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submodule
opencv
Commits
0ff8a463
Commit
0ff8a463
authored
Sep 28, 2012
by
marina.kolpakova
Browse files
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remove pow calculations
parent
cc300a69
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1 changed file
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43 additions
and
101 deletions
+43
-101
softcascade.cpp
modules/objdetect/src/softcascade.cpp
+43
-101
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modules/objdetect/src/softcascade.cpp
View file @
0ff8a463
...
@@ -50,6 +50,11 @@
...
@@ -50,6 +50,11 @@
#include <cstdio>
#include <cstdio>
#include <stdarg.h>
#include <stdarg.h>
// use previous stored integrals for regression testing
// #define USE_REFERENCE_VALUES
#if defined USE_REFERENCE_VALUES
namespace
{
namespace
{
char
*
itoa
(
long
i
,
char
*
s
,
int
/*dummy_radix*/
)
char
*
itoa
(
long
i
,
char
*
s
,
int
/*dummy_radix*/
)
...
@@ -58,6 +63,8 @@ char *itoa(long i, char* s, int /*dummy_radix*/)
...
@@ -58,6 +63,8 @@ char *itoa(long i, char* s, int /*dummy_radix*/)
return
s
;
return
s
;
}
}
#endif
// used for noisy printfs
// used for noisy printfs
// #define WITH_DEBUG_OUT
// #define WITH_DEBUG_OUT
...
@@ -68,6 +75,8 @@ char *itoa(long i, char* s, int /*dummy_radix*/)
...
@@ -68,6 +75,8 @@ char *itoa(long i, char* s, int /*dummy_radix*/)
# define dprintf(format, ...)
# define dprintf(format, ...)
#endif
#endif
namespace
{
struct
Octave
struct
Octave
{
{
int
index
;
int
index
;
...
@@ -143,32 +152,6 @@ struct Object
...
@@ -143,32 +152,6 @@ struct Object
Object
(
const
cv
::
Rect
&
r
,
const
float
c
,
Class
dt
=
PEDESTRIAN
)
:
rect
(
r
),
confidence
(
c
),
detType
(
dt
)
{}
Object
(
const
cv
::
Rect
&
r
,
const
float
c
,
Class
dt
=
PEDESTRIAN
)
:
rect
(
r
),
confidence
(
c
),
detType
(
dt
)
{}
};
};
struct
Level
{
const
Octave
*
octave
;
float
origScale
;
float
relScale
;
float
shrScale
;
// used for marking detection
cv
::
Size
workRect
;
cv
::
Size
objSize
;
Level
(
const
Octave
&
oct
,
const
float
scale
,
const
int
shrinkage
,
const
int
w
,
const
int
h
)
:
octave
(
&
oct
),
origScale
(
scale
),
relScale
(
scale
/
oct
.
scale
),
shrScale
(
relScale
/
(
float
)
shrinkage
),
workRect
(
cv
::
Size
(
cvRound
(
w
/
(
float
)
shrinkage
),
cvRound
(
h
/
(
float
)
shrinkage
))),
objSize
(
cv
::
Size
(
cvRound
(
oct
.
size
.
width
*
relScale
),
cvRound
(
oct
.
size
.
height
*
relScale
)))
{}
void
markDetection
(
const
int
x
,
const
int
y
,
float
confidence
,
std
::
vector
<
Object
>&
detections
)
const
{
int
shrinkage
=
(
*
octave
).
shrinkage
;
cv
::
Rect
rect
(
cvRound
(
x
*
shrinkage
),
cvRound
(
y
*
shrinkage
),
objSize
.
width
,
objSize
.
height
);
detections
.
push_back
(
Object
(
rect
,
confidence
));
}
};
struct
CascadeIntrinsics
struct
CascadeIntrinsics
{
{
static
const
float
lambda
=
1.099
f
,
a
=
0.89
f
;
static
const
float
lambda
=
1.099
f
,
a
=
0.89
f
;
...
@@ -202,37 +185,36 @@ struct CascadeIntrinsics
...
@@ -202,37 +185,36 @@ struct CascadeIntrinsics
}
}
};
};
struct
Level
int
qangle6
(
float
dfdx
,
float
dfdy
)
{
{
static
const
float
vectors
[
6
][
2
]
=
const
Octave
*
octave
;
{
{
std
::
cos
(
0
),
std
::
sin
(
0
)
},
{
std
::
cos
(
M_PI
/
6.
f
),
std
::
sin
(
M_PI
/
6.
f
)
},
{
std
::
cos
(
M_PI
/
3.
f
),
std
::
sin
(
M_PI
/
3.
f
)
},
{
std
::
cos
(
M_PI
/
2.
f
),
std
::
sin
(
M_PI
/
2.
f
)
},
float
origScale
;
{
std
::
cos
(
2.
f
*
M_PI
/
3.
f
),
std
::
sin
(
2.
f
*
M_PI
/
3.
f
)},
float
relScale
;
{
std
::
cos
(
5.
f
*
M_PI
/
6.
f
),
std
::
sin
(
5.
f
*
M_PI
/
6.
f
)}
float
shrScale
;
// used for marking detection
};
int
index
=
0
;
cv
::
Size
workRect
;
cv
::
Size
objSize
;
float
dot
=
fabs
(
dfdx
*
vectors
[
0
][
0
]
+
dfdy
*
vectors
[
0
][
1
])
;
float
scaling
[
2
]
;
for
(
int
i
=
1
;
i
<
6
;
++
i
)
Level
(
const
Octave
&
oct
,
const
float
scale
,
const
int
shrinkage
,
const
int
w
,
const
int
h
)
:
octave
(
&
oct
),
origScale
(
scale
),
relScale
(
scale
/
oct
.
scale
),
shrScale
(
relScale
/
(
float
)
shrinkage
),
workRect
(
cv
::
Size
(
cvRound
(
w
/
(
float
)
shrinkage
),
cvRound
(
h
/
(
float
)
shrinkage
))),
objSize
(
cv
::
Size
(
cvRound
(
oct
.
size
.
width
*
relScale
),
cvRound
(
oct
.
size
.
height
*
relScale
)))
{
{
const
float
curr
=
fabs
(
dfdx
*
vectors
[
i
][
0
]
+
dfdy
*
vectors
[
i
][
1
]);
scaling
[
0
]
=
CascadeIntrinsics
::
getFor
(
0
,
relScale
);
scaling
[
1
]
=
CascadeIntrinsics
::
getFor
(
9
,
relScale
);
}
if
(
curr
>
dot
)
void
markDetection
(
const
int
x
,
const
int
y
,
float
confidence
,
std
::
vector
<
Object
>&
detections
)
const
{
{
dot
=
curr
;
int
shrinkage
=
(
*
octave
).
shrinkage
;
index
=
i
;
cv
::
Rect
rect
(
cvRound
(
x
*
shrinkage
),
cvRound
(
y
*
shrinkage
),
objSize
.
width
,
objSize
.
height
);
}
}
return
index
;
detections
.
push_back
(
Object
(
rect
,
confidence
));
}
}
};
template
<
typename
T
>
template
<
typename
T
>
struct
Decimate
{
struct
Decimate
{
...
@@ -271,9 +253,6 @@ struct Decimate {
...
@@ -271,9 +253,6 @@ struct Decimate {
};
};
// use previous stored integrals for regression testing
// #define USE_REFERENCE_VALUES
struct
ChannelStorage
struct
ChannelStorage
{
{
std
::
vector
<
cv
::
Mat
>
hog
;
std
::
vector
<
cv
::
Mat
>
hog
;
...
@@ -437,9 +416,10 @@ struct cv::SoftCascade::Filds
...
@@ -437,9 +416,10 @@ struct cv::SoftCascade::Filds
typedef
std
::
vector
<
Octave
>::
iterator
octIt_t
;
typedef
std
::
vector
<
Octave
>::
iterator
octIt_t
;
float
rescale
(
const
Feature
&
feature
,
const
float
relScale
,
cv
::
Rect
&
scaledRect
,
const
float
threshold
)
const
float
rescale
(
const
Feature
&
feature
,
const
float
scaling
,
const
float
relScale
,
cv
::
Rect
&
scaledRect
,
const
float
threshold
)
const
{
{
float
scaling
=
CascadeIntrinsics
::
getFor
(
feature
.
channel
,
relScale
);
//
float scaling = CascadeIntrinsics::getFor(feature.channel, relScale);
scaledRect
=
feature
.
rect
;
scaledRect
=
feature
.
rect
;
dprintf
(
"feature %d box %d %d %d %d
\n
"
,
feature
.
channel
,
scaledRect
.
x
,
scaledRect
.
y
,
dprintf
(
"feature %d box %d %d %d %d
\n
"
,
feature
.
channel
,
scaledRect
.
x
,
scaledRect
.
y
,
...
@@ -460,16 +440,16 @@ struct cv::SoftCascade::Filds
...
@@ -460,16 +440,16 @@ struct cv::SoftCascade::Filds
float
sarea
=
(
scaledRect
.
width
-
scaledRect
.
x
)
*
(
scaledRect
.
height
-
scaledRect
.
y
);
float
sarea
=
(
scaledRect
.
width
-
scaledRect
.
x
)
*
(
scaledRect
.
height
-
scaledRect
.
y
);
float
approx
=
1.
f
;
float
approx
=
1.
f
;
if
(
fabs
(
farea
-
0.
f
)
>
FLT_EPSILON
&&
fabs
(
farea
-
0.
f
)
>
FLT_EPSILON
)
//
if (fabs(farea - 0.f) > FLT_EPSILON && fabs(farea - 0.f) > FLT_EPSILON)
{
{
const
float
expected_new_area
=
farea
*
relScale
*
relScale
;
const
float
expected_new_area
=
farea
*
relScale
*
relScale
;
approx
=
expected_new_area
/
s
area
;
approx
=
sarea
/
expected_new_
area
;
dprintf
(
" rel areas %f %f
\n
"
,
expected_new_area
,
sarea
);
dprintf
(
" rel areas %f %f
\n
"
,
expected_new_area
,
sarea
);
}
}
// compensation areas rounding
// compensation areas rounding
float
rootThreshold
=
threshold
/
approx
;
float
rootThreshold
=
threshold
*
approx
;
rootThreshold
*=
scaling
;
rootThreshold
*=
scaling
;
dprintf
(
"approximation %f %f -> %f %f
\n
"
,
approx
,
threshold
,
rootThreshold
,
scaling
);
dprintf
(
"approximation %f %f -> %f %f
\n
"
,
approx
,
threshold
,
rootThreshold
,
scaling
);
...
@@ -504,7 +484,8 @@ struct cv::SoftCascade::Filds
...
@@ -504,7 +484,8 @@ struct cv::SoftCascade::Filds
const
Node
&
node
=
nodes
[
nId
];
const
Node
&
node
=
nodes
[
nId
];
const
Feature
&
feature
=
features
[
node
.
feature
];
const
Feature
&
feature
=
features
[
node
.
feature
];
cv
::
Rect
scaledRect
;
cv
::
Rect
scaledRect
;
float
threshold
=
rescale
(
feature
,
level
.
relScale
,
scaledRect
,
node
.
threshold
);
float
threshold
=
rescale
(
feature
,
level
.
scaling
[(
int
)(
feature
.
channel
>
6
)],
level
.
relScale
,
scaledRect
,
node
.
threshold
);
float
sum
=
storage
.
get
(
dx
,
dy
,
feature
.
channel
,
scaledRect
);
float
sum
=
storage
.
get
(
dx
,
dy
,
feature
.
channel
,
scaledRect
);
...
@@ -519,7 +500,8 @@ struct cv::SoftCascade::Filds
...
@@ -519,7 +500,8 @@ struct cv::SoftCascade::Filds
const
Node
&
leaf
=
nodes
[
nId
+
next
];
const
Node
&
leaf
=
nodes
[
nId
+
next
];
const
Feature
&
fLeaf
=
features
[
leaf
.
feature
];
const
Feature
&
fLeaf
=
features
[
leaf
.
feature
];
threshold
=
rescale
(
fLeaf
,
level
.
relScale
,
scaledRect
,
leaf
.
threshold
);
threshold
=
rescale
(
fLeaf
,
level
.
scaling
[(
int
)(
fLeaf
.
channel
>
6
)],
level
.
relScale
,
scaledRect
,
leaf
.
threshold
);
sum
=
storage
.
get
(
dx
,
dy
,
fLeaf
.
channel
,
scaledRect
);
sum
=
storage
.
get
(
dx
,
dy
,
fLeaf
.
channel
,
scaledRect
);
...
@@ -546,7 +528,7 @@ struct cv::SoftCascade::Filds
...
@@ -546,7 +528,7 @@ struct cv::SoftCascade::Filds
if
(
st
==
stEnd
)
if
(
st
==
stEnd
)
{
{
std
::
cout
<<
" got "
<<
st
<<
std
::
endl
;
dprintf
(
" got %d
\n
"
,
st
)
;
level
.
markDetection
(
dx
,
dy
,
detectionScore
,
detections
);
level
.
markDetection
(
dx
,
dy
,
detectionScore
,
detections
);
}
}
}
}
...
@@ -701,25 +683,6 @@ struct cv::SoftCascade::Filds
...
@@ -701,25 +683,6 @@ struct cv::SoftCascade::Filds
}
}
shrinkage
=
octaves
[
0
].
shrinkage
;
shrinkage
=
octaves
[
0
].
shrinkage
;
//debug print
// std::cout << "collected " << stages.size() << " stages" << std::endl;
// for (int i = 0; i < (int)stages.size(); ++i)
// {
// std::cout << "stage " << i << ": " << stages[i].threshold << std::endl;
// }
// std::cout << "collected " << nodes.size() << " nodes" << std::endl;
// for (int i = 0; i < (int)nodes.size(); ++i)
// {
// std::cout << "node " << i << ": " << nodes[i].threshold << " " << nodes[i].feature << std::endl;
// }
// std::cout << "collected " << leaves.size() << " leaves" << std::endl;
// for (int i = 0; i < (int)leaves.size(); ++i)
// {
// std::cout << "leaf " << i << ": " << leaves[i] << std::endl;
// }
return
true
;
return
true
;
}
}
};
};
...
@@ -752,8 +715,7 @@ bool cv::SoftCascade::load( const string& filename, const float minScale, const
...
@@ -752,8 +715,7 @@ bool cv::SoftCascade::load( const string& filename, const float minScale, const
return
true
;
return
true
;
}
}
// #define DEBUG_STORE_IMAGES
// #define DEBUG_SHOW_RESULT
#define DEBUG_SHOW_RESULT
void
cv
::
SoftCascade
::
detectMultiScale
(
const
Mat
&
image
,
const
std
::
vector
<
cv
::
Rect
>&
/*rois*/
,
void
cv
::
SoftCascade
::
detectMultiScale
(
const
Mat
&
image
,
const
std
::
vector
<
cv
::
Rect
>&
/*rois*/
,
std
::
vector
<
cv
::
Rect
>&
objects
,
const
int
/*rejectfactor*/
)
std
::
vector
<
cv
::
Rect
>&
objects
,
const
int
/*rejectfactor*/
)
...
@@ -772,26 +734,6 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
...
@@ -772,26 +734,6 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
cv
::
Mat
image1
;
cv
::
Mat
image1
;
cv
::
cvtColor
(
image
,
image1
,
CV_BGR2RGB
);
cv
::
cvtColor
(
image
,
image1
,
CV_BGR2RGB
);
#if defined DEBUG_STORE_IMAGES
cv
::
FileStorage
fs
(
"/home/kellan/opencvInputImage.xml"
,
cv
::
FileStorage
::
WRITE
);
cv
::
imwrite
(
"/home/kellan/opencvInputImage.jpg"
,
image1
);
fs
<<
"opencvInputImage"
<<
image1
;
cv
::
Mat
doppia
;
cv
::
FileStorage
fsr
(
"/home/kellan/befireGause.xml"
,
cv
::
FileStorage
::
READ
);
fsr
[
"input_gpu_mat"
]
>>
doppia
;
cv
::
Mat
diff
;
cv
::
absdiff
(
image1
,
doppia
,
diff
);
fs
<<
"absdiff"
<<
diff
;
fs
.
release
();
#endif
cv
::
imshow
(
"!!"
,
image1
);
cv
::
waitKey
(
0
);
// create integrals
// create integrals
ChannelStorage
storage
(
image
,
fld
.
shrinkage
);
ChannelStorage
storage
(
image
,
fld
.
shrinkage
);
...
@@ -831,9 +773,9 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
...
@@ -831,9 +773,9 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
cv
::
imshow
(
"out"
,
out
);
cv
::
imshow
(
"out"
,
out
);
cv
::
waitKey
(
0
);
cv
::
waitKey
(
0
);
std
::
cout
<<
"work rect: "
<<
level
.
workRect
.
width
<<
" "
<<
level
.
workRect
.
height
<<
std
::
endl
;
#endif
#endif
std
::
cout
<<
"work rect: "
<<
level
.
workRect
.
width
<<
" "
<<
level
.
workRect
.
height
<<
std
::
endl
;
detections
.
clear
();
detections
.
clear
();
}
}
...
...
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