root/modules/cudalegacy/include/opencv2/cudalegacy/NCVHaarObjectDetection.hpp

/* [<][>][^][v][top][bottom][index][help] */

INCLUDED FROM

DEFINITIONS

This source file includes following definitions.
  1. setRect
  2. setWeight
  3. getRect
  4. getWeight
  5. create
  6. isTilted
  7. isLeftNodeLeaf
  8. isRightNodeLeaf
  9. getNumFeatures
  10. getFeaturesOffset
  11. create
  12. create
  13. getLeafValueHost
  14. getLeafValue
  15. getNextNodeOffset
  16. setFeatureDesc
  17. setThreshold
  18. setLeftNodeDesc
  19. setRightNodeDesc
  20. getFeatureDesc
  21. getThreshold
  22. getLeftNodeDesc
  23. getRightNodeDesc
  24. setStageThreshold
  25. setStartClassifierRootNodeOffset
  26. setNumClassifierRootNodes
  27. getStageThreshold
  28. getStartClassifierRootNodeOffset
  29. getNumClassifierRootNodes
/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  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
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., 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:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistribution's 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.
//
//   * The name of the copyright holders may not 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 the Intel Corporation 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.
//
//M*/

////////////////////////////////////////////////////////////////////////////////
//
// NVIDIA CUDA implementation of Viola-Jones Object Detection Framework
//
// The algorithm and code are explained in the upcoming GPU Computing Gems
// chapter in detail:
//
//   Anton Obukhov, "Haar Classifiers for Object Detection with CUDA"
//   PDF URL placeholder
//   email: aobukhov@nvidia.com, devsupport@nvidia.com
//
// Credits for help with the code to:
// Alexey Mendelenko, Cyril Crassin, and Mikhail Smirnov.
//
////////////////////////////////////////////////////////////////////////////////

#ifndef _ncvhaarobjectdetection_hpp_
#define _ncvhaarobjectdetection_hpp_

#include "opencv2/cudalegacy/NCV.hpp"

//! @addtogroup cudalegacy
//! @{

//==============================================================================
//
// Guaranteed size cross-platform classifier structures
//
//==============================================================================
#if defined __GNUC__ && __GNUC__ > 2 && __GNUC_MINOR__  > 4
typedef Ncv32f __attribute__((__may_alias__)) Ncv32f_a;
#else
typedef Ncv32f Ncv32f_a;
#endif

struct HaarFeature64
{
    uint2 _ui2;

#define HaarFeature64_CreateCheck_MaxRectField                  0xFF

    __host__ NCVStatus setRect(Ncv32u rectX, Ncv32u rectY, Ncv32u rectWidth, Ncv32u rectHeight, Ncv32u /*clsWidth*/, Ncv32u /*clsHeight*/)
    {
        ncvAssertReturn(rectWidth <= HaarFeature64_CreateCheck_MaxRectField && rectHeight <= HaarFeature64_CreateCheck_MaxRectField, NCV_HAAR_TOO_LARGE_FEATURES);
        ((NcvRect8u*)&(this->_ui2.x))->x = (Ncv8u)rectX;
        ((NcvRect8u*)&(this->_ui2.x))->y = (Ncv8u)rectY;
        ((NcvRect8u*)&(this->_ui2.x))->width = (Ncv8u)rectWidth;
        ((NcvRect8u*)&(this->_ui2.x))->height = (Ncv8u)rectHeight;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setWeight(Ncv32f weight)
    {
        ((Ncv32f_a*)&(this->_ui2.y))[0] = weight;
        return NCV_SUCCESS;
    }

    __device__ __host__ void getRect(Ncv32u *rectX, Ncv32u *rectY, Ncv32u *rectWidth, Ncv32u *rectHeight)
    {
        NcvRect8u tmpRect = *(NcvRect8u*)(&this->_ui2.x);
        *rectX = tmpRect.x;
        *rectY = tmpRect.y;
        *rectWidth = tmpRect.width;
        *rectHeight = tmpRect.height;
    }

    __device__ __host__ Ncv32f getWeight(void)
    {
        return *(Ncv32f_a*)(&this->_ui2.y);
    }
};


struct HaarFeatureDescriptor32
{
private:

#define HaarFeatureDescriptor32_Interpret_MaskFlagTilted        0x80000000
#define HaarFeatureDescriptor32_Interpret_MaskFlagLeftNodeLeaf  0x40000000
#define HaarFeatureDescriptor32_Interpret_MaskFlagRightNodeLeaf 0x20000000
#define HaarFeatureDescriptor32_CreateCheck_MaxNumFeatures      0x1F
#define HaarFeatureDescriptor32_NumFeatures_Shift               24
#define HaarFeatureDescriptor32_CreateCheck_MaxFeatureOffset    0x00FFFFFF

    Ncv32u desc;

public:

    __host__ NCVStatus create(NcvBool bTilted, NcvBool bLeftLeaf, NcvBool bRightLeaf,
                              Ncv32u numFeatures, Ncv32u offsetFeatures)
    {
        if (numFeatures > HaarFeatureDescriptor32_CreateCheck_MaxNumFeatures)
        {
            return NCV_HAAR_TOO_MANY_FEATURES_IN_CLASSIFIER;
        }
        if (offsetFeatures > HaarFeatureDescriptor32_CreateCheck_MaxFeatureOffset)
        {
            return NCV_HAAR_TOO_MANY_FEATURES_IN_CASCADE;
        }
        this->desc = 0;
        this->desc |= (bTilted ? HaarFeatureDescriptor32_Interpret_MaskFlagTilted : 0);
        this->desc |= (bLeftLeaf ? HaarFeatureDescriptor32_Interpret_MaskFlagLeftNodeLeaf : 0);
        this->desc |= (bRightLeaf ? HaarFeatureDescriptor32_Interpret_MaskFlagRightNodeLeaf : 0);
        this->desc |= (numFeatures << HaarFeatureDescriptor32_NumFeatures_Shift);
        this->desc |= offsetFeatures;
        return NCV_SUCCESS;
    }

    __device__ __host__ NcvBool isTilted(void)
    {
        return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagTilted) != 0;
    }

    __device__ __host__ NcvBool isLeftNodeLeaf(void)
    {
        return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagLeftNodeLeaf) != 0;
    }

    __device__ __host__ NcvBool isRightNodeLeaf(void)
    {
        return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagRightNodeLeaf) != 0;
    }

    __device__ __host__ Ncv32u getNumFeatures(void)
    {
        return (this->desc >> HaarFeatureDescriptor32_NumFeatures_Shift) & HaarFeatureDescriptor32_CreateCheck_MaxNumFeatures;
    }

    __device__ __host__ Ncv32u getFeaturesOffset(void)
    {
        return this->desc & HaarFeatureDescriptor32_CreateCheck_MaxFeatureOffset;
    }
};

struct HaarClassifierNodeDescriptor32
{
    uint1 _ui1;

    __host__ NCVStatus create(Ncv32f leafValue)
    {
        *(Ncv32f_a *)&this->_ui1 = leafValue;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus create(Ncv32u offsetHaarClassifierNode)
    {
        this->_ui1.x = offsetHaarClassifierNode;
        return NCV_SUCCESS;
    }

    __host__ Ncv32f getLeafValueHost(void)
    {
        return *(Ncv32f_a *)&this->_ui1.x;
    }

#ifdef __CUDACC__
    __device__ Ncv32f getLeafValue(void)
    {
        return __int_as_float(this->_ui1.x);
    }
#endif

    __device__ __host__ Ncv32u getNextNodeOffset(void)
    {
        return this->_ui1.x;
    }
};

#if defined __GNUC__ && __GNUC__ > 2 && __GNUC_MINOR__  > 4
typedef Ncv32u __attribute__((__may_alias__)) Ncv32u_a;
#else
typedef Ncv32u Ncv32u_a;
#endif

struct HaarClassifierNode128
{
    uint4 _ui4;

    __host__ NCVStatus setFeatureDesc(HaarFeatureDescriptor32 f)
    {
        this->_ui4.x = *(Ncv32u *)&f;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setThreshold(Ncv32f t)
    {
        this->_ui4.y = *(Ncv32u_a *)&t;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setLeftNodeDesc(HaarClassifierNodeDescriptor32 nl)
    {
        this->_ui4.z = *(Ncv32u_a *)&nl;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setRightNodeDesc(HaarClassifierNodeDescriptor32 nr)
    {
        this->_ui4.w = *(Ncv32u_a *)&nr;
        return NCV_SUCCESS;
    }

    __host__ __device__ HaarFeatureDescriptor32 getFeatureDesc(void)
    {
        return *(HaarFeatureDescriptor32 *)&this->_ui4.x;
    }

    __host__ __device__ Ncv32f getThreshold(void)
    {
        return *(Ncv32f_a*)&this->_ui4.y;
    }

    __host__ __device__ HaarClassifierNodeDescriptor32 getLeftNodeDesc(void)
    {
        return *(HaarClassifierNodeDescriptor32 *)&this->_ui4.z;
    }

    __host__ __device__ HaarClassifierNodeDescriptor32 getRightNodeDesc(void)
    {
        return *(HaarClassifierNodeDescriptor32 *)&this->_ui4.w;
    }
};


struct HaarStage64
{
#define HaarStage64_Interpret_MaskRootNodes         0x0000FFFF
#define HaarStage64_Interpret_MaskRootNodeOffset    0xFFFF0000
#define HaarStage64_Interpret_ShiftRootNodeOffset   16

    uint2 _ui2;

    __host__ NCVStatus setStageThreshold(Ncv32f t)
    {
        this->_ui2.x = *(Ncv32u_a *)&t;
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setStartClassifierRootNodeOffset(Ncv32u val)
    {
        if (val > (HaarStage64_Interpret_MaskRootNodeOffset >> HaarStage64_Interpret_ShiftRootNodeOffset))
        {
            return NCV_HAAR_XML_LOADING_EXCEPTION;
        }
        this->_ui2.y = (val << HaarStage64_Interpret_ShiftRootNodeOffset) | (this->_ui2.y & HaarStage64_Interpret_MaskRootNodes);
        return NCV_SUCCESS;
    }

    __host__ NCVStatus setNumClassifierRootNodes(Ncv32u val)
    {
        if (val > HaarStage64_Interpret_MaskRootNodes)
        {
            return NCV_HAAR_XML_LOADING_EXCEPTION;
        }
        this->_ui2.y = val | (this->_ui2.y & HaarStage64_Interpret_MaskRootNodeOffset);
        return NCV_SUCCESS;
    }

    __host__ __device__ Ncv32f getStageThreshold(void)
    {
        return *(Ncv32f_a*)&this->_ui2.x;
    }

    __host__ __device__ Ncv32u getStartClassifierRootNodeOffset(void)
    {
        return (this->_ui2.y >> HaarStage64_Interpret_ShiftRootNodeOffset);
    }

    __host__ __device__ Ncv32u getNumClassifierRootNodes(void)
    {
        return (this->_ui2.y & HaarStage64_Interpret_MaskRootNodes);
    }
};


NCV_CT_ASSERT(sizeof(HaarFeature64) == 8);
NCV_CT_ASSERT(sizeof(HaarFeatureDescriptor32) == 4);
NCV_CT_ASSERT(sizeof(HaarClassifierNodeDescriptor32) == 4);
NCV_CT_ASSERT(sizeof(HaarClassifierNode128) == 16);
NCV_CT_ASSERT(sizeof(HaarStage64) == 8);


//==============================================================================
//
// Classifier cascade descriptor
//
//==============================================================================


struct HaarClassifierCascadeDescriptor
{
    Ncv32u NumStages;
    Ncv32u NumClassifierRootNodes;
    Ncv32u NumClassifierTotalNodes;
    Ncv32u NumFeatures;
    NcvSize32u ClassifierSize;
    NcvBool bNeedsTiltedII;
    NcvBool bHasStumpsOnly;
};


//==============================================================================
//
// Functional interface
//
//==============================================================================


enum
{
    NCVPipeObjDet_Default               = 0x000,
    NCVPipeObjDet_UseFairImageScaling   = 0x001,
    NCVPipeObjDet_FindLargestObject     = 0x002,
    NCVPipeObjDet_VisualizeInPlace      = 0x004,
};


CV_EXPORTS NCVStatus ncvDetectObjectsMultiScale_device(NCVMatrix<Ncv8u> &d_srcImg,
                                                        NcvSize32u srcRoi,
                                                        NCVVector<NcvRect32u> &d_dstRects,
                                                        Ncv32u &dstNumRects,

                                                        HaarClassifierCascadeDescriptor &haar,
                                                        NCVVector<HaarStage64> &h_HaarStages,
                                                        NCVVector<HaarStage64> &d_HaarStages,
                                                        NCVVector<HaarClassifierNode128> &d_HaarNodes,
                                                        NCVVector<HaarFeature64> &d_HaarFeatures,

                                                        NcvSize32u minObjSize,
                                                        Ncv32u minNeighbors,      //default 4
                                                        Ncv32f scaleStep,         //default 1.2f
                                                        Ncv32u pixelStep,         //default 1
                                                        Ncv32u flags,             //default NCVPipeObjDet_Default

                                                        INCVMemAllocator &gpuAllocator,
                                                        INCVMemAllocator &cpuAllocator,
                                                        cudaDeviceProp &devProp,
                                                        cudaStream_t cuStream);


#define OBJDET_MASK_ELEMENT_INVALID_32U     0xFFFFFFFF
#define HAAR_STDDEV_BORDER                  1


CV_EXPORTS NCVStatus ncvApplyHaarClassifierCascade_device(NCVMatrix<Ncv32u> &d_integralImage,
                                                           NCVMatrix<Ncv32f> &d_weights,
                                                           NCVMatrixAlloc<Ncv32u> &d_pixelMask,
                                                           Ncv32u &numDetections,
                                                           HaarClassifierCascadeDescriptor &haar,
                                                           NCVVector<HaarStage64> &h_HaarStages,
                                                           NCVVector<HaarStage64> &d_HaarStages,
                                                           NCVVector<HaarClassifierNode128> &d_HaarNodes,
                                                           NCVVector<HaarFeature64> &d_HaarFeatures,
                                                           NcvBool bMaskElements,
                                                           NcvSize32u anchorsRoi,
                                                           Ncv32u pixelStep,
                                                           Ncv32f scaleArea,
                                                           INCVMemAllocator &gpuAllocator,
                                                           INCVMemAllocator &cpuAllocator,
                                                           cudaDeviceProp &devProp,
                                                           cudaStream_t cuStream);


CV_EXPORTS NCVStatus ncvApplyHaarClassifierCascade_host(NCVMatrix<Ncv32u> &h_integralImage,
                                                         NCVMatrix<Ncv32f> &h_weights,
                                                         NCVMatrixAlloc<Ncv32u> &h_pixelMask,
                                                         Ncv32u &numDetections,
                                                         HaarClassifierCascadeDescriptor &haar,
                                                         NCVVector<HaarStage64> &h_HaarStages,
                                                         NCVVector<HaarClassifierNode128> &h_HaarNodes,
                                                         NCVVector<HaarFeature64> &h_HaarFeatures,
                                                         NcvBool bMaskElements,
                                                         NcvSize32u anchorsRoi,
                                                         Ncv32u pixelStep,
                                                         Ncv32f scaleArea);


#define RECT_SIMILARITY_PROPORTION      0.2f


CV_EXPORTS NCVStatus ncvGrowDetectionsVector_device(NCVVector<Ncv32u> &pixelMask,
                                                     Ncv32u numPixelMaskDetections,
                                                     NCVVector<NcvRect32u> &hypotheses,
                                                     Ncv32u &totalDetections,
                                                     Ncv32u totalMaxDetections,
                                                     Ncv32u rectWidth,
                                                     Ncv32u rectHeight,
                                                     Ncv32f curScale,
                                                     cudaStream_t cuStream);


CV_EXPORTS NCVStatus ncvGrowDetectionsVector_host(NCVVector<Ncv32u> &pixelMask,
                                                   Ncv32u numPixelMaskDetections,
                                                   NCVVector<NcvRect32u> &hypotheses,
                                                   Ncv32u &totalDetections,
                                                   Ncv32u totalMaxDetections,
                                                   Ncv32u rectWidth,
                                                   Ncv32u rectHeight,
                                                   Ncv32f curScale);


CV_EXPORTS NCVStatus ncvHaarGetClassifierSize(const cv::String &filename, Ncv32u &numStages,
                                               Ncv32u &numNodes, Ncv32u &numFeatures);


CV_EXPORTS NCVStatus ncvHaarLoadFromFile_host(const cv::String &filename,
                                               HaarClassifierCascadeDescriptor &haar,
                                               NCVVector<HaarStage64> &h_HaarStages,
                                               NCVVector<HaarClassifierNode128> &h_HaarNodes,
                                               NCVVector<HaarFeature64> &h_HaarFeatures);


CV_EXPORTS NCVStatus ncvHaarStoreNVBIN_host(const cv::String &filename,
                                             HaarClassifierCascadeDescriptor haar,
                                             NCVVector<HaarStage64> &h_HaarStages,
                                             NCVVector<HaarClassifierNode128> &h_HaarNodes,
                                             NCVVector<HaarFeature64> &h_HaarFeatures);

//! @}

#endif // _ncvhaarobjectdetection_hpp_
/* [<][>][^][v][top][bottom][index][help] */