStep"]);
  }
  else if (j.contains("nMask")) {
    me.setMaskNumber(j["nMask"]);
  }
  me.initMask();
}
 
#endif
 
#endif