chromaticmask.h

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/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

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********************************/

#ifndef CHROMATICMASK_H
#define CHROMATICMASK_H

#include <opencv2/core/core.hpp>
#include <opencv2/ml/ml.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/ml/ml.hpp>
#include "exports.h"
#include "board.h"
#include "boarddetector.h"
#include "cvdrawingutils.h"


class ARUCO_EXPORTS EMClassifier {
  public:
    EMClassifier(unsigned int nelements = 200);
    void addSample(uchar s) { _samples.push_back(s); };
    void clearSamples() { _samples.clear(); };
    void train();
    bool classify(uchar s) { return _inside[s]; };
    double getProb(uchar s) { return _prob[s]; };
    unsigned int numsamples() { return _samples.size(); };
    void setProb(double p) { _threshProb = p; }

    //   double probConj[256];

  private:
#ifdef OPENCV_VERSION_3
    cv::Ptr< cv::ml::EM > _classifier;
#else
    cv::EM _classifier;
#endif
    vector< uchar > _samples;
    bool _inside[256];
    double _prob[256];
    double _histogram[256];
    unsigned int _nelem;
    double _threshProb;
};


class ARUCO_EXPORTS ChromaticMask {
  public:
    ChromaticMask() : _cellSize(20) { _isValid = false; };

    void setParams(unsigned int mc, unsigned int nc, double threshProb, aruco::CameraParameters CP, aruco::BoardConfiguration BC,
                   vector< cv::Point3f > corners);
    void setParams(unsigned int mc, unsigned int nc, double threshProb, aruco::CameraParameters CP, aruco::BoardConfiguration BC, float markersize = -1.);

    void calculateGridImage(const aruco::Board &board);

    cv::Mat getCellMap() { return _cellMap; };
    cv::Mat getMask() { return _mask; };

    void train(const cv::Mat &in, const aruco::Board &board);
    void classify(const cv::Mat &in, const aruco::Board &board);
    void classify2(const cv::Mat &in, const aruco::Board &board);
    void update(const cv::Mat &in);

    bool isValid() { return _isValid; };
    void resetMask();

  private:
    double getDistance(cv::Point2d pixel, unsigned int classifier) {
        cv::Vec2b canPos = _canonicalPos.at< cv::Vec2b >(pixel.y, pixel.x)[0];
        return norm(_cellCenters[classifier] - cv::Point2f(canPos[0], canPos[1]));
    }

    vector< cv::Point2f > _imgCornerPoints;
    vector< cv::Point3f > _objCornerPoints;
    cv::Mat _perpTrans;
    vector< EMClassifier > _classifiers;
    vector< cv::Point2f > _centers;
    vector< cv::Point2f > _pixelsVector;
    vector< cv::Point2f > _cellCenters;
    vector< vector< size_t > > _cell_neighbours;
    const float _cellSize;


    unsigned int _mc, _nc;
    aruco::BoardDetector _BD;
    aruco::CameraParameters _CP;
    cv::Mat _canonicalPos, _cellMap, _mask, _maskAux;
    bool _isValid;
    double _threshProb;
};

#endif // CHROMATICMASK_H