otbBijectionCoherencyFilter.hxx

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/*
 * Copyright (C) 2005-2024 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 otbBijectionCoherencyFilter_hxx
#define otbBijectionCoherencyFilter_hxx
 
#include "otbBijectionCoherencyFilter.h"
 
#include "itkImageRegionConstIteratorWithIndex.h"
#include "itkImageRegionIterator.h"
 
namespace otb
{
 
template <class TDisparityImage, class TOutputImage>
BijectionCoherencyFilter<TDisparityImage, TOutputImage>::BijectionCoherencyFilter()
{
  // Set the number of inputs (1 moving image by default -> 3 inputs)
  this->SetNumberOfRequiredInputs(4);
  this->SetNumberOfRequiredInputs(1);
  this->m_Tolerance = 1.;
  this->m_MinHDisp  = -5;
  this->m_MaxHDisp  = 5;
  this->m_MinVDisp  = -5;
  this->m_MaxVDisp  = 5;
 
  // Set the outputs
  this->SetNumberOfRequiredOutputs(1);
  this->SetNthOutput(0, TOutputImage::New());
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::SetDirectHorizontalDisparityMapInput(const TDisparityImage* hmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(0, const_cast<TDisparityImage*>(hmap));
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::SetDirectVerticalDisparityMapInput(const TDisparityImage* vmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(1, const_cast<TDisparityImage*>(vmap));
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::SetReverseHorizontalDisparityMapInput(const TDisparityImage* hmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(2, const_cast<TDisparityImage*>(hmap));
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::SetReverseVerticalDisparityMapInput(const TDisparityImage* vmap)
{
  // Process object is not const-correct so the const casting is required.
  this->SetNthInput(3, const_cast<TDisparityImage*>(vmap));
}
 
template <class TDisparityImage, class TOutputImage>
const TDisparityImage* BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GetDirectHorizontalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 1)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(0));
}
 
template <class TDisparityImage, class TOutputImage>
const TDisparityImage* BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GetDirectVerticalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 2)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(1));
}
 
template <class TDisparityImage, class TOutputImage>
const TDisparityImage* BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GetReverseHorizontalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 3)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(2));
}
 
template <class TDisparityImage, class TOutputImage>
const TDisparityImage* BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GetReverseVerticalDisparityMapInput() const
{
  if (this->GetNumberOfInputs() < 4)
  {
    return nullptr;
  }
  return static_cast<const TDisparityImage*>(this->itk::ProcessObject::GetInput(3));
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GenerateOutputInformation()
{
  this->Superclass::GenerateOutputInformation();
 
  // check that both direct and reverse disparity maps are present
  const TDisparityImage* directHmap  = this->GetDirectHorizontalDisparityMapInput();
  const TDisparityImage* reverseHmap = this->GetReverseHorizontalDisparityMapInput();
 
  const TDisparityImage* directVmap  = this->GetDirectVerticalDisparityMapInput();
  const TDisparityImage* reverseVmap = this->GetReverseVerticalDisparityMapInput();
 
  if (!directHmap)
  {
    itkExceptionMacro(<< "Direct horizontal disparity map is missing");
  }
 
  if (!reverseHmap)
  {
    itkExceptionMacro(<< "Reverse horizontal disparity map is missing");
  }
 
  if (directVmap && directVmap->GetLargestPossibleRegion() != directHmap->GetLargestPossibleRegion())
  {
    itkExceptionMacro(<< "Horizontal and vertical direct disparity maps have different sizes.");
  }
 
  if (reverseVmap && reverseVmap->GetLargestPossibleRegion() != reverseHmap->GetLargestPossibleRegion())
  {
    itkExceptionMacro(<< "Horizontal and vertical reverse disparity maps have different sizes.");
  }
 
  if (this->m_MinHDisp > this->m_MaxHDisp)
  {
    itkExceptionMacro(<< "Wrong horizontal exploration values");
  }
  if (this->m_MinVDisp > this->m_MaxVDisp)
  {
    itkExceptionMacro(<< "Wrong horizontal exploration values");
  }
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::GenerateInputRequestedRegion()
{
  this->Superclass::GenerateInputRequestedRegion();
 
  OutputRegionType requested     = this->GetOutput()->GetRequestedRegion();
  InputRegionType  directLargest = this->GetDirectHorizontalDisparityMapInput()->GetLargestPossibleRegion();
  InputRegionType  directRequested;
  InputRegionType  reverseLargest = this->GetReverseHorizontalDisparityMapInput()->GetLargestPossibleRegion();
  InputRegionType  reverseRequested;
 
  this->CallCopyOutputRegionToInputRegion(directRequested, requested);
 
  reverseRequested.SetIndex(0, requested.GetIndex(0) + this->m_MinHDisp);
  reverseRequested.SetIndex(1, requested.GetIndex(1) + this->m_MinVDisp);
  reverseRequested.SetSize(0, requested.GetSize(0) + this->m_MaxHDisp - this->m_MinHDisp);
  reverseRequested.SetSize(1, requested.GetSize(1) + this->m_MaxVDisp - this->m_MinVDisp);
 
  if (!reverseRequested.Crop(reverseLargest))
  {
    reverseRequested.SetIndex(0, reverseLargest.GetIndex(0));
    reverseRequested.SetIndex(1, reverseLargest.GetIndex(1));
    reverseRequested.SetSize(0, 0);
    reverseRequested.SetSize(1, 0);
  }
 
  TDisparityImage* directHmap  = const_cast<TDisparityImage*>(this->GetDirectHorizontalDisparityMapInput());
  TDisparityImage* directVmap  = const_cast<TDisparityImage*>(this->GetDirectVerticalDisparityMapInput());
  TDisparityImage* reverseHmap = const_cast<TDisparityImage*>(this->GetReverseHorizontalDisparityMapInput());
  TDisparityImage* reverseVmap = const_cast<TDisparityImage*>(this->GetReverseVerticalDisparityMapInput());
 
  directHmap->SetRequestedRegion(directRequested);
  if (directVmap)
    directVmap->SetRequestedRegion(directRequested);
 
  reverseHmap->SetRequestedRegion(reverseRequested);
  if (reverseVmap)
    reverseVmap->SetRequestedRegion(reverseRequested);
}
 
template <class TDisparityImage, class TOutputImage>
void BijectionCoherencyFilter<TDisparityImage, TOutputImage>::DynamicThreadedGenerateData(const OutputRegionType& outputRegionForThread)
{
  const TDisparityImage* directHmap  = this->GetDirectHorizontalDisparityMapInput();
  const TDisparityImage* directVmap  = this->GetDirectVerticalDisparityMapInput();
  const TDisparityImage* reverseHmap = this->GetReverseHorizontalDisparityMapInput();
  const TDisparityImage* reverseVmap = this->GetReverseVerticalDisparityMapInput();
 
  TOutputImage* output = this->GetOutput();
 
  InputRegionType buffered = reverseHmap->GetBufferedRegion();
 
  typedef itk::ImageRegionIterator<TOutputImage> MaskIteratorType;
  MaskIteratorType                               outIter = MaskIteratorType(output, outputRegionForThread);
 
  typedef itk::ImageRegionConstIteratorWithIndex<TDisparityImage> DispIteratorType;
  DispIteratorType                                                directHorizIter = DispIteratorType(directHmap, outputRegionForThread);
 
  DispIteratorType directVertiIter;
  if (directVmap)
  {
    directVertiIter = DispIteratorType(directVmap, outputRegionForThread);
    directVertiIter.GoToBegin();
  }
 
  outIter.GoToBegin();
  directHorizIter.GoToBegin();
 
  while (!outIter.IsAtEnd())
  {
    IndexType startIndex = directHorizIter.GetIndex();
    itk::ContinuousIndex<double, 2> tmpIndex(startIndex);
 
    tmpIndex[0] += directHorizIter.Get();
    if (directVmap)
      tmpIndex[1] += directVertiIter.Get();
 
    // Interpolate in reverse disparity map
    typedef typename IndexType::IndexValueType IndexValueType;
    IndexType                                  ul, ur, ll, lr;
    ul[0] = static_cast<long>(std::floor(tmpIndex[0]));
    ul[1] = static_cast<long>(std::floor(tmpIndex[1]));
    if (ul[0] < buffered.GetIndex()[0])
      ul[0] = buffered.GetIndex()[0];
    if (ul[1] < buffered.GetIndex()[1])
      ul[1] = buffered.GetIndex()[1];
    if (ul[0] > static_cast<IndexValueType>(buffered.GetIndex()[0] + buffered.GetSize()[0] - 1))
      ul[0] = (buffered.GetIndex()[0] + buffered.GetSize()[0] - 1);
    if (ul[1] > static_cast<IndexValueType>(buffered.GetIndex()[1] + buffered.GetSize()[1] - 1))
      ul[1] = (buffered.GetIndex()[1] + buffered.GetSize()[1] - 1);
 
    ur = ul;
    ll = ul;
    lr = ul;
    if (ul[0] < static_cast<IndexValueType>(buffered.GetIndex()[0] + buffered.GetSize()[0] - 1))
    {
      ur[0] += 1;
      lr[0] += 1;
    }
    if (ul[1] < static_cast<IndexValueType>(buffered.GetIndex()[1] + buffered.GetSize()[1] - 1))
    {
      ll[1] += 1;
      lr[1] += 1;
    }
 
    double rx = tmpIndex[0] - static_cast<double>(ul[0]);
    double ry = tmpIndex[1] - static_cast<double>(ul[1]);
 
    itk::ContinuousIndex<double, 2> backIndex(tmpIndex);
    backIndex[0] += (1. - ry) * ((1. - rx) * reverseHmap->GetPixel(ul) + rx * reverseHmap->GetPixel(ur)) +
                    ry * ((1. - rx) * reverseHmap->GetPixel(ll) + rx * reverseHmap->GetPixel(lr));
    if (reverseVmap)
    {
      backIndex[1] += (1. - ry) * ((1. - rx) * reverseVmap->GetPixel(ul) + rx * reverseVmap->GetPixel(ur)) +
                      ry * ((1. - rx) * reverseVmap->GetPixel(ll) + rx * reverseVmap->GetPixel(lr));
    }
 
    if (std::abs(backIndex[0] - static_cast<double>(startIndex[0])) < this->m_Tolerance &&
        std::abs(backIndex[1] - static_cast<double>(startIndex[1])) < this->m_Tolerance)
    {
      outIter.Set(255);
    }
    else
    {
      outIter.Set(0);
    }
 
    ++outIter;
    ++directHorizIter;
    if (directVmap)
      ++directVertiIter;
  }
}
}
 
#endif