Merge pull request #21 from shahurik/adas

ADAS: training app, stumps and waldboost

modules/adas/CMakeLists.txt

@@ -0,0 +1,4 @@
+set(the_description "Automatic driver assistance algorithms")
+ocv_define_module(adas opencv_xobjdetect)
+
+add_subdirectory(tools)

modules/adas/include/opencv2/adas.hpp

@@ -0,0 +1,40 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/

modules/adas/tools/CMakeLists.txt

@@ -0,0 +1,34 @@
+set(name fcw_train)
+set(the_target opencv_${name})
+
+set(OPENCV_${the_target}_DEPS opencv_xobjdetect)
+
+ocv_check_dependencies(${OPENCV_${the_target}_DEPS})
+
+if(NOT OCV_DEPENDENCIES_FOUND)
+  return()
+endif()
+
+project(${the_target})
+
+ocv_include_directories("${OpenCV_SOURCE_DIR}/include/opencv")
+ocv_include_modules(${OPENCV_${the_target}_DEPS})
+
+file(GLOB ${the_target}_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
+
+add_executable(${the_target} ${${the_target}_SOURCES})
+
+target_link_libraries(${the_target} ${OPENCV_${the_target}_DEPS})
+
+set_target_properties(${the_target} PROPERTIES
+                      DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
+                      ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
+                      RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
+                      INSTALL_NAME_DIR lib
+                      OUTPUT_NAME ${the_target})
+
+if(ENABLE_SOLUTION_FOLDERS)
+  set_target_properties(${the_target} PROPERTIES FOLDER "applications")
+endif()
+
+install(TARGETS ${the_target} RUNTIME DESTINATION bin COMPONENT main)

modules/adas/tools/fcw_train.cpp

@@ -0,0 +1,195 @@
+#include <cstdio>
+#include <cstring>
+
+#include <string>
+using std::string;
+
+#include <vector>
+using std::vector;
+
+#include <fstream>
+using std::ifstream;
+using std::getline;
+
+#include <sstream>
+using std::stringstream;
+
+#include <iostream>
+using std::cerr;
+using std::endl;
+
+#include <opencv2/core.hpp>
+using cv::Rect;
+
+#include <opencv2/xobjdetect.hpp>
+
+using cv::xobjdetect::ICFDetectorParams;
+using cv::xobjdetect::ICFDetector;
+using cv::xobjdetect::WaldBoost;
+using cv::xobjdetect::WaldBoostParams;
+using cv::Mat;
+
+static bool read_pos_int(const char *str, int *n)
+{
+    int pos = 0;
+    if( sscanf(str, "%d%n", n, &pos) != 1 || str[pos] != '\0' || *n <= 0 )
+    {
+        return false;
+    }
+    return true;
+}
+
+static bool read_model_size(char *str, int *rows, int *cols)
+{
+    int pos = 0;
+    if( sscanf(str, "%dx%d%n", rows, cols, &pos) != 2 || str[pos] != '\0' ||
+        *rows <= 0 || *cols <= 0)
+    {
+        return false;
+    }
+    return true;
+}
+
+static bool read_overlap(const char *str, double *overlap)
+{
+    int pos = 0;
+    if( sscanf(str, "%lf%n", overlap, &pos) != 1 || str[pos] != '\0' ||
+        *overlap < 0 || *overlap > 1)
+    {
+        return false;
+    }
+    return true;
+}
+
+static bool read_labels(const string& path,
+    vector<string>& filenames, vector< vector<Rect> >& labels)
+{
+    string labels_path = path + "/gt.txt";
+    string filename, line;
+    int x1, y1, x2, y2;
+    char delim;
+    ifstream ifs(labels_path.c_str());
+    if( !ifs.good() )
+        return false;
+
+    while( getline(ifs, line) )
+    {
+        stringstream stream(line);
+        stream >> filename;
+        filenames.push_back(path + "/" + filename);
+        vector<Rect> filename_labels;
+        while( stream >> x1 >> y1 >> x2 >> y2 >> delim )
+        {
+            filename_labels.push_back(Rect(x1, y1, x2, y2));
+        }
+        labels.push_back(filename_labels);
+        filename_labels.clear();
+    }
+    return true;
+}
+
+
+int main(int argc, char *argv[])
+{
+    if( argc == 1 )
+    {
+        printf("Usage: %s OPTIONS, where OPTIONS are:\n"
+               "\n"
+               "--path <path> - path to dir with data and labels\n"
+               "    (labels should have name gt.txt)\n"
+               "\n"
+               "--feature_count <count> - number of features to generate\n"
+               "\n"
+               "--weak_count <count> - number of weak classifiers in cascade\n"
+               "\n"
+               "--model_size <rowsxcols> - model size in pixels\n"
+               "\n"
+               "--overlap <measure> - number from [0, 1], means maximum\n"
+               "    overlap with objects while sampling background\n"
+               "\n"
+               "--model_filename <path> - filename for saving model\n",
+               argv[0]);
+        return 0;
+    }
+
+    string path, model_path;
+    ICFDetectorParams params;
+    for( int i = 1; i < argc; ++i )
+    {
+        if( !strcmp("--path", argv[i]) )
+        {
+            i += 1;
+            path = argv[i];
+        }
+        else if( !strcmp("--feature_count", argv[i]) )
+        {
+            i += 1;
+            if( !read_pos_int(argv[i], &params.feature_count) )
+            {
+                fprintf(stderr, "Error reading feature count from `%s`\n",
+                        argv[i]);
+                return 1;
+            }
+        }
+        else if( !strcmp("--weak_count", argv[i]) )
+        {
+            i += 1;
+            if( !read_pos_int(argv[i], &params.weak_count) )
+            {
+                fprintf(stderr, "Error reading weak count from `%s`\n",
+                        argv[i]);
+                return 1;
+            }
+        }
+        else if( !strcmp("--model_size", argv[i]) )
+        {
+            i += 1;
+            if( !read_model_size(argv[i], &params.model_n_rows,
+                                  &params.model_n_cols) )
+            {
+                fprintf(stderr, "Error reading model size from `%s`\n",
+                        argv[i]);
+                return 1;
+            }
+        }
+        else if( !strcmp("--overlap", argv[i]) )
+        {
+            i += 1;
+            if( !read_overlap(argv[i], &params.overlap) )
+            {
+                fprintf(stderr, "Error reading overlap from `%s`\n",
+                        argv[i]);
+                return 1;
+            }
+        }
+        else if( !strcmp("--model_filename", argv[i]) )
+        {
+            i += 1;
+            model_path = argv[i];
+        }
+        else
+        {
+            fprintf(stderr, "Error: unknown argument `%s`\n", argv[i]);
+            return 1;
+        }
+
+    }
+
+    try
+    {
+        ICFDetector detector;
+        vector<string> filenames;
+        vector< vector<Rect> > labels;
+        read_labels(path, filenames, labels);
+
+        detector.train(filenames, labels, params);
+    }
+    catch( const char *err )
+    {
+        cerr << err << endl;
+    }
+    catch( ... )
+    {
+        cerr << "Unknown error\n" << endl;
+    }
+}

modules/xobjdetect/CMakeLists.txt

@@ -0,0 +1,2 @@
+set(the_description "Object detection algorithms")
+ocv_define_module(xobjdetect opencv_core opencv_imgproc opencv_highgui)

modules/xobjdetect/include/opencv2/xobjdetect.hpp

@@ -0,0 +1,179 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#ifndef __OPENCV_XOBJDETECT_XOBJDETECT_HPP__
+#define __OPENCV_XOBJDETECT_XOBJDETECT_HPP__
+
+#include <opencv2/core.hpp>
+#include <vector>
+#include <string>
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+/* Compute channel pyramid for acf features
+
+    image — image, for which channels should be computed
+
+    channels — output array for computed channels
+
+*/
+void computeChannels(InputArray image, OutputArrayOfArrays channels);
+
+class CV_EXPORTS ACFFeatureEvaluator : public Algorithm
+{
+public:
+    /* Set channels for feature evaluation */
+    virtual void setChannels(InputArrayOfArrays channels) = 0;
+
+    /* Set window position */
+    virtual void setPosition(Size position) = 0;
+
+    /* Evaluate feature with given index for current channels
+        and window position */
+    virtual int evaluate(size_t feature_ind) const = 0;
+
+    /* Evaluate all features for current channels and window position
+
+    Returns matrix-column of features
+    */
+    virtual void evaluateAll(OutputArray feature_values) const = 0;
+
+};
+
+/* Construct evaluator, set features to evaluate */
+CV_EXPORTS Ptr<ACFFeatureEvaluator>
+createACFFeatureEvaluator(const std::vector<Point3i>& features);
+
+/* Generate acf features
+
+    window_size — size of window in which features should be evaluated
+
+    count — number of features to generate.
+    Max number of features is min(count, # possible distinct features)
+
+Returns vector of distinct acf features
+*/
+std::vector<Point3i>
+generateFeatures(Size window_size, int count = INT_MAX);
+
+
+struct CV_EXPORTS WaldBoostParams
+{
+    int weak_count;
+    float alpha;
+
+    WaldBoostParams(): weak_count(100), alpha(0.01f)
+    {}
+};
+
+
+
+class CV_EXPORTS WaldBoost : public Algorithm
+{
+public:
+    /* Train WaldBoost cascade for given data
+
+        data — matrix of feature values, size M x N, one feature per row
+
+        labels — matrix of sample class labels, size 1 x N. Labels can be from
+            {-1, +1}
+
+    Returns feature indices chosen for cascade.
+    Feature enumeration starts from 0
+    */
+    virtual std::vector<int> train(const Mat& data,
+                                   const Mat& labels) = 0;
+
+    /* Predict object class given object that can compute object features
+
+       feature_evaluator — object that can compute features by demand
+
+    Returns confidence_value — measure of confidense that object
+    is from class +1
+    */
+    virtual float predict(
+        const Ptr<ACFFeatureEvaluator>& feature_evaluator) const = 0;
+
+};
+
+CV_EXPORTS Ptr<WaldBoost>
+createWaldBoost(const WaldBoostParams& params = WaldBoostParams());
+
+struct CV_EXPORTS ICFDetectorParams
+{
+    int feature_count;
+    int weak_count;
+    int model_n_rows;
+    int model_n_cols;
+    double overlap;
+
+    ICFDetectorParams(): feature_count(UINT_MAX), weak_count(100),
+        model_n_rows(40), model_n_cols(40), overlap(0.0)
+    {}
+};
+
+class CV_EXPORTS ICFDetector
+{
+public:
+    /* Train detector
+
+        image_filenames — filenames of images for training
+
+        labelling — vector of object bounding boxes per every image
+
+        params — parameters for detector training
+    */
+    void train(const std::vector<std::string>& image_filenames,
+               const std::vector<std::vector<cv::Rect> >& labelling,
+               ICFDetectorParams params = ICFDetectorParams());
+
+    /* Save detector in file, return true on success, false otherwise */
+    bool save(const std::string& filename);
+};
+
+} /* namespace xobjdetect */
+} /* namespace cv */
+
+
+#endif /* __OPENCV_XOBJDETECT_XOBJDETECT_HPP__ */

modules/xobjdetect/include/opencv2/xobjdetect/private.hpp

@@ -0,0 +1,62 @@
+#ifndef __OPENCV_XOBJDETECT_PRIVATE_HPP__
+#define __OPENCV_XOBJDETECT_PRIVATE_HPP__
+
+#ifndef __OPENCV_BUILD
+#  error this is a private header, do not include it outside OpenCV
+#endif
+
+#include <opencv2/core.hpp>
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+class CV_EXPORTS Stump
+{
+public:
+
+    /* Initialize zero stump */
+    Stump(): threshold_(0), polarity_(1), pos_value_(1), neg_value_(-1) {}
+
+    /* Initialize stump with given threshold, polarity
+        and classification values */
+    Stump(int threshold, int polarity, float pos_value, float neg_value):
+        threshold_(threshold), polarity_(polarity),
+        pos_value_(pos_value), neg_value_(neg_value) {}
+
+    /* Train stump for given data
+
+        data — matrix of feature values, size M x N, one feature per row
+
+        labels — matrix of sample class labels, size 1 x N. Labels can be from
+            {-1, +1}
+
+        weights — matrix of sample weights, size 1 x N
+
+    Returns chosen feature index. Feature enumeration starts from 0
+    */
+    int train(const Mat& data, const Mat& labels, const Mat& weights);
+
+    /* Predict object class given
+
+        value — feature value. Feature must be the same as was chosen
+        during training stump
+
+    Returns real value, sign(value) means class
+    */
+    float predict(int value) const;
+
+private:
+    /* Stump decision threshold */
+    int threshold_;
+    /* Stump polarity, can be from {-1, +1} */
+    int polarity_;
+    /* Classification values for positive and negative classes  */
+    float pos_value_, neg_value_;
+};
+
+} /* namespace xobjdetect */
+} /* namespace cv */
+
+#endif // __OPENCV_XOBJDETECT_PRIVATE_HPP__

modules/xobjdetect/src/acffeature.cpp

@@ -0,0 +1,203 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#include "precomp.hpp"
+
+using std::vector;
+
+using std::min;
+
+#include <iostream>
+using std::cout;
+using std::endl;
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+class ACFFeatureEvaluatorImpl : public ACFFeatureEvaluator
+{
+public:
+    ACFFeatureEvaluatorImpl(const vector<Point3i>& features):
+        features_(features), channels_(), position_()
+    {
+        CV_Assert(features.size() > 0);
+    }
+
+    virtual void setChannels(InputArrayOfArrays channels);
+    virtual void setPosition(Size position);
+    virtual int evaluate(size_t feature_ind) const;
+    virtual void evaluateAll(OutputArray feature_values) const;
+
+private:
+    /* Features to evaluate */
+    std::vector<Point3i> features_;
+    /* Channels for feature evaluation */
+    std::vector<Mat> channels_;
+    /* Channels window position */
+    Size position_;
+};
+
+void ACFFeatureEvaluatorImpl::setChannels(cv::InputArrayOfArrays channels)
+{
+    channels_.clear();
+    vector<Mat> ch;
+    channels.getMatVector(ch);
+    CV_Assert(ch.size() == 10);
+    for( size_t i = 0; i < ch.size(); ++i )
+    {
+        const Mat &channel = ch[i];
+        Mat_<int> acf_channel(channel.rows / 4, channel.cols / 4);
+        for( int row = 0; row < channel.rows; row += 4 )
+        {
+            for( int col = 0; col < channel.cols; col += 4 )
+            {
+                int sum = 0;
+                for( int cell_row = row; cell_row < row + 4; ++cell_row )
+                    for( int cell_col = col; cell_col < col + 4; ++cell_col )
+                        sum += (int)channel.at<float>(cell_row, cell_col);
+
+                acf_channel(row / 4, col / 4) = sum;
+            }
+        }
+        channels_.push_back(acf_channel);
+    }
+}
+
+void ACFFeatureEvaluatorImpl::setPosition(Size position)
+{
+    position_ = position;
+}
+
+int ACFFeatureEvaluatorImpl::evaluate(size_t feature_ind) const
+{
+    CV_Assert(channels_.size() == 10);
+    CV_Assert(feature_ind < features_.size());
+
+    Point3i feature = features_.at(feature_ind);
+    int x = feature.x;
+    int y = feature.y;
+    int n = feature.z;
+    return channels_[n].at<int>(y, x);
+}
+
+void ACFFeatureEvaluatorImpl::evaluateAll(OutputArray feature_values) const
+{
+    Mat_<int> feature_vals(1, (int)features_.size());
+    for( int i = 0; i < (int)features_.size(); ++i )
+    {
+        feature_vals(0, i) = evaluate(i);
+    }
+    feature_values.setTo(feature_vals);
+}
+
+Ptr<ACFFeatureEvaluator>
+createACFFeatureEvaluator(const vector<Point3i>& features)
+{
+    return Ptr<ACFFeatureEvaluator>(new ACFFeatureEvaluatorImpl(features));
+}
+
+vector<Point3i> generateFeatures(Size window_size, int count)
+{
+    CV_Assert(count > 0);
+    int cur_count = 0;
+    int max_count = window_size.width * window_size.height / 16;
+    count = min(count, max_count);
+    vector<Point3i> features;
+    for( int x = 0; x < window_size.width / 4; ++x )
+    {
+        for( int y = 0; y < window_size.height / 4; ++y )
+        {
+            /* Assume there are 10 channel types */
+            for( int n = 0; n < 10; ++n )
+            {
+                features.push_back(Point3i(x, y, n));
+                if( (cur_count += 1) == count )
+                    break;
+            }
+        }
+    }
+    return features;
+}
+
+void computeChannels(cv::InputArray image, cv::OutputArrayOfArrays channels_)
+{
+    Mat src(image.getMat().rows, image.getMat().cols, CV_32FC3);
+    image.getMat().convertTo(src, CV_32FC3, 1./255);
+
+    Mat_<float> grad;
+    Mat gray;
+    cvtColor(src, gray, CV_RGB2GRAY);
+
+    Mat_<float> row_der, col_der;
+    Sobel(gray, row_der, CV_32F, 0, 1);
+    Sobel(gray, col_der, CV_32F, 1, 0);
+
+    magnitude(row_der, col_der, grad);
+
+    Mat_<Vec6f> hist(grad.rows, grad.cols);
+    const float to_deg = 180 / 3.1415926f;
+    for (int row = 0; row < grad.rows; ++row) {
+        for (int col = 0; col < grad.cols; ++col) {
+            float angle = atan2(row_der(row, col), col_der(row, col)) * to_deg;
+            if (angle < 0)
+                angle += 180;
+            int ind = (int)(angle / 30);
+            hist(row, col)[ind] = grad(row, col);
+        }
+    }
+
+    vector<Mat> channels;
+    channels.push_back(gray);
+    channels.push_back(grad);
+
+    vector<Mat> hist_channels;
+    split(hist, hist_channels);
+
+    for( size_t i = 0; i < hist_channels.size(); ++i )
+        channels.push_back(hist_channels[i]);
+
+    channels_.setTo(channels);
+}
+
+} /* namespace xobjdetect */
+} /* namespace cv */

modules/xobjdetect/src/icfdetector.cpp

@@ -0,0 +1,150 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#include "precomp.hpp"
+
+using std::vector;
+using std::string;
+
+using std::min;
+using std::max;
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+static bool overlap(const Rect& r, const vector<Rect>& gt)
+{
+    for( size_t i = 0; i < gt.size(); ++i )
+        if( (r & gt[i]).area() )
+            return true;
+    return false;
+}
+
+void ICFDetector::train(const vector<string>& image_filenames,
+                        const vector< vector<Rect> >& labelling,
+                        ICFDetectorParams params)
+{
+    Size model_size(params.model_n_cols, params.model_n_rows);
+
+    vector<Mat> samples; /* positive samples + negative samples */
+    Mat sample, resized_sample;
+    int pos_count = 0;
+    for( size_t i = 0; i < image_filenames.size(); ++i, ++pos_count )
+    {
+        Mat img = imread(String(image_filenames[i].c_str()));
+        for( size_t j = 0; j < labelling[i].size(); ++j )
+        {
+            Rect r = labelling[i][j];
+            if( r.x > img.cols || r.y > img.rows )
+                continue;
+
+            sample = img.colRange(max(r.x, 0), min(r.width, img.cols))
+                        .rowRange(max(r.y, 0), min(r.height, img.rows));
+
+            resize(sample, resized_sample, model_size);
+
+            samples.push_back(resized_sample);
+        }
+    }
+
+    int neg_count = 0;
+    RNG rng;
+    for( size_t i = 0; i < image_filenames.size(); ++i )
+    {
+        Mat img = imread(String(image_filenames[i].c_str()));
+        for( int j = 0; j < (int)(pos_count / image_filenames.size() + 1); )
+        {
+            Rect r;
+            r.x = rng.uniform(0, img.cols);
+            r.width = rng.uniform(r.x + 1, img.cols);
+            r.y = rng.uniform(0, img.rows);
+            r.height = rng.uniform(r.y + 1, img.rows);
+
+            if( !overlap(r, labelling[i]) )
+            {
+                sample = img.colRange(r.x, r.width).rowRange(r.y, r.height);
+                //resize(sample, resized_sample);
+                samples.push_back(resized_sample);
+                ++neg_count;
+                ++j;
+            }
+        }
+    }
+
+    Mat_<int> labels(1, pos_count + neg_count);
+    for( int i = 0; i < pos_count; ++i)
+        labels(0, i) = 1;
+    for( int i = pos_count; i < pos_count + neg_count; ++i )
+        labels(0, i) = -1;
+
+    vector<Point3i> features = generateFeatures(model_size);
+    Ptr<ACFFeatureEvaluator> feature_evaluator = createACFFeatureEvaluator(features);
+
+    Mat_<int> data((int)features.size(), (int)samples.size());
+    Mat_<int> feature_col;
+
+    vector<Mat> channels;
+    for( int i = 0; i < (int)samples.size(); ++i )
+    {
+        computeChannels(samples[i], channels);
+        feature_evaluator->setChannels(channels);
+        feature_evaluator->evaluateAll(feature_col);
+        for( int j = 0; j < feature_col.rows; ++j )
+            data(i, j) = feature_col(0, j);
+    }
+
+    WaldBoostParams wparams;
+    wparams.weak_count = params.weak_count;
+    wparams.alpha = 0.001f;
+
+    Ptr<WaldBoost> waldboost = createWaldBoost(wparams);
+    waldboost->train(data, labels);
+}
+
+bool ICFDetector::save(const string&)
+{
+    return true;
+}
+
+} /* namespace xobjdetect */
+} /* namespace cv */

modules/xobjdetect/src/precomp.hpp

@@ -0,0 +1,56 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#ifndef __OPENCV_XOBJDETECT_PRECOMP_HPP__
+#define __OPENCV_XOBJDETECT_PRECOMP_HPP__
+
+#include <opencv2/xobjdetect.hpp>
+#include <opencv2/xobjdetect/private.hpp>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
+
+#include <opencv2/highgui.hpp>
+
+#include <algorithm>
+#include <cmath>
+
+#endif /* __OPENCV_XOBJDETECT_PRECOMP_HPP__ */

modules/xobjdetect/src/stump.cpp

@@ -0,0 +1,203 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#include "precomp.hpp"
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+/* Cumulative sum by rows */
+static void cumsum(const Mat_<float>& src, Mat_<float> dst)
+{
+    CV_Assert(src.cols > 0);
+
+    for( int row = 0; row < src.rows; ++row )
+    {
+        dst(row, 0) = src(row, 0);
+        for( int col = 1; col < src.cols; ++col )
+        {
+            dst(row, col) = dst(row, col - 1) + src(row, col);
+        }
+    }
+}
+
+int Stump::train(const Mat& data, const Mat& labels, const Mat& weights)
+{
+    CV_Assert(labels.rows == 1 && labels.cols == data.cols);
+    CV_Assert(weights.rows == 1 && weights.cols == data.cols);
+    /* Assert that data and labels have int type */
+    /* Assert that weights have float type */
+
+
+    /* Prepare labels for each feature rearranged according to sorted order */
+    Mat sorted_labels(data.rows, data.cols, labels.type());
+    Mat sorted_weights(data.rows, data.cols, weights.type());
+    Mat indices;
+    sortIdx(data, indices, cv::SORT_EVERY_ROW | cv::SORT_ASCENDING);
+    for( int row = 0; row < indices.rows; ++row )
+    {
+        for( int col = 0; col < indices.cols; ++col )
+        {
+            sorted_labels.at<int>(row, col) =
+                labels.at<int>(0, indices.at<int>(row, col));
+            sorted_weights.at<float>(row, col) =
+                weights.at<float>(0, indices.at<int>(row, col));
+        }
+    }
+
+    /* Sort feature values */
+    Mat sorted_data(data.rows, data.cols, data.type());
+    sort(data, sorted_data, cv::SORT_EVERY_ROW | cv::SORT_ASCENDING);
+
+    /* Split positive and negative weights */
+    Mat pos_weights = Mat::zeros(sorted_weights.rows, sorted_weights.cols,
+        sorted_weights.type());
+    Mat neg_weights = Mat::zeros(sorted_weights.rows, sorted_weights.cols,
+        sorted_weights.type());
+    for( int row = 0; row < data.rows; ++row )
+    {
+        for( int col = 0; col < data.cols; ++col )
+        {
+            if( sorted_labels.at<int>(row, col) == +1 )
+            {
+                pos_weights.at<float>(row, col) =
+                    sorted_weights.at<float>(row, col);
+            }
+            else
+            {
+                neg_weights.at<float>(row, col) =
+                    sorted_weights.at<float>(row, col);
+            }
+        }
+    }
+
+    /* Compute cumulative sums for fast stump error computation */
+    Mat pos_cum_weights = Mat::zeros(sorted_weights.rows, sorted_weights.cols,
+        sorted_weights.type());
+    Mat neg_cum_weights = Mat::zeros(sorted_weights.rows, sorted_weights.cols,
+        sorted_weights.type());
+    cumsum(pos_weights, pos_cum_weights);
+    cumsum(neg_weights, neg_cum_weights);
+
+    /* Compute total weights of positive and negative samples */
+    float pos_total_weight = pos_cum_weights.at<float>(0, weights.cols - 1);
+    float neg_total_weight = neg_cum_weights.at<float>(0, weights.cols - 1);
+
+
+    float eps = 1.0f / (4 * labels.cols);
+
+    /* Compute minimal error */
+    float min_err = FLT_MAX;
+    int min_row = -1;
+    int min_col = -1;
+    int min_polarity = 0;
+    float min_pos_value = 1, min_neg_value = -1;
+
+    for( int row = 0; row < sorted_weights.rows; ++row )
+    {
+        for( int col = 0; col < sorted_weights.cols - 1; ++col )
+        {
+            float err, h_pos, h_neg;
+
+            // Direct polarity
+
+            float pos_wrong = pos_cum_weights.at<float>(row, col);
+            float pos_right = pos_total_weight - pos_wrong;
+
+            float neg_right = neg_cum_weights.at<float>(row, col);
+            float neg_wrong = neg_total_weight - neg_right;
+
+            h_pos = (float)(.5 * log((pos_right + eps) / (pos_wrong + eps)));
+            h_neg = (float)(.5 * log((neg_wrong + eps) / (neg_right + eps)));
+
+            err = sqrt(pos_right * neg_wrong) + sqrt(pos_wrong * neg_right);
+
+            if( err < min_err )
+            {
+                min_err = err;
+                min_row = row;
+                min_col = col;
+                min_polarity = +1;
+                min_pos_value = h_pos;
+                min_neg_value = h_neg;
+            }
+
+            // Opposite polarity
+            swap(pos_right, pos_wrong);
+            swap(neg_right, neg_wrong);
+
+            h_pos = -h_pos;
+            h_neg = -h_neg;
+
+            err = sqrt(pos_right * neg_wrong) + sqrt(pos_wrong * neg_right);
+
+
+            if( err < min_err )
+            {
+                min_err = err;
+                min_row = row;
+                min_col = col;
+                min_polarity = -1;
+                min_pos_value = h_pos;
+                min_neg_value = h_neg;
+            }
+        }
+    }
+
+    /* Compute threshold, store found values in fields */
+    threshold_ = ( sorted_data.at<int>(min_row, min_col) +
+                   sorted_data.at<int>(min_row, min_col + 1) ) / 2;
+    polarity_ = min_polarity;
+    pos_value_ = min_pos_value;
+    neg_value_ = min_neg_value;
+
+    return min_row;
+}
+
+float Stump::predict(int value) const
+{
+    return polarity_ * (value - threshold_) > 0 ? pos_value_ : neg_value_;
+}
+
+} /* namespace xobjdetect */
+} /* namespace cv */

modules/xobjdetect/src/waldboost.cpp

@@ -0,0 +1,187 @@
+/*
+
+By downloading, copying, installing or using the software you agree to this
+license. If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall copyright holders or contributors be liable for
+any direct, indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+
+*/
+
+#include "precomp.hpp"
+
+using std::swap;
+
+using std::vector;
+
+namespace cv
+{
+namespace xobjdetect
+{
+
+class WaldBoostImpl : public WaldBoost
+{
+public:
+    /* Initialize WaldBoost cascade with default of specified parameters */
+    WaldBoostImpl(const WaldBoostParams& params):
+        params_(params)
+    {}
+
+    virtual std::vector<int> train(const Mat& data,
+                                   const Mat& labels);
+
+    virtual float predict(
+        const Ptr<ACFFeatureEvaluator>& feature_evaluator) const;
+
+private:
+    /* Parameters for cascade training */
+    WaldBoostParams params_;
+    /* Stumps in cascade */
+    std::vector<Stump> stumps_;
+    /* Rejection thresholds for linear combination at every stump evaluation */
+    std::vector<float> thresholds_;
+};
+
+vector<int> WaldBoostImpl::train(const Mat& data, const Mat& labels)
+{
+    CV_Assert(labels.rows == 1 && labels.cols == data.cols);
+
+    int pos_count = 0, neg_count = 0;
+    for( int col = 0; col < labels.cols; ++col )
+    {
+        if( labels.at<int>(0, col) == +1 )
+            pos_count += 1;
+        else
+            neg_count += 1;
+    }
+
+    Mat_<float> weights(labels.rows, labels.cols);
+    float pos_weight = 1.0f / (2 * pos_count);
+    float neg_weight = 1.0f / (2 * neg_count);
+    for( int col = 0; col < weights.cols; ++col )
+    {
+        if( labels.at<int>(0, col) == +1 )
+            weights.at<float>(0, col) = pos_weight;
+        else
+            weights.at<float>(0, col) = neg_weight;
+    }
+
+
+    vector<int> feature_indices;
+    Mat_<float> trace = Mat_<float>::zeros(labels.rows, labels.cols);
+    stumps_.clear();
+    thresholds_.clear();
+    for( int i = 0; i < params_.weak_count; ++i)
+    {
+        Stump s;
+        int feature_ind = s.train(data, labels, weights);
+        stumps_.push_back(s);
+        feature_indices.push_back(feature_ind);
+
+        // Recompute weights
+        for( int col = 0; col < weights.cols; ++col )
+        {
+            float h = s.predict(data.at<int>(feature_ind, col));
+            trace(0, col) += h;
+            int label = labels.at<int>(0, col);
+            weights.at<float>(0, col) *= exp(-label * h);
+        }
+
+        // Normalize weights
+        float z = (float)sum(weights)[0];
+        for( int col = 0; col < weights.cols; ++col)
+        {
+            weights.at<float>(0, col) /= z;
+        }
+
+
+        // Sort trace
+        Mat indices;
+        sortIdx(trace, indices, cv::SORT_EVERY_ROW | cv::SORT_ASCENDING);
+        Mat new_weights = Mat_<float>::zeros(weights.rows, weights.cols);
+        Mat new_labels = Mat_<int>::zeros(labels.rows, labels.cols);
+        Mat new_trace;
+        for( int col = 0; col < new_weights.cols; ++col )
+        {
+            new_weights.at<float>(0, col) =
+                weights.at<float>(0, indices.at<int>(0, col));
+            new_labels.at<int>(0, col) =
+                labels.at<int>(0, indices.at<int>(0, col));
+        }
+        sort(trace, new_trace, cv::SORT_EVERY_ROW | cv::SORT_ASCENDING);
+
+
+        // Compute threshold for trace
+        int col = 0;
+        for( int pos_i = 0;
+             pos_i < pos_count * params_.alpha && col < weights.cols;
+             ++col )
+        {
+            if( labels.at<int>(0, col) == +1 )
+                ++pos_i;
+        }
+
+        thresholds_.push_back(new_trace.at<float>(0, col));
+
+        // Drop samples below threshold
+        new_trace.colRange(col, new_trace.cols).copyTo(trace);
+        new_weights.colRange(col, new_weights.cols).copyTo(weights);
+        new_labels.colRange(col, new_labels.cols).copyTo(labels);
+    }
+    return feature_indices;
+}
+
+float WaldBoostImpl::predict(
+    const Ptr<ACFFeatureEvaluator>& feature_evaluator) const
+{
+    float trace = 0;
+    for( size_t i = 0; i < stumps_.size(); ++i )
+    {
+        int value = feature_evaluator->evaluate(i);
+        trace += stumps_[i].predict(value);
+        if( trace < thresholds_[i] )
+            return -1;
+    }
+    return trace;
+}
+
+Ptr<WaldBoost>
+createWaldBoost(const WaldBoostParams& params)
+{
+    return Ptr<WaldBoost>(new WaldBoostImpl(params));
+}
+
+
+} /* namespace xobjdetect */
+} /* namespace cv */