void sample_random_partrect(boost::variate_generator<boost::mt19937, boost::uniform_real<> > &gen_01,
double min_scale, double max_scale,
double min_rot, double max_rot,
double min_pos_x, double max_pos_x,
double min_pos_y, double max_pos_y,
int rect_width, int rect_height,
PartBBox &partrect, double &scale, double &rot)
{
scale = min_scale + (max_scale - min_scale)*gen_01();
rot = min_rot + (max_rot - min_rot)*gen_01();
partrect.part_pos(0) = min_pos_x + (max_pos_x - min_pos_x)*gen_01();
partrect.part_pos(1) = min_pos_y + (max_pos_y - min_pos_y)*gen_01();
//cout << alpha << ", " << scale << ", " << partrect.part_pos(0) << ", " << partrect.part_pos(1) << endl;
partrect.part_x_axis(0) = cos(rot);
partrect.part_x_axis(1) = sin(rot);
partrect.part_y_axis(0) = -partrect.part_x_axis(1);
partrect.part_y_axis(1) = partrect.part_x_axis(0);
rect_width = (int)(rect_width*scale);
rect_height = (int)(rect_height*scale);
partrect.min_proj_x = -floor(rect_width/2.0);
partrect.max_proj_x = partrect.min_proj_x + rect_width - 1;
partrect.min_proj_y = -floor(rect_height/2.0);
partrect.max_proj_y = partrect.min_proj_y + rect_height - 1;
}
void compute_boosting_score_factor(const PartApp &part_app, int pidx, kma::ImageContent *kmaimg,
const vector<PartBBox> &part_samples, const vector<double> &vect_scales,
Factor1d &factor)
{
assert(part_samples.size() == vect_scales.size());
factor.varidx = pidx;
/** add border */
int added_border = 0;
kma::ImageContent *kmaimg_border = add_image_border2(kmaimg, 50, added_border);
cout << "added_border: " << added_border << endl;
AdaBoostClassifier abc;
part_app.loadClassifier(abc, pidx);
int num_samples = part_samples.size();
factor.fval.resize(boost::extents[num_samples]);
for (int sampidx = 0; sampidx < num_samples; ++sampidx) {
PartBBox bbox = part_samples[sampidx];
/** add offset to position of bounding box */
bbox.part_pos(0) += added_border;
bbox.part_pos(1) += added_border;
/** comput features */
vector<float> all_features;
PartBBox adjusted_rect;
// bool bres = part_detect::compute_part_bbox_features_scale(part_app.m_abc_param, part_app.m_window_param,
// bbox, kmaimg_border, pidx, 1,
// all_features, adjusted_rect);
// assert(vect_scales[sampidx] == 1.0);
bool bres = part_detect::compute_part_bbox_features_scale(part_app.m_abc_param, part_app.m_window_param,
bbox, kmaimg_border, pidx, vect_scales[sampidx],
all_features, adjusted_rect);
factor.fval[sampidx] = part_app.m_abc_param.min_score();
/** evaluate classifier */
if (bres) {
float score = abc.evaluateFeaturePoint(all_features, true);
if (score > part_app.m_abc_param.min_score())
factor.fval[sampidx] = score;
}
else {
cout << "warning: failed to compute features" << endl;
}
}// samples
delete kmaimg_border;
}
/**
coloridx: 0 - yellow, 1 - red, 2 - green, 3 - blue, if < 0 - only position without bounding box is drawn
*/
void draw_bbox(QPainter &painter, const PartBBox &part_bbox, int coloridx, int pen_width)
{
if (coloridx >= 0) {
painter.setPen(Qt::yellow);
int marker_radius = 3;
int part_axis_length = 10;
painter.drawEllipse(QRect((int)(part_bbox.part_pos(0) - marker_radius), (int)(part_bbox.part_pos(1) - marker_radius),
2*marker_radius, 2*marker_radius));
boost_math::double_vector v(2);
v = part_bbox.part_pos + part_axis_length * part_bbox.part_x_axis;
painter.drawLine((int)part_bbox.part_pos(0), (int)part_bbox.part_pos(1), (int)v(0), (int)v(1));
painter.setPen(Qt::red);
v = part_bbox.part_pos + part_axis_length * part_bbox.part_y_axis;
painter.drawLine((int)part_bbox.part_pos(0), (int)part_bbox.part_pos(1), (int)v(0), (int)v(1));
painter.setPen(Qt::yellow);
QPen pen;
if (coloridx == 0)
pen.setColor(Qt::yellow);
else if (coloridx == 1)
pen.setColor(Qt::red);
else if (coloridx == 2)
pen.setColor(Qt::green);
else if (coloridx == 3)
pen.setColor(Qt::blue);
else
pen.setColor(Qt::black);
pen.setJoinStyle(Qt::RoundJoin);
pen.setWidth(pen_width);
painter.setPen(pen);
QPolygonF polygon;
get_part_polygon(part_bbox, polygon);
painter.drawPolygon(polygon);
}
else {
painter.setPen(Qt::yellow);
if (coloridx == -1)
painter.setPen(Qt::yellow);
else if (coloridx == -2)
painter.setPen(Qt::red);
else if (coloridx == -3)
painter.setPen(Qt::green);
else
painter.setPen(Qt::blue);
int x = part_bbox.part_pos(0);
int y = part_bbox.part_pos(1);
painter.drawLine(x-1, y, x+1, y);
painter.drawLine(x, y-1, x, y+1);
}
}
double eval_joint_factor_debug(const Joint &joint, const PartBBox& bbox_parent, const PartBBox &bbox_child,
const double parent_scale, const double child_scale,
double_vector &joint_pos_offset, double &joint_rot_offset, const double rot_step_size)
{
double rot_sigma = joint.rot_sigma;
assert(rot_sigma >= 0);
double child_rot = atan2(bbox_child.part_x_axis(1), bbox_child.part_x_axis(0));
double parent_rot = atan2(bbox_parent.part_x_axis(1), bbox_parent.part_x_axis(0));
cout << "child_rot = " << child_rot << endl;
cout << "parent_rot = " << parent_rot << endl;
cout << "rot_step_size = " << rot_step_size << endl;
double_matrix Tgc = prod(hc::get_rotation_matrix(child_rot), hc::get_scaling_matrix(child_scale));
double_vector offset_c_10 = hc::get_vector(joint.offset_c(0), joint.offset_c(1));
double_vector offset_g_10 = prod(Tgc, offset_c_10);
double_matrix Tjoint_c = hc::get_translation_matrix(offset_g_10(0), offset_g_10(1));
double_matrix Tjoint2_c = prod(Tjoint_c,boost_math::identity_double_matrix(3));
double x1_c, y1_c;
hc::map_point(Tjoint2_c, bbox_child.part_pos(0), bbox_child.part_pos(1), x1_c, y1_c);
double_matrix Tgp = prod(hc::get_rotation_matrix(parent_rot), hc::get_scaling_matrix(parent_scale));
double_vector offset_p_01 = hc::get_vector(joint.offset_p(0), joint.offset_p(1));
double_vector offset_g_01 = prod(Tgp, offset_p_01);
double_matrix Tjoint_p = hc::get_translation_matrix(offset_g_01(0), offset_g_01(1));
double_matrix Tjoint2_p = prod(Tjoint_p,boost_math::identity_double_matrix(3));
double x1_p, y1_p;
hc::map_point(Tjoint2_p, bbox_parent.part_pos(0), bbox_parent.part_pos(1), x1_p, y1_p);
// assert(child_scale == 1.0);
// assert(parent_scale == 1.0);
double_vector joint_pos_child = bbox_child.part_pos +
child_scale * bbox_child.part_x_axis * joint.offset_c(0) +
child_scale * bbox_child.part_y_axis * joint.offset_c(1);
double_vector joint_pos_parent = bbox_parent.part_pos +
parent_scale * bbox_parent.part_x_axis * joint.offset_p(0) +
parent_scale * bbox_parent.part_y_axis * joint.offset_p(1);
cout << "round part positions" << endl;
joint_pos_child(0) = round(joint_pos_child(0));
joint_pos_child(1) = round(joint_pos_child(1));
joint_pos_parent(0) = round(joint_pos_parent(0));
joint_pos_parent(1) = round(joint_pos_parent(1));
joint_pos_offset = joint_pos_child - joint_pos_parent;
cout << round(y1_c) << " " << round(x1_c) << endl;
cout << joint_pos_child(1) << " " << joint_pos_child(0) << endl;
cout << endl;
cout << round(y1_p) << " " << round(x1_p) << endl;
cout << joint_pos_parent(1) << " " << joint_pos_parent(0) << endl;
double rot_mean = joint.rot_mean;
if (rot_step_size > 0 && rot_step_size <= M_PI){
cout << "round joint mean" << endl;
rot_mean = boost_math::round(joint.rot_mean / rot_step_size) * rot_step_size;
}
joint_rot_offset = (child_rot - parent_rot) - rot_mean;
/*
while (joint_rot_offset < -M_PI)
joint_rot_offset += M_PI;
while (joint_rot_offset > M_PI)
joint_rot_offset -= M_PI;
assert(joint_rot_offset >= -M_PI && joint_rot_offset <= M_PI);
*/
double detC1 = joint.detC;
assert(detC1 > 0);
double avg_scale = 0.5*(parent_scale + child_scale);
//double avg_scale = std::max(parent_scale,child_scale);
double_matrix inv_scaleC1 = joint.invC / square(avg_scale);
//double d_pos = inner_prod(joint_pos_offset, ublas::prod<double_vector>(invC1, joint_pos_offset));
double d_pos = inner_prod(joint_pos_offset, ublas::prod<double_vector>(inv_scaleC1, joint_pos_offset));
double d_rot = square(joint_rot_offset) / square(rot_sigma);
double p_joint;
p_joint = exp(-0.5*(d_pos + d_rot)) / (2*M_PI*sqrt(2*M_PI) * sqrt(detC1) * rot_sigma);
//assert(p_joint >= 0);
return p_joint;
}
double eval_joint_factor(const Joint &joint, const PartBBox& bbox_parent, const PartBBox &bbox_child,
const double parent_scale, const double child_scale,
double_vector &joint_pos_offset, double &joint_rot_offset, const double rot_step_size)
{
double rot_sigma = joint.rot_sigma;
assert(rot_sigma >= 0);
/*
if (rot_sigma <= 0) {
rot_sigma = 5*M_PI / 180.0;
}
*/
double child_rot = atan2(bbox_child.part_x_axis(1), bbox_child.part_x_axis(0));
double parent_rot = atan2(bbox_parent.part_x_axis(1), bbox_parent.part_x_axis(0));
// assert(child_scale == 1.0);
// assert(parent_scale == 1.0);
double_vector joint_pos_child = bbox_child.part_pos +
child_scale * bbox_child.part_x_axis * joint.offset_c(0) +
child_scale * bbox_child.part_y_axis * joint.offset_c(1);
double_vector joint_pos_parent = bbox_parent.part_pos +
parent_scale * bbox_parent.part_x_axis * joint.offset_p(0) +
parent_scale * bbox_parent.part_y_axis * joint.offset_p(1);
/* need to discretize the values as work on integer grid */
joint_pos_child(0) = round(joint_pos_child(0));
joint_pos_child(1) = round(joint_pos_child(1));
joint_pos_parent(0) = round(joint_pos_parent(0));
joint_pos_parent(1) = round(joint_pos_parent(1));
joint_pos_offset = joint_pos_child - joint_pos_parent;
/* discretize rotation mean */
double rot_mean = joint.rot_mean;
if (rot_step_size > 0 && rot_step_size <= M_PI){
rot_mean = boost_math::round(joint.rot_mean / rot_step_size) * rot_step_size;
}
joint_rot_offset = (child_rot - parent_rot) - rot_mean;
/*
while (joint_rot_offset < -M_PI)
joint_rot_offset += M_PI;
while (joint_rot_offset > M_PI)
joint_rot_offset -= M_PI;
*/
/*
while (joint_rot_offset < -M_PI)
joint_rot_offset += 2*M_PI;
while (joint_rot_offset > M_PI)
joint_rot_offset -= 2*M_PI;
*/
/*
while (joint_rot_offset < -2*M_PI)
joint_rot_offset += 2*M_PI;
while (joint_rot_offset > 2*M_PI)
joint_rot_offset -= 2*M_PI;
*/
/*
while (joint_rot_offset < 0)
joint_rot_offset += 2*M_PI;
while (joint_rot_offset > 2*M_PI)
joint_rot_offset -= 2*M_PI;
*/
//assert(joint_rot_offset >= -M_PI && joint_rot_offset <= M_PI);
// no wraparound
//assert(joint_rot_offset >= -2*M_PI && joint_rot_offset <= 2*M_PI);
/**
how to estimate the vairance for parts at different scales ?
MA: for now use the average scale
*/
double detC1 = joint.detC;
assert(detC1 > 0);
double avg_scale = 0.5*(parent_scale + child_scale);
//double avg_scale = std::max(parent_scale,child_scale);
double_matrix inv_scaleC1 = joint.invC / square(avg_scale);
//double d_pos = inner_prod(joint_pos_offset, ublas::prod<double_vector>(invC1, joint_pos_offset));
double d_pos = inner_prod(joint_pos_offset, ublas::prod<double_vector>(inv_scaleC1, joint_pos_offset));
double d_rot = square(joint_rot_offset) / square(rot_sigma);
double p_joint;
/**
MA: this is supposed to be comparable accross scales
the normalization constant does not depend on scales since we have implicitly rescaled positions to training scale
*/
p_joint = exp(-0.5*(d_pos + d_rot)) / (2*M_PI*sqrt(2*M_PI) * sqrt(detC1) * rot_sigma);
/*
cout << "d_pos: " << d_pos << endl;
cout << p_joint << endl;
cout << detC1 << endl;
cout << rot_sigma << endl;
*/
//p_joint = exp(-(d_pos + d_rot)); // (2*M_PI*sqrt(2*M_PI) * sqrt(detC1) * rot_sigma);
/*
cout << "rot_sigma: " << rot_sigma << endl;
cout << "joint.C:" << endl;
boost_math::print_matrix(joint.C);
//cout << "invC:" << endl;
//boost_math::print_matrix(invC1);
cout << "d_pos: " << d_pos << endl;
cout << "d_rot: " << d_rot << endl;
cout << "p_joint: " << p_joint << endl;
*/
//assert(p_joint >= 0);
return p_joint;
}
