libotb-dev 6.4.0+dfsg-1 / usr / include / OTB-6.4 / otbObjectDetectionClassifier.h

/*
 * Copyright (C) 2005-2017 Centre National d'Etudes Spatiales (CNES)
 *
 * This file is part of Orfeo Toolbox
 *
 *     https://www.orfeo-toolbox.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.
 */

#ifndef otbObjectDetectionClassifier_h
#define otbObjectDetectionClassifier_h

#include <vector>

#include "itkImageRegion.h"
#include "itkFixedArray.h"
#include "itkVariableLengthVector.h"
#include "itkListSample.h"
#include "itkDataObjectDecorator.h"
#include "itkSimpleDataObjectDecorator.h"
#include "itkFunctionBase.h"

#include "otbVectorData.h"
#include "otbMachineLearningModel.h"
#include "otbPersistentImageFilter.h"
#include "otbPersistentFilterStreamingDecorator.h"

namespace otb
{

template <class TFunctionPrecision>
class DefaultDescriptorType
{
public:
  typedef itk::VariableLengthVector<TFunctionPrecision> Type;
};

/** \class PersistentObjectDetectionClassifier
 *  \brief [internal] Helper class for the implementation of ObjectDetectionClassifier
 *  with streaming capabilities
 *
 *  This class inherits PersistentImageFilter and provides the Reset/Synthesize functions,
 *  plus the ThreadedGenerateData function implementing the image function evaluation
 *
 *
 * \ingroup OTBObjectDetection
 */
template <class TInputImage, class TOutputVectorData, class TLabel, class TFunctionType>
class ITK_EXPORT PersistentObjectDetectionClassifier :
  public PersistentImageFilter<TInputImage, TInputImage>
{
public:
  /** Standard Self typedef */
  typedef PersistentObjectDetectionClassifier        Self;
  typedef PersistentImageFilter<TInputImage, TInputImage> Superclass;
  typedef itk::SmartPointer<Self>                         Pointer;
  typedef itk::SmartPointer<const Self>                   ConstPointer;

  /** Method for creation through the object factory. */
  itkNewMacro(Self);

  /** Runtime information support. */
  itkTypeMacro(PersistentObjectDetectionClassifier, PersistentImageFilter);

  /** Image related typedefs. */
  typedef TInputImage                      InputImageType;
  typedef typename TInputImage::Pointer    InputImagePointer;
  typedef typename TInputImage::RegionType RegionType;
  typedef typename TInputImage::SizeType   SizeType;
  typedef typename TInputImage::IndexType  IndexType;
  typedef typename TInputImage::PixelType  PixelType;

  itkStaticConstMacro(InputImageDimension, unsigned int,
                      TInputImage::ImageDimension);

  /** Image related typedefs. */
  itkStaticConstMacro(ImageDimension, unsigned int,
                      TInputImage::ImageDimension);

  /** Smart Pointer type to a DataObject. */
  typedef typename itk::DataObject::Pointer DataObjectPointer;
  typedef itk::ProcessObject::DataObjectPointerArraySizeType DataObjectPointerArraySizeType;

  /** Input VectorData */
  typedef TOutputVectorData                               VectorDataType;
  typedef typename VectorDataType::Pointer                VectorDataObjectType;
  typedef typename VectorDataType::DataNodeType           VectorDataNodeType;
  typedef typename VectorDataType::DataNodePointerType    VectorDataNodePointerType;
  typedef typename VectorDataType::DataTreeType           VectorDataTreeType;
  typedef typename VectorDataType::DataTreePointerType    VectorDataTreePointerType;
  typedef typename VectorDataNodeType::PointType          VectorDataPointType;
  typedef typename VectorDataNodeType::LineType           VectorDataLineType;
  typedef typename VectorDataNodeType::PolygonType        VectorDataPolygonType;
  typedef itk::PreOrderTreeIterator<VectorDataTreeType>   VectorDataTreeIteratorType;

  /** Function type for descriptors extraction */
  typedef TFunctionType                                   DescriptorsFunctionType;
  typedef typename DescriptorsFunctionType::Pointer       DescriptorsFunctionPointerType;
  typedef typename DescriptorsFunctionType::InputType     DescriptorsFunctionPointType;
  typedef typename DescriptorsFunctionType::OutputType    DescriptorType;
  typedef typename DescriptorType::ValueType              DescriptorPrecision;

  typedef itk::ContinuousIndex
        <typename DescriptorsFunctionPointType::ValueType,
         itkGetStaticConstMacro(InputImageDimension)>     ContinuousIndexType;

  /** TLabel output */
  typedef TLabel                                             LabelType;
  typedef MachineLearningModel<DescriptorPrecision, LabelType> ModelType;
  typedef typename ModelType::Pointer                     ModelPointerType;
  typedef typename ModelType::InputSampleType             ModelMeasurementType;

  typedef itk::Statistics::ListSample<DescriptorType>        ListSampleType;

  void AddInput(itk::DataObject * dataObject) ITK_OVERRIDE
  {
    this->Superclass::AddInput(dataObject);
  }

  /** learning model used for classification */
  void SetModel(ModelType * model);

  const ModelType* GetModel(void) const;

  VectorDataType* GetOutputVectorData(void);

  /** The function to evaluate */
  itkSetObjectMacro(DescriptorsFunction,      DescriptorsFunctionType);
  itkGetObjectMacro(DescriptorsFunction,      DescriptorsFunctionType);
  itkGetConstObjectMacro(DescriptorsFunction, DescriptorsFunctionType);

  itkSetMacro( NeighborhoodRadius, unsigned int );
  itkGetConstReferenceMacro( NeighborhoodRadius, unsigned int );

  itkGetConstMacro(ClassKey, std::string);
  itkSetMacro(ClassKey, std::string);

  itkGetMacro(NoClassLabel, LabelType);
  itkSetMacro(NoClassLabel, LabelType);

  /** Set/Get the Shifts for this sample list */
  itkGetMacro(Shifts, DescriptorType);
  itkSetMacro(Shifts, DescriptorType);
  itkGetMacro(Scales, DescriptorType);
  itkSetMacro(Scales, DescriptorType);

  /** Set/Get the grid step for detection */
  itkSetMacro(GridStep, unsigned int);
  itkGetMacro(GridStep, unsigned int);

  /** Make a DataObject of the correct type to be used as the specified
   * output. */
  itk::DataObject::Pointer MakeOutput(DataObjectPointerArraySizeType idx) ITK_OVERRIDE;
  using Superclass::MakeOutput;

  void AllocateOutputs() ITK_OVERRIDE;

  void GenerateOutputInformation() ITK_OVERRIDE;

  void Reset(void) ITK_OVERRIDE;

  void Synthetize(void) ITK_OVERRIDE;

protected:
  PersistentObjectDetectionClassifier();
  ~PersistentObjectDetectionClassifier() ITK_OVERRIDE;
  void PrintSelf(std::ostream& os, itk::Indent indent) const ITK_OVERRIDE;

  void GenerateInputRequestedRegion() ITK_OVERRIDE;

  void BeforeThreadedGenerateData() ITK_OVERRIDE;

  /** Multi-thread version GenerateData. */
  void  ThreadedGenerateData(const RegionType& outputRegionForThread,
                             itk::ThreadIdType threadId) ITK_OVERRIDE;

private:
  PersistentObjectDetectionClassifier(const Self &); //purposely not implemented
  void operator =(const Self&); //purposely not implemented

  template <typename TCoordRepType>
  bool
  IsInsideWithNeighborhoodRadius(const RegionType& region, const ContinuousIndexType &index) const
    {
    typedef typename RegionType::IndexType     IndexType;
    typedef typename IndexType::IndexValueType IndexValueType;

    for(unsigned int i=0; i<ImageDimension; ++i)
      {
      if( itk::Math::RoundHalfIntegerUp<IndexValueType>(index[i]) < static_cast<IndexValueType>( region.GetIndex(i) ) + m_NeighborhoodRadius  + 1 )
       //Comment this instruction after itkv4 migration (correct
       //usage of centered-pixel coordinates)
       //if( index[i] < static_cast<TCoordRepType>( region.GetIndex(i) ) + m_NeighborhoodRadius )
        {
        return false;
        }
      // bound is the last valid pixel location
      const TCoordRepType bound = static_cast<TCoordRepType>(
          region.GetIndex(i) + region.GetSize(i) - 0.5);
      //Comment this instruction after itkv4 migration (correct
      //usage of centered-pixel coordinates)
      //const TCoordRepType bound = static_cast<TCoordRepType>(
      //    region.GetIndex(i) + static_cast<IndexValueType>(region.GetSize(i)) - 1);
      if( index[i] > bound - m_NeighborhoodRadius - 1 )
        {
        return false;
        }
      }
    return true;
    }

  typedef std::pair<DescriptorsFunctionPointType, LabelType> DetectedPoint;
  typedef std::vector<DetectedPoint>                         PointArray;
  typedef std::vector<PointArray>                            PointArrayContainer;
  PointArrayContainer            m_ThreadPointArray;

  DescriptorsFunctionPointerType m_DescriptorsFunction;

  unsigned int   m_NeighborhoodRadius;
  std::string    m_ClassKey;
  LabelType      m_NoClassLabel;
  DescriptorType m_Shifts;
  DescriptorType m_Scales;
  DescriptorType m_InvertedScales;

  /** Step of the detection grid */
  unsigned int m_GridStep;

  /** classification model */
  ModelPointerType m_Model;

};


/** \class ObjectDetectionClassifier
 *  \brief This class detects object in an image, given a ML model and a local descriptors function
 *
 *  Given an image (by SetInputImage()), a ML model (by SetModel) and an local descriptors ImageFunction
 *  (set by SetDescriptorsFunction()), this class computes the local descriptors on a regular grid
 *  over the image, and evaluates the class label of the corresponding sample.
 *  It outputs a vector data with the points for which the descriptors are not classified as "negative",
 *  the negative class label being given by SetNoClassLabel()
 *
 *  This class is streaming capable and multithreaded
 *
 * \ingroup OTBObjectDetection
 */
template <class TInputImage, class TOutputVectorData, class TLabel, class TFunctionPrecision = double, class TCoordRep = double>
class ITK_EXPORT ObjectDetectionClassifier :
    public PersistentFilterStreamingDecorator<
              PersistentObjectDetectionClassifier< TInputImage,
                                                   TOutputVectorData,
                                                   TLabel,
                                                   itk::FunctionBase< itk::Point<TCoordRep, 2>,
                                                                      typename DefaultDescriptorType<TFunctionPrecision>::Type> >
                                                 >
{
public:
    /** Standard Self typedef */
    typedef ObjectDetectionClassifier           Self;
    typedef PersistentFilterStreamingDecorator
              < PersistentObjectDetectionClassifier
                  <TInputImage,
                  TOutputVectorData,
                  TLabel,
                  itk::FunctionBase< itk::Point<TCoordRep, 2>,
                                     typename DefaultDescriptorType<TFunctionPrecision>::Type> >
              >                                 Superclass;
    typedef itk::SmartPointer<Self>             Pointer;
    typedef itk::SmartPointer<const Self>       ConstPointer;

    /** Type macro */
    itkNewMacro(Self);

    /** Creation through object factory macro */
    itkTypeMacro(ObjectDetectionClassifier, PersistentFilterStreamingDecorator);

    typedef TInputImage                              InputImageType;
    typedef TOutputVectorData                        OutputVectorDataType;
    typedef TLabel                                   LabelType;
    typedef TCoordRep                                CoordRepType;
    typedef TFunctionPrecision                       FunctionPrecision;

    /** The coordinates used when evaluating function */
    typedef itk::Point<TCoordRep, 2> PointType;

    /** The return value of the function */
    typedef typename DefaultDescriptorType<FunctionPrecision>::Type DescriptorType;

    /** The function evaluated on the input image at locations specified by the vector data */
    typedef itk::FunctionBase<PointType, DescriptorType> DescriptorsFunctionType;
    typedef typename DescriptorsFunctionType::Pointer    DescriptorsFunctionPointerType;

    typedef typename Superclass::FilterType                           PersistentFilterType;

    typedef typename PersistentFilterType::ModelType                  ModelType;
    typedef typename PersistentFilterType::ModelPointerType           ModelPointerType;

    /** Input image to extract feature */
    void SetInputImage(InputImageType* input)
    {
      this->GetFilter()->SetInput(input);
    }

    /** Sample locations as a VectorData of points. The label is in the ClassKey feature */
    OutputVectorDataType* GetOutputVectorData()
    {
      return this->GetFilter()->GetOutputVectorData();
    }

    void AddInput(itk::DataObject * dataObject) ITK_OVERRIDE
    {
      this->GetFilter()->AddInput(dataObject);
    }

    /** The function to evaluate */
    void SetDescriptorsFunction(DescriptorsFunctionType * input)
    {
      this->GetFilter()->SetDescriptorsFunction(input);
    }

    /** The function to evaluate */
    DescriptorsFunctionType * GetDescriptorsFunction()
    {
      return this->GetFilter()->GetDescriptorsFunction();
    }

    /** The function to evaluate */
    void SetModel(ModelType* model)
    {
      this->GetFilter()->SetModel(model);
    }

    /** The classification model */
    const ModelType* GetModel()
    {
      return this->GetFilter()->GetModel();
    }

    otbSetObjectMemberMacro(Filter, NeighborhoodRadius, unsigned int);
    otbGetObjectMemberMacro(Filter, NeighborhoodRadius, unsigned int);

    /** Set/Get the name of the field containing the class information */
    otbGetObjectMemberMacro(Filter, ClassKey, std::string);
    otbSetObjectMemberMacro(Filter, ClassKey, std::string);

    /** Set/Get the  label of the negative samples */
    otbGetObjectMemberMacro(Filter, NoClassLabel, LabelType);
    otbSetObjectMemberMacro(Filter, NoClassLabel, LabelType);

    /** Set/Get the Shifts for this sample list */
    otbGetObjectMemberMacro(Filter, Shifts, DescriptorType);
    otbSetObjectMemberMacro(Filter, Shifts, DescriptorType);

    /** Set/Get the Scales for this sample list */
    otbGetObjectMemberMacro(Filter, Scales, DescriptorType);
    otbSetObjectMemberMacro(Filter, Scales, DescriptorType);

    /** Set/Get the grid step for detection */
    otbSetObjectMemberMacro(Filter, GridStep, unsigned int);
    otbGetObjectMemberMacro(Filter, GridStep, unsigned int);


  protected:
    /** Constructor */
    ObjectDetectionClassifier();

    /** Destructor */
    ~ObjectDetectionClassifier() ITK_OVERRIDE;

  private:
    ObjectDetectionClassifier(const Self &); //purposely not implemented
    void operator =(const Self&); //purposely not implemented
};

} // end namespace otb

#ifndef OTB_MANUAL_INSTANTIATION
#include "otbObjectDetectionClassifier.txx"
#endif

#endif