opencv_contrib/modules/tracking/src/onlineBoosting.cpp

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#include "precomp.hpp"
#include "opencv2/tracking/onlineBoosting.hpp"

namespace cv
{

StrongClassifierDirectSelection::StrongClassifierDirectSelection( int numBaseClf, int numWeakClf, Size patchSz, const Rect& sampleROI,
                                                                  bool useFeatureEx, int iterationInit )
{
  //StrongClassifier
  numBaseClassifier = numBaseClf;
  numAllWeakClassifier = numWeakClf + iterationInit;
  iterInit = iterationInit;
  numWeakClassifier = numWeakClf;

  alpha.assign( numBaseClf, 0 );

  patchSize = patchSz;
  useFeatureExchange = useFeatureEx;

  m_errorMask.resize( numAllWeakClassifier );
  m_errors.resize( numAllWeakClassifier );
  m_sumErrors.resize( numAllWeakClassifier );

  ROI = sampleROI;
  detector = new Detector( this );
}

void StrongClassifierDirectSelection::initBaseClassifier()
{
  baseClassifier = new BaseClassifier*[numBaseClassifier];
  baseClassifier[0] = new BaseClassifier( numWeakClassifier, iterInit );

  for ( int curBaseClassifier = 1; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
    baseClassifier[curBaseClassifier] = new BaseClassifier( numWeakClassifier, iterInit, baseClassifier[0]->getReferenceWeakClassifier() );
}

StrongClassifierDirectSelection::~StrongClassifierDirectSelection()
{
  for ( int curBaseClassifier = 0; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
    delete baseClassifier[curBaseClassifier];
  delete[] baseClassifier;
  alpha.clear();
  delete detector;
}

Size StrongClassifierDirectSelection::getPatchSize() const
{
  return patchSize;
}

Rect StrongClassifierDirectSelection::getROI() const
{
  return ROI;
}

float StrongClassifierDirectSelection::classifySmooth( const std::vector<Mat>& images, const Rect& sampleROI, int& idx )
{
  ROI = sampleROI;
  idx = 0;
  float confidence = 0;
  //detector->classify (image, patches);
  detector->classifySmooth( images );

  //move to best detection
  if( detector->getNumDetections() <= 0 )
  {
    confidence = 0;
    return confidence;
  }
  idx = detector->getPatchIdxOfBestDetection();
  confidence = detector->getConfidenceOfBestDetection();

  return confidence;
}

bool StrongClassifierDirectSelection::getUseFeatureExchange() const
{
  return useFeatureExchange;
}

int StrongClassifierDirectSelection::getReplacedClassifier() const
{
  return replacedClassifier;
}

int StrongClassifierDirectSelection::getSwappedClassifier() const
{
  return swappedClassifier;
}

bool StrongClassifierDirectSelection::update( const Mat& image, int target, float importance )
{
  m_errorMask.assign( (size_t)numAllWeakClassifier, false );
  m_errors.assign( (size_t)numAllWeakClassifier, 0.0f );
  m_sumErrors.assign( (size_t)numAllWeakClassifier, 0.0f );

  baseClassifier[0]->trainClassifier( image, target, importance, m_errorMask );
  for ( int curBaseClassifier = 0; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
  {
    int selectedClassifier = baseClassifier[curBaseClassifier]->selectBestClassifier( m_errorMask, importance, m_errors );

    if( m_errors[selectedClassifier] >= 0.5 )
      alpha[curBaseClassifier] = 0;
    else
      alpha[curBaseClassifier] = logf( ( 1.0f - m_errors[selectedClassifier] ) / m_errors[selectedClassifier] );

    if( m_errorMask[selectedClassifier] )
      importance *= (float) sqrt( ( 1.0f - m_errors[selectedClassifier] ) / m_errors[selectedClassifier] );
    else
      importance *= (float) sqrt( m_errors[selectedClassifier] / ( 1.0f - m_errors[selectedClassifier] ) );

    //weight limitation
    //if (importance > 100) importance = 100;

    //sum up errors
    for ( int curWeakClassifier = 0; curWeakClassifier < numAllWeakClassifier; curWeakClassifier++ )
    {
      if( m_errors[curWeakClassifier] != FLT_MAX && m_sumErrors[curWeakClassifier] >= 0 )
        m_sumErrors[curWeakClassifier] += m_errors[curWeakClassifier];
    }

    //mark feature as used
    m_sumErrors[selectedClassifier] = -1;
    m_errors[selectedClassifier] = FLT_MAX;
  }

  if( useFeatureExchange )
  {
    replacedClassifier = baseClassifier[0]->computeReplaceWeakestClassifier( m_sumErrors );
    swappedClassifier = baseClassifier[0]->getIdxOfNewWeakClassifier();
  }

  return true;
}

void StrongClassifierDirectSelection::replaceWeakClassifier( int idx )
{
  if( useFeatureExchange && idx >= 0 )
  {
    baseClassifier[0]->replaceWeakClassifier( idx );
    for ( int curBaseClassifier = 1; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
      baseClassifier[curBaseClassifier]->replaceClassifierStatistic( baseClassifier[0]->getIdxOfNewWeakClassifier(), idx );
  }
}

std::vector<int> StrongClassifierDirectSelection::getSelectedWeakClassifier()
{
  std::vector<int> selected;
  int curBaseClassifier = 0;
  for ( curBaseClassifier = 0; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
  {
    selected.push_back( baseClassifier[curBaseClassifier]->getSelectedClassifier() );
  }
  return selected;
}

float StrongClassifierDirectSelection::eval( const Mat& response )
{
  float value = 0.0f;
  int curBaseClassifier = 0;

  for ( curBaseClassifier = 0; curBaseClassifier < numBaseClassifier; curBaseClassifier++ )
    value += baseClassifier[curBaseClassifier]->eval( response ) * alpha[curBaseClassifier];

  return value;
}

int StrongClassifierDirectSelection::getNumBaseClassifier()
{
  return numBaseClassifier;
}

BaseClassifier::BaseClassifier( int numWeakClassifier, int iterationInit )
{
  this->m_numWeakClassifier = numWeakClassifier;
  this->m_iterationInit = iterationInit;

  weakClassifier = new WeakClassifierHaarFeature*[numWeakClassifier + iterationInit];
  m_idxOfNewWeakClassifier = numWeakClassifier;

  generateRandomClassifier();

  m_referenceWeakClassifier = false;
  m_selectedClassifier = 0;

  m_wCorrect.assign( numWeakClassifier + iterationInit, 0 );

  m_wWrong.assign( numWeakClassifier + iterationInit, 0 );

  for ( int curWeakClassifier = 0; curWeakClassifier < numWeakClassifier + iterationInit; curWeakClassifier++ )
    m_wWrong[curWeakClassifier] = m_wCorrect[curWeakClassifier] = 1;
}

BaseClassifier::BaseClassifier( int numWeakClassifier, int iterationInit, WeakClassifierHaarFeature** weakCls )
{
  m_numWeakClassifier = numWeakClassifier;
  m_iterationInit = iterationInit;
  weakClassifier = weakCls;
  m_referenceWeakClassifier = true;
  m_selectedClassifier = 0;
  m_idxOfNewWeakClassifier = numWeakClassifier;

  m_wCorrect.assign( numWeakClassifier + iterationInit, 0 );
  m_wWrong.assign( numWeakClassifier + iterationInit, 0 );

  for ( int curWeakClassifier = 0; curWeakClassifier < numWeakClassifier + iterationInit; curWeakClassifier++ )
    m_wWrong[curWeakClassifier] = m_wCorrect[curWeakClassifier] = 1;
}

BaseClassifier::~BaseClassifier()
{
  if( !m_referenceWeakClassifier )
  {
    for ( int curWeakClassifier = 0; curWeakClassifier < m_numWeakClassifier + m_iterationInit; curWeakClassifier++ )
      delete weakClassifier[curWeakClassifier];

    delete[] weakClassifier;
  }
  m_wCorrect.clear();
  m_wWrong.clear();
}

void BaseClassifier::generateRandomClassifier()
{
  for ( int curWeakClassifier = 0; curWeakClassifier < m_numWeakClassifier + m_iterationInit; curWeakClassifier++ )
  {
    weakClassifier[curWeakClassifier] = new WeakClassifierHaarFeature();
  }
}

int BaseClassifier::eval( const Mat& image )
{
  return weakClassifier[m_selectedClassifier]->eval( image.at<float>( m_selectedClassifier ) );
}

int BaseClassifier::getSelectedClassifier() const
{
  return m_selectedClassifier;
}

void BaseClassifier::trainClassifier( const Mat& image, int target, float importance, std::vector<bool>& errorMask )
{

  //get poisson value
  double A = 1;
  int K = 0;
  int K_max = 10;
  for ( ; ; )
  {
    double U_k = (double) rand() / RAND_MAX;
    A *= U_k;
    if( K > K_max || A < exp( -importance ) )
      break;
    K++;
  }

  for ( int curK = 0; curK <= K; curK++ )
  {
    for ( int curWeakClassifier = 0; curWeakClassifier < m_numWeakClassifier + m_iterationInit; curWeakClassifier++ )
    {
      errorMask[curWeakClassifier] = weakClassifier[curWeakClassifier]->update( image.at<float>( curWeakClassifier ), target );
    }
  }

}

float BaseClassifier::getError( int curWeakClassifier )
{
  if( curWeakClassifier == -1 )
    curWeakClassifier = m_selectedClassifier;
  return m_wWrong[curWeakClassifier] / ( m_wWrong[curWeakClassifier] + m_wCorrect[curWeakClassifier] );
}

int BaseClassifier::selectBestClassifier( std::vector<bool>& errorMask, float importance, std::vector<float> & errors )
{
  float minError = FLT_MAX;
  int tmp_selectedClassifier = m_selectedClassifier;

  for ( int curWeakClassifier = 0; curWeakClassifier < m_numWeakClassifier + m_iterationInit; curWeakClassifier++ )
  {
    if( errorMask[curWeakClassifier] )
    {
      m_wWrong[curWeakClassifier] += importance;
    }
    else
    {
      m_wCorrect[curWeakClassifier] += importance;
    }

    if( errors[curWeakClassifier] == FLT_MAX )
      continue;

    errors[curWeakClassifier] = m_wWrong[curWeakClassifier] / ( m_wWrong[curWeakClassifier] + m_wCorrect[curWeakClassifier] );

    /*if(errors[curWeakClassifier] < 0.001 || !(errors[curWeakClassifier]>0.0))
     {
     errors[curWeakClassifier] = 0.001;
     }

     if(errors[curWeakClassifier] >= 1.0)
     errors[curWeakClassifier] = 0.999;

     assert (errors[curWeakClassifier] > 0.0);
     assert (errors[curWeakClassifier] < 1.0);*/

    if( curWeakClassifier < m_numWeakClassifier )
    {
      if( errors[curWeakClassifier] < minError )
      {
        minError = errors[curWeakClassifier];
        tmp_selectedClassifier = curWeakClassifier;
      }
    }
  }

  m_selectedClassifier = tmp_selectedClassifier;
  return m_selectedClassifier;
}

void BaseClassifier::getErrors( float* errors )
{
  for ( int curWeakClassifier = 0; curWeakClassifier < m_numWeakClassifier + m_iterationInit; curWeakClassifier++ )
  {
    if( errors[curWeakClassifier] == FLT_MAX )
      continue;

    errors[curWeakClassifier] = m_wWrong[curWeakClassifier] / ( m_wWrong[curWeakClassifier] + m_wCorrect[curWeakClassifier] );

    CV_Assert( errors[curWeakClassifier] > 0 );
  }
}

void BaseClassifier::replaceWeakClassifier( int index )
{
  delete weakClassifier[index];
  weakClassifier[index] = weakClassifier[m_idxOfNewWeakClassifier];
  m_wWrong[index] = m_wWrong[m_idxOfNewWeakClassifier];
  m_wWrong[m_idxOfNewWeakClassifier] = 1;
  m_wCorrect[index] = m_wCorrect[m_idxOfNewWeakClassifier];
  m_wCorrect[m_idxOfNewWeakClassifier] = 1;

  weakClassifier[m_idxOfNewWeakClassifier] = new WeakClassifierHaarFeature();
}

int BaseClassifier::computeReplaceWeakestClassifier( const std::vector<float> & errors )
{
  float maxError = 0.0f;
  int index = -1;

  //search the classifier with the largest error
  for ( int curWeakClassifier = m_numWeakClassifier - 1; curWeakClassifier >= 0; curWeakClassifier-- )
  {
    if( errors[curWeakClassifier] > maxError )
    {
      maxError = errors[curWeakClassifier];
      index = curWeakClassifier;
    }
  }

  CV_Assert( index > -1 );
  CV_Assert( index != m_selectedClassifier );

  //replace
  m_idxOfNewWeakClassifier++;
  if( m_idxOfNewWeakClassifier == m_numWeakClassifier + m_iterationInit )
    m_idxOfNewWeakClassifier = m_numWeakClassifier;

  if( maxError > errors[m_idxOfNewWeakClassifier] )
  {
    return index;
  }
  else
    return -1;

}

void BaseClassifier::replaceClassifierStatistic( int sourceIndex, int targetIndex )
{
  CV_Assert( targetIndex >= 0 );
  CV_Assert( targetIndex != m_selectedClassifier );
  CV_Assert( targetIndex < m_numWeakClassifier );

  //replace
  m_wWrong[targetIndex] = m_wWrong[sourceIndex];
  m_wWrong[sourceIndex] = 1.0f;
  m_wCorrect[targetIndex] = m_wCorrect[sourceIndex];
  m_wCorrect[sourceIndex] = 1.0f;
}

EstimatedGaussDistribution::EstimatedGaussDistribution()
{
  m_mean = 0;
  m_sigma = 1;
  this->m_P_mean = 1000;
  this->m_R_mean = 0.01f;
  this->m_P_sigma = 1000;
  this->m_R_sigma = 0.01f;
}

EstimatedGaussDistribution::EstimatedGaussDistribution( float P_mean, float R_mean, float P_sigma, float R_sigma )
{
  m_mean = 0;
  m_sigma = 1;
  this->m_P_mean = P_mean;
  this->m_R_mean = R_mean;
  this->m_P_sigma = P_sigma;
  this->m_R_sigma = R_sigma;
}

EstimatedGaussDistribution::~EstimatedGaussDistribution()
{
}

void EstimatedGaussDistribution::update( float value )
{
//update distribution (mean and sigma) using a kalman filter for each

  float K;
  float minFactor = 0.001f;

//mean

  K = m_P_mean / ( m_P_mean + m_R_mean );
  if( K < minFactor )
    K = minFactor;

  m_mean = K * value + ( 1.0f - K ) * m_mean;
  m_P_mean = m_P_mean * m_R_mean / ( m_P_mean + m_R_mean );

  K = m_P_sigma / ( m_P_sigma + m_R_sigma );
  if( K < minFactor )
    K = minFactor;

  float tmp_sigma = K * ( m_mean - value ) * ( m_mean - value ) + ( 1.0f - K ) * m_sigma * m_sigma;
  m_P_sigma = m_P_sigma * m_R_mean / ( m_P_sigma + m_R_sigma );

  m_sigma = static_cast<float>( sqrt( tmp_sigma ) );
  if( m_sigma <= 1.0f )
    m_sigma = 1.0f;

}

void EstimatedGaussDistribution::setValues( float mean, float sigma )
{
  this->m_mean = mean;
  this->m_sigma = sigma;
}

float EstimatedGaussDistribution::getMean()
{
  return m_mean;
}

float EstimatedGaussDistribution::getSigma()
{
  return m_sigma;
}

WeakClassifierHaarFeature::WeakClassifierHaarFeature()
{
  sigma = 1;
  mean = 0;

  EstimatedGaussDistribution* m_posSamples = new EstimatedGaussDistribution();
  EstimatedGaussDistribution* m_negSamples = new EstimatedGaussDistribution();
  generateRandomClassifier( m_posSamples, m_negSamples );

  getInitialDistribution( (EstimatedGaussDistribution*) m_classifier->getDistribution( -1 ) );
  getInitialDistribution( (EstimatedGaussDistribution*) m_classifier->getDistribution( 1 ) );
}

WeakClassifierHaarFeature::~WeakClassifierHaarFeature()
{
  delete m_classifier;
}

void WeakClassifierHaarFeature::getInitialDistribution( EstimatedGaussDistribution* distribution )
{
  distribution->setValues( mean, sigma );
}

void WeakClassifierHaarFeature::generateRandomClassifier( EstimatedGaussDistribution* m_posSamples, EstimatedGaussDistribution* m_negSamples )
{
  m_classifier = new ClassifierThreshold( m_posSamples, m_negSamples );
}

bool WeakClassifierHaarFeature::update( float value, int target )
{
  m_classifier->update( value, target );
  return ( m_classifier->eval( value ) != target );
}

int WeakClassifierHaarFeature::eval( float value )
{
  return m_classifier->eval( value );
}

Detector::Detector( StrongClassifierDirectSelection* classifier ) :
    m_sizeDetections( 0 )
{
  this->m_classifier = classifier;

  m_sizeConfidences = 0;
  m_maxConfidence = -FLT_MAX;
  m_numDetections = 0;
  m_idxBestDetection = -1;
}

Detector::~Detector()
{
}

void Detector::prepareConfidencesMemory( int numPatches )
{
  if( numPatches <= m_sizeConfidences )
    return;

  m_sizeConfidences = numPatches;
  m_confidences.resize( numPatches );
}

void Detector::prepareDetectionsMemory( int numDetections )
{
  if( numDetections <= m_sizeDetections )
    return;

  m_sizeDetections = numDetections;
  m_idxDetections.resize( numDetections );
}

void Detector::classifySmooth( const std::vector<Mat>& images, float minMargin )
{
  int numPatches = static_cast<int>(images.size());

  prepareConfidencesMemory( numPatches );

  m_numDetections = 0;
  m_idxBestDetection = -1;
  m_maxConfidence = -FLT_MAX;

  //compute grid
  //TODO 0.99 overlap from params
  Size patchSz = m_classifier->getPatchSize();
  int stepCol = (int) floor( ( 1.0f - 0.99f ) * (float) patchSz.width + 0.5f );
  int stepRow = (int) floor( ( 1.0f - 0.99f ) * (float) patchSz.height + 0.5f );
  if( stepCol <= 0 )
    stepCol = 1;
  if( stepRow <= 0 )
    stepRow = 1;

  Size patchGrid;
  Rect ROI = m_classifier->getROI();
  patchGrid.height = ( (int) ( (float) ( ROI.height - patchSz.height ) / stepRow ) + 1 );
  patchGrid.width = ( (int) ( (float) ( ROI.width - patchSz.width ) / stepCol ) + 1 );

  if( ( patchGrid.width != m_confMatrix.cols ) || ( patchGrid.height != m_confMatrix.rows ) )
  {
    m_confMatrix.create( patchGrid.height, patchGrid.width );
    m_confMatrixSmooth.create( patchGrid.height, patchGrid.width );
    m_confImageDisplay.create( patchGrid.height, patchGrid.width );
  }

  int curPatch = 0;
  // Eval and filter
  for ( int row = 0; row < patchGrid.height; row++ )
  {
    for ( int col = 0; col < patchGrid.width; col++ )
    {
      m_confidences[curPatch] = m_classifier->eval( images[curPatch] );

      // fill matrix
      m_confMatrix( row, col ) = m_confidences[curPatch];
      curPatch++;
    }
  }

  // Filter
  //cv::GaussianBlur(m_confMatrix,m_confMatrixSmooth,cv::Size(3,3),0.8);
  cv::GaussianBlur( m_confMatrix, m_confMatrixSmooth, cv::Size( 3, 3 ), 0 );

  // Make display friendly
  double min_val, max_val;
  cv::minMaxLoc( m_confMatrixSmooth, &min_val, &max_val );
  for ( int y = 0; y < m_confImageDisplay.rows; y++ )
  {
    unsigned char* pConfImg = m_confImageDisplay[y];
    const float* pConfData = m_confMatrixSmooth[y];
    for ( int x = 0; x < m_confImageDisplay.cols; x++, pConfImg++, pConfData++ )
    {
      *pConfImg = static_cast<unsigned char>( 255.0 * ( *pConfData - min_val ) / ( max_val - min_val ) );
    }
  }

  // Get best detection
  curPatch = 0;
  for ( int row = 0; row < patchGrid.height; row++ )
  {
    for ( int col = 0; col < patchGrid.width; col++ )
    {
      // fill matrix
      m_confidences[curPatch] = m_confMatrixSmooth( row, col );

      if( m_confidences[curPatch] > m_maxConfidence )
      {
        m_maxConfidence = m_confidences[curPatch];
        m_idxBestDetection = curPatch;
      }
      if( m_confidences[curPatch] > minMargin )
      {
        m_numDetections++;
      }
      curPatch++;
    }
  }

  prepareDetectionsMemory( m_numDetections );
  int curDetection = -1;
  for ( int currentPatch = 0; currentPatch < numPatches; currentPatch++ )
  {
    if( m_confidences[currentPatch] > minMargin )
      m_idxDetections[++curDetection] = currentPatch;
  }
}

int Detector::getNumDetections()
{
  return m_numDetections;
}

float Detector::getConfidence( int patchIdx )
{
  return m_confidences[patchIdx];
}

float Detector::getConfidenceOfDetection( int detectionIdx )
{
  return m_confidences[getPatchIdxOfDetection( detectionIdx )];
}

int Detector::getPatchIdxOfBestDetection()
{
  return m_idxBestDetection;
}

int Detector::getPatchIdxOfDetection( int detectionIdx )
{
  return m_idxDetections[detectionIdx];
}

ClassifierThreshold::ClassifierThreshold( EstimatedGaussDistribution* posSamples, EstimatedGaussDistribution* negSamples )
{
  m_posSamples = posSamples;
  m_negSamples = negSamples;
  m_threshold = 0.0f;
  m_parity = 0;
}

ClassifierThreshold::~ClassifierThreshold()
{
  if( m_posSamples != NULL )
    delete m_posSamples;
  if( m_negSamples != NULL )
    delete m_negSamples;
}

void*
ClassifierThreshold::getDistribution( int target )
{
  if( target == 1 )
    return m_posSamples;
  else
    return m_negSamples;
}

void ClassifierThreshold::update( float value, int target )
{
  //update distribution
  if( target == 1 )
    m_posSamples->update( value );
  else
    m_negSamples->update( value );

  //adapt threshold and parity
  m_threshold = ( m_posSamples->getMean() + m_negSamples->getMean() ) / 2.0f;
  m_parity = ( m_posSamples->getMean() > m_negSamples->getMean() ) ? 1 : -1;
}

int ClassifierThreshold::eval( float value )
{
  return ( ( ( m_parity * ( value - m_threshold ) ) > 0 ) ? 1 : -1 );
}

} /* namespace cv */