pyvale 2025.5.3__cp311-cp311-musllinux_1_2_i686.whl → 2025.7.0__cp311-cp311-musllinux_1_2_i686.whl

pyvale/dic/cpp/dicbruteforce.cpp

@@ -0,0 +1,370 @@
+// ================================================================================
+// pyvale: the python validation engine
+// License: MIT
+// Copyright (C) 2025 The Computer Aided Validation Team
+// ================================================================================
+
+
+// STD library Header files
+#include <iostream>
+#include <vector>
+#include <cmath>
+#include <array>
+
+// opencv header files
+//#include "opencv2/imgcodecs.hpp"
+//#include "opencv2/highgui.hpp"
+//#include "opencv2/imgproc.hpp"
+
+// Program Header files
+#include "./dicbruteforce.hpp"
+#include "./defines.hpp"
+
+
+namespace brute {
+
+
+
+    // directions of spiral.
+    std::vector<int> dirs = {1,  0,  
+                             0,  1,
+                            -1,  0, 
+                             0, -1}; 
+
+
+    // function pointers
+    double (*cost_function)(const double *img_ref, 
+               const int px_hori, 
+               const int px_vert, 
+               util::Subset &ss_def, 
+               util::Subset &ss_ref,
+               const int p0,
+               const int p1);
+
+    void (*find_min)(const int ss_x,
+                     const int ss_y,
+                     const double *img_ref, 
+                     const int px_hori, 
+                     const int px_vert, 
+                     util::Subset &ss_def, 
+                     util::Subset &ss_ref, 
+                     brute::Parameters &brute);
+
+
+
+    void init(std::string &corr_crit, std::string &search_method){
+
+        // set brute force cost function
+        if (corr_crit == "SSD") {
+            cost_function = brute::ssd;
+        } else if (corr_crit == "NSSD") {
+            cost_function = brute::nssd;
+        } else if (corr_crit == "ZNSSD") {
+            cost_function = brute::znssd;
+        } else {
+            std::cerr << "Error: cost function not recognised. Using SSD." << std::endl;
+            cost_function = brute::ssd;
+        }
+
+        // set brute force search method
+        if (search_method == "EXHAUSTIVE") {
+            find_min = exhaustive;
+        } else if (search_method == "EXPANDING_WAVEFRONT") {
+            find_min = expanding_wavefront;
+        } else {
+            //std::cerr << "Error: search method not recognised. Using EXPANDING_WAVEFRONT." << std::endl;
+            find_min = expanding_wavefront;
+        }
+    }
+
+
+    void expanding_wavefront(const int ss_x,
+                         const int ss_y,
+                         const double *img_ref,
+                         const int px_hori,
+                         const int px_vert,
+                         util::Subset &ss_def,
+                         util::Subset &ss_ref,
+                         brute::Parameters &brute) {
+
+
+
+        const int range = brute.range;
+        double cost_min = 1.0e6;
+
+        int offset_x = 0; //brute.p_rigid_prevmatch[0];
+        int offset_y = 0; //brute.p_rigid_prevmatch[1];
+
+        for (int r = 0; r <= range; r++) {
+
+            // Go around the current ring at radius r
+            for (int dy = -r; dy <= r; dy++) {
+                for (int dx = -r; dx <= r; dx++) {
+
+
+                    if (!is_perimeter_point(dx, dy, r)) 
+                        continue;
+
+                    int p0 = dx + offset_x;
+                    int p1 = dy + offset_y;
+
+                    if (!is_within_range(p0, p1, range))
+                        continue;
+
+                    int ss_xmin = ss_x + p0;
+                    int ss_ymin = ss_y + p1;
+                    int ss_xmax = ss_x + p0 + ss_def.size;
+                    int ss_ymax = ss_y + p1 + ss_def.size;
+
+                    if (!is_within_image(ss_xmin, ss_ymin, ss_xmax, ss_ymax, 
+                                         px_hori, px_vert))
+                        continue;
+
+                    double cost = cost_function(img_ref, px_hori, 
+                                                px_vert, ss_def, 
+                                                ss_ref, p0, p1);
+
+                    if (std::abs(cost) < cost_min) {
+                        cost_min = cost;
+                        brute.p_rigid[0] = p0;
+                        brute.p_rigid[1] = p1;
+
+                        // if its below our threshold and considered a good match. we'll use these values for the next brute force.
+                        if (cost_min < brute.bf_threshold) {
+                            brute.p_rigid_prevmatch[0] = brute.p_rigid[0];
+                            brute.p_rigid_prevmatch[1] = brute.p_rigid[1];
+                            return;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    void exhaustive(const int ss_x, 
+                    const int ss_y, 
+                    const double *img_ref, 
+                    const int px_hori, 
+                    const int px_vert, 
+                    util::Subset &ss_def, 
+                    util::Subset &ss_ref, 
+                    brute::Parameters &brute){
+
+        const int range = brute.range;
+        double cost_min = 1.0e6;
+        
+        // clamp search area to within image bounds
+        const int xmin = std::max(0, ss_x - range);
+        const int ymin = std::max(0, ss_y - range);
+        const int xmax = std::min(px_hori, ss_x + range);
+        const int ymax = std::min(px_vert, ss_y + range);
+
+
+        for (int p1 = -ymin; p1 <= ymax; p1++){
+            for (int p0 = -xmin; p0 <= xmax; p0++){
+
+                double cost = cost_function(img_ref, px_hori, px_vert, ss_def,ss_ref,p0,p1);
+
+                // update minumum value. If Below tolerance then return.
+                if (std::abs(cost) < cost_min) {
+                    cost_min = cost;
+                    brute.p_rigid[0] = p0;
+                    brute.p_rigid[1] = p1;
+                    if (cost_min < brute.bf_threshold) return;
+                }
+
+            }
+        }
+    }
+
+
+
+    double ssd(const double *img_ref, 
+               const int px_hori, 
+               const int px_vert, 
+               util::Subset &ss_def, 
+               util::Subset &ss_ref,
+               const int p0,
+               const int p1){
+        
+        const int num_px = ss_def.num_px;
+        double cost = 0.0;
+
+        for (int i = 0; i < num_px; i++){
+
+            ss_ref.x[i] = ss_def.x[i] + p0;
+            ss_ref.y[i] = ss_def.y[i] + p1;
+
+            const int ss_ref_x_int = static_cast<int>(ss_ref.x[i]);
+            const int ss_ref_y_int = static_cast<int>(ss_ref.y[i]);
+            const int idx = ss_ref_y_int * px_hori + ss_ref_x_int;
+
+            ss_ref.vals[i] = img_ref[idx];
+            
+            cost += (ss_def.vals[i] - ss_ref.vals[i]) *
+                    (ss_def.vals[i] - ss_ref.vals[i]);
+
+        }
+
+        return cost;
+
+    }
+
+
+    double nssd(const double *img_ref, 
+                const int px_hori, 
+                const int px_vert, 
+                util::Subset &ss_def,
+                util::Subset &ss_ref,
+                const int p0,
+                const int p1){
+
+
+        const int num_px = ss_def.num_px;
+        double cost = 0.0;
+        double sum_squared_ref = 0.0;
+        double sum_squared_def = 0.0;
+
+        // get subset values and cost function denominators
+        for (int i = 0; i < num_px; i++){
+        
+            ss_ref.x[i] = ss_def.x[i] + p0;
+            ss_ref.y[i] = ss_def.y[i] + p1;
+
+            const int ss_ref_x_int = static_cast<int>(ss_ref.x[i]);
+            const int ss_ref_y_int = static_cast<int>(ss_ref.y[i]);
+            const int idx = ss_ref_y_int * px_hori + ss_ref_x_int;
+
+            ss_ref.vals[i] = img_ref[idx];
+
+            sum_squared_ref += ss_ref.vals[i] * ss_ref.vals[i];
+            sum_squared_def += ss_def.vals[i] * ss_def.vals[i];
+
+        }
+
+        double inv_sum_squared_ref = 1.0 / std::sqrt(sum_squared_ref);
+        double inv_sum_squared_def = 1.0 / std::sqrt(sum_squared_def);
+
+
+        // calculate cost
+        for (int i = 0; i < num_px; i++){
+            double def_norm = ss_def.vals[i] * inv_sum_squared_def;
+            double ref_norm = ss_ref.vals[i] * inv_sum_squared_ref;
+            cost += (def_norm - ref_norm) *
+                    (def_norm - ref_norm);
+        }
+
+        return cost;
+
+    }
+
+    double znssd(const double *img_ref, 
+                const int px_hori, 
+                const int px_vert, 
+                util::Subset &ss_def,
+                util::Subset &ss_ref,
+                const int p0,
+                const int p1){
+
+        const int num_px = ss_def.num_px;
+        double cost = 0.0;
+        double mean_ref = 0.0;
+        double mean_def = 0.0;
+
+        // loop over pixel values in reference image
+        for (int i = 0; i < num_px; i++){
+
+            ss_ref.x[i] = ss_def.x[i] + p0;
+            ss_ref.y[i] = ss_def.y[i] + p1;
+
+            const int ss_ref_x_int = static_cast<int>(ss_ref.x[i]);
+            const int ss_ref_y_int = static_cast<int>(ss_ref.y[i]);
+            const int idx = ss_ref_y_int * px_hori + ss_ref_x_int;
+
+            ss_ref.vals[i] = img_ref[idx];
+            mean_ref += ss_ref.vals[i];
+            mean_def += ss_def.vals[i];
+        }
+
+        mean_ref /= num_px;
+        mean_def /= num_px;
+
+        // get cost function denominators
+        double sum_squared_ref = 0.0;
+        double sum_squared_def = 0.0;
+        for (int i = 0; i < num_px; ++i) {
+            sum_squared_ref += (ss_ref.vals[i] - mean_ref)*
+                               (ss_ref.vals[i] - mean_ref);
+            sum_squared_def += (ss_def.vals[i] - mean_def)*
+                               (ss_def.vals[i] - mean_def);
+        }
+        double inv_sum_squared_ref = 1.0 / std::sqrt(sum_squared_ref);
+        double inv_sum_squared_def = 1.0 / std::sqrt(sum_squared_def);
+
+
+
+        // calcualte cost 
+        for (int i = 0; i < num_px; i++){
+            double def_norm = ss_def.vals[i] * inv_sum_squared_def;
+            double ref_norm = ss_ref.vals[i] * inv_sum_squared_ref;
+            cost += (def_norm - ref_norm) * (def_norm - ref_norm);
+        }
+
+        return cost;
+    }
+
+
+
+    inline bool is_perimeter_point(int dx, int dy, int r) {
+        return std::abs(dx) == r || std::abs(dy) == r;
+    }
+
+    inline bool is_within_image(int xmin, int ymin, int xmax, int ymax,
+                         int width, int height) {
+        return xmin >= 0 && xmax < width && ymin >= 0 && ymax < height;
+    }
+
+    inline bool is_within_range(int p0, int p1, int range) {
+        return p0 >= -range && p0 < range && p1 >= -range && p1 < range;
+    }
+
+
+
+    // void cross_correlation(const int ss_x, 
+    //                     const int ss_y, 
+    //                     const double *img_ref, 
+    //                     const int px_vert, 
+    //                     const int px_hori, 
+    //                     util::Subset *ss_def, 
+    //                     util::Subset *ss_ref, 
+    //                     brute::Parameters &brute) {
+
+    //     cv::Mat image(px_vert, px_hori, CV_32S, const_cast<int*>(img_ref));
+    //     cv::Mat ss(ss_def.size, ss_def.size, CV_64F, ss_def.vals.data());
+
+    //     cv::Mat image_float;
+    //     cv::Mat ss_float;
+    //     image.convertTo(image_float, CV_32F);
+    //     ss.convertTo(ss_float, CV_32F);
+
+
+    //     cv::Mat result;
+    //     cv::matchTemplate(image_float, ss_float, result, cv::TM_CCOEFF_NORMED);
+        
+    //     double minVal; double maxVal; cv::Point minLoc; cv::Point maxLoc;
+    //     cv::Point matchLoc;
+        
+    //     cv::minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat());
+
+    //     std::cout << "minVal: " << minVal << std::endl;
+    //     std::cout << "maxVal: " << maxVal << std::endl;
+    //     std::cout << "minLoc: " << minLoc.x << ", " << minLoc.y << std::endl;
+    //     std::cout << "maxLoc: " << maxLoc.x << ", " << maxLoc.y << std::endl;
+    //     brute.p_rigid[0] = maxLoc.x - ss_x;
+    //     brute.p_rigid[1] = maxLoc.y - ss_y;
+    // }
+
+    
+    // end of namespace
+}