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fix floating point bug

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pull/137/head
marina.kolpakova 12 years ago
parent 765dea9ddf
commit efd2615844
1 changed files with 129 additions and 33 deletions
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  1. 162
      modules/objdetect/src/softcascade.cpp

162
modules/objdetect/src/softcascade.cpp
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@ -169,8 +169,12 @@ struct CascadeIntrinsics
static float getFor(int channel, float scaling)
{
CV_Assert(channel < 10);
#if defined WITH_DEBUG_OUT
printf("QQQQQQQQQQQQQQQq: %f %f\n", scaling, fabs(scaling - 1.f));
#endif
if ((scaling - 1.f) < FLT_EPSILON)
if (fabs(scaling - 1.f) < FLT_EPSILON)
// if (scaling == 1.f)
return 1.f;
// according to R. Benenson, M. Mathias, R. Timofte and L. Van Gool's and Dallal's papers
@ -190,7 +194,7 @@ struct CascadeIntrinsics
float b = B[(int)(scaling >= 1)][(int)(channel > 6)];
#if defined WITH_DEBUG_OUT
printf("scaling: %f %f %f %f\n", scaling, a, b, a * pow(scaling, b));
printf("!!! scaling: %f %f %f %f\n", scaling, a, b, a * pow(scaling, b));
#endif
return a * pow(scaling, b);
}
@ -344,6 +348,47 @@ void calcHistBins(const cv::Mat& grey, cv::Mat& magIntegral, std::vector<cv::Mat
histInts.push_back(magIntegral);
}
template< typename T>
struct Decimate {
int shrinkage;
Decimate(const int sr) : shrinkage(sr) {}
void operator()(const cv::Mat& in, cv::Mat& out) const
{
int cols = in.cols / shrinkage;
int rows = in.rows / shrinkage;
out.create(rows, cols, in.type());
CV_Assert(cols * shrinkage == in.cols);
CV_Assert(rows * shrinkage == in.rows);
std::cout << "type: " << out.type() << std::endl;
for (int outIdx_y = 0; outIdx_y < rows; ++outIdx_y)
{
T* outPtr = out.ptr<T>(outIdx_y);
for (int outIdx_x = 0; outIdx_x < cols; ++outIdx_x)
{
// do desimate
int inIdx_y = outIdx_y * shrinkage;
int inIdx_x = outIdx_x * shrinkage;
int sum = 0;
for (int y = inIdx_y; y < inIdx_y + shrinkage; ++y)
for (int x = inIdx_x; x < inIdx_x + shrinkage; ++x)
sum += in.at<T>(y, x);
sum /= shrinkage * shrinkage;
outPtr[outIdx_x] = cv::saturate_cast<T>(sum);
}
}
}
};
//#define USE_REFERENCE_VALUES
struct ChannelStorage
{
std::vector<cv::Mat> hog;
@ -358,24 +403,65 @@ struct ChannelStorage
ChannelStorage(cv::Mat& colored, int shr) : shrinkage(shr)
{
hog.clear();
cv::FileStorage fs("/home/kellan/testInts.xml", cv::FileStorage::READ);
Decimate<uchar> decimate(shr);
#if defined USE_REFERENCE_VALUES
cv::FileStorage imgs("/home/kellan/testInts.xml", cv::FileStorage::READ);
#else
// add gauss
cv::Mat gauss;
cv::GaussianBlur(colored, gauss, cv::Size(3,3), 0 ,0);
// convert to luv
cv::Mat luv;
cv::cvtColor(colored, luv, CV_RGB2Luv);
// split to 3 one channel matrix
std::vector<cv::Mat> splited, luvs;
split(luv, splited);
// shrink and integrate
for (int i = 0; i < (int)splited.size(); i++)
{
cv::Mat shrunk, sum;
decimate(splited[i], shrunk);
cv::integral(shrunk, sum, cv::noArray(), CV_32S);
luvs.push_back(sum);
}
// calculate magnitude
static const float magnitudeScaling = 1.f / sqrt(2);
cv::Mat grey;
cv::cvtColor(colored, grey, CV_RGB2GRAY);
// channels
cv::FileStorage imgs("/home/kellan/testImgs.xml", cv::FileStorage::READ);
#endif
char buff[33];
float scale = 1.f / shrinkage;
for(int i = 0; i < 10; ++i)
for(int i = 0; i < 7; ++i)
{
cv::Mat channel;
fs[std::string("channel") + itoa(i, buff, 10)] >> channel;
cv::Mat shrunk, sum;
// cv::resize(channel, shrunk, cv::Size(), scale, scale, cv::INTER_AREA);
// cv::imshow(std::string("channel") + itoa(i, buff, 10), shrunk);
// cv::waitKey(0);
// cv::integral(channel, sum);
// if (i == 1)
// std::cout << channel << std::endl;
cv::Mat channel, shrunk, sum;
imgs[std::string("channel") + itoa(i, buff, 10)] >> channel;
#if defined USE_REFERENCE_VALUES
hog.push_back(channel);
#else
decimate(channel, shrunk);
// cv::resize(channel, shrunk, cv::Size(), 1.f / shr, 1.f / shr, cv::INTER_AREA);
cv::integral(shrunk, sum, cv::noArray(), CV_32S);
hog.push_back(sum);
#endif
}
// exit(1);
#if !defined USE_REFERENCE_VALUES
hog.insert(hog.end(), luvs.begin(), luvs.end());
CV_Assert(hog.size() == 10);
#endif
// exit(10);
}
// {
// // add gauss
@ -427,6 +513,12 @@ struct ChannelStorage
printf("feature box %d %d %d %d ", area.x, area.y, area.width, area.height);
printf("get for channel %d\n", channel);
printf("!! %d\n", m.depth());
printf("extract feature for: [%d %d] [%d %d] [%d %d] [%d %d]\n",
x + area.x, y + area.y, x + area.width,y + area.y, x + area.width,y + area.height,
x + area.x, y + area.height);
printf("at point %d %d with offset %d\n", x, y, 0);
#endif
int a = m.ptr<int>(y + area.y)[x + area.x];
@ -493,7 +585,7 @@ struct cv::SoftCascade::Filds
float sarea = (scaledRect.width - scaledRect.x) * (scaledRect.height - scaledRect.y);
float approx = 1.f;
if ((farea - 0.f) > FLT_EPSILON && (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;
approx = expected_new_area / sarea;
@ -505,7 +597,7 @@ struct cv::SoftCascade::Filds
}
// compensation areas rounding
float rootThreshold = threshold / approx;/
float rootThreshold = threshold / approx;
rootThreshold *= scaling;
#if defined WITH_DEBUG_OUT
@ -583,7 +675,7 @@ struct cv::SoftCascade::Filds
printf("extracted stage:\n");
printf("ct %f\n", stage.threshold);
printf("computed score %f\n\n", detectionScore);
// if (st - stBegin > 100) break;
if (st - stBegin > 50 ) break;
#endif
if (detectionScore <= stage.threshold) break;
@ -681,7 +773,7 @@ struct cv::SoftCascade::Filds
static const char *const SC_LEAF = "leafValues";
// only boost supported
// only Ada Boost supported
std::string stageTypeStr = (string)root[SC_STAGE_TYPE];
CV_Assert(stageTypeStr == SC_BOOST);
@ -799,7 +891,7 @@ bool cv::SoftCascade::load( const string& filename, const float minScale, const
return true;
}
#define DEBUG_STORE_IMAGES
// #define DEBUG_STORE_IMAGES
#define DEBUG_SHOW_RESULT
void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::Rect>& /*rois*/,
@ -833,7 +925,8 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
fs << "absdiff" << diff;
fs.release();
#if defined DEBUG_STORE_IMAGES
#endif
// create integrals
ChannelStorage storage(image1, fld.shrinkage);
@ -843,13 +936,14 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
typedef std::vector<Level>::const_iterator lIt;
int total = 0, l = 0;
for (lIt it = fld.levels.begin() + 26; it != fld.levels.end(); ++it)
for (lIt it = fld.levels.begin(); it != fld.levels.end(); ++it)
{
const Level& level = *it;
#if defined WITH_DEBUG_OUT
std::cout << "================================ " << l++ << std::endl;
#endif
// int dx = 79; int dy = 76;
for (int dy = 0; dy < level.workRect.height; ++dy)
{
for (int dx = 0; dx < level.workRect.width; ++dx)
@ -860,22 +954,24 @@ void cv::SoftCascade::detectMultiScale(const Mat& image, const std::vector<cv::R
}
// break;
}
break;
}
cv::Mat out = image.clone();
#if defined DEBUG_SHOW_RESULT
printf("TOTAL: %d from %d\n", (int)detections.size(),total) ;
printf("TOTAL: %d from %d\n", (int)detections.size(),total) ;
for(int i = 0; i < (int)detections.size(); ++i)
{
cv::rectangle(out, detections[i].rect, cv::Scalar(255, 0, 0, 255), 2);
}
for(int i = 0; i < (int)detections.size(); ++i)
{
cv::rectangle(out, detections[i].rect, cv::Scalar(255, 0, 0, 255), 1);
}
cv::imshow("out", out);
cv::waitKey(0);
cv::imshow("out", out);
cv::waitKey(0);
#endif
std::cout << "work rect: " << level.workRect.width << " " << level.workRect.height << std::endl;
detections.clear();
}
// std::swap(detections, objects);
}
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