cvhaar.cpp

opencv库在TI DM6437上的移植,目前包括两个库cv.lib和cxcore.lib的工程

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/* Haar features calculation */

#include "_cv.h"
#include <stdio.h>

/* these settings affect the quality of detection: change with care */
#define CV_ADJUST_FEATURES 1
#define CV_ADJUST_WEIGHTS  0

typedef int sumtype;
typedef double sqsumtype;

typedef struct CvHidHaarFeature
{
    struct
    {
        sumtype *p0, *p1, *p2, *p3;
        float weight;
    }
    rect[CV_HAAR_FEATURE_MAX];
}
CvHidHaarFeature;


typedef struct CvHidHaarTreeNode
{
    CvHidHaarFeature feature;
    float threshold;
    int left;
    int right;
}
CvHidHaarTreeNode;


typedef struct CvHidHaarClassifier
{
    int count;
    //CvHaarFeature* orig_feature;
    CvHidHaarTreeNode* node;
    float* alpha;
}
CvHidHaarClassifier;


typedef struct CvHidHaarStageClassifier
{
    int  count;
    float threshold;
    CvHidHaarClassifier* classifier;
    int two_rects;
    
    struct CvHidHaarStageClassifier* next;
    struct CvHidHaarStageClassifier* child;
    struct CvHidHaarStageClassifier* parent;
}
CvHidHaarStageClassifier;


struct CvHidHaarClassifierCascade
{
    int  count;
    int  is_stump_based;
    int  has_tilted_features;
    int  is_tree;
    double inv_window_area;
    CvMat sum, sqsum, tilted;
    CvHidHaarStageClassifier* stage_classifier;
    sqsumtype *pq0, *pq1, *pq2, *pq3;
    sumtype *p0, *p1, *p2, *p3;

    void** ipp_stages;
};


/* IPP functions for object detection */
icvHaarClassifierInitAlloc_32f_t icvHaarClassifierInitAlloc_32f_p = 0;
icvHaarClassifierFree_32f_t icvHaarClassifierFree_32f_p = 0;
icvApplyHaarClassifier_32s32f_C1R_t icvApplyHaarClassifier_32s32f_C1R_p = 0;
icvRectStdDev_32s32f_C1R_t icvRectStdDev_32s32f_C1R_p = 0;

const int icv_object_win_border = 1;
const float icv_stage_threshold_bias = 0.0001f;

static CvHaarClassifierCascade*
icvCreateHaarClassifierCascade( int stage_count )
{
    CvHaarClassifierCascade* cascade = 0;
    
    CV_FUNCNAME( "icvCreateHaarClassifierCascade" );

    __BEGIN__;

    int block_size = sizeof(*cascade) + stage_count*sizeof(*cascade->stage_classifier);

    if( stage_count <= 0 )
        CV_ERROR( CV_StsOutOfRange, "Number of stages should be positive" );

    CV_CALL( cascade = (CvHaarClassifierCascade*)cvAlloc( block_size ));
    memset( cascade, 0, block_size );

    cascade->stage_classifier = (CvHaarStageClassifier*)(cascade + 1);
    cascade->flags = CV_HAAR_MAGIC_VAL;
    cascade->count = stage_count;

    __END__;

    return cascade;
}

static void
icvReleaseHidHaarClassifierCascade( CvHidHaarClassifierCascade** _cascade )
{
    if( _cascade && *_cascade )
    {
        CvHidHaarClassifierCascade* cascade = *_cascade;
        if( cascade->ipp_stages && icvHaarClassifierFree_32f_p )
        {
            int i;
            for( i = 0; i < cascade->count; i++ )
            {
                if( cascade->ipp_stages[i] )
                    icvHaarClassifierFree_32f_p( cascade->ipp_stages[i] );
            }
        }
        cvFree( &cascade->ipp_stages );
        cvFree( _cascade );
    }
}

/* create more efficient internal representation of haar classifier cascade */
static CvHidHaarClassifierCascade*
icvCreateHidHaarClassifierCascade( CvHaarClassifierCascade* cascade )
{
    CvRect* ipp_features = 0;
    float *ipp_weights = 0, *ipp_thresholds = 0, *ipp_val1 = 0, *ipp_val2 = 0;
    int* ipp_counts = 0;

    CvHidHaarClassifierCascade* out = 0;

    CV_FUNCNAME( "icvCreateHidHaarClassifierCascade" );

    __BEGIN__;

    int i, j, k, l;
    int datasize;
    int total_classifiers = 0;
    int total_nodes = 0;
    char errorstr[100];
    CvHidHaarClassifier* haar_classifier_ptr;
    CvHidHaarTreeNode* haar_node_ptr;
    CvSize orig_window_size;
    int has_tilted_features = 0;
    int max_count = 0;

    if( !CV_IS_HAAR_CLASSIFIER(cascade) )
        CV_ERROR( !cascade ? CV_StsNullPtr : CV_StsBadArg, "Invalid classifier pointer" );

    if( cascade->hid_cascade )
        CV_ERROR( CV_StsError, "hid_cascade has been already created" );

    if( !cascade->stage_classifier )
        CV_ERROR( CV_StsNullPtr, "" );

    if( cascade->count <= 0 )
        CV_ERROR( CV_StsOutOfRange, "Negative number of cascade stages" );

    orig_window_size = cascade->orig_window_size;
    
    /* check input structure correctness and calculate total memory size needed for
       internal representation of the classifier cascade */
    for( i = 0; i < cascade->count; i++ )
    {
        CvHaarStageClassifier* stage_classifier = cascade->stage_classifier + i;

        if( !stage_classifier->classifier ||
            stage_classifier->count <= 0 )
        {
            sprintf( errorstr, "header of the stage classifier #%d is invalid "
                     "(has null pointers or non-positive classfier count)", i );
            CV_ERROR( CV_StsError, errorstr );
        }

        max_count = MAX( max_count, stage_classifier->count );
        total_classifiers += stage_classifier->count;

        for( j = 0; j < stage_classifier->count; j++ )
        {
            CvHaarClassifier* classifier = stage_classifier->classifier + j;

            total_nodes += classifier->count;
            for( l = 0; l < classifier->count; l++ )
            {
                for( k = 0; k < CV_HAAR_FEATURE_MAX; k++ )
                {
                    if( classifier->haar_feature[l].rect[k].r.width )
                    {
                        CvRect r = classifier->haar_feature[l].rect[k].r;
                        int tilted = classifier->haar_feature[l].tilted;
                        has_tilted_features |= tilted != 0;
                        if( r.width < 0 || r.height < 0 || r.y < 0 ||
                            r.x + r.width > orig_window_size.width
                            ||
                            (!tilted &&
                            (r.x < 0 || r.y + r.height > orig_window_size.height))
                            ||
                            (tilted && (r.x - r.height < 0 ||
                            r.y + r.width + r.height > orig_window_size.height)))
                        {
                            sprintf( errorstr, "rectangle #%d of the classifier #%d of "
                                     "the stage classifier #%d is not inside "
                                     "the reference (original) cascade window", k, j, i );
                            CV_ERROR( CV_StsNullPtr, errorstr );
                        }
                    }
                }
            }
        }
    }

    // this is an upper boundary for the whole hidden cascade size
    datasize = sizeof(CvHidHaarClassifierCascade) +
               sizeof(CvHidHaarStageClassifier)*cascade->count +
               sizeof(CvHidHaarClassifier) * total_classifiers +
               sizeof(CvHidHaarTreeNode) * total_nodes +
               sizeof(void*)*(total_nodes + total_classifiers);

    CV_CALL( out = (CvHidHaarClassifierCascade*)cvAlloc( datasize ));
    memset( out, 0, sizeof(*out) );

    /* init header */
    out->count = cascade->count;
    out->stage_classifier = (CvHidHaarStageClassifier*)(out + 1);
    haar_classifier_ptr = (CvHidHaarClassifier*)(out->stage_classifier + cascade->count);
    haar_node_ptr = (CvHidHaarTreeNode*)(haar_classifier_ptr + total_classifiers);

    out->is_stump_based = 1;
    out->has_tilted_features = has_tilted_features;
    out->is_tree = 0;

    /* initialize internal representation */
    for( i = 0; i < cascade->count; i++ )
    {
        CvHaarStageClassifier* stage_classifier = cascade->stage_classifier + i;
        CvHidHaarStageClassifier* hid_stage_classifier = out->stage_classifier + i;

        hid_stage_classifier->count = stage_classifier->count;
        hid_stage_classifier->threshold = stage_classifier->threshold - icv_stage_threshold_bias;
        hid_stage_classifier->classifier = haar_classifier_ptr;
        hid_stage_classifier->two_rects = 1;
        haar_classifier_ptr += stage_classifier->count;

        hid_stage_classifier->parent = (stage_classifier->parent == -1)
            ? NULL : out->stage_classifier + stage_classifier->parent;
        hid_stage_classifier->next = (stage_classifier->next == -1)
            ? NULL : out->stage_classifier + stage_classifier->next;
        hid_stage_classifier->child = (stage_classifier->child == -1)
            ? NULL : out->stage_classifier + stage_classifier->child;
        
        out->is_tree |= hid_stage_classifier->next != NULL;

        for( j = 0; j < stage_classifier->count; j++ )
        {
            CvHaarClassifier* classifier = stage_classifier->classifier + j;
            CvHidHaarClassifier* hid_classifier = hid_stage_classifier->classifier + j;
            int node_count = classifier->count;
            float* alpha_ptr = (float*)(haar_node_ptr + node_count);

            hid_classifier->count = node_count;
            hid_classifier->node = haar_node_ptr;
            hid_classifier->alpha = alpha_ptr;
            
            for( l = 0; l < node_count; l++ )
            {
                CvHidHaarTreeNode* node = hid_classifier->node + l;
                CvHaarFeature* feature = classifier->haar_feature + l;
                memset( node, -1, sizeof(*node) );
                node->threshold = classifier->threshold[l];
                node->left = classifier->left[l];
                node->right = classifier->right[l];

                if( fabs(feature->rect[2].weight) < DBL_EPSILON ||
                    feature->rect[2].r.width == 0 ||
                    feature->rect[2].r.height == 0 )
                    memset( &(node->feature.rect[2]), 0, sizeof(node->feature.rect[2]) );
                else
                    hid_stage_classifier->two_rects = 0;
            }

            memcpy( alpha_ptr, classifier->alpha, (node_count+1)*sizeof(alpha_ptr[0]));
            haar_node_ptr =
                (CvHidHaarTreeNode*)cvAlignPtr(alpha_ptr+node_count+1, sizeof(void*));

            out->is_stump_based &= node_count == 1;
        }
    }

    //
    // NOTE: Currently, OpenMP is implemented and IPP modes are incompatible.
    // 
#ifndef _OPENMP