boofcv.alg.template.TemplateSqDiffNormed Maven / Gradle / Ivy
/*
* Copyright (c) 2021, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.alg.template;
import boofcv.struct.image.GrayF32;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.ImageBase;
import org.ejml.UtilEjml;
import org.jetbrains.annotations.Nullable;
import java.util.Objects;
/**
* Template matching which uses squared difference normed
*
* error = -1*Sum(o,u) (I(x,y) - T(x-o,y-u)**2/sqrt(sum I(x,y)**2 * sum T(x-o,y-u)**2)
*
* @author Peter Abeles
*/
@SuppressWarnings("NullAway.Init")
public abstract class TemplateSqDiffNormed>
implements TemplateIntensityImage.EvaluatorMethod {
// used to avoid divide by zero
float EPS = UtilEjml.F_EPS;
TemplateIntensityImage o;
@Override
public void initialize( TemplateIntensityImage owner ) {
this.o = owner;
setupTemplate(o.template, o.mask);
}
@Override
public boolean isMaximize() {
return true;
}
/**
* Precompres template statistics here
*/
public abstract void setupTemplate( T template, @Nullable T mask );
public static class F32 extends TemplateSqDiffNormed {
float area;
float templateSumSq;
@Override
public float evaluate( int tl_x, int tl_y ) {
float imageSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
for (int x = 0; x < o.template.width; x++) {
float v = o.image.data[imageIndex++];
imageSumSq += v*v;
}
}
imageSumSq /= area;
float errorSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int templateIndex = o.template.startIndex + y*o.template.stride;
for (int x = 0; x < o.template.width; x++) {
float error = (o.image.data[imageIndex++] - o.template.data[templateIndex++]);
errorSumSq += error*error;
}
}
errorSumSq /= area;
return (float)(-errorSumSq/Math.sqrt(EPS + templateSumSq*imageSumSq));
}
@Override
public float evaluateMask( int tl_x, int tl_y ) {
Objects.requireNonNull(o.mask);
float imageSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int maskIndex = o.mask.startIndex + y*o.mask.stride;
for (int x = 0; x < o.template.width; x++) {
float v = o.image.data[imageIndex++]*o.mask.data[maskIndex++];
imageSumSq += v*v;
}
}
imageSumSq /= area;
float errorSumSq = 0.0f;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int templateIndex = o.template.startIndex + y*o.template.stride;
int maskIndex = o.mask.startIndex + y*o.mask.stride;
for (int x = 0; x < o.template.width; x++) {
float mask = o.mask.data[maskIndex++];
float error = (o.image.data[imageIndex++] - o.template.data[templateIndex++])*mask;
errorSumSq += error*error;
}
}
errorSumSq /= area;
return (float)(-errorSumSq/Math.sqrt(EPS + templateSumSq*imageSumSq));
}
@Override
public void setupTemplate( GrayF32 template, @Nullable GrayF32 mask ) {
area = 0.0f;
templateSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int templateIndex = o.template.startIndex + y*o.template.stride;
for (int x = 0; x < o.template.width; x++) {
float m = mask != null ? mask.unsafe_get(x, y) : 1.0f;
float v = o.template.data[templateIndex++]*m;
templateSumSq += v*v;
area += m;
}
}
area *= area;
// divide by the area to keep the numbers reasonable sized. This won't change the solution
templateSumSq /= area;
}
}
public static class U8 extends TemplateSqDiffNormed {
double area;
double templateSumSq;
@Override
public float evaluate( int tl_x, int tl_y ) {
double imageSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
for (int x = 0; x < o.template.width; x++) {
double v = o.image.data[imageIndex++] & 0xFF;
imageSumSq += v*v;
}
}
imageSumSq /= area;
double errorSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int templateIndex = o.template.startIndex + y*o.template.stride;
for (int x = 0; x < o.template.width; x++) {
double error = (o.image.data[imageIndex++] & 0xFF) - (o.template.data[templateIndex++] & 0xFF);
errorSumSq += error*error;
}
}
errorSumSq /= area;
return (float)(-errorSumSq/Math.sqrt(EPS + templateSumSq*imageSumSq));
}
@Override
public float evaluateMask( int tl_x, int tl_y ) {
Objects.requireNonNull(o.mask);
double imageSumSq = 0;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int maskIndex = o.mask.startIndex + y*o.mask.stride;
for (int x = 0; x < o.template.width; x++) {
double v = (o.image.data[imageIndex++] & 0xFF)*(o.mask.data[maskIndex++] & 0xFF);
imageSumSq += v*v;
}
}
imageSumSq /= area;
double errorSumSq = 0.0f;
for (int y = 0; y < o.template.height; y++) {
int imageIndex = o.image.startIndex + (tl_y + y)*o.image.stride + tl_x;
int templateIndex = o.template.startIndex + y*o.template.stride;
int maskIndex = o.mask.startIndex + y*o.mask.stride;
for (int x = 0; x < o.template.width; x++) {
double mask = o.mask.data[maskIndex++] & 0xFF;
double error = ((o.image.data[imageIndex++] & 0xFF) - (o.template.data[templateIndex++] & 0xFF))*mask;
errorSumSq += error*error;
}
}
errorSumSq /= area;
return (float)(-errorSumSq/Math.sqrt(EPS + templateSumSq*imageSumSq));
}
@Override
public void setupTemplate( GrayU8 template, @Nullable GrayU8 mask ) {
area = 0.0;
templateSumSq = 0.0;
for (int y = 0; y < o.template.height; y++) {
int templateIndex = o.template.startIndex + y*o.template.stride;
for (int x = 0; x < o.template.width; x++) {
double m = mask != null ? mask.unsafe_get(x, y) : 1.0;
double v = (o.template.data[templateIndex++] & 0xFF)*m;
templateSumSq += v*v;
area += m;
}
}
area *= area;
// divide by the area to keep the numbers reasonable sized. This won't change the solution
templateSumSq /= area;
}
}
@Override
public boolean isBorderProcessed() {
return false;
}
}