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1798 lines
60 KiB
C++
1798 lines
60 KiB
C++
#include "precomp.hpp"
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#include "_lsvm_matching.h"
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#include <stdio.h>
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#ifndef max
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#endif
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#ifndef min
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#endif
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/*
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// Function for convolution computation
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//
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// INPUT
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// Fi - filter object
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// map - feature map
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// OUTPUT
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// f - the convolution
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// RESULT
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// Error status
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*/
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int convolution(const CvLSVMFilterObject *Fi, const CvLSVMFeatureMap *map, float *f)
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{
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int n1, m1, n2, m2, p, /*size,*/ diff1, diff2;
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int i1, i2, j1, j2, k;
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float tmp_f1, tmp_f2, tmp_f3, tmp_f4;
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float *pMap = NULL;
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float *pH = NULL;
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n1 = map->sizeY;
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m1 = map->sizeX;
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n2 = Fi->sizeY;
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m2 = Fi->sizeX;
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p = map->numFeatures;
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diff1 = n1 - n2 + 1;
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diff2 = m1 - m2 + 1;
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//size = diff1 * diff2;
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for (j1 = diff2 - 1; j1 >= 0; j1--)
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{
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for (i1 = diff1 - 1; i1 >= 0; i1--)
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{
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tmp_f1 = 0.0f;
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tmp_f2 = 0.0f;
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tmp_f3 = 0.0f;
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tmp_f4 = 0.0f;
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for (i2 = 0; i2 < n2; i2++)
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{
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for (j2 = 0; j2 < m2; j2++)
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{
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pMap = map->map + (i1 + i2) * m1 * p + (j1 + j2) * p;//sm2
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pH = Fi->H + (i2 * m2 + j2) * p;//sm2
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for (k = 0; k < p/4; k++)
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{
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tmp_f1 += pMap[4*k]*pH[4*k];//sm2
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tmp_f2 += pMap[4*k+1]*pH[4*k+1];
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tmp_f3 += pMap[4*k+2]*pH[4*k+2];
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tmp_f4 += pMap[4*k+3]*pH[4*k+3];
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}
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if (p%4==1)
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{
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tmp_f1 += pH[p-1]*pMap[p-1];
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}
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else
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{
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if (p%4==2)
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{
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tmp_f1 += pH[p-2]*pMap[p-2] + pH[p-1]*pMap[p-1];
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}
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else
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{
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if (p%4==3)
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{
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tmp_f1 += pH[p-3]*pMap[p-3] + pH[p-2]*pMap[p-2] + pH[p-1]*pMap[p-1];
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}
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}
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}
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}
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}
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f[i1 * diff2 + j1] = tmp_f1 + tmp_f2 + tmp_f3 + tmp_f4;//sm1
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}
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}
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return LATENT_SVM_OK;
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}
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/*
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// Computation multiplication of FFT images
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//
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// API
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// int fftImagesMulti(float *fftImage1, float *fftImage2, int numRows, int numColls,
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float *multi);
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// INPUT
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// fftImage1 - first fft image
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// fftImage2 - second fft image
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// (numRows, numColls) - image dimesions
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// OUTPUT
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// multi - multiplication
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// RESULT
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// Error status
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*/
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int fftImagesMulti(float *fftImage1, float *fftImage2, int numRows, int numColls,
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float *multi)
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{
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int i, index, size;
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size = numRows * numColls;
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for (i = 0; i < size; i++)
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{
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index = 2 * i;
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multi[index] = fftImage1[index] * fftImage2[index] -
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fftImage1[index + 1] * fftImage2[index + 1];
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multi[index + 1] = fftImage1[index] * fftImage2[index + 1] +
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fftImage1[index + 1] * fftImage2[index];
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}
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return LATENT_SVM_OK;
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}
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/*
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// Turnover filter matrix for the single feature
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//
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// API
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// int rot2PI(float *filter, int dimX, int dimY, float *rot2PIFilter,
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int p, int shift);
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// INPUT
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// filter - filter weight matrix
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// (dimX, dimY) - dimension of filter matrix
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// p - number of features
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// shift - number of feature (or channel)
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// OUTPUT
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// rot2PIFilter - rotated matrix
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// RESULT
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// Error status
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*/
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int rot2PI(float *filter, int dimX, int dimY, float *rot2PIFilter,
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int p, int shift)
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{
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int i, size;
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size = dimX * dimY;
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for (i = 0; i < size; i++)
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{
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rot2PIFilter[i] = filter[(size - i - 1) * p + shift];
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}
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return LATENT_SVM_OK;
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}
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/*
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// Addition nullable bars to the dimension of feature map (single feature)
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//
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// API
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// int addNullableBars(float *rot2PIFilter, int dimX, int dimY,
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float *newFilter, int newDimX, int newDimY);
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// INPUT
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// rot2PIFilter - filter matrix for the single feature that was rotated
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// (dimX, dimY) - dimension rot2PIFilter
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// (newDimX, newDimY)- dimension of feature map for the single feature
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// OUTPUT
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// newFilter - filter matrix with nullable bars
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// RESULT
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// Error status
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*/
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int addNullableBars(float *rot2PIFilter, int dimX, int dimY,
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float *newFilter, int newDimX, int newDimY)
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{
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int size, i, j;
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size = newDimX * newDimY;
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for (i = 0; i < size; i++)
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{
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newFilter[2 * i] = 0.0;
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newFilter[2 * i + 1] = 0.0;
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}
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for (i = 0; i < dimY; i++)
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{
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for (j = 0; j < dimX; j++)
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{
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newFilter[2 * (i * newDimX + j)] = rot2PIFilter[i * dimX + j];
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}
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}
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return LATENT_SVM_OK;
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}
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/*
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// Computation FFT image for filter object
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//
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// API
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// int getFFTImageFilterObject(const CvLSVMFilterObject *filter,
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int mapDimX, int mapDimY,
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fftImage **image);
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// INPUT
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// filter - filter object
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// (mapDimX, mapDimY)- dimension of feature map
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// OUTPUT
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// image - fft image
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// RESULT
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// Error status
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*/
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int getFFTImageFilterObject(const CvLSVMFilterObject *filter,
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int mapDimX, int mapDimY,
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CvLSVMFftImage **image)
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{
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int i, mapSize, filterSize, res;
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float *newFilter, *rot2PIFilter;
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filterSize = filter->sizeX * filter->sizeY;
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mapSize = mapDimX * mapDimY;
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res = allocFFTImage(image, filter->numFeatures, mapDimX, mapDimY);
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if (res != LATENT_SVM_OK)
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return res;
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newFilter = (float *)malloc(sizeof(float) * (2 * mapSize));
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rot2PIFilter = (float *)malloc(sizeof(float) * filterSize);
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for (i = 0; i < filter->numFeatures; i++)
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{
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rot2PI(filter->H, filter->sizeX, filter->sizeY, rot2PIFilter, filter->numFeatures, i);
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addNullableBars(rot2PIFilter, filter->sizeX, filter->sizeY,
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newFilter, mapDimX, mapDimY);
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fft2d(newFilter, (*image)->channels[i], mapDimY, mapDimX);
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}
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free(newFilter);
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free(rot2PIFilter);
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return LATENT_SVM_OK;
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}
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/*
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// Computation FFT image for feature map
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//
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// API
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// int getFFTImageFeatureMap(const featureMap *map, fftImage **image);
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// INPUT
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// OUTPUT
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// RESULT
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// Error status
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*/
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int getFFTImageFeatureMap(const CvLSVMFeatureMap *map, CvLSVMFftImage **image)
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{
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int i, j, size;
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float *buf;
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allocFFTImage(image, map->numFeatures, map->sizeX, map->sizeY);
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size = map->sizeX * map->sizeY;
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buf = (float *)malloc(sizeof(float) * (2 * size));
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for (i = 0; i < map->numFeatures; i++)
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{
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for (j = 0; j < size; j++)
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{
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buf[2 * j] = map->map[j * map->numFeatures + i];
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buf[2 * j + 1] = 0.0;
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}
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fft2d(buf, (*image)->channels[i], map->sizeY, map->sizeX);
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}
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free(buf);
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return LATENT_SVM_OK;
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}
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/*
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// Function for convolution computation using FFT
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//
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// API
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// int convFFTConv2d(const fftImage *featMapImage, const fftImage *filterImage,
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int filterDimX, int filterDimY, float **conv);
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// INPUT
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// featMapImage - feature map image
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// filterImage - filter image
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// (filterDimX,filterDimY) - filter dimension
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// OUTPUT
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// conv - the convolution
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// RESULT
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// Error status
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*/
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int convFFTConv2d(const CvLSVMFftImage *featMapImage, const CvLSVMFftImage *filterImage,
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int filterDimX, int filterDimY, float **conv)
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{
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int i, j, size, diffX, diffY, index;
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float *imagesMult, *imagesMultRes, *fconv;
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size = 2 * featMapImage->dimX * featMapImage->dimY;
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imagesMult = (float *)malloc(sizeof(float) * size);
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imagesMultRes = (float *)malloc(sizeof(float) * size);
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fftImagesMulti(featMapImage->channels[0], filterImage->channels[0],
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featMapImage->dimY, featMapImage->dimX, imagesMultRes);
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for (i = 1; (i < (int)featMapImage->numFeatures) && (i < (int)filterImage->numFeatures); i++)
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{
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fftImagesMulti(featMapImage->channels[i],filterImage->channels[i],
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featMapImage->dimY, featMapImage->dimX, imagesMult);
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for (j = 0; j < size; j++)
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{
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imagesMultRes[j] += imagesMult[j];
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}
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}
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fconv = (float *)malloc(sizeof(float) * size);
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fftInverse2d(imagesMultRes, fconv, featMapImage->dimY, featMapImage->dimX);
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diffX = featMapImage->dimX - filterDimX + 1;
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diffY = featMapImage->dimY - filterDimY + 1;
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*conv = (float *)malloc(sizeof(float) * (diffX * diffY));
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for (i = 0; i < diffY; i++)
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{
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for (j = 0; j < diffX; j++)
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{
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index = (i + filterDimY - 1) * featMapImage->dimX +
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(j + filterDimX - 1);
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(*conv)[i * diffX + j] = fconv[2 * index];
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}
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}
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free(imagesMult);
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free(imagesMultRes);
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free(fconv);
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return LATENT_SVM_OK;
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}
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/*
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// Computation objective function D according the original paper
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//
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// API
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// int filterDispositionLevel(const CvLSVMFilterObject *Fi, const featurePyramid *H,
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int level, float **scoreFi,
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int **pointsX, int **pointsY);
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// INPUT
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// Fi - filter object (weights and coefficients of penalty
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function that are used in this routine)
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// H - feature pyramid
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// level - level number
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// OUTPUT
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// scoreFi - values of distance transform on the level at all positions
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// (pointsX, pointsY)- positions that correspond to the maximum value
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of distance transform at all grid nodes
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// RESULT
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// Error status
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*/
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int filterDispositionLevel(const CvLSVMFilterObject *Fi, const CvLSVMFeatureMap *pyramid,
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float **scoreFi,
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int **pointsX, int **pointsY)
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{
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int n1, m1, n2, m2, /*p,*/ size, diff1, diff2;
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float *f;
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int i1, j1;
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int res;
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n1 = pyramid->sizeY;
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m1 = pyramid->sizeX;
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n2 = Fi->sizeY;
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m2 = Fi->sizeX;
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//p = pyramid->numFeatures;
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(*scoreFi) = NULL;
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(*pointsX) = NULL;
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(*pointsY) = NULL;
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// Processing the situation when part filter goes
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// beyond the boundaries of the block set
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if (n1 < n2 || m1 < m2)
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{
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return FILTER_OUT_OF_BOUNDARIES;
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} /* if (n1 < n2 || m1 < m2) */
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// Computation number of positions for the filter
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diff1 = n1 - n2 + 1;
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diff2 = m1 - m2 + 1;
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size = diff1 * diff2;
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// Allocation memory for additional array (must be free in this function)
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f = (float *)malloc(sizeof(float) * size);
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// Allocation memory for arrays for saving decisions
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(*scoreFi) = (float *)malloc(sizeof(float) * size);
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(*pointsX) = (int *)malloc(sizeof(int) * size);
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(*pointsY) = (int *)malloc(sizeof(int) * size);
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// Consruction values of the array f
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// (a dot product vectors of feature map and weights of the filter)
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res = convolution(Fi, pyramid, f);
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if (res != LATENT_SVM_OK)
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{
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free(f);
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free(*scoreFi);
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free(*pointsX);
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free(*pointsY);
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return res;
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}
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// TODO: necessary to change
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for (i1 = 0; i1 < diff1; i1++)
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{
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for (j1 = 0; j1 < diff2; j1++)
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{
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f[i1 * diff2 + j1] *= (-1);
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}
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}
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// Decision of the general distance transform task
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DistanceTransformTwoDimensionalProblem(f, diff1, diff2, Fi->fineFunction,
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(*scoreFi), (*pointsX), (*pointsY));
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// Release allocated memory
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free(f);
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return LATENT_SVM_OK;
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}
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/*
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// Computation objective function D according the original paper using FFT
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//
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// API
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// int filterDispositionLevelFFT(const CvLSVMFilterObject *Fi, const fftImage *featMapImage,
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float **scoreFi,
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int **pointsX, int **pointsY);
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// INPUT
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// Fi - filter object (weights and coefficients of penalty
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function that are used in this routine)
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// featMapImage - FFT image of feature map
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// OUTPUT
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// scoreFi - values of distance transform on the level at all positions
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// (pointsX, pointsY)- positions that correspond to the maximum value
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of distance transform at all grid nodes
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// RESULT
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// Error status
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*/
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int filterDispositionLevelFFT(const CvLSVMFilterObject *Fi, const CvLSVMFftImage *featMapImage,
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float **scoreFi,
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int **pointsX, int **pointsY)
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{
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int n1, m1, n2, m2, /*p,*/ size, diff1, diff2;
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float *f;
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int i1, j1;
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int res;
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CvLSVMFftImage *filterImage;
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n1 = featMapImage->dimY;
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m1 = featMapImage->dimX;
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n2 = Fi->sizeY;
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m2 = Fi->sizeX;
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//p = featMapImage->numFeatures;
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(*scoreFi) = NULL;
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(*pointsX) = NULL;
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(*pointsY) = NULL;
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// Processing the situation when part filter goes
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// beyond the boundaries of the block set
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if (n1 < n2 || m1 < m2)
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{
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return FILTER_OUT_OF_BOUNDARIES;
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} /* if (n1 < n2 || m1 < m2) */
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// Computation number of positions for the filter
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diff1 = n1 - n2 + 1;
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diff2 = m1 - m2 + 1;
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size = diff1 * diff2;
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// Allocation memory for arrays for saving decisions
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(*scoreFi) = (float *)malloc(sizeof(float) * size);
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(*pointsX) = (int *)malloc(sizeof(int) * size);
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(*pointsY) = (int *)malloc(sizeof(int) * size);
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// create filter image
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getFFTImageFilterObject(Fi, featMapImage->dimX, featMapImage->dimY, &filterImage);
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// Consruction values of the array f
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// (a dot product vectors of feature map and weights of the filter)
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res = convFFTConv2d(featMapImage, filterImage, Fi->sizeX, Fi->sizeY, &f);
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if (res != LATENT_SVM_OK)
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{
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free(f);
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free(*scoreFi);
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free(*pointsX);
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free(*pointsY);
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return res;
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}
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// TODO: necessary to change
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for (i1 = 0; i1 < diff1; i1++)
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{
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for (j1 = 0; j1 < diff2; j1++)
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{
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f[i1 * diff2 + j1] *= (-1);
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}
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}
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// Decision of the general distance transform task
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DistanceTransformTwoDimensionalProblem(f, diff1, diff2, Fi->fineFunction,
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(*scoreFi), (*pointsX), (*pointsY));
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// Release allocated memory
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free(f);
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freeFFTImage(&filterImage);
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return LATENT_SVM_OK;
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}
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/*
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// Computation border size for feature map
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//
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// API
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// int computeBorderSize(int maxXBorder, int maxYBorder, int *bx, int *by);
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// INPUT
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// maxXBorder - the largest root filter size (X-direction)
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// maxYBorder - the largest root filter size (Y-direction)
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// OUTPUT
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// bx - border size (X-direction)
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// by - border size (Y-direction)
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// RESULT
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// Error status
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*/
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int computeBorderSize(int maxXBorder, int maxYBorder, int *bx, int *by)
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{
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*bx = (int)ceilf(((float) maxXBorder) / 2.0f + 1.0f);
|
|
*by = (int)ceilf(((float) maxYBorder) / 2.0f + 1.0f);
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
/*
|
|
// Addition nullable border to the feature map
|
|
//
|
|
// API
|
|
// int addNullableBorder(featureMap *map, int bx, int by);
|
|
// INPUT
|
|
// map - feature map
|
|
// bx - border size (X-direction)
|
|
// by - border size (Y-direction)
|
|
// OUTPUT
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int addNullableBorder(CvLSVMFeatureMap *map, int bx, int by)
|
|
{
|
|
int sizeX, sizeY, i, j, k;
|
|
float *new_map;
|
|
sizeX = map->sizeX + 2 * bx;
|
|
sizeY = map->sizeY + 2 * by;
|
|
new_map = (float *)malloc(sizeof(float) * sizeX * sizeY * map->numFeatures);
|
|
for (i = 0; i < sizeX * sizeY * map->numFeatures; i++)
|
|
{
|
|
new_map[i] = 0.0;
|
|
}
|
|
for (i = by; i < map->sizeY + by; i++)
|
|
{
|
|
for (j = bx; j < map->sizeX + bx; j++)
|
|
{
|
|
for (k = 0; k < map->numFeatures; k++)
|
|
{
|
|
new_map[(i * sizeX + j) * map->numFeatures + k] =
|
|
map->map[((i - by) * map->sizeX + j - bx) * map->numFeatures + k];
|
|
}
|
|
}
|
|
}
|
|
map->sizeX = sizeX;
|
|
map->sizeY = sizeY;
|
|
free(map->map);
|
|
map->map = new_map;
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
static CvLSVMFeatureMap* featureMapBorderPartFilter(CvLSVMFeatureMap *map,
|
|
int maxXBorder, int maxYBorder)
|
|
{
|
|
int bx, by;
|
|
int sizeX, sizeY, i, j, k;
|
|
CvLSVMFeatureMap *new_map;
|
|
|
|
computeBorderSize(maxXBorder, maxYBorder, &bx, &by);
|
|
sizeX = map->sizeX + 2 * bx;
|
|
sizeY = map->sizeY + 2 * by;
|
|
allocFeatureMapObject(&new_map, sizeX, sizeY, map->numFeatures);
|
|
for (i = 0; i < sizeX * sizeY * map->numFeatures; i++)
|
|
{
|
|
new_map->map[i] = 0.0f;
|
|
}
|
|
for (i = by; i < map->sizeY + by; i++)
|
|
{
|
|
for (j = bx; j < map->sizeX + bx; j++)
|
|
{
|
|
for (k = 0; k < map->numFeatures; k++)
|
|
{
|
|
new_map->map[(i * sizeX + j) * map->numFeatures + k] =
|
|
map->map[((i - by) * map->sizeX + j - bx) * map->numFeatures + k];
|
|
}
|
|
}
|
|
}
|
|
return new_map;
|
|
}
|
|
|
|
/*
|
|
// Computation the maximum of the score function at the level
|
|
//
|
|
// API
|
|
// int maxFunctionalScoreFixedLevel(const CvLSVMFilterObject **all_F, int n,
|
|
const featurePyramid *H,
|
|
int level, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float *score, CvPoint **points, int *kPoints,
|
|
CvPoint ***partsDisplacement);
|
|
// INPUT
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// H - feature pyramid
|
|
// level - feature pyramid level for computation maximum score
|
|
// b - linear term of the score function
|
|
// maxXBorder - the largest root filter size (X-direction)
|
|
// maxYBorder - the largest root filter size (Y-direction)
|
|
// OUTPUT
|
|
// score - the maximum of the score function at the level
|
|
// points - the set of root filter positions (in the block space)
|
|
// levels - the set of levels
|
|
// kPoints - number of root filter positions
|
|
// partsDisplacement - displacement of part filters (in the block space)
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int maxFunctionalScoreFixedLevel(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H,
|
|
int level, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float *score, CvPoint **points,
|
|
int *kPoints, CvPoint ***partsDisplacement)
|
|
{
|
|
int i, j, k, dimX, dimY, nF0, mF0/*, p*/;
|
|
int diff1, diff2, index, last, partsLevel;
|
|
CvLSVMFilterDisposition **disposition;
|
|
float *f;
|
|
float *scores;
|
|
float sumScorePartDisposition, maxScore;
|
|
int res;
|
|
CvLSVMFeatureMap *map;
|
|
#ifdef FFT_CONV
|
|
CvLSVMFftImage *rootFilterImage, *mapImage;
|
|
#else
|
|
#endif
|
|
|
|
/*
|
|
// DEBUG variables
|
|
FILE *file;
|
|
char *tmp;
|
|
char buf[40] = "..\\Data\\score\\score", buf1[10] = ".csv";
|
|
tmp = (char *)malloc(sizeof(char) * 80);
|
|
itoa(level, tmp, 10);
|
|
strcat(tmp, buf1);
|
|
//*/
|
|
|
|
// Feature map matrix dimension on the level
|
|
dimX = H->pyramid[level]->sizeX;
|
|
dimY = H->pyramid[level]->sizeY;
|
|
|
|
// Number of features
|
|
//p = H->pyramid[level]->numFeatures;
|
|
|
|
// Getting dimension of root filter
|
|
nF0 = all_F[0]->sizeY;
|
|
mF0 = all_F[0]->sizeX;
|
|
// Processing the situation when root filter goes
|
|
// beyond the boundaries of the block set
|
|
if (nF0 > dimY || mF0 > dimX)
|
|
{
|
|
return LATENT_SVM_FAILED_SUPERPOSITION;
|
|
}
|
|
|
|
diff1 = dimY - nF0 + 1;
|
|
diff2 = dimX - mF0 + 1;
|
|
|
|
// Allocation memory for saving values of function D
|
|
// on the level for each part filter
|
|
disposition = (CvLSVMFilterDisposition **)malloc(sizeof(CvLSVMFilterDisposition *) * n);
|
|
for (i = 0; i < n; i++)
|
|
{
|
|
disposition[i] = (CvLSVMFilterDisposition *)malloc(sizeof(CvLSVMFilterDisposition));
|
|
}
|
|
|
|
// Allocation memory for values of score function for each block on the level
|
|
scores = (float *)malloc(sizeof(float) * (diff1 * diff2));
|
|
|
|
// A dot product vectors of feature map and weights of root filter
|
|
#ifdef FFT_CONV
|
|
getFFTImageFeatureMap(H->pyramid[level], &mapImage);
|
|
getFFTImageFilterObject(all_F[0], H->pyramid[level]->sizeX, H->pyramid[level]->sizeY, &rootFilterImage);
|
|
res = convFFTConv2d(mapImage, rootFilterImage, all_F[0]->sizeX, all_F[0]->sizeY, &f);
|
|
freeFFTImage(&mapImage);
|
|
freeFFTImage(&rootFilterImage);
|
|
#else
|
|
// Allocation memory for saving a dot product vectors of feature map and
|
|
// weights of root filter
|
|
f = (float *)malloc(sizeof(float) * (diff1 * diff2));
|
|
// A dot product vectors of feature map and weights of root filter
|
|
res = convolution(all_F[0], H->pyramid[level], f);
|
|
#endif
|
|
if (res != LATENT_SVM_OK)
|
|
{
|
|
free(f);
|
|
free(scores);
|
|
for (i = 0; i < n; i++)
|
|
{
|
|
free(disposition[i]);
|
|
}
|
|
free(disposition);
|
|
return res;
|
|
}
|
|
|
|
// Computation values of function D for each part filter
|
|
// on the level (level - LAMBDA)
|
|
partsLevel = level - LAMBDA;
|
|
// For feature map at the level 'partsLevel' add nullable border
|
|
map = featureMapBorderPartFilter(H->pyramid[partsLevel],
|
|
maxXBorder, maxYBorder);
|
|
|
|
// Computation the maximum of score function
|
|
sumScorePartDisposition = 0.0;
|
|
#ifdef FFT_CONV
|
|
getFFTImageFeatureMap(map, &mapImage);
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
filterDispositionLevelFFT(all_F[k], mapImage,
|
|
&(disposition[k - 1]->score),
|
|
&(disposition[k - 1]->x),
|
|
&(disposition[k - 1]->y));
|
|
}
|
|
freeFFTImage(&mapImage);
|
|
#else
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
filterDispositionLevel(all_F[k], map,
|
|
&(disposition[k - 1]->score),
|
|
&(disposition[k - 1]->x),
|
|
&(disposition[k - 1]->y));
|
|
}
|
|
#endif
|
|
scores[0] = f[0] - sumScorePartDisposition + b;
|
|
maxScore = scores[0];
|
|
(*kPoints) = 0;
|
|
for (i = 0; i < diff1; i++)
|
|
{
|
|
for (j = 0; j < diff2; j++)
|
|
{
|
|
sumScorePartDisposition = 0.0;
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
// This condition takes on a value true
|
|
// when filter goes beyond the boundaries of block set
|
|
if ((2 * i + all_F[k]->V.y <
|
|
map->sizeY - all_F[k]->sizeY + 1) &&
|
|
(2 * j + all_F[k]->V.x <
|
|
map->sizeX - all_F[k]->sizeX + 1))
|
|
{
|
|
index = (2 * i + all_F[k]->V.y) *
|
|
(map->sizeX - all_F[k]->sizeX + 1) +
|
|
(2 * j + all_F[k]->V.x);
|
|
sumScorePartDisposition += disposition[k - 1]->score[index];
|
|
}
|
|
}
|
|
scores[i * diff2 + j] = f[i * diff2 + j] - sumScorePartDisposition + b;
|
|
if (maxScore < scores[i * diff2 + j])
|
|
{
|
|
maxScore = scores[i * diff2 + j];
|
|
(*kPoints) = 1;
|
|
}
|
|
else if ((scores[i * diff2 + j] - maxScore) *
|
|
(scores[i * diff2 + j] - maxScore) <= EPS)
|
|
{
|
|
(*kPoints)++;
|
|
} /* if (maxScore < scores[i * diff2 + j]) */
|
|
}
|
|
}
|
|
|
|
// Allocation memory for saving positions of root filter and part filters
|
|
(*points) = (CvPoint *)malloc(sizeof(CvPoint) * (*kPoints));
|
|
(*partsDisplacement) = (CvPoint **)malloc(sizeof(CvPoint *) * (*kPoints));
|
|
for (i = 0; i < (*kPoints); i++)
|
|
{
|
|
(*partsDisplacement)[i] = (CvPoint *)malloc(sizeof(CvPoint) * n);
|
|
}
|
|
|
|
/*// DEBUG
|
|
strcat(buf, tmp);
|
|
file = fopen(buf, "w+");
|
|
//*/
|
|
// Construction of the set of positions for root filter
|
|
// that correspond the maximum of score function on the level
|
|
(*score) = maxScore;
|
|
last = 0;
|
|
for (i = 0; i < diff1; i++)
|
|
{
|
|
for (j = 0; j < diff2; j++)
|
|
{
|
|
if ((scores[i * diff2 + j] - maxScore) *
|
|
(scores[i * diff2 + j] - maxScore) <= EPS)
|
|
{
|
|
(*points)[last].y = i;
|
|
(*points)[last].x = j;
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
if ((2 * i + all_F[k]->V.y <
|
|
map->sizeY - all_F[k]->sizeY + 1) &&
|
|
(2 * j + all_F[k]->V.x <
|
|
map->sizeX - all_F[k]->sizeX + 1))
|
|
{
|
|
index = (2 * i + all_F[k]->V.y) *
|
|
(map->sizeX - all_F[k]->sizeX + 1) +
|
|
(2 * j + all_F[k]->V.x);
|
|
(*partsDisplacement)[last][k - 1].x =
|
|
disposition[k - 1]->x[index];
|
|
(*partsDisplacement)[last][k - 1].y =
|
|
disposition[k - 1]->y[index];
|
|
}
|
|
}
|
|
last++;
|
|
} /* if ((scores[i * diff2 + j] - maxScore) *
|
|
(scores[i * diff2 + j] - maxScore) <= EPS) */
|
|
//fprintf(file, "%lf;", scores[i * diff2 + j]);
|
|
}
|
|
//fprintf(file, "\n");
|
|
}
|
|
//fclose(file);
|
|
//free(tmp);
|
|
|
|
// Release allocated memory
|
|
for (i = 0; i < n ; i++)
|
|
{
|
|
free(disposition[i]->score);
|
|
free(disposition[i]->x);
|
|
free(disposition[i]->y);
|
|
free(disposition[i]);
|
|
}
|
|
free(disposition);
|
|
free(f);
|
|
free(scores);
|
|
freeFeatureMapObject(&map);
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
/*
|
|
// Computation score function at the level that exceed threshold
|
|
//
|
|
// API
|
|
// int thresholdFunctionalScoreFixedLevel(const CvLSVMFilterObject **all_F, int n,
|
|
const featurePyramid *H,
|
|
int level, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float scoreThreshold,
|
|
float **score, CvPoint **points, int *kPoints,
|
|
CvPoint ***partsDisplacement);
|
|
// INPUT
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// H - feature pyramid
|
|
// level - feature pyramid level for computation maximum score
|
|
// b - linear term of the score function
|
|
// maxXBorder - the largest root filter size (X-direction)
|
|
// maxYBorder - the largest root filter size (Y-direction)
|
|
// scoreThreshold - score threshold
|
|
// OUTPUT
|
|
// score - score function at the level that exceed threshold
|
|
// points - the set of root filter positions (in the block space)
|
|
// levels - the set of levels
|
|
// kPoints - number of root filter positions
|
|
// partsDisplacement - displacement of part filters (in the block space)
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int thresholdFunctionalScoreFixedLevel(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H,
|
|
int level, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float scoreThreshold,
|
|
float **score, CvPoint **points, int *kPoints,
|
|
CvPoint ***partsDisplacement)
|
|
{
|
|
int i, j, k, dimX, dimY, nF0, mF0/*, p*/;
|
|
int diff1, diff2, index, last, partsLevel;
|
|
CvLSVMFilterDisposition **disposition;
|
|
float *f;
|
|
float *scores;
|
|
float sumScorePartDisposition;
|
|
int res;
|
|
CvLSVMFeatureMap *map;
|
|
#ifdef FFT_CONV
|
|
CvLSVMFftImage *rootFilterImage, *mapImage;
|
|
#else
|
|
#endif
|
|
/*
|
|
// DEBUG variables
|
|
FILE *file;
|
|
char *tmp;
|
|
char buf[40] = "..\\Data\\score\\score", buf1[10] = ".csv";
|
|
tmp = (char *)malloc(sizeof(char) * 80);
|
|
itoa(level, tmp, 10);
|
|
strcat(tmp, buf1);
|
|
//*/
|
|
|
|
// Feature map matrix dimension on the level
|
|
dimX = H->pyramid[level]->sizeX;
|
|
dimY = H->pyramid[level]->sizeY;
|
|
|
|
// Number of features
|
|
//p = H->pyramid[level]->numFeatures;
|
|
|
|
// Getting dimension of root filter
|
|
nF0 = all_F[0]->sizeY;
|
|
mF0 = all_F[0]->sizeX;
|
|
// Processing the situation when root filter goes
|
|
// beyond the boundaries of the block set
|
|
if (nF0 > dimY || mF0 > dimX)
|
|
{
|
|
return LATENT_SVM_FAILED_SUPERPOSITION;
|
|
}
|
|
|
|
diff1 = dimY - nF0 + 1;
|
|
diff2 = dimX - mF0 + 1;
|
|
|
|
// Allocation memory for saving values of function D
|
|
// on the level for each part filter
|
|
disposition = (CvLSVMFilterDisposition **)malloc(sizeof(CvLSVMFilterDisposition *) * n);
|
|
for (i = 0; i < n; i++)
|
|
{
|
|
disposition[i] = (CvLSVMFilterDisposition *)malloc(sizeof(CvLSVMFilterDisposition));
|
|
}
|
|
|
|
// Allocation memory for values of score function for each block on the level
|
|
scores = (float *)malloc(sizeof(float) * (diff1 * diff2));
|
|
// A dot product vectors of feature map and weights of root filter
|
|
#ifdef FFT_CONV
|
|
getFFTImageFeatureMap(H->pyramid[level], &mapImage);
|
|
getFFTImageFilterObject(all_F[0], H->pyramid[level]->sizeX, H->pyramid[level]->sizeY, &rootFilterImage);
|
|
res = convFFTConv2d(mapImage, rootFilterImage, all_F[0]->sizeX, all_F[0]->sizeY, &f);
|
|
freeFFTImage(&mapImage);
|
|
freeFFTImage(&rootFilterImage);
|
|
#else
|
|
// Allocation memory for saving a dot product vectors of feature map and
|
|
// weights of root filter
|
|
f = (float *)malloc(sizeof(float) * (diff1 * diff2));
|
|
res = convolution(all_F[0], H->pyramid[level], f);
|
|
#endif
|
|
if (res != LATENT_SVM_OK)
|
|
{
|
|
free(f);
|
|
free(scores);
|
|
for (i = 0; i < n; i++)
|
|
{
|
|
free(disposition[i]);
|
|
}
|
|
free(disposition);
|
|
return res;
|
|
}
|
|
|
|
// Computation values of function D for each part filter
|
|
// on the level (level - LAMBDA)
|
|
partsLevel = level - LAMBDA;
|
|
// For feature map at the level 'partsLevel' add nullable border
|
|
map = featureMapBorderPartFilter(H->pyramid[partsLevel],
|
|
maxXBorder, maxYBorder);
|
|
|
|
// Computation the maximum of score function
|
|
sumScorePartDisposition = 0.0;
|
|
#ifdef FFT_CONV
|
|
getFFTImageFeatureMap(map, &mapImage);
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
filterDispositionLevelFFT(all_F[k], mapImage,
|
|
&(disposition[k - 1]->score),
|
|
&(disposition[k - 1]->x),
|
|
&(disposition[k - 1]->y));
|
|
}
|
|
freeFFTImage(&mapImage);
|
|
#else
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
filterDispositionLevel(all_F[k], map,
|
|
&(disposition[k - 1]->score),
|
|
&(disposition[k - 1]->x),
|
|
&(disposition[k - 1]->y));
|
|
}
|
|
#endif
|
|
(*kPoints) = 0;
|
|
for (i = 0; i < diff1; i++)
|
|
{
|
|
for (j = 0; j < diff2; j++)
|
|
{
|
|
sumScorePartDisposition = 0.0;
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
// This condition takes on a value true
|
|
// when filter goes beyond the boundaries of block set
|
|
if ((2 * i + all_F[k]->V.y <
|
|
map->sizeY - all_F[k]->sizeY + 1) &&
|
|
(2 * j + all_F[k]->V.x <
|
|
map->sizeX - all_F[k]->sizeX + 1))
|
|
{
|
|
index = (2 * i + all_F[k]->V.y) *
|
|
(map->sizeX - all_F[k]->sizeX + 1) +
|
|
(2 * j + all_F[k]->V.x);
|
|
sumScorePartDisposition += disposition[k - 1]->score[index];
|
|
}
|
|
}
|
|
scores[i * diff2 + j] = f[i * diff2 + j] - sumScorePartDisposition + b;
|
|
if (scores[i * diff2 + j] > scoreThreshold)
|
|
{
|
|
(*kPoints)++;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Allocation memory for saving positions of root filter and part filters
|
|
(*points) = (CvPoint *)malloc(sizeof(CvPoint) * (*kPoints));
|
|
(*partsDisplacement) = (CvPoint **)malloc(sizeof(CvPoint *) * (*kPoints));
|
|
for (i = 0; i < (*kPoints); i++)
|
|
{
|
|
(*partsDisplacement)[i] = (CvPoint *)malloc(sizeof(CvPoint) * n);
|
|
}
|
|
|
|
/*// DEBUG
|
|
strcat(buf, tmp);
|
|
file = fopen(buf, "w+");
|
|
//*/
|
|
// Construction of the set of positions for root filter
|
|
// that correspond score function on the level that exceed threshold
|
|
(*score) = (float *)malloc(sizeof(float) * (*kPoints));
|
|
last = 0;
|
|
for (i = 0; i < diff1; i++)
|
|
{
|
|
for (j = 0; j < diff2; j++)
|
|
{
|
|
if (scores[i * diff2 + j] > scoreThreshold)
|
|
{
|
|
(*score)[last] = scores[i * diff2 + j];
|
|
(*points)[last].y = i;
|
|
(*points)[last].x = j;
|
|
for (k = 1; k <= n; k++)
|
|
{
|
|
if ((2 * i + all_F[k]->V.y <
|
|
map->sizeY - all_F[k]->sizeY + 1) &&
|
|
(2 * j + all_F[k]->V.x <
|
|
map->sizeX - all_F[k]->sizeX + 1))
|
|
{
|
|
index = (2 * i + all_F[k]->V.y) *
|
|
(map->sizeX - all_F[k]->sizeX + 1) +
|
|
(2 * j + all_F[k]->V.x);
|
|
(*partsDisplacement)[last][k - 1].x =
|
|
disposition[k - 1]->x[index];
|
|
(*partsDisplacement)[last][k - 1].y =
|
|
disposition[k - 1]->y[index];
|
|
}
|
|
}
|
|
last++;
|
|
}
|
|
//fprintf(file, "%lf;", scores[i * diff2 + j]);
|
|
}
|
|
//fprintf(file, "\n");
|
|
}
|
|
//fclose(file);
|
|
//free(tmp);
|
|
|
|
// Release allocated memory
|
|
for (i = 0; i < n ; i++)
|
|
{
|
|
free(disposition[i]->score);
|
|
free(disposition[i]->x);
|
|
free(disposition[i]->y);
|
|
free(disposition[i]);
|
|
}
|
|
free(disposition);
|
|
free(f);
|
|
free(scores);
|
|
freeFeatureMapObject(&map);
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
/*
|
|
// Computation the maximum of the score function
|
|
//
|
|
// API
|
|
// int maxFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const featurePyramid *H, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float *score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement);
|
|
// INPUT
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// H - feature pyramid
|
|
// b - linear term of the score function
|
|
// maxXBorder - the largest root filter size (X-direction)
|
|
// maxYBorder - the largest root filter size (Y-direction)
|
|
// OUTPUT
|
|
// score - the maximum of the score function
|
|
// points - the set of root filter positions (in the block space)
|
|
// levels - the set of levels
|
|
// kPoints - number of root filter positions
|
|
// partsDisplacement - displacement of part filters (in the block space)
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int maxFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H, float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float *score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement)
|
|
{
|
|
int l, i, j, k, s, f, level, numLevels;
|
|
float *tmpScore;
|
|
CvPoint ***tmpPoints;
|
|
CvPoint ****tmpPartsDisplacement;
|
|
int *tmpKPoints;
|
|
float maxScore;
|
|
int res;
|
|
|
|
/* DEBUG
|
|
FILE *file;
|
|
//*/
|
|
|
|
// Computation the number of levels for seaching object,
|
|
// first lambda-levels are used for computation values
|
|
// of score function for each position of root filter
|
|
numLevels = H->numLevels - LAMBDA;
|
|
|
|
// Allocation memory for maximum value of score function for each level
|
|
tmpScore = (float *)malloc(sizeof(float) * numLevels);
|
|
// Allocation memory for the set of points that corresponds
|
|
// to the maximum of score function
|
|
tmpPoints = (CvPoint ***)malloc(sizeof(CvPoint **) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPoints[i] = (CvPoint **)malloc(sizeof(CvPoint *));
|
|
}
|
|
// Allocation memory for memory for saving parts displacement on each level
|
|
tmpPartsDisplacement = (CvPoint ****)malloc(sizeof(CvPoint ***) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPartsDisplacement[i] = (CvPoint ***)malloc(sizeof(CvPoint **));
|
|
}
|
|
// Number of points that corresponds to the maximum
|
|
// of score function on each level
|
|
tmpKPoints = (int *)malloc(sizeof(int) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpKPoints[i] = 0;
|
|
}
|
|
|
|
// Set current value of the maximum of score function
|
|
res = maxFunctionalScoreFixedLevel(all_F, n, H, LAMBDA, b,
|
|
maxXBorder, maxYBorder,
|
|
&(tmpScore[0]),
|
|
tmpPoints[0],
|
|
&(tmpKPoints[0]),
|
|
tmpPartsDisplacement[0]);
|
|
maxScore = tmpScore[0];
|
|
(*kPoints) = tmpKPoints[0];
|
|
|
|
// Computation maxima of score function on each level
|
|
// and getting the maximum on all levels
|
|
/* DEBUG: maxScore
|
|
file = fopen("maxScore.csv", "w+");
|
|
fprintf(file, "%i;%lf;\n", H->lambda, tmpScore[0]);
|
|
//*/
|
|
for (l = LAMBDA + 1; l < H->numLevels; l++)
|
|
{
|
|
k = l - LAMBDA;
|
|
res = maxFunctionalScoreFixedLevel(all_F, n, H, l, b,
|
|
maxXBorder, maxYBorder,
|
|
&(tmpScore[k]),
|
|
tmpPoints[k],
|
|
&(tmpKPoints[k]),
|
|
tmpPartsDisplacement[k]);
|
|
//fprintf(file, "%i;%lf;\n", l, tmpScore[k]);
|
|
if (res != LATENT_SVM_OK)
|
|
{
|
|
continue;
|
|
}
|
|
if (maxScore < tmpScore[k])
|
|
{
|
|
maxScore = tmpScore[k];
|
|
(*kPoints) = tmpKPoints[k];
|
|
}
|
|
else if ((maxScore - tmpScore[k]) * (maxScore - tmpScore[k]) <= EPS)
|
|
{
|
|
(*kPoints) += tmpKPoints[k];
|
|
} /* if (maxScore < tmpScore[k]) else if (...)*/
|
|
}
|
|
//fclose(file);
|
|
|
|
// Allocation memory for levels
|
|
(*levels) = (int *)malloc(sizeof(int) * (*kPoints));
|
|
// Allocation memory for the set of points
|
|
(*points) = (CvPoint *)malloc(sizeof(CvPoint) * (*kPoints));
|
|
// Allocation memory for parts displacement
|
|
(*partsDisplacement) = (CvPoint **)malloc(sizeof(CvPoint *) * (*kPoints));
|
|
|
|
// Filling the set of points, levels and parts displacement
|
|
s = 0;
|
|
f = 0;
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
if ((tmpScore[i] - maxScore) * (tmpScore[i] - maxScore) <= EPS)
|
|
{
|
|
// Computation the number of level
|
|
level = i + LAMBDA;
|
|
|
|
// Addition a set of points
|
|
f += tmpKPoints[i];
|
|
for (j = s; j < f; j++)
|
|
{
|
|
(*levels)[j] = level;
|
|
(*points)[j] = (*tmpPoints[i])[j - s];
|
|
(*partsDisplacement)[j] = (*(tmpPartsDisplacement[i]))[j - s];
|
|
}
|
|
s = f;
|
|
} /* if ((tmpScore[i] - maxScore) * (tmpScore[i] - maxScore) <= EPS) */
|
|
}
|
|
(*score) = maxScore;
|
|
|
|
// Release allocated memory
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
free(tmpPoints[i]);
|
|
free(tmpPartsDisplacement[i]);
|
|
}
|
|
free(tmpPoints);
|
|
free(tmpPartsDisplacement);
|
|
free(tmpScore);
|
|
free(tmpKPoints);
|
|
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
/*
|
|
// Computation score function that exceed threshold
|
|
//
|
|
// API
|
|
// int thresholdFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const featurePyramid *H,
|
|
float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float scoreThreshold,
|
|
float **score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement);
|
|
// INPUT
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// H - feature pyramid
|
|
// b - linear term of the score function
|
|
// maxXBorder - the largest root filter size (X-direction)
|
|
// maxYBorder - the largest root filter size (Y-direction)
|
|
// scoreThreshold - score threshold
|
|
// OUTPUT
|
|
// score - score function values that exceed threshold
|
|
// points - the set of root filter positions (in the block space)
|
|
// levels - the set of levels
|
|
// kPoints - number of root filter positions
|
|
// partsDisplacement - displacement of part filters (in the block space)
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int thresholdFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H,
|
|
float b,
|
|
int maxXBorder, int maxYBorder,
|
|
float scoreThreshold,
|
|
float **score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement)
|
|
{
|
|
int l, i, j, k, s, f, level, numLevels;
|
|
float **tmpScore;
|
|
CvPoint ***tmpPoints;
|
|
CvPoint ****tmpPartsDisplacement;
|
|
int *tmpKPoints;
|
|
int res;
|
|
|
|
/* DEBUG
|
|
FILE *file;
|
|
//*/
|
|
|
|
// Computation the number of levels for seaching object,
|
|
// first lambda-levels are used for computation values
|
|
// of score function for each position of root filter
|
|
numLevels = H->numLevels - LAMBDA;
|
|
|
|
// Allocation memory for values of score function for each level
|
|
// that exceed threshold
|
|
tmpScore = (float **)malloc(sizeof(float*) * numLevels);
|
|
// Allocation memory for the set of points that corresponds
|
|
// to the maximum of score function
|
|
tmpPoints = (CvPoint ***)malloc(sizeof(CvPoint **) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPoints[i] = (CvPoint **)malloc(sizeof(CvPoint *));
|
|
}
|
|
// Allocation memory for memory for saving parts displacement on each level
|
|
tmpPartsDisplacement = (CvPoint ****)malloc(sizeof(CvPoint ***) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPartsDisplacement[i] = (CvPoint ***)malloc(sizeof(CvPoint **));
|
|
}
|
|
// Number of points that corresponds to the maximum
|
|
// of score function on each level
|
|
tmpKPoints = (int *)malloc(sizeof(int) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpKPoints[i] = 0;
|
|
}
|
|
|
|
// Computation maxima of score function on each level
|
|
// and getting the maximum on all levels
|
|
/* DEBUG: maxScore
|
|
file = fopen("maxScore.csv", "w+");
|
|
fprintf(file, "%i;%lf;\n", H->lambda, tmpScore[0]);
|
|
//*/
|
|
(*kPoints) = 0;
|
|
for (l = LAMBDA; l < H->numLevels; l++)
|
|
{
|
|
k = l - LAMBDA;
|
|
//printf("Score at the level %i\n", l);
|
|
res = thresholdFunctionalScoreFixedLevel(all_F, n, H, l, b,
|
|
maxXBorder, maxYBorder, scoreThreshold,
|
|
&(tmpScore[k]),
|
|
tmpPoints[k],
|
|
&(tmpKPoints[k]),
|
|
tmpPartsDisplacement[k]);
|
|
//fprintf(file, "%i;%lf;\n", l, tmpScore[k]);
|
|
if (res != LATENT_SVM_OK)
|
|
{
|
|
continue;
|
|
}
|
|
(*kPoints) += tmpKPoints[k];
|
|
}
|
|
//fclose(file);
|
|
|
|
// Allocation memory for levels
|
|
(*levels) = (int *)malloc(sizeof(int) * (*kPoints));
|
|
// Allocation memory for the set of points
|
|
(*points) = (CvPoint *)malloc(sizeof(CvPoint) * (*kPoints));
|
|
// Allocation memory for parts displacement
|
|
(*partsDisplacement) = (CvPoint **)malloc(sizeof(CvPoint *) * (*kPoints));
|
|
// Allocation memory for score function values
|
|
(*score) = (float *)malloc(sizeof(float) * (*kPoints));
|
|
|
|
// Filling the set of points, levels and parts displacement
|
|
s = 0;
|
|
f = 0;
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
// Computation the number of level
|
|
level = i + LAMBDA;
|
|
|
|
// Addition a set of points
|
|
f += tmpKPoints[i];
|
|
for (j = s; j < f; j++)
|
|
{
|
|
(*levels)[j] = level;
|
|
(*points)[j] = (*tmpPoints[i])[j - s];
|
|
(*score)[j] = tmpScore[i][j - s];
|
|
(*partsDisplacement)[j] = (*(tmpPartsDisplacement[i]))[j - s];
|
|
}
|
|
s = f;
|
|
}
|
|
|
|
// Release allocated memory
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
free(tmpPoints[i]);
|
|
free(tmpPartsDisplacement[i]);
|
|
}
|
|
free(tmpPoints);
|
|
free(tmpScore);
|
|
free(tmpKPoints);
|
|
free(tmpPartsDisplacement);
|
|
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
#ifdef HAVE_TBB
|
|
/*
|
|
// Creating schedule of pyramid levels processing
|
|
//
|
|
// API
|
|
// int createSchedule(const featurePyramid *H, const filterObject **all_F,
|
|
const int n, const int bx, const int by,
|
|
const int threadsNum, int *kLevels,
|
|
int **processingLevels)
|
|
// INPUT
|
|
// H - feature pyramid
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// bx - size of nullable border (X direction)
|
|
// by - size of nullable border (Y direction)
|
|
// threadsNum - number of threads that will be created in TBB version
|
|
// OUTPUT
|
|
// kLevels - array that contains number of levels processed
|
|
by each thread
|
|
// processingLevels - array that contains lists of levels processed
|
|
by each thread
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
static int createSchedule(const CvLSVMFeaturePyramid *H, const CvLSVMFilterObject **all_F,
|
|
const int n, const int bx, const int by,
|
|
const int threadsNum, int *kLevels, int **processingLevels)
|
|
{
|
|
int rootFilterDim, sumPartFiltersDim, i, numLevels, dbx, dby;
|
|
int j, minValue, argMin, lambda, maxValue, k;
|
|
int *dotProd, *weights, *disp;
|
|
if (H == NULL || all_F == NULL)
|
|
{
|
|
return LATENT_SVM_TBB_SCHEDULE_CREATION_FAILED;
|
|
}
|
|
// Number of feature vectors in root filter
|
|
rootFilterDim = all_F[0]->sizeX * all_F[0]->sizeY;
|
|
// Number of feature vectors in all part filters
|
|
sumPartFiltersDim = 0;
|
|
for (i = 1; i <= n; i++)
|
|
{
|
|
sumPartFiltersDim += all_F[i]->sizeX * all_F[i]->sizeY;
|
|
}
|
|
// Number of levels which are used for computation of score function
|
|
numLevels = H->numLevels - LAMBDA;
|
|
// Allocation memory for saving number of dot products that will be
|
|
// computed for each level of feature pyramid
|
|
dotProd = (int *)malloc(sizeof(int) * numLevels);
|
|
// Size of nullable border that's used in computing convolution
|
|
// of feature map with part filter
|
|
dbx = 2 * bx;
|
|
dby = 2 * by;
|
|
lambda = LAMBDA;
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
dotProd[i] = H->pyramid[i + lambda]->sizeX *
|
|
H->pyramid[i + lambda]->sizeY * rootFilterDim +
|
|
(H->pyramid[i]->sizeX + dbx) *
|
|
(H->pyramid[i]->sizeY + dby) * sumPartFiltersDim;
|
|
}
|
|
// Allocation memory for saving dot product number performed by each thread
|
|
weights = (int *)malloc(sizeof(int) * threadsNum);
|
|
// Allocation memory for saving dispertion
|
|
disp = (int *)malloc(sizeof(int) * threadsNum);
|
|
// At the first step we think of first threadsNum levels will be processed
|
|
// by different threads
|
|
for (i = 0; i < threadsNum; i++)
|
|
{
|
|
kLevels[i] = 1;
|
|
weights[i] = dotProd[i];
|
|
disp[i] = 0;
|
|
}
|
|
// Computation number of levels that will be processed by each thread
|
|
for (i = threadsNum; i < numLevels; i++)
|
|
{
|
|
// Search number of thread that will process level number i
|
|
for (j = 0; j < threadsNum; j++)
|
|
{
|
|
weights[j] += dotProd[i];
|
|
minValue = weights[0];
|
|
maxValue = weights[0];
|
|
for (k = 1; k < threadsNum; k++)
|
|
{
|
|
minValue = min(minValue, weights[k]);
|
|
maxValue = max(maxValue, weights[k]);
|
|
}
|
|
disp[j] = maxValue - minValue;
|
|
weights[j] -= dotProd[i];
|
|
}
|
|
minValue = disp[0];
|
|
argMin = 0;
|
|
for (j = 1; j < threadsNum; j++)
|
|
{
|
|
if (disp[j] < minValue)
|
|
{
|
|
minValue = disp[j];
|
|
argMin = j;
|
|
}
|
|
}
|
|
// Addition new level
|
|
kLevels[argMin]++;
|
|
weights[argMin] += dotProd[i];
|
|
}
|
|
for (i = 0; i < threadsNum; i++)
|
|
{
|
|
// Allocation memory for saving list of levels for each level
|
|
processingLevels[i] = (int *)malloc(sizeof(int) * kLevels[i]);
|
|
// At the first step we think of first threadsNum levels will be processed
|
|
// by different threads
|
|
processingLevels[i][0] = lambda + i;
|
|
kLevels[i] = 1;
|
|
weights[i] = dotProd[i];
|
|
}
|
|
// Creating list of levels
|
|
for (i = threadsNum; i < numLevels; i++)
|
|
{
|
|
for (j = 0; j < threadsNum; j++)
|
|
{
|
|
weights[j] += dotProd[i];
|
|
minValue = weights[0];
|
|
maxValue = weights[0];
|
|
for (k = 1; k < threadsNum; k++)
|
|
{
|
|
minValue = min(minValue, weights[k]);
|
|
maxValue = max(maxValue, weights[k]);
|
|
}
|
|
disp[j] = maxValue - minValue;
|
|
weights[j] -= dotProd[i];
|
|
}
|
|
minValue = disp[0];
|
|
argMin = 0;
|
|
for (j = 1; j < threadsNum; j++)
|
|
{
|
|
if (disp[j] < minValue)
|
|
{
|
|
minValue = disp[j];
|
|
argMin = j;
|
|
}
|
|
}
|
|
processingLevels[argMin][kLevels[argMin]] = lambda + i;
|
|
kLevels[argMin]++;
|
|
weights[argMin] += dotProd[i];
|
|
}
|
|
// Release allocated memory
|
|
free(weights);
|
|
free(dotProd);
|
|
free(disp);
|
|
return LATENT_SVM_OK;
|
|
}
|
|
|
|
/*
|
|
// int tbbThresholdFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H,
|
|
const float b,
|
|
const int maxXBorder, const int maxYBorder,
|
|
const float scoreThreshold,
|
|
const int threadsNum,
|
|
float **score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement);
|
|
// INPUT
|
|
// all_F - the set of filters (the first element is root filter,
|
|
the other - part filters)
|
|
// n - the number of part filters
|
|
// H - feature pyramid
|
|
// b - linear term of the score function
|
|
// maxXBorder - the largest root filter size (X-direction)
|
|
// maxYBorder - the largest root filter size (Y-direction)
|
|
// scoreThreshold - score threshold
|
|
// threadsNum - number of threads that will be created using TBB version
|
|
// OUTPUT
|
|
// score - score function values that exceed threshold
|
|
// points - the set of root filter positions (in the block space)
|
|
// levels - the set of levels
|
|
// kPoints - number of root filter positions
|
|
// partsDisplacement - displacement of part filters (in the block space)
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int tbbThresholdFunctionalScore(const CvLSVMFilterObject **all_F, int n,
|
|
const CvLSVMFeaturePyramid *H,
|
|
const float b,
|
|
const int maxXBorder, const int maxYBorder,
|
|
const float scoreThreshold,
|
|
const int threadsNum,
|
|
float **score,
|
|
CvPoint **points, int **levels, int *kPoints,
|
|
CvPoint ***partsDisplacement)
|
|
{
|
|
int i, j, s, f, level, numLevels;
|
|
float **tmpScore;
|
|
CvPoint ***tmpPoints;
|
|
CvPoint ****tmpPartsDisplacement;
|
|
int *tmpKPoints;
|
|
int res;
|
|
|
|
int *kLevels, **procLevels;
|
|
int bx, by;
|
|
|
|
// Computation the number of levels for seaching object,
|
|
// first lambda-levels are used for computation values
|
|
// of score function for each position of root filter
|
|
numLevels = H->numLevels - LAMBDA;
|
|
kLevels = (int *)malloc(sizeof(int) * threadsNum);
|
|
procLevels = (int **)malloc(sizeof(int*) * threadsNum);
|
|
computeBorderSize(maxXBorder, maxYBorder, &bx, &by);
|
|
res = createSchedule(H, all_F, n, bx, by, threadsNum, kLevels, procLevels);
|
|
if (res != LATENT_SVM_OK)
|
|
{
|
|
for (i = 0; i < threadsNum; i++)
|
|
{
|
|
if (procLevels[i] != NULL)
|
|
{
|
|
free(procLevels[i]);
|
|
}
|
|
}
|
|
free(procLevels);
|
|
free(kLevels);
|
|
return res;
|
|
}
|
|
|
|
// Allocation memory for values of score function for each level
|
|
// that exceed threshold
|
|
tmpScore = (float **)malloc(sizeof(float*) * numLevels);
|
|
// Allocation memory for the set of points that corresponds
|
|
// to the maximum of score function
|
|
tmpPoints = (CvPoint ***)malloc(sizeof(CvPoint **) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPoints[i] = (CvPoint **)malloc(sizeof(CvPoint *));
|
|
}
|
|
// Allocation memory for memory for saving parts displacement on each level
|
|
tmpPartsDisplacement = (CvPoint ****)malloc(sizeof(CvPoint ***) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpPartsDisplacement[i] = (CvPoint ***)malloc(sizeof(CvPoint **));
|
|
}
|
|
// Number of points that corresponds to the maximum
|
|
// of score function on each level
|
|
tmpKPoints = (int *)malloc(sizeof(int) * numLevels);
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
tmpKPoints[i] = 0;
|
|
}
|
|
|
|
// Computation maxima of score function on each level
|
|
// and getting the maximum on all levels using TBB tasks
|
|
tbbTasksThresholdFunctionalScore(all_F, n, H, b, maxXBorder, maxYBorder,
|
|
scoreThreshold, kLevels, procLevels,
|
|
threadsNum, tmpScore, tmpPoints,
|
|
tmpKPoints, tmpPartsDisplacement);
|
|
(*kPoints) = 0;
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
(*kPoints) += tmpKPoints[i];
|
|
}
|
|
|
|
// Allocation memory for levels
|
|
(*levels) = (int *)malloc(sizeof(int) * (*kPoints));
|
|
// Allocation memory for the set of points
|
|
(*points) = (CvPoint *)malloc(sizeof(CvPoint) * (*kPoints));
|
|
// Allocation memory for parts displacement
|
|
(*partsDisplacement) = (CvPoint **)malloc(sizeof(CvPoint *) * (*kPoints));
|
|
// Allocation memory for score function values
|
|
(*score) = (float *)malloc(sizeof(float) * (*kPoints));
|
|
|
|
// Filling the set of points, levels and parts displacement
|
|
s = 0;
|
|
f = 0;
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
// Computation the number of level
|
|
level = i + LAMBDA;//H->lambda;
|
|
|
|
// Addition a set of points
|
|
f += tmpKPoints[i];
|
|
for (j = s; j < f; j++)
|
|
{
|
|
(*levels)[j] = level;
|
|
(*points)[j] = (*tmpPoints[i])[j - s];
|
|
(*score)[j] = tmpScore[i][j - s];
|
|
(*partsDisplacement)[j] = (*(tmpPartsDisplacement[i]))[j - s];
|
|
}
|
|
s = f;
|
|
}
|
|
|
|
// Release allocated memory
|
|
for (i = 0; i < numLevels; i++)
|
|
{
|
|
free(tmpPoints[i]);
|
|
free(tmpPartsDisplacement[i]);
|
|
}
|
|
for (i = 0; i < threadsNum; i++)
|
|
{
|
|
free(procLevels[i]);
|
|
}
|
|
free(procLevels);
|
|
free(kLevels);
|
|
free(tmpPoints);
|
|
free(tmpScore);
|
|
free(tmpKPoints);
|
|
free(tmpPartsDisplacement);
|
|
|
|
return LATENT_SVM_OK;
|
|
}
|
|
#endif
|
|
|
|
static void sort(int n, const float* x, int* indices)
|
|
{
|
|
int i, j;
|
|
for (i = 0; i < n; i++)
|
|
for (j = i + 1; j < n; j++)
|
|
{
|
|
if (x[indices[j]] > x[indices[i]])
|
|
{
|
|
//float x_tmp = x[i];
|
|
int index_tmp = indices[i];
|
|
//x[i] = x[j];
|
|
indices[i] = indices[j];
|
|
//x[j] = x_tmp;
|
|
indices[j] = index_tmp;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
// Perform non-maximum suppression algorithm (described in original paper)
|
|
// to remove "similar" bounding boxes
|
|
//
|
|
// API
|
|
// int nonMaximumSuppression(int numBoxes, const CvPoint *points,
|
|
const CvPoint *oppositePoints, const float *score,
|
|
float overlapThreshold,
|
|
int *numBoxesOut, CvPoint **pointsOut,
|
|
CvPoint **oppositePointsOut, float **scoreOut);
|
|
// INPUT
|
|
// numBoxes - number of bounding boxes
|
|
// points - array of left top corner coordinates
|
|
// oppositePoints - array of right bottom corner coordinates
|
|
// score - array of detection scores
|
|
// overlapThreshold - threshold: bounding box is removed if overlap part
|
|
is greater than passed value
|
|
// OUTPUT
|
|
// numBoxesOut - the number of bounding boxes algorithm returns
|
|
// pointsOut - array of left top corner coordinates
|
|
// oppositePointsOut - array of right bottom corner coordinates
|
|
// scoreOut - array of detection scores
|
|
// RESULT
|
|
// Error status
|
|
*/
|
|
int nonMaximumSuppression(int numBoxes, const CvPoint *points,
|
|
const CvPoint *oppositePoints, const float *score,
|
|
float overlapThreshold,
|
|
int *numBoxesOut, CvPoint **pointsOut,
|
|
CvPoint **oppositePointsOut, float **scoreOut)
|
|
{
|
|
int i, j, index;
|
|
float* box_area = (float*)malloc(numBoxes * sizeof(float));
|
|
int* indices = (int*)malloc(numBoxes * sizeof(int));
|
|
int* is_suppressed = (int*)malloc(numBoxes * sizeof(int));
|
|
|
|
for (i = 0; i < numBoxes; i++)
|
|
{
|
|
indices[i] = i;
|
|
is_suppressed[i] = 0;
|
|
box_area[i] = (float)( (oppositePoints[i].x - points[i].x + 1) *
|
|
(oppositePoints[i].y - points[i].y + 1));
|
|
}
|
|
|
|
sort(numBoxes, score, indices);
|
|
for (i = 0; i < numBoxes; i++)
|
|
{
|
|
if (!is_suppressed[indices[i]])
|
|
{
|
|
for (j = i + 1; j < numBoxes; j++)
|
|
{
|
|
if (!is_suppressed[indices[j]])
|
|
{
|
|
int x1max = max(points[indices[i]].x, points[indices[j]].x);
|
|
int x2min = min(oppositePoints[indices[i]].x, oppositePoints[indices[j]].x);
|
|
int y1max = max(points[indices[i]].y, points[indices[j]].y);
|
|
int y2min = min(oppositePoints[indices[i]].y, oppositePoints[indices[j]].y);
|
|
int overlapWidth = x2min - x1max + 1;
|
|
int overlapHeight = y2min - y1max + 1;
|
|
if (overlapWidth > 0 && overlapHeight > 0)
|
|
{
|
|
float overlapPart = (overlapWidth * overlapHeight) / box_area[indices[j]];
|
|
if (overlapPart > overlapThreshold)
|
|
{
|
|
is_suppressed[indices[j]] = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
*numBoxesOut = 0;
|
|
for (i = 0; i < numBoxes; i++)
|
|
{
|
|
if (!is_suppressed[i]) (*numBoxesOut)++;
|
|
}
|
|
|
|
*pointsOut = (CvPoint *)malloc((*numBoxesOut) * sizeof(CvPoint));
|
|
*oppositePointsOut = (CvPoint *)malloc((*numBoxesOut) * sizeof(CvPoint));
|
|
*scoreOut = (float *)malloc((*numBoxesOut) * sizeof(float));
|
|
index = 0;
|
|
for (i = 0; i < numBoxes; i++)
|
|
{
|
|
if (!is_suppressed[indices[i]])
|
|
{
|
|
(*pointsOut)[index].x = points[indices[i]].x;
|
|
(*pointsOut)[index].y = points[indices[i]].y;
|
|
(*oppositePointsOut)[index].x = oppositePoints[indices[i]].x;
|
|
(*oppositePointsOut)[index].y = oppositePoints[indices[i]].y;
|
|
(*scoreOut)[index] = score[indices[i]];
|
|
index++;
|
|
}
|
|
|
|
}
|
|
|
|
free(indices);
|
|
free(box_area);
|
|
free(is_suppressed);
|
|
|
|
return LATENT_SVM_OK;
|
|
}
|