vpColorHistogramMask.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.
 */

#ifndef VP_COLOR_HISTOGRAM_MASK_H
#define VP_COLOR_HISTOGRAM_MASK_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
#include <visp3/rbt/vpColorHistogram.h>
#include <visp3/rbt/vpObjectMask.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include VISP_NLOHMANN_JSON(json_fwd.hpp)
#endif
 
BEGIN_VISP_NAMESPACE
 
class vpRBFeatureTrackerInput;

class VISP_EXPORT vpColorHistogramMask : public vpObjectMask
{
public:
  vpColorHistogramMask();
  virtual ~vpColorHistogramMask() = default;
 
  void updateMask(const vpRBFeatureTrackerInput &frame,
                  const vpRBFeatureTrackerInput &previousFrame,
                  vpImage<float> &mask) VP_OVERRIDE;

  void setBinNumber(unsigned int N)
  {
    m_histBackground.setBinNumber(N);
    m_histBackgroundFrame.setBinNumber(N);
    m_histObject.setBinNumber(N);
    m_histObjectFrame.setBinNumber(N);
  }
 
  float getDepthErrorTolerance() const { return m_depthErrorTolerance; }
  void setDepthErrorTolerance(float errorMax)
  {
    if (errorMax < 0.f) {
      throw vpException(vpException::badValue, "Depth error tolerance in histogram computation should be > 0");
    }
    m_depthErrorTolerance = errorMax;
  }
 
  float getObjectUpdateRate() const { return m_objectUpdateRate; }
  void setObjectUpdateRate(float updateRate)
  {
    if (updateRate < 0.f || updateRate > 1.f) {
      throw vpException(vpException::badValue, "Histogram update rate should be between 0 and 1 (included)");
    }
    m_objectUpdateRate = updateRate;
  }
 
  float getBackgroundUpdateRate() const { return m_backgroundUpdateRate; }
  void setBackgroundUpdateRate(float updateRate)
  {
    if (updateRate < 0.f || updateRate > 1.f) {
      throw vpException(vpException::badValue, "Histogram update rate should be between 0 and 1 (included)");
    }
    m_backgroundUpdateRate = updateRate;
  }
 
  bool isComputedOnlyOnBoundingBox() const { return m_computeOnBBOnly; }
  void setComputeOnlyOnBoundingBox(bool bbOnly)
  {
    m_computeOnBBOnly = bbOnly;
  }

 
  void display(const vpImage<float> &mask, vpImage<unsigned char> &Imask) const VP_OVERRIDE
  {
    vpObjectMask::display(mask, Imask);
    unsigned int numColor = 10;
    unsigned int y = 50;
    unsigned int pady = 20;
    unsigned int pad = 5;
    unsigned int radius = 5;
 
    std::vector<vpRGBa> bestColors = m_histObject.mostLikelyColors(numColor);
    std::vector<vpRGBa> bestColorsBg = m_histBackground.mostLikelyColors(numColor);
 
 
    for (unsigned int i = 0; i < bestColors.size(); ++i) {
      vpColor c;
      c.R = bestColors[i].R;
      c.G = bestColors[i].G;
      c.B = bestColors[i].B;
      c.A = 255;
 
      vpDisplay::displayText(Imask, y, pad, "Most likely object colors: ", vpColor::red);
      vpDisplay::displayCircle(Imask, y + pady, pad * 2 + (i * radius * 2 + (i - 1) * pad), radius, c, true);
 
      c.R = bestColorsBg[i].R;
      c.G = bestColorsBg[i].G;
      c.B = bestColorsBg[i].B;
      c.A = 255;
 
      vpDisplay::displayText(Imask, y + pady * 2, pad, "Most likely background colors: ", vpColor::red);
      vpDisplay::displayCircle(Imask, y + pady * 3, pad * 2 + (i * radius * 2 + (i - 1) * pad), radius, c, true);
    }
  }
 
  virtual void reset() VP_OVERRIDE
  {
    setBinNumber(m_histObject.getBinNumber());
  }
 
#if defined(VISP_HAVE_NLOHMANN_JSON)
  void loadJsonConfiguration(const nlohmann::json &json) VP_OVERRIDE;
#endif
 
private:
  vpColorHistogram m_histObject, m_histBackground, m_histObjectFrame, m_histBackgroundFrame;
  float m_depthErrorTolerance;
  float m_objectUpdateRate, m_backgroundUpdateRate;
  float m_threshold;
 
  vpImage<bool> m_mask;
  vpImage<float> m_probaObject, m_probaBackground;
 
  bool m_computeOnBBOnly;
};
 
END_VISP_NAMESPACE
 
#endif