From e7c35b185272b65e181a457e47bcafce0e88529d Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Tue, 26 Jun 2012 12:24:48 +0000 Subject: [PATCH] fixed bug in cv::gpu::HOGDescriptor::detectMultiScale --- modules/gpu/src/hog.cpp | 776 ++++++++++++++++++++++++------------------------ 1 file changed, 388 insertions(+), 388 deletions(-) diff --git a/modules/gpu/src/hog.cpp b/modules/gpu/src/hog.cpp index 3e5317a..3d0b7e9 100644 --- a/modules/gpu/src/hog.cpp +++ b/modules/gpu/src/hog.cpp @@ -43,7 +43,7 @@ #include "precomp.hpp" #if !defined (HAVE_CUDA) - + cv::gpu::HOGDescriptor::HOGDescriptor(Size, Size, Size, Size, int, double, double, bool, int) { throw_nogpu(); } size_t cv::gpu::HOGDescriptor::getDescriptorSize() const { throw_nogpu(); return 0; } size_t cv::gpu::HOGDescriptor::getBlockHistogramSize() const { throw_nogpu(); return 0; } @@ -60,35 +60,35 @@ std::vector cv::gpu::HOGDescriptor::getPeopleDetector64x128() { throw_nog #else -namespace cv { namespace gpu { namespace device +namespace cv { namespace gpu { namespace device { - namespace hog + namespace hog { - void set_up_constants(int nbins, int block_stride_x, int block_stride_y, + void set_up_constants(int nbins, int block_stride_x, int block_stride_y, int nblocks_win_x, int nblocks_win_y); void compute_hists(int nbins, int block_stride_x, int blovck_stride_y, - int height, int width, const cv::gpu::DevMem2Df& grad, + int height, int width, const cv::gpu::DevMem2Df& grad, const cv::gpu::DevMem2Db& qangle, float sigma, float* block_hists); - void normalize_hists(int nbins, int block_stride_x, int block_stride_y, + void normalize_hists(int nbins, int block_stride_x, int block_stride_y, int height, int width, float* block_hists, float threshold); - void classify_hists(int win_height, int win_width, int block_stride_y, - int block_stride_x, int win_stride_y, int win_stride_x, int height, - int width, float* block_hists, float* coefs, float free_coef, + void classify_hists(int win_height, int win_width, int block_stride_y, + int block_stride_x, int win_stride_y, int win_stride_x, int height, + int width, float* block_hists, float* coefs, float free_coef, float threshold, unsigned char* labels); - void extract_descrs_by_rows(int win_height, int win_width, int block_stride_y, int block_stride_x, - int win_stride_y, int win_stride_x, int height, int width, float* block_hists, + void extract_descrs_by_rows(int win_height, int win_width, int block_stride_y, int block_stride_x, + int win_stride_y, int win_stride_x, int height, int width, float* block_hists, cv::gpu::DevMem2Df descriptors); - void extract_descrs_by_cols(int win_height, int win_width, int block_stride_y, int block_stride_x, - int win_stride_y, int win_stride_x, int height, int width, float* block_hists, + void extract_descrs_by_cols(int win_height, int win_width, int block_stride_y, int block_stride_x, + int win_stride_y, int win_stride_x, int height, int width, float* block_hists, cv::gpu::DevMem2Df descriptors); - void compute_gradients_8UC1(int nbins, int height, int width, const cv::gpu::DevMem2Db& img, + void compute_gradients_8UC1(int nbins, int height, int width, const cv::gpu::DevMem2Db& img, float angle_scale, cv::gpu::DevMem2Df grad, cv::gpu::DevMem2Db qangle, bool correct_gamma); - void compute_gradients_8UC4(int nbins, int height, int width, const cv::gpu::DevMem2Db& img, + void compute_gradients_8UC4(int nbins, int height, int width, const cv::gpu::DevMem2Db& img, float angle_scale, cv::gpu::DevMem2Df grad, cv::gpu::DevMem2Db qangle, bool correct_gamma); void resize_8UC1(const cv::gpu::DevMem2Db& src, cv::gpu::DevMem2Db dst); @@ -97,7 +97,7 @@ namespace cv { namespace gpu { namespace device }}} using namespace ::cv::gpu::device; - + cv::gpu::HOGDescriptor::HOGDescriptor(Size win_size_, Size block_size_, Size block_stride_, Size cell_size_, int nbins_, double win_sigma_, double threshold_L2hys_, bool gamma_correction_, int nlevels_) : win_size(win_size_), @@ -110,7 +110,7 @@ cv::gpu::HOGDescriptor::HOGDescriptor(Size win_size_, Size block_size_, Size blo gamma_correction(gamma_correction_), nlevels(nlevels_) { - CV_Assert((win_size.width - block_size.width ) % block_stride.width == 0 && + CV_Assert((win_size.width - block_size.width ) % block_stride.width == 0 && (win_size.height - block_size.height) % block_stride.height == 0); CV_Assert(block_size.width % cell_size.width == 0 && block_size.height % cell_size.height == 0); @@ -124,14 +124,14 @@ cv::gpu::HOGDescriptor::HOGDescriptor(Size win_size_, Size block_size_, Size blo cv::Size blocks_per_win = numPartsWithin(win_size, block_size, block_stride); hog::set_up_constants(nbins, block_stride.width, block_stride.height, blocks_per_win.width, blocks_per_win.height); -} +} size_t cv::gpu::HOGDescriptor::getDescriptorSize() const { return numPartsWithin(win_size, block_size, block_stride).area() * getBlockHistogramSize(); } -size_t cv::gpu::HOGDescriptor::getBlockHistogramSize() const +size_t cv::gpu::HOGDescriptor::getBlockHistogramSize() const { Size cells_per_block = Size(block_size.width / cell_size.width, block_size.height / cell_size.height); return (size_t)(nbins * cells_per_block.area()); @@ -167,7 +167,7 @@ void cv::gpu::HOGDescriptor::setSVMDetector(const vector& _detector) this->detector.upload(Mat(detector_reordered).reshape(1, 1)); - size_t descriptor_size = getDescriptorSize(); + size_t descriptor_size = getDescriptorSize(); free_coef = _detector.size() > descriptor_size ? _detector[descriptor_size] : 0; CV_Assert(checkDetectorSize()); @@ -175,25 +175,25 @@ void cv::gpu::HOGDescriptor::setSVMDetector(const vector& _detector) cv::gpu::GpuMat cv::gpu::HOGDescriptor::getBuffer(const Size& sz, int type, GpuMat& buf) { - if (buf.empty() || buf.type() != type) - buf.create(sz, type); - else - if (buf.cols < sz.width || buf.rows < sz.height) - buf.create(std::max(buf.rows, sz.height), std::max(buf.cols, sz.width), type); + if (buf.empty() || buf.type() != type) + buf.create(sz, type); + else + if (buf.cols < sz.width || buf.rows < sz.height) + buf.create(std::max(buf.rows, sz.height), std::max(buf.cols, sz.width), type); - return buf(Rect(Point(0,0), sz)); + return buf(Rect(Point(0,0), sz)); } cv::gpu::GpuMat cv::gpu::HOGDescriptor::getBuffer(int rows, int cols, int type, GpuMat& buf) -{ - return getBuffer(Size(cols, rows), type, buf); +{ + return getBuffer(Size(cols, rows), type, buf); } void cv::gpu::HOGDescriptor::computeGradient(const GpuMat& img, GpuMat& _grad, GpuMat& _qangle) { CV_Assert(img.type() == CV_8UC1 || img.type() == CV_8UC4); - + // grad.create(img.size(), CV_32FC2); _grad = getBuffer(img.size(), CV_32FC2, grad_buf); @@ -201,8 +201,8 @@ void cv::gpu::HOGDescriptor::computeGradient(const GpuMat& img, GpuMat& _grad, G _qangle = getBuffer(img.size(), CV_8UC2, qangle_buf); float angleScale = (float)(nbins / CV_PI); - switch (img.type()) - { + switch (img.type()) + { case CV_8UC1: hog::compute_gradients_8UC1(nbins, img.rows, img.cols, img, angleScale, _grad, _qangle, gamma_correction); break; @@ -220,13 +220,13 @@ void cv::gpu::HOGDescriptor::computeBlockHistograms(const GpuMat& img) size_t block_hist_size = getBlockHistogramSize(); Size blocks_per_img = numPartsWithin(img.size(), block_size, block_stride); - // block_hists.create(1, block_hist_size * blocks_per_img.area(), CV_32F); - block_hists = getBuffer(1, static_cast(block_hist_size * blocks_per_img.area()), CV_32F, block_hists_buf); - - hog::compute_hists(nbins, block_stride.width, block_stride.height, img.rows, img.cols, - grad, qangle, (float)getWinSigma(), block_hists.ptr()); + // block_hists.create(1, block_hist_size * blocks_per_img.area(), CV_32F); + block_hists = getBuffer(1, static_cast(block_hist_size * blocks_per_img.area()), CV_32F, block_hists_buf); + + hog::compute_hists(nbins, block_stride.width, block_stride.height, img.rows, img.cols, + grad, qangle, (float)getWinSigma(), block_hists.ptr()); - hog::normalize_hists(nbins, block_stride.width, block_stride.height, img.rows, img.cols, + hog::normalize_hists(nbins, block_stride.width, block_stride.height, img.rows, img.cols, block_hists.ptr(), (float)threshold_L2hys); } @@ -246,11 +246,11 @@ void cv::gpu::HOGDescriptor::getDescriptors(const GpuMat& img, Size win_stride, switch (descr_format) { case DESCR_FORMAT_ROW_BY_ROW: - hog::extract_descrs_by_rows(win_size.height, win_size.width, block_stride.height, block_stride.width, + hog::extract_descrs_by_rows(win_size.height, win_size.width, block_stride.height, block_stride.width, win_stride.height, win_stride.width, img.rows, img.cols, block_hists.ptr(), descriptors); break; case DESCR_FORMAT_COL_BY_COL: - hog::extract_descrs_by_cols(win_size.height, win_size.width, block_stride.height, block_stride.width, + hog::extract_descrs_by_cols(win_size.height, win_size.width, block_stride.height, block_stride.width, win_stride.height, win_stride.width, img.rows, img.cols, block_hists.ptr(), descriptors); break; default: @@ -277,10 +277,10 @@ void cv::gpu::HOGDescriptor::detect(const GpuMat& img, vector& hits, doub Size wins_per_img = numPartsWithin(img.size(), win_size, win_stride); // labels.create(1, wins_per_img.area(), CV_8U); - labels = getBuffer(1, wins_per_img.area(), CV_8U, labels_buf); + labels = getBuffer(1, wins_per_img.area(), CV_8U, labels_buf); - hog::classify_hists(win_size.height, win_size.width, block_stride.height, block_stride.width, - win_stride.height, win_stride.width, img.rows, img.cols, block_hists.ptr(), + hog::classify_hists(win_size.height, win_size.width, block_stride.height, block_stride.width, + win_stride.height, win_stride.width, img.rows, img.cols, block_hists.ptr(), detector.ptr(), (float)free_coef, (float)hit_threshold, labels.ptr()); labels.download(labels_host); @@ -289,18 +289,18 @@ void cv::gpu::HOGDescriptor::detect(const GpuMat& img, vector& hits, doub { int y = i / wins_per_img.width; int x = i - wins_per_img.width * y; - if (vec[i]) + if (vec[i]) hits.push_back(Point(x * win_stride.width, y * win_stride.height)); } } -void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat& img, vector& found_locations, double hit_threshold, - Size win_stride, Size padding, double scale0, int group_threshold) +void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat& img, vector& found_locations, double hit_threshold, + Size win_stride, Size padding, double scale0, int group_threshold) { - CV_Assert(img.type() == CV_8UC1 || img.type() == CV_8UC4); + CV_Assert(img.type() == CV_8UC1 || img.type() == CV_8UC4); vector level_scale; double scale = 1.; @@ -309,35 +309,35 @@ void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat& img, vector& f for (levels = 0; levels < nlevels; levels++) { level_scale.push_back(scale); - if (cvRound(img.cols/scale) < win_size.width || + if (cvRound(img.cols/scale) < win_size.width || cvRound(img.rows/scale) < win_size.height || scale0 <= 1) break; scale *= scale0; } levels = std::max(levels, 1); level_scale.resize(levels); - image_scales.resize(levels); + image_scales.resize(levels); - std::vector all_candidates; + std::vector all_candidates; vector locations; for (size_t i = 0; i < level_scale.size(); i++) { - double _scale = level_scale[i]; - Size sz(cvRound(img.cols / _scale), cvRound(img.rows / _scale)); + scale = level_scale[i]; + Size sz(cvRound(img.cols / scale), cvRound(img.rows / scale)); GpuMat smaller_img; if (sz == img.size()) smaller_img = img; else - { + { image_scales[i].create(sz, img.type()); - switch (img.type()) - { + switch (img.type()) + { case CV_8UC1: hog::resize_8UC1(img, image_scales[i]); break; case CV_8UC4: hog::resize_8UC4(img, image_scales[i]); break; } - smaller_img = image_scales[i]; + smaller_img = image_scales[i]; } detect(smaller_img, locations, hit_threshold, win_stride, padding); @@ -346,16 +346,16 @@ void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat& img, vector& f all_candidates.push_back(Rect(Point2d((CvPoint)locations[j]) * scale, scaled_win_size)); } - found_locations.assign(all_candidates.begin(), all_candidates.end()); + found_locations.assign(all_candidates.begin(), all_candidates.end()); groupRectangles(found_locations, group_threshold, 0.2/*magic number copied from CPU version*/); } -int cv::gpu::HOGDescriptor::numPartsWithin(int size, int part_size, int stride) +int cv::gpu::HOGDescriptor::numPartsWithin(int size, int part_size, int stride) { return (size - part_size + stride) / stride; } -cv::Size cv::gpu::HOGDescriptor::numPartsWithin(cv::Size size, cv::Size part_size, cv::Size stride) +cv::Size cv::gpu::HOGDescriptor::numPartsWithin(cv::Size size, cv::Size part_size, cv::Size stride) { return Size(numPartsWithin(size.width, part_size.width, stride.width), numPartsWithin(size.height, part_size.height, stride.height)); } @@ -368,336 +368,336 @@ std::vector cv::gpu::HOGDescriptor::getDefaultPeopleDetector() std::vector cv::gpu::HOGDescriptor::getPeopleDetector48x96() { static const float detector[] = { - 0.294350f, -0.098796f, -0.129522f, 0.078753f, 0.387527f, 0.261529f, - 0.145939f, 0.061520f, 0.328699f, 0.227148f, -0.066467f, -0.086723f, - 0.047559f, 0.106714f, 0.037897f, 0.111461f, -0.024406f, 0.304769f, - 0.254676f, -0.069235f, 0.082566f, 0.147260f, 0.326969f, 0.148888f, - 0.055270f, -0.087985f, 0.261720f, 0.143442f, 0.026812f, 0.238212f, - 0.194020f, 0.056341f, -0.025854f, -0.034444f, -0.156631f, 0.205174f, - 0.089008f, -0.139811f, -0.100147f, -0.037830f, -0.029230f, -0.055641f, - 0.033248f, -0.016512f, 0.155244f, 0.247315f, -0.124694f, -0.048414f, - -0.062219f, 0.193683f, 0.004574f, 0.055089f, 0.093565f, 0.167712f, - 0.167581f, 0.018895f, 0.215258f, 0.122609f, 0.090520f, -0.067219f, - -0.049029f, -0.099615f, 0.241804f, -0.094893f, -0.176248f, 0.001727f, - -0.134473f, 0.104442f, 0.050942f, 0.081165f, 0.072156f, 0.121646f, - 0.002656f, -0.297974f, -0.133587f, -0.060121f, -0.092515f, -0.048974f, - -0.084754f, -0.180111f, -0.038590f, 0.086283f, -0.134636f, -0.107249f, - 0.132890f, 0.141556f, 0.249425f, 0.130273f, -0.030031f, 0.073212f, - -0.008155f, 0.019931f, 0.071688f, 0.000300f, -0.019525f, -0.021725f, - -0.040993f, -0.086841f, 0.070124f, 0.240033f, 0.265350f, 0.043208f, - 0.166754f, 0.091453f, 0.060916f, -0.036972f, -0.091043f, 0.079873f, - 0.219781f, 0.158102f, -0.140618f, -0.043016f, 0.124802f, 0.093668f, - 0.103208f, 0.094872f, 0.080541f, 0.137711f, 0.160566f, -0.169231f, - 0.013983f, 0.309508f, -0.004217f, -0.057200f, -0.064489f, 0.014066f, - 0.361009f, 0.251328f, -0.080983f, -0.044183f, 0.061436f, -0.037381f, - -0.078786f, 0.030993f, 0.066314f, 0.037683f, 0.152325f, -0.091683f, - 0.070203f, 0.217856f, 0.036435f, -0.076462f, 0.006254f, -0.094431f, - 0.154829f, -0.023038f, -0.196961f, -0.024594f, 0.178465f, -0.050139f, - -0.045932f, -0.000965f, 0.109112f, 0.046165f, -0.159373f, -0.008713f, - 0.041307f, 0.097129f, -0.057211f, -0.064599f, 0.077165f, 0.176167f, - 0.138322f, 0.065753f, -0.104950f, 0.017933f, 0.136255f, -0.011598f, - 0.047007f, 0.080550f, 0.068619f, 0.084661f, -0.035493f, -0.091314f, - -0.041411f, 0.060971f, -0.101912f, -0.079870f, -0.085977f, -0.022686f, - 0.079788f, -0.098064f, -0.054603f, 0.040383f, 0.300794f, 0.128603f, - 0.094844f, 0.047407f, 0.101825f, 0.061832f, -0.162160f, -0.204553f, - -0.035165f, 0.101450f, -0.016641f, -0.027140f, -0.134392f, -0.008743f, - 0.102331f, 0.114853f, 0.009644f, 0.062823f, 0.237339f, 0.167843f, - 0.053066f, -0.012592f, 0.043158f, 0.002305f, 0.065001f, -0.038929f, - -0.020356f, 0.152343f, 0.043469f, -0.029967f, -0.042948f, 0.032481f, - 0.068488f, -0.110840f, -0.111083f, 0.111980f, -0.002072f, -0.005562f, - 0.082926f, 0.006635f, -0.108153f, 0.024242f, -0.086464f, -0.189884f, - -0.017492f, 0.191456f, -0.007683f, -0.128769f, -0.038017f, -0.132380f, - 0.091926f, 0.079696f, -0.106728f, -0.007656f, 0.172744f, 0.011576f, - 0.009883f, 0.083258f, -0.026516f, 0.145534f, 0.153924f, -0.130290f, - -0.108945f, 0.124490f, -0.003186f, -0.100485f, 0.015024f, -0.060512f, - 0.026288f, -0.086713f, -0.169012f, 0.076517f, 0.215778f, 0.043701f, - -0.131642f, -0.012585f, -0.045181f, -0.118183f, -0.241544f, -0.167293f, - -0.020107f, -0.019917f, -0.101827f, -0.107096f, -0.010503f, 0.044938f, - 0.189680f, 0.217119f, -0.046086f, 0.044508f, 0.199716f, -0.036004f, - -0.148927f, 0.013355f, -0.078279f, 0.030451f, 0.056301f, -0.024609f, - 0.083224f, 0.099533f, -0.039432f, -0.138880f, 0.005482f, -0.024120f, - -0.140468f, -0.066381f, -0.017057f, 0.009260f, -0.058004f, -0.028486f, - -0.061610f, 0.007483f, -0.158309f, -0.150687f, -0.044595f, -0.105121f, - -0.045763f, -0.006618f, -0.024419f, -0.117713f, -0.119366f, -0.175941f, - -0.071542f, 0.119027f, 0.111362f, 0.043080f, 0.034889f, 0.093003f, - 0.007842f, 0.057368f, -0.108834f, -0.079968f, 0.230959f, 0.020205f, - 0.011470f, 0.098877f, 0.101310f, -0.030215f, -0.018018f, -0.059552f, - -0.106157f, 0.021866f, -0.036471f, 0.080051f, 0.041165f, -0.082101f, - 0.117726f, 0.030961f, -0.054763f, -0.084102f, -0.185778f, -0.061305f, - 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