188 lines
6.8 KiB
C
188 lines
6.8 KiB
C
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/*
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* Software License Agreement (Simplified BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2013-, Open Perception, Inc.
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* Copyright (c) 2012, Piotr Dollar & Ron Appel. [pdollar-at-caltech.edu]
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* The views and conclusions contained in the software and documentation are those
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* of the authors and should not be interpreted as representing official policies,
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* either expressed or implied, of the FreeBSD Project.
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*
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* hog.h
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* Created on: Nov 30, 2012
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* Derived from Piotr Dollar's MATLAB Image&Video Toolbox Version 3.00.
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* Non-SSE version of the code provided by Matteo Munaro, Stefano Ghidoni and Stefano Michieletto
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*/
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#pragma once
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#include <pcl/pcl_macros.h> // export macro
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namespace pcl
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{
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namespace people
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{
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/** \brief @b HOG represents a class for computing the HOG descriptor described in
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* Dalal, N. and Triggs, B., "Histograms of oriented gradients for human detection", CVPR 2005.
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* \author Matteo Munaro, Stefano Ghidoni, Stefano Michieletto
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* \ingroup people
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*/
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class PCL_EXPORTS HOG
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{
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public:
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/** \brief Constructor. */
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HOG ();
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/** \brief Destructor. */
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virtual ~HOG ();
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/**
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* \brief Compute gradient magnitude and orientation at each location (uses sse).
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*
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* \param[in] I Image as array of float.
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* \param[in] h Image height.
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* \param[in] w Image width.
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* \param[in] d Image number of channels.
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* \param[out] M Gradient magnitude for each image point.
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* \param[out] O Gradient orientation for each image point.
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*/
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void
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gradMag ( float *I, int h, int w, int d, float *M, float *O ) const;
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/**
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* \brief Compute n_orients gradient histograms per bin_size x bin_size block of pixels.
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*
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* \param[in] M Gradient magnitude for each image point.
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* \param[in] O Gradient orientation for each image point.
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* \param[in] h Image height.
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* \param[in] w Image width.
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* \param[in] bin_size Spatial bin size.
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* \param[in] n_orients Number of orientation bins.
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* \param[in] soft_bin If true, each pixel can contribute to multiple spatial bins (using bilinear interpolation).
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* \param[out] H Gradient histograms.
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*/
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void
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gradHist ( float *M, float *O, int h, int w, int bin_size, int n_orients, bool soft_bin, float *H) const;
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/**
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* \brief Normalize histogram of gradients.
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*
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* \param[in] H Gradient histograms.
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* \param[in] h Image height.
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* \param[in] w Image width.
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* \param[in] bin_size Spatial bin size.
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* \param[in] n_orients Number of orientation bins.
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* \param[in] clip Value at which to clip histogram bins.
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* \param[out] G Normalized gradient histograms.
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*/
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void
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normalization ( float *H, int h, int w, int bin_size, int n_orients, float clip, float *G ) const;
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/**
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* \brief Compute HOG descriptor.
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*
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* \param[in] I Image as array of float between 0 and 1.
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* \param[in] h Image height.
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* \param[in] w Image width.
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* \param[in] n_channels Image number of channels.
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* \param[in] bin_size Spatial bin size.
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* \param[in] n_orients Number of orientation bins.
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* \param[in] soft_bin If true, each pixel can contribute to multiple spatial bins (using bilinear interpolation).
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* \param[out] descriptor HOG descriptor.
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*/
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void
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compute (float *I, int h, int w, int n_channels, int bin_size, int n_orients, bool soft_bin, float *descriptor);
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/**
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* \brief Compute HOG descriptor with default parameters.
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*
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* \param[in] I Image as array of float between 0 and 1.
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* \param[out] descriptor HOG descriptor.
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*/
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void
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compute (float *I, float *descriptor) const;
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private:
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/**
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* \brief Compute x and y gradients for just one column (uses sse).
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*/
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void
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grad1 ( float *I, float *Gx, float *Gy, int h, int w, int x ) const;
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/**
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* \brief Build lookup table a[] s.t. a[dx/2.02*n]~=acos(dx).
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*/
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float*
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acosTable () const;
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/**
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* \brief Helper for gradHist, quantize O and M into O0, O1 and M0, M1 (uses sse).
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*/
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void
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gradQuantize ( float *O, float *M, int *O0, int *O1, float *M0, float *M1, int n_orients, int nb, int n, float norm ) const;
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/**
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* \brief Platform independent aligned memory allocation (see also alFree).
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*/
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void*
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alMalloc ( std::size_t size, int alignment ) const;
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/**
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* \brief Platform independent aligned memory de-allocation (see also alMalloc).
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*/
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void
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alFree (void* aligned) const;
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protected:
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/** \brief image height (default = 128) */
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int h_;
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/** \brief image width (default = 64) */
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int w_;
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/** \brief image number of channels (default = 3) */
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int n_channels_;
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/** \brief spatial bin size (default = 8) */
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int bin_size_;
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/** \brief number of orientation bins (default = 9) */
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int n_orients_;
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/** \brief if true, each pixel can contribute to multiple spatial bins (using bilinear interpolation) (default = true) */
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bool soft_bin_;
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/** \brief value at which to clip histogram bins (default = 0.2) */
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float clip_;
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};
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} /* namespace people */
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} /* namespace pcl */
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