From a695fa87543c44d2817c05274ce94790feb2818c Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 12 Jul 2019 11:28:39 +0300
Subject: [PATCH] fix various StatisticsImage (closes #101) issues.
Statistics image is now reset when GUI mode is changed. Removed
n-samples mode (too slow, requires better algorithm). Resetting
the image mostly addresses this use case.
---
applications/gui/src/camera.cpp | 149 +++++++++++++-------------------
applications/gui/src/camera.hpp | 4 +-
2 files changed, 62 insertions(+), 91 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 10cb7053d..31620c395 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -11,118 +11,80 @@ using ftl::gui::PoseWindow;
// TODO(Nick) MOVE
class StatisticsImage {
private:
- std::vector<float> data_;
+ cv::Mat data_;
cv::Size size_;
- int n_;
+ float max_f_;
public:
- StatisticsImage(cv::Size size) {
- size_ = size;
- data_ = std::vector<float>(size.width * size.height * 2, 0.0f);
- n_ = 0;
- }
+ StatisticsImage(cv::Size size);
+ StatisticsImage(cv::Size size, float max_f);
+ void reset();
void update(const cv::Mat &in);
+ void getVariance(cv::Mat &out);
void getStdDev(cv::Mat &out);
void getMean(cv::Mat &out);
};
-void StatisticsImage::update(const cv::Mat &in) {
- DCHECK(in.type() == CV_32F);
- DCHECK(in.size() == size_);
- // Welford's Method
-
- n_++;
- for (int i = 0; i < size_.width * size_.height; i++) {
- float x = ((float*) in.data)[i];
- if (!isValidDepth(x)) { continue; } // invalid value
- float &m = data_[2*i];
- float &S = data_[2*i+1];
- float m_prev = m;
- m = m + (x - m) / n_;
- S = S + (x - m) * (x - m_prev);
- }
-}
-
-void StatisticsImage::getStdDev(cv::Mat &in) {
- in = cv::Mat(size_, CV_32F, 0.0f);
-
- for (int i = 0; i < size_.width * size_.height; i++) {
- float &m = data_[2*i];
- float &S = data_[2*i+1];
- ((float*) in.data)[i] = sqrt(S / n_);
+StatisticsImage::StatisticsImage(cv::Size size) :
+ StatisticsImage(size, std::numeric_limits<float>::infinity()) {}
+
+StatisticsImage::StatisticsImage(cv::Size size, float max_f) {
+ size_ = size;
+ // channels: m, s, f
+ data_ = cv::Mat(size, CV_32FC3, cv::Scalar(0.0, 0.0, 0.0));
+ max_f_ = max_f;
+ // TODO
+ if (!std::isinf(max_f_)) {
+ LOG(WARNING) << "TODO: max_f_ not used. Values calculated for all samples";
}
}
-void StatisticsImage::getMean(cv::Mat &in) {
- in = cv::Mat(size_, CV_32F, 0.0f);
-
- for (int i = 0; i < size_.width * size_.height; i++) {
- ((float*) in.data)[i] = data_[2*i];
- }
+void StatisticsImage::reset() {
+ data_ = cv::Scalar(0.0, 0.0, 0.0);
}
-class StatisticsImageNSamples {
-private:
- std::vector<cv::Mat> samples_;
- cv::Size size_;
- int i_;
- int n_;
-
-public:
- StatisticsImageNSamples(cv::Size size, int n) {
- size_ = size;
- samples_ = std::vector<cv::Mat>(n);
- i_ = 0;
- n_ = n;
- }
-
- void update(const cv::Mat &in);
- void getStdDev(cv::Mat &out);
- void getVariance(cv::Mat &out);
- void getMean(cv::Mat &out);
-};
-
-void StatisticsImageNSamples::update(const cv::Mat &in) {
+void StatisticsImage::update(const cv::Mat &in) {
DCHECK(in.type() == CV_32F);
DCHECK(in.size() == size_);
+ // Welford's Method
- i_ = (i_ + 1) % n_;
- in.copyTo(samples_[i_]);
-}
-
-void StatisticsImageNSamples::getStdDev(cv::Mat &out) {
- cv::Mat var;
- getVariance(var);
- cv::sqrt(var, out);
-}
+ for (int row = 0; row < in.rows; row++) {
+ float* ptr_data = data_.ptr<float>(row);
+ const float* ptr_in = in.ptr<float>(row);
-void StatisticsImageNSamples::getVariance(cv::Mat &out) {
- // Welford's Method
- cv::Mat mat_m(size_, CV_32F, 0.0f);
- cv::Mat mat_S(size_, CV_32F, 0.0f);
-
- float n = 0.0f;
- for (int i_sample = (i_ + 1) % n_; i_sample != i_; i_sample = (i_sample + 1) % n_) {
- if (samples_[i_sample].size() != size_) continue;
- n += 1.0f;
- for (int i = 0; i < size_.width * size_.height; i++) {
- float &x = ((float*) samples_[i_sample].data)[i];
- float &m = ((float*) mat_m.data)[i];
- float &S = ((float*) mat_S.data)[i];
+ for (int col = 0; col < in.cols; col++, ptr_in++) {
+ float x = *ptr_in;
+ float &m = *ptr_data++;
+ float &s = *ptr_data++;
+ float &f = *ptr_data++;
float m_prev = m;
- if (!isValidDepth(x)) continue;
+ if (!ftl::rgbd::isValidDepth(x)) continue;
- m = m + (x - m) / n;
- S = S + (x - m) * (x - m_prev);
+ f = f + 1.0f;
+ m = m + (x - m) / f;
+ s = s + (x - m) * (x - m_prev);
}
}
+}
+
+void StatisticsImage::getVariance(cv::Mat &out) {
+ std::vector<cv::Mat> channels(3);
+ cv::split(data_, channels);
+ cv::divide(channels[1], channels[2], out);
+}
- mat_S.copyTo(out);
+void StatisticsImage::getStdDev(cv::Mat &out) {
+ getVariance(out);
+ cv::sqrt(out, out);
}
-void StatisticsImageNSamples::getMean(cv::Mat &in) {}
+void StatisticsImage::getMean(cv::Mat &out) {
+ std::vector<cv::Mat> channels(3);
+ cv::split(data_, channels);
+ out = channels[0];
+}
static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
Eigen::Affine3d rx =
@@ -234,7 +196,16 @@ void ftl::gui::Camera::setChannel(ftl::rgbd::channel_t c) {
channel_ = c;
switch (c) {
case ftl::rgbd::kChanRight:
- case ftl::rgbd::kChanDepth: src_->setChannel(c); break;
+ [[fallthrough]];
+
+ case ftl::rgbd::kChanDeviation:
+ if (stats_) { stats_->reset(); }
+ [[fallthrough]];
+
+ case ftl::rgbd::kChanDepth:
+ src_->setChannel(ftl::rgbd::kChanDepth);
+ break;
+
default: src_->setChannel(ftl::rgbd::kChanNone);
}
}
@@ -266,7 +237,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (channel_ == ftl::rgbd::kChanDeviation) {
if (!stats_ && depth.rows > 0) {
- stats_ = new StatisticsImageNSamples(depth.size(), 25);
+ stats_ = new StatisticsImage(depth.size());
}
if (stats_ && depth.rows > 0) { stats_->update(depth); }
@@ -288,7 +259,7 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (depth.rows == 0) { break; }
//imageSize = Vector2f(depth.cols, depth.rows);
stats_->getStdDev(tmp);
- tmp.convertTo(tmp, CV_8U, 50.0);
+ tmp.convertTo(tmp, CV_8U, 1000.0);
applyColorMap(tmp, tmp, cv::COLORMAP_HOT);
texture_.update(tmp);
break;
diff --git a/applications/gui/src/camera.hpp b/applications/gui/src/camera.hpp
index 5284b28eb..034fcf853 100644
--- a/applications/gui/src/camera.hpp
+++ b/applications/gui/src/camera.hpp
@@ -6,7 +6,7 @@
#include <string>
-class StatisticsImageNSamples;
+class StatisticsImage;
namespace ftl {
namespace gui {
@@ -43,7 +43,7 @@ class Camera {
nlohmann::json getMetaData();
- StatisticsImageNSamples *stats_ = nullptr;
+ StatisticsImage *stats_ = nullptr;
private:
Screen *screen_;
--
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