IntegralInvariantCovarianceEstimator.ih

/**
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as
 *  published by the Free Software Foundation, either version 3 of the
 *  License, or  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 **/
 
/**
 * @file IntegralInvariantCovarianceEstimator.ih
 * @author Jeremy Levallois (\c jeremy.levallois@liris.cnrs.fr )
 * Laboratoire d'InfoRmatique en Image et Systèmes d'information - LIRIS (CNRS, UMR 5205), INSA-Lyon, France
 * LAboratoire de MAthématiques - LAMA (CNRS, UMR 5127), Université de Savoie, France
 * @author Jacques-Olivier Lachaud (\c jacques-olivier.lachaud@univ-savoie.fr )
 * Laboratory of Mathematics (CNRS, UMR 5127), University of Savoie, France
 *
 * @date 2014/05/12
 *
 * Implementation of inline methods defined in IntegralInvariantCovarianceEstimator.h
 *
 * This file is part of the DGtal library.
 */
 
 
//////////////////////////////////////////////////////////////////////////////
#include <cstdlib>
#include "DGtal/math/BasicMathFunctions.h"
//////////////////////////////////////////////////////////////////////////////
 
///////////////////////////////////////////////////////////////////////////////
// IMPLEMENTATION of inline methods.
///////////////////////////////////////////////////////////////////////////////
 
///////////////////////////////////////////////////////////////////////////////
// ----------------------- Standard services ------------------------------
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
~IntegralInvariantCovarianceEstimator()
{
  clear();
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
void
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
clear()
{
  for( unsigned int i = 0; i < myKernelsSet.size(); ++i )
    if ( myKernelsSet[ i ] != 0 ) delete myKernelsSet[ i ];
  myH = 1.0;
  myRadius = 0.0;
}
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
IntegralInvariantCovarianceEstimator( CovarianceMatrixFunctor fct )
  : myFct( fct ),
    myKernelFunctor(NumberTraits<Value>::ONE),
    myKernels(), myKernelsSet(),
    myKernel( 0 ), myDigKernel( 0 ), 
    myPointPredicate( 0 ), myShapeDomain( 0 ),
    myShapePointFunctor( 0 ), myShapeSpelFunctor( 0 ),
    myConvolver( 0 ),
    myH( 1.0 ), myRadius( 0.0 )
{
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
IntegralInvariantCovarianceEstimator
( ConstAlias< KSpace > K, 
  ConstAlias< PointPredicate > aPointPredicate,
  CovarianceMatrixFunctor fct )
  : myFct( fct ), 
    myKernelFunctor(NumberTraits<Value>::ONE),
    myKernels(), myKernelsSet(),
    myKernel( 0 ), myDigKernel( 0 ),
    myPointPredicate( aPointPredicate ), myShapeDomain( 0 ),
    myShapePointFunctor( 0 ), myShapeSpelFunctor( 0 ),
    myConvolver( 0 ),
    myH( 1.0 ), myRadius( 0.0 )
{
  CountedConstPtrOrConstPtr<KSpace> ptrK( K );
  myShapeDomain = CountedPtr<Domain>( new Domain( ptrK->lowerBound(), ptrK->upperBound() ) );
  myShapePointFunctor = CountedPtr<ShapePointFunctor>( new ShapePointFunctor( *myPointPredicate, *myShapeDomain, 1, 0 ) );
  myShapeSpelFunctor = CountedPtr<ShapeSpelFunctor>( new ShapeSpelFunctor( *myShapePointFunctor, K ) );
  myConvolver = CountedPtr<Convolver>( new Convolver( *myShapeSpelFunctor, myKernelFunctor, K ) );
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
IntegralInvariantCovarianceEstimator
( const Self& other )
  : myFct( other.myFct ),
    myKernelFunctor( other.myKernelFunctor ),
    myKernels( other.myKernels ), myKernelsSet( other.myKernelsSet ),
    myKernel( other.myKernel ), myDigKernel( other.myDigKernel ), 
    myPointPredicate( other.myPointPredicate ), myShapeDomain( other.myShapeDomain ),
    myShapePointFunctor( other.myShapePointFunctor ), myShapeSpelFunctor( other.myShapeSpelFunctor ),
    myConvolver( other.myConvolver ),
    myH( other.myH ), myRadius( other.myRadius )
{}
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
typename DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::Self&
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
operator= ( const Self& other )
{
  if ( this != &other )
    {
      myFct = other.myFct;
      // myKernelFunctor = other.myKernelFunctor;
      myKernels = other.myKernels;
      myKernelsSet = other.myKernelsSet;
      myKernel = other.myKernel;
      myDigKernel = other.myDigKernel;
      myPointPredicate = other.myPointPredicate;
      myShapeDomain = other.myShapeDomain;
      myShapePointFunctor = other.myShapePointFunctor;
      myShapeSpelFunctor = other.myShapeSpelFunctor;
      myConvolver = other.myConvolver;
      myH = other.myH;
      myRadius = other.myRadius;
    }
  return *this;
}
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
typename DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::Scalar
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
h() const
{ 
  return myH;
}
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
void
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
attach
( ConstAlias< KSpace > K, 
  ConstAlias<PointPredicate> aPointPredicate )
{
  myPointPredicate = aPointPredicate;
  CountedConstPtrOrConstPtr<KSpace> ptrK( K );
  myShapeDomain = CountedPtr<Domain>( new Domain( ptrK->lowerBound(), ptrK->upperBound() ) );
  myShapePointFunctor = CountedPtr<ShapePointFunctor>( new ShapePointFunctor( *myPointPredicate, *myShapeDomain, 1, 0 ) );
  myShapeSpelFunctor = CountedPtr<ShapeSpelFunctor>( new ShapeSpelFunctor( *myShapePointFunctor, K ) );
  myConvolver = CountedPtr<Convolver>( new Convolver( *myShapeSpelFunctor, myKernelFunctor, K ) );
}
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
void
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
setParams
( const double dRadius )
{
  ASSERT( ( dRadius > 0.0 )
          && "[DGtal::IntegralInvariantCovarianceEstimator:setParams] Radius parameter dRadius must be positive." );
  myRadius = dRadius;
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
template <typename SurfelConstIterator>
inline
void
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
init
( const double _h, SurfelConstIterator /* itb */, SurfelConstIterator /* ite */ )
{
  ASSERT( ( _h > 0.0 )
          && "[DGtal::IntegralInvariantCovarianceEstimator:init] Gridstep parameter h must be positive." );
  ASSERT( ( myRadius > 0.0 )
          && "[DGtal::IntegralInvariantCovarianceEstimator:init] Radius parameter dRadius must have been initialized with a call to 'setParams'." );
  ASSERT( ( myConvolver != 0 )
          && "[DGtal::IntegralInvariantCovarianceEstimator:init] Shape of interest must have been initialized with a call to 'attach'." );
 
  typedef typename RealPoint::Component ScalarC;
  // Clear stuff
  for( unsigned int i = 0; i < myKernelsSet.size(); ++i )
    if ( myKernelsSet[ i ] != 0 ) delete myKernelsSet[ i ];
 
  myH = _h;
  double eRadius = myRadius * myH; // Euclidean radius of the ball kernel.
  
  myFct.init( myH, eRadius );
 
  RealPoint rOrigin = RealPoint::zero;
  Point pOrigin = Point::zero;
  myKernel = CountedPtr<KernelSupport>( new KernelSupport( rOrigin, eRadius ) ); // acquired
  myDigKernel = CountedPtr<DigitalShapeKernel>( new DigitalShapeKernel() );
  myDigKernel->attach( *myKernel );
  myDigKernel->init( myKernel->getLowerBound() + Point::diagonal(-1), myKernel->getUpperBound() + Point::diagonal(1), myH );
  Domain neighborhood( Point::diagonal(-1), Point::diagonal(1) );
  unsigned int n = functions::power( (unsigned int) 3, Space::dimension );
  myKernels = std::vector< PairIterators > ( n );
  myKernelsSet = std::vector< DigitalSet* >( n );
  unsigned int offset = 0;
  unsigned int middle = n / 2;
  RealPoint shiftPoint;
  for ( typename Domain::ConstIterator it_neigh = neighborhood.begin(),
          it_neigh_end = neighborhood.end(); 
        it_neigh != it_neigh_end; 
        ++it_neigh, ++offset )
    {
      /// Computation of shifting masks
      if( offset == middle ) continue; // no shift
      for ( Dimension k = 0; k < Space::dimension; ++k )
        shiftPoint[ k ] = (ScalarC) (*it_neigh)[ k ];
      shiftPoint *= (ScalarC) myH;
      KernelSupport* kernelShifted = new KernelSupport( shiftPoint, eRadius );
      EuclideanMinus* current = new EuclideanMinus( *myKernel );
      current->minus( *kernelShifted );
      DigitalShape digCurrent;
      digCurrent.attach( *current );
      digCurrent.init( myKernel->getLowerBound() + Point::diagonal(-1), myKernel->getUpperBound() + Point::diagonal(1), myH );
      
      myKernelsSet[ offset ] = new DigitalSet( digCurrent.getDomain() );
      Shapes< Domain>::digitalShaper ( *(myKernelsSet[ offset ]), digCurrent );
      
      myKernels[ offset ].first  = myKernelsSet[ offset ]->begin();
      myKernels[ offset ].second = myKernelsSet[ offset ]->end();
      
      delete current;
      delete kernelShifted;
    }
    /// End of computation of masks
    myConvolver->init( pOrigin, *myDigKernel, myKernels );
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
template <typename SurfelConstIterator>
inline
typename DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::Quantity
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::
eval
( SurfelConstIterator it ) const
{
  return myFct( myConvolver->evalCovarianceMatrix( it ) );
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
template <typename OutputIterator, typename SurfelConstIterator>
inline
OutputIterator
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::eval
( SurfelConstIterator itb,
  SurfelConstIterator ite,
  OutputIterator result ) const
{
  myConvolver->evalCovarianceMatrix( itb, ite, result, myFct );
  return result;
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
void
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::selfDisplay
( std::ostream & out ) const
{
  out << "[IntegralInvariantCovarianceEstimator h=" << myH
      << " digR=" << myRadius << " eucR=" << (myH*myRadius) << " ]";
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
bool
DGtal::IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor>::isValid() const
{
  return ( myH > 0 ) && ( myRadius > 0 ) && ( myConvolver != 0 );
}
 
//-----------------------------------------------------------------------------
template <typename TKSpace, typename TPointPredicate, typename TCovarianceMatrixFunctor>
inline
std::ostream&
DGtal::operator<<
( std::ostream & out, 
  const IntegralInvariantCovarianceEstimator<TKSpace, TPointPredicate, TCovarianceMatrixFunctor> & object )
{
  object.selfDisplay( out );
  return out;
}