FastOpticalFlowOp2.h

/*
 
MIT License
 
Copyright (c) 2017 FMI Open Development / Markus Peura, first.last@fmi.fi
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
 
*/
/*
Part of Rack development has been done in the BALTRAD projects part-financed
by the European Union (European Regional Development Fund and European
Neighbourhood Partnership Instrument, Baltic Sea Region Programme 2007-2013)
*/
#ifndef SLIDINGWINDOWOPTICALFLOWOP2_H_
#define SLIDINGWINDOWOPTICALFLOWOP2_H_
 
#include <math.h>
 
#include "drain/util/Fuzzy.h"
 
#include "FastOpticalFlowOp.h" // OpticalFlowConfig, OpticalFlowCore1
 
 
namespace drain
{
 
namespace image
{
 
 
 
 
class OpticalFlowCore2 : public OpticalFlowCore {
 
public:
 
    // Sources
    static inline
    size_t getDiffChannelCount(){return 5;};
 
    ImageView GXX;
    ImageView GXY;
    ImageView GYY;
 
    ImageView GXT;
    ImageView GYT;
 
 
 
    void setSrcFrames(const ImageTray<const Channel> & srcTray);
 
 
protected:
 
    ~OpticalFlowCore2(){};
 
};
 
 
 
template <class R = OpticalFlowCore2 >
class SlidingOpticalFlow2 : public SlidingWindow<OpticalFlowConfig, R> {
 
public:
 
    SlidingOpticalFlow2(int width = 0, int height = 0) : SlidingWindow<OpticalFlowConfig, R>(width, height) {
        address = 0;
        w = u = v = nom = quality = 0.0;
    }
 
    SlidingOpticalFlow2(const OpticalFlowConfig & conf) : SlidingWindow<OpticalFlowConfig, R>(conf) {
        address = 0;
        w = u = v = nom = quality = 0.0;
    }
 
    virtual inline
    ~SlidingOpticalFlow2(){};
 
    // "Inherit" data types.
    typedef OpticalFlowCore1::data_t   data_t;
    typedef OpticalFlowCore1::cumul_t cumul_t;
 
    virtual
    inline
    void setImageLimits() const {
        this->coordinateHandler.setPolicy(this->GXX.getCoordinatePolicy());
        this->coordinateHandler.setLimits(this->GXX.getWidth(), this->GXX.getHeight());
    }
 
 
    virtual
    void initialize();
 
 
    virtual inline
    void addPixel(Point2D<int> & p){
 
        Logger mout(getImgLog(), "SlidingOpticalFlow", __FUNCTION__);
        mout.error("unimplemented" );
        /*
        if (! this->coordinateHandler.validate(p))
            return;
 
        address = this->GXX.address(p.x, p.y);
 
        Gxx += this->GXX.template get<data_t>(this->address);
        Gxy += this->GXY.template get<data_t>(this->address);
        Gyy += this->GYY.template get<data_t>(this->address);
        Gxt += this->GXT.template get<data_t>(this->address);
        Gyt += this->GYT.template get<data_t>(this->address);
 
        // Quality only
        W   += this->srcW.template get<data_t>(this->address);
         */
    }
 
    virtual inline
    void removePixel(Point2D<int> & p){
 
        Logger mout(getImgLog(), "SlidingOpticalFlow", __FUNCTION__);
        mout.error("unimplemented" );
 
        /*
        if (! this->coordinateHandler.validate(p))
            return;
 
        address = this->GXX.address(p.x, p.y);
 
        Gxx -= this->GXX.template get<data_t>(this->address);
        Gxy -= this->GXY.template get<data_t>(this->address);
        Gyy -= this->GYY.template get<data_t>(this->address);
        Gxt -= this->GXT.template get<data_t>(this->address);
        Gyt -= this->GYT.template get<data_t>(this->address);
 
        // Quality only
        W   -= this->srcW.template get<data_t>(this->address);
         */
    }
 
 
 
    /*
    inline
    data_t predictionError(double u, double v) const {
        //return u*Dx.get<double>(address) + v*Dy.get<double>(address) - Dt.get<double>(address);
        if (W > 0.0)
            //return sqrt((Gtt - 2.0*(Gxt*u + Gyt*v)  +  Gxx*u*u + 2.0*Gxy*u*v + Gyy*v*v)/W);
            return sqrt((Gtt + 2.0*(Gxy*u*v - Gxt*u - Gyt*v)  +  Gxx*u*u +  Gyy*v*v)/W);
        else
            return 0;
    };
     */
 
    virtual inline
    void write(){
 
 
        nom = this->nominator();
 
        /*
        if (this->debugDiag(4)){
            // std::cerr << this->location << '\t' << this->nominator() << '\t' << this->uDenominator() << ',' << this->vDenominator() << '\n';
            // this->uField.put(this->location, rand());
 
            std::cerr << this->location << "  \t"
                    << this->GXX.template get<double>(this->location) << '\t'
                    << '\n';
            if (nom != 0.0){
                u = this->uDenominator()/nom;
                v = this->vDenominator()/nom;
                std::cerr << " => " << u << ',' << v << '\n';
            }
        }
         */
 
        if (nom > 0.00000001){  // todo minQuality
 
            u = this->uDenominator()/nom;
            v = this->vDenominator()/nom;
            this->uField.put(this->location, this->conf.invertU ? -u : u);
            this->vField.put(this->location, this->conf.invertV ? -v : v);
 
            static const drain::FuzzySigmoid<double> sigmoid(0.0, 127.0, 254.0);
            quality = sqrt(nom/this->W);
            this->dstWeight.put(this->location, sigmoid(quality));
        }
        else {
            this->uField.put(this->location, 0);
            this->vField.put(this->location, 0);
            this->dstWeight.put(this->location, 0);
        }
 
    }
 
protected:
 
    virtual
    void clear(){
        this->clearStats();
        //std::cerr << "SlidingOpticalFlow2::" << __FUNCTION__ << ": " << this->nominator() << ", " << this->uDenominator() << ", " << this->vDenominator() << std::endl;
    }
 
    // Used by addPixel, removePixel
    mutable size_t address;
    //mutable   data_t dx, dy, dt, w; // inner-loop (instantaneous)
    mutable data_t w; // inner-loop (instantaneous)
 
    // Used by write
    mutable data_t u, v;
    mutable data_t nom;
    mutable data_t quality;
 
};
 
template <class R>
void SlidingOpticalFlow2<R>::initialize() {
 
    Logger mout(getImgLog(), "SlidingOpticalFlow2", __FUNCTION__);
 
    this->setImageLimits();
    this->setLoopLimits();
    this->location.setLocation(0,0);
 
    mout.debug("window: "  , *this );
    mout.debug2();
    mout << "GXX: " << this->GXX << '\n';
    mout << "GXY: " << this->GXY << '\n';
    mout << "GXX: " << this->GYY << '\n';
    mout << "GXX: " << this->GXT << '\n';
    mout << "GXX: " << this->GYT << '\n';
    mout << "W:   " << this->srcWeight   << '\n';
    mout << mout.endl;
    //this->resetAtEdges = true;
 
    /*
    std::cout << "Annapa input\n";
    drain::Point2D<int> p;
    std::string s;
    while (getline(std::cin, s)){
    //while ((std::cin>>p.x) && (std::cin>>p.y)){
        std::stringstream sstr(s);
        sstr >> p.x >> p.y;
        std::cout << p << "\t =>";
        int result = this->coordinateHandler.validate(p);
        std::cout << p << "\t (" << result << ")\n" ;
    }
    */
 
}
 
 
 
class SlidingOpticalFlowWeighted2 : public SlidingOpticalFlow2<OpticalFlowCore2> {
 
public:
 
    SlidingOpticalFlowWeighted2(const conf_t & conf) : SlidingOpticalFlow2<OpticalFlowCore2>(conf) {
    }
 
    typedef SlidingOpticalFlow2<OpticalFlowCore2> unweighted;
 
 
    virtual inline
    void addPixel(Point2D<int> & p){
 
        if (! this->coordinateHandler.validate(p))
            return;
 
        address = this->GXX.address(p.x, p.y);
        /*
        if (p.y > GXX.getHeight()){
            std::cerr << " coord overflow at " << p << std::endl;
        }
        */
        w = this->srcWeight.get<data_t>(address);
 
        W   += w;
        // w already included in cumulants
        Gxx += this->GXX.get<data_t>(address);
        Gxy += this->GXY.get<data_t>(address);
        Gyy += this->GYY.get<data_t>(address);
        Gxt += this->GXT.get<data_t>(address);
        Gyt += this->GYT.get<data_t>(address);
 
        // Quality only
    }
 
    virtual inline
    void removePixel(Point2D<int> & p){
 
        if (! this->coordinateHandler.validate(p))
            return;
 
        address = this->GXX.address(p.x, p.y);
 
        // Quality
        w = this->srcWeight.get<data_t>(address);
 
        W   -= w;
        // w already included in cumulants
        Gxx -= this->GXX.get<data_t>(address);
        Gxy -= this->GXY.get<data_t>(address);
        Gyy -= this->GYY.get<data_t>(address);
        Gxt -= this->GXT.get<data_t>(address);
        Gyt -= this->GYT.get<data_t>(address);
 
 
    }
 
 
};
 
//--------------------------------------------------------------std::cout << locationHandled << '\n';----------------------------
 
 
 
class FastOpticalFlow2Op : public SlidingWindowOp<SlidingOpticalFlowWeighted2> { // = window_t
 
public:
 
    typedef window_t::data_t data_t;
 
    FastOpticalFlow2Op(int width=5, int height=5): //, double smoothing=0.01) : //, double gradPow=2.0) : //, double gradWidth = 16) :
        SlidingWindowOp<SlidingOpticalFlowWeighted2>(__FUNCTION__, "Optical flow computed based on differential accumulation layers.")
         {
        //parameters.append(blender.getParameters(), false);
        //blender.setParameter("mix", "b");
        // New. Blender will be obsolete
        parameters.link("resize", resize = 0, "0.0..1.0|pix");
        parameters.link("threshold", threshold = NAN, "value");
        parameters.link("spread", spread   = 0, "0|1");
        parameters.link("smooth", smoother = 0, "0|1");
        setSize(width, height);
    }
 
    inline
    FastOpticalFlow2Op(const FastOpticalFlow2Op & op): SlidingWindowOp<SlidingOpticalFlowWeighted2>(op) {
        //std::cerr << __FUNCTION__ << op.getParameters() << '\n';
        parameters.copyStruct(op.getParameters(), op, *this);
    }
 
 
    virtual inline
    //void makeCompatible(const ImageFrame & src, Image & dst) const  {
    void getDstConf(const ImageConf & src, ImageConf & dst) const  {
        //dst.initialize(typeid(OpticalFlowCore2::data_t), src.getWidth(), src.getHeight(), 2, 1);
        dst.setType(typeid(OpticalFlowCore2::data_t));
        dst.setArea(src.getGeometry());
        dst.setChannelCount(2, 1);
    };
 
    virtual inline
    size_t getDiffChannelCount() const {
        return window_t::getDiffChannelCount();
    }
 
    virtual inline
    void traverseChannels(const ImageTray<const Channel> & src, ImageTray<Channel> & dst) const {
        this->traverseMultiChannel(src, dst);
    }
 
 
    virtual
    void computeDifferentials(const ImageTray<const Channel> & src, ImageTray<Channel> & dst) const;
 
 
 
    virtual
    void preprocess(const Channel & srcImage, const Channel & srcWeight, Image & dstImage, Image & dstWeight) const;
 
    inline
    bool optPreprocess() const {
        return optResize() || optThreshold() || optSmoother() || optSpread();
    }
 
    inline
    bool optResize() const { return resize > 0.0; } ;
 
protected:
 
    // NEW
    //std::vector<double> resize;
    double resize;
    double threshold;
    bool spread;
    bool smoother;
 
 
 
    inline
    bool optThreshold() const { return !std::isnan(threshold); };
 
    inline
    bool optSpread() const { return spread; };
 
    inline
    bool optSmoother() const { return smoother; };
 
 
 
    inline
    bool checkQuality(const Channel & alpha, std::size_t address, int DX, int DY) const {
 
        if (alpha.get<data_t>(address) == 0.0)
            return false;
 
        if (alpha.get<data_t>(address + DX) == 0.0)
            return false;
 
        if (alpha.get<data_t>(address - DX) == 0.0)
            return false;
 
        if (alpha.get<data_t>(address + DY) == 0.0)
            return false;
 
        if (alpha.get<data_t>(address - DY) == 0.0)
            return false;
 
        return true;
    }
 
};
 
}
}
 
#endif
 
// Drain