Added ROC-curve calculating to the cascade detection algorithm
This commit is contained in:
Alexey Kazakov
@@ -1,434 +0,0 @@
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#if CV_SSE2
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#include <xmmintrin.h>
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#endif
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#include "precomp.hpp"
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#include <deque>
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using namespace std;
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#undef NDEBUG
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#include <assert.h>
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class Sampler {
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public:
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CvMat *im;
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CvPoint o;
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CvPoint c, cc;
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CvMat *perim;
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CvPoint fcoord(float fx, float fy);
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CvPoint coord(int ix, int iy);
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Sampler() {}
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Sampler(CvMat *_im, CvPoint _o, CvPoint _c, CvPoint _cc);
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uint8 getpixel(int ix, int iy);
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int isinside(int x, int y);
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int overlap(Sampler &other);
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int hasbars();
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void timing();
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CvMat *extract();
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};
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class code { // used in this file only
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public:
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char msg[4];
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CvMat *original;
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Sampler sa;
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};
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#include "followblk.h"
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#define dethresh 0.92f
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#define eincO (2 * dethresh) // e increment orthogonal
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#define eincD (1.414f * dethresh) // e increment diagonal
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static const float eincs[] = {
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eincO, eincD,
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eincO, eincD,
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eincO, eincD,
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eincO, eincD,
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999 };
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#define Ki(x) _mm_set_epi32((x),(x),(x),(x))
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#define Kf(x) _mm_set_ps((x),(x),(x),(x))
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static const int CV_DECL_ALIGNED(16) absmask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
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#define _mm_abs_ps(x) _mm_and_ps((x), *(const __m128*)absmask)
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static void writexy(CvMat *m, int r, CvPoint p)
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{
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int *pdst = (int*)cvPtr2D(m, r, 0);
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pdst[0] = p.x;
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pdst[1] = p.y;
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}
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Sampler::Sampler(CvMat *_im, CvPoint _o, CvPoint _c, CvPoint _cc)
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{
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im = _im;
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o = _o;
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c = _c;
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cc = _cc;
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perim = cvCreateMat(4, 1, CV_32SC2);
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writexy(perim, 0, fcoord(-.2f,-.2f));
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writexy(perim, 1, fcoord(-.2f,1.2f));
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writexy(perim, 2, fcoord(1.2f,1.2f));
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writexy(perim, 3, fcoord(1.2f,-.2f));
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// printf("Sampler %d,%d %d,%d %d,%d\n", o.x, o.y, c.x, c.y, cc.x, cc.y);
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}
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CvPoint Sampler::fcoord(float fx, float fy)
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{
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CvPoint r;
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r.x = (int)(o.x + fx * (cc.x - o.x) + fy * (c.x - o.x));
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r.y = (int)(o.y + fx * (cc.y - o.y) + fy * (c.y - o.y));
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return r;
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}
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CvPoint Sampler::coord(int ix, int iy)
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{
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return fcoord(0.05f + 0.1f * ix, 0.05f + 0.1f * iy);
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}
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uint8 Sampler::getpixel(int ix, int iy)
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{
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CvPoint pt = coord(ix, iy);
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// printf("%d,%d\n", pt.x, pt.y);
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return *cvPtr2D(im, pt.y, pt.x);
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}
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int Sampler::isinside(int x, int y)
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{
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CvPoint2D32f fp;
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fp.x = (float)x;
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fp.y = (float)y;
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return cvPointPolygonTest(perim, fp, 0) < 0;
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}
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int Sampler::overlap(Sampler &other)
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{
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for (int i = 0; i < 4; i++) {
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CvScalar p;
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p = cvGet2D(other.perim, i, 0);
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if (isinside((int)p.val[0], (int)p.val[1]))
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return 1;
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p = cvGet2D(perim, i, 0);
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if (other.isinside((int)p.val[0], (int)p.val[1]))
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return 1;
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}
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return 0;
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}
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int Sampler::hasbars()
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{
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return getpixel(9, 1) > getpixel(9, 0);
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}
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void Sampler::timing()
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{
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uint8 dark = getpixel(9, 0);
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for (int i = 1; i < 3; i += 2) {
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uint8 light = getpixel(9, i);
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// if (light <= dark)
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// goto endo;
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dark = getpixel(9, i + 1);
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// if (up <= down)
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// goto endo;
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}
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}
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CvMat *Sampler::extract()
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{
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// return a 10x10 CvMat for the current contents, 0 is black, 255 is white
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// Sampler has (0,0) at bottom left, so invert Y
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CvMat *r = cvCreateMat(10, 10, CV_8UC1);
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for (int x = 0; x < 10; x++)
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for (int y = 0; y < 10; y++)
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*cvPtr2D(r, 9 - y, x) = (getpixel(x, y) < 128) ? 0 : 255;
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return r;
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}
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static void apron(CvMat *v)
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{
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int r = v->rows;
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int c = v->cols;
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memset(cvPtr2D(v, 0, 0), 0x22, c);
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memset(cvPtr2D(v, 1, 0), 0x22, c);
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memset(cvPtr2D(v, r - 2, 0), 0x22, c);
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memset(cvPtr2D(v, r - 1, 0), 0x22, c);
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int y;
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for (y = 2; y < r - 2; y++) {
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uchar *lp = cvPtr2D(v, y, 0);
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lp[0] = 0x22;
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lp[1] = 0x22;
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lp[c-2] = 0x22;
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lp[c-1] = 0x22;
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}
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}
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static void cfollow(CvMat *src, CvMat *dst)
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{
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int sx, sy;
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uint8 *vpd = cvPtr2D(src, 0, 0);
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for (sy = 0; sy < src->rows; sy++) {
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short *wr = (short*)cvPtr2D(dst, sy, 0);
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for (sx = 0; sx < src->cols; sx++) {
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int x = sx;
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int y = sy;
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float e = 0;
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int ontrack = true;
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int dir;
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while (ontrack) {
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dir = vpd[y * src->step + x];
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int xd = ((dir & 0xf) - 2);
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int yd = ((dir >> 4) - 2);
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e += (dir == 0x22) ? 999 : ((dir & 1) ? eincD : eincO);
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x += xd;
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y += yd;
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if (e > 10.) {
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float d = (float)(((x - sx) * (x - sx)) + ((y - sy) * (y - sy)));
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ontrack = d > (e * e);
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}
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}
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if ((24 <= e) && (e < 999)) {
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// printf("sx=%d, sy=%d, x=%d, y=%d\n", sx, sy, x, y);
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*wr++ = (short)(x - sx);
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*wr++ = (short)(y - sy);
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} else {
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*wr++ = 0;
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*wr++ = 0;
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}
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}
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}
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}
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static uint8 gf256mul(uint8 a, uint8 b)
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{
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return Alog[(Log[a] + Log[b]) % 255];
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}
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static int decode(Sampler &sa, code &cc)
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{
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uint8 binary[8] = {0,0,0,0,0,0,0,0};
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uint8 b = 0;
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for (int i = 0; i < 64; i++) {
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b = (b << 1) + (sa.getpixel(pickup[i].x, pickup[i].y) <= 128);
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if ((i & 7) == 7) {
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binary[i >> 3] = b;
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b = 0;
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}
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}
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// Compute the 5 RS codewords for the 3 datawords
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uint8 c[5] = {0,0,0,0,0};
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{
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int i, j;
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uint8 a[5] = {228, 48, 15, 111, 62};
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int k = 5;
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for (i = 0; i < 3; i++) {
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uint8 t = binary[i] ^ c[4];
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for (j = k - 1; j != -1; j--) {
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if (t == 0)
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c[j] = 0;
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else
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c[j] = gf256mul(t, a[j]);
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if (j > 0)
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c[j] = c[j - 1] ^ c[j];
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}
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}
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}
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if ((c[4] == binary[3]) &&
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(c[3] == binary[4]) &&
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(c[2] == binary[5]) &&
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(c[1] == binary[6]) &&
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(c[0] == binary[7])) {
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uint8 x = 0xff & (binary[0] - 1);
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uint8 y = 0xff & (binary[1] - 1);
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uint8 z = 0xff & (binary[2] - 1);
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cc.msg[0] = x;
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cc.msg[1] = y;
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cc.msg[2] = z;
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cc.msg[3] = 0;
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cc.sa = sa;
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cc.original = sa.extract();
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return 1;
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} else {
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return 0;
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}
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}
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static deque<CvPoint> trailto(CvMat *v, int x, int y, CvMat *terminal)
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{
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CvPoint np;
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/* Return the last 10th of the trail of points following v from (x,y)
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* to terminal
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*/
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int ex = x + ((short*)cvPtr2D(terminal, y, x))[0];
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int ey = y + ((short*)cvPtr2D(terminal, y, x))[1];
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deque<CvPoint> r;
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while ((x != ex) || (y != ey)) {
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np.x = x;
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np.y = y;
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r.push_back(np);
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int dir = *cvPtr2D(v, y, x);
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int xd = ((dir & 0xf) - 2);
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int yd = ((dir >> 4) - 2);
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x += xd;
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y += yd;
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}
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int l = r.size() * 9 / 10;
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while (l--)
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r.pop_front();
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return r;
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}
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deque <DataMatrixCode> cvFindDataMatrix(CvMat *im)
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{
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#if CV_SSE2
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int r = im->rows;
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int c = im->cols;
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#define SAMESIZE(nm, ty) CvMat *nm = cvCreateMat(r, c, ty);
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SAMESIZE(thresh, CV_8UC1)
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SAMESIZE(vecpic, CV_8UC1)
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SAMESIZE(vc, CV_8UC1)
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SAMESIZE(vcc, CV_8UC1)
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SAMESIZE(cxy, CV_16SC2)
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SAMESIZE(ccxy, CV_16SC2)
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cvAdaptiveThreshold(im, thresh, 255.0, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, 13);
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{
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int x, y;
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int sstride = thresh->step;
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int sw = thresh->cols; // source width
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for (y = 2; y < thresh->rows - 2; y++) {
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uint8 *ps = cvPtr2D(thresh, y, 0);
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uint8 *pd = cvPtr2D(vecpic, y, 0);
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uint8 *pvc = cvPtr2D(vc, y, 0);
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uint8 *pvcc = cvPtr2D(vcc, y, 0);
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for (x = 0; x < sw; x++) {
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uint8 v =
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(0x01 & ps[-2 * sstride]) |
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(0x02 & ps[-sstride + 1]) |
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(0x04 & ps[2]) |
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(0x08 & ps[sstride + 1]) |
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(0x10 & ps[2 * sstride]) |
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(0x20 & ps[sstride - 1]) |
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(0x40 & ps[-2]) |
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(0x80 & ps[-sstride -1]);
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*pd++ = v;
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*pvc++ = cblk[v];
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*pvcc++ = ccblk[v];
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ps++;
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}
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}
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apron(vc);
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apron(vcc);
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}
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cfollow(vc, cxy);
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cfollow(vcc, ccxy);
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deque <CvPoint> candidates;
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{
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int x, y;
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int r = cxy->rows;
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int c = cxy->cols;
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for (y = 0; y < r; y++) {
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const short *cd = (const short*)cvPtr2D(cxy, y, 0);
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const short *ccd = (const short*)cvPtr2D(ccxy, y, 0);
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for (x = 0; x < c; x += 4, cd += 8, ccd += 8) {
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__m128i v = _mm_loadu_si128((const __m128i*)cd);
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__m128 cyxyxA = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpacklo_epi16(v, v), 16));
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__m128 cyxyxB = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpackhi_epi16(v, v), 16));
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__m128 cx = _mm_shuffle_ps(cyxyxA, cyxyxB, _MM_SHUFFLE(0, 2, 0, 2));
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__m128 cy = _mm_shuffle_ps(cyxyxA, cyxyxB, _MM_SHUFFLE(1, 3, 1, 3));
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__m128 cmag = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(cx, cx), _mm_mul_ps(cy, cy)));
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__m128 crmag = _mm_rcp_ps(cmag);
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__m128 ncx = _mm_mul_ps(cx, crmag);
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__m128 ncy = _mm_mul_ps(cy, crmag);
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v = _mm_loadu_si128((const __m128i*)ccd);
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__m128 ccyxyxA = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpacklo_epi16(v, v), 16));
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__m128 ccyxyxB = _mm_cvtepi32_ps(_mm_srai_epi32(_mm_unpackhi_epi16(v, v), 16));
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__m128 ccx = _mm_shuffle_ps(ccyxyxA, ccyxyxB, _MM_SHUFFLE(0, 2, 0, 2));
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__m128 ccy = _mm_shuffle_ps(ccyxyxA, ccyxyxB, _MM_SHUFFLE(1, 3, 1, 3));
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__m128 ccmag = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(ccx, ccx), _mm_mul_ps(ccy, ccy)));
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__m128 ccrmag = _mm_rcp_ps(ccmag);
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__m128 nccx = _mm_mul_ps(ccx, ccrmag);
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__m128 nccy = _mm_mul_ps(ccy, ccrmag);
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__m128 dot = _mm_mul_ps(_mm_mul_ps(ncx, nccx), _mm_mul_ps(ncy, nccy));
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// iscand = (cmag > 30) & (ccmag > 30) & (numpy.minimum(cmag, ccmag) * 1.1 > numpy.maximum(cmag, ccmag)) & (abs(dot) < 0.25)
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__m128 iscand = _mm_and_ps(_mm_cmpgt_ps(cmag, Kf(30)), _mm_cmpgt_ps(ccmag, Kf(30)));
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iscand = _mm_and_ps(iscand, _mm_cmpgt_ps(_mm_mul_ps(_mm_min_ps(cmag, ccmag), Kf(1.1f)), _mm_max_ps(cmag, ccmag)));
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iscand = _mm_and_ps(iscand, _mm_cmplt_ps(_mm_abs_ps(dot), Kf(0.25f)));
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unsigned int CV_DECL_ALIGNED(16) result[4];
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_mm_store_ps((float*)result, iscand);
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int ix;
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CvPoint np;
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for (ix = 0; ix < 4; ix++) {
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if (result[ix]) {
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np.x = x + ix;
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np.y = y;
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candidates.push_back(np);
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}
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}
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}
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}
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}
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deque <code> codes;
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size_t i, j, k;
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while (!candidates.empty()) {
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CvPoint o = candidates.front();
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candidates.pop_front();
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deque<CvPoint> ptc = trailto(vc, o.x, o.y, cxy);
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deque<CvPoint> ptcc = trailto(vcc, o.x, o.y, ccxy);
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for (j = 0; j < ptc.size(); j++) {
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for (k = 0; k < ptcc.size(); k++) {
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code cc;
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Sampler sa(im, o, ptc[j], ptcc[k]);
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for (i = 0; i < codes.size(); i++) {
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if (sa.overlap(codes[i].sa))
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goto endo;
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}
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if (codes.size() > 0) {
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printf("searching for more\n");
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}
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if (decode(sa, cc)) {
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codes.push_back(cc);
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goto endo;
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}
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}
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}
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endo: ; // end search for this o
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}
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cvFree(&thresh);
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cvFree(&vecpic);
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cvFree(&vc);
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cvFree(&vcc);
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cvFree(&cxy);
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cvFree(&ccxy);
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deque <DataMatrixCode> rc;
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for (i = 0; i < codes.size(); i++) {
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DataMatrixCode cc;
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strcpy(cc.msg, codes[i].msg);
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cc.original = codes[i].original;
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cc.corners = codes[i].sa.perim;
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rc.push_back(cc);
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}
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return rc;
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#else
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deque <DataMatrixCode> rc;
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return rc;
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#endif
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}
|
||||
Reference in New Issue
Block a user