Pedestrian_ICRA

authors code from https://sites.google.com/site/wujx2001/home/c4

.deps

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+Pedestrian_ICRA.o: Pedestrian_ICRA.cpp Pedestrian.h IntImage.h \
+ /usr/include/opencv/cv.h /usr/include/opencv/cxcore.h \
+ /usr/include/opencv/cxtypes.h /usr/include/opencv/cxerror.h \
+ /usr/include/opencv/cvver.h /usr/include/opencv/cxcore.hpp \
+ /usr/include/opencv/cxmisc.h /usr/include/opencv/cxoperations.hpp \
+ /usr/include/opencv/cxmat.hpp /usr/include/opencv/cxflann.h \
+ /usr/include/opencv/cvtypes.h /usr/include/opencv/cv.hpp \
+ /usr/include/opencv/cvcompat.h /usr/include/opencv/cxcore.h \
+ /usr/include/opencv/highgui.h /usr/include/opencv/highgui.hpp mdarray.h
+main.o: main.cpp Pedestrian.h IntImage.h /usr/include/opencv/cv.h \
+ /usr/include/opencv/cxcore.h /usr/include/opencv/cxtypes.h \
+ /usr/include/opencv/cxerror.h /usr/include/opencv/cvver.h \
+ /usr/include/opencv/cxcore.hpp /usr/include/opencv/cxmisc.h \
+ /usr/include/opencv/cxoperations.hpp /usr/include/opencv/cxmat.hpp \
+ /usr/include/opencv/cxflann.h /usr/include/opencv/cvtypes.h \
+ /usr/include/opencv/cv.hpp /usr/include/opencv/cvcompat.h \
+ /usr/include/opencv/cxcore.h /usr/include/opencv/highgui.h \
+ /usr/include/opencv/highgui.hpp mdarray.h

IntImage.h

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+#ifndef __INTIMAGE_H__
+#define __INTIMAGE_H__
+
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <cmath>
+
+#include <cv.h>
+#include <cxcore.h>
+#include <highgui.h>
+
+#include "mdarray.h"
+
+template<class T>
+class IntImage:public Array2dC<T>
+{
+private:
+    IntImage(const IntImage<T> &source) { } // prohibit copy constructor
+
+public:
+    IntImage():variance(0.0),label(-1) { }
+    virtual ~IntImage() { Clear(); }
+
+    virtual void Clear(void);
+    inline void SetSize(const int h, const int w);
+    bool Load(const std::string& filename,const char channel='I');
+    void Save(const std::string& filename) const;
+    void Swap(IntImage<T>& image2);
+
+    void CalcIntegralImageInPlace(void);
+    void Resize(IntImage<T> &result,const REAL ratio) const;
+    void Resize(IntImage<T>& result,const int height,const int width) const;
+
+    IntImage<T>& operator=(const IntImage<T>& source);
+
+    void Sobel(IntImage<REAL>& result,const bool useSqrt,const bool normalize);
+public:
+    using Array2dC<T>::nrow;
+    using Array2dC<T>::ncol;
+    using Array2dC<T>::buf;
+    using Array2dC<T>::p;
+    REAL variance;
+    int label;
+};
+
+template<class T>
+void IntImage<T>::Clear(void)
+{
+    Array2dC<T>::Clear();
+    variance = 0.0;
+    label = -1;
+}
+
+template<class T>
+bool IntImage<T>::Load(const std::string& filename,const char channel)
+{
+    IplImage* img;
+    IplImage* img2;
+
+    img = cvLoadImage(filename.c_str());
+    if(img==NULL) return false;
+
+    if(channel=='R' || channel=='G' || channel=='B')
+    {
+        int c;
+        if(channel=='B') c=0; else if(channel=='G') c=1; else c=2; // OpenCV is 'BGR' ordering
+        img2 = cvCreateImage(cvSize(img->width,img->height),IPL_DEPTH_8U,1);
+        for(int i=0;i<img->height;i++)
+            for(int j=0;j<img->width;j++)
+                *(img2->imageData+img2->widthStep*i+j)=*(img->imageData+img->widthStep*i+3*j+c);
+    }
+    else // use gray scale for all others
+    {
+        img2 = cvCreateImage(cvSize(img->width,img->height),IPL_DEPTH_8U,1);
+        cvCvtColor(img,img2,CV_BGR2GRAY);
+    }
+    cvReleaseImage(&img);
+    img = img2; img2 = NULL;
+    SetSize(img->height,img->width);
+    for(int i=0,ih=img->height,iw=img->width;i<ih;i++)
+    {
+        T* pdata = p[i];
+        unsigned char* pimg = reinterpret_cast<unsigned char*>(img->imageData+img->widthStep*i);
+        for(int j=0;j<iw;j++) pdata[j] = pimg[j];
+    }
+    cvReleaseImage(&img);
+
+    return true;
+}
+
+template<class T>
+void IntImage<T>::Save(const std::string& filename) const
+{
+    IplImage* img;
+
+    img = cvCreateImage(cvSize(ncol,nrow),IPL_DEPTH_8U,1);
+    for(int i=0,ih=img->height,iw=img->width;i<ih;i++)
+    {
+        T* pdata = p[i];
+        unsigned char* pimg = reinterpret_cast<unsigned char*>(img->imageData+img->widthStep*i);
+        for(int j=0;j<iw;j++) pimg[j] = (unsigned char)pdata[j];
+    }
+    cvSaveImage(filename.c_str(),img);
+    cvReleaseImage(&img);
+}
+
+template<class T>
+void IntImage<T>::SetSize(const int h,const int w)
+{
+    if((h == nrow) && (w == ncol)) return;
+    Clear();
+    Array2dC<T>::Create(h,w);
+}
+
+template<class T>
+IntImage<T>& IntImage<T>::operator=(const IntImage<T>& source)
+{
+    if(&source==this) return *this;
+    SetSize(source.nrow,source.ncol);
+    std::copy(source.buf,source.buf+nrow*ncol,buf);
+    label = source.label;
+    variance = source.variance;
+    return *this;
+}
+
+template<class T>
+void IntImage<T>::Resize(IntImage<T> &result,const REAL ratio) const
+{
+    Resize(result,int(nrow*ratio),int(ncol*ratio));
+}
+
+template<class T>
+void IntImage<T>::Resize(IntImage<T>& result,const int height,const int width) const
+{
+    assert(height>0 && width>0);
+    result.SetSize(height,width);
+    REAL ixratio = nrow*1.0/height, iyratio = ncol*1.0/width;
+
+    REAL* p_y = new REAL[result.ncol]; assert(p_y!=NULL);
+    int* p_y0 = new int[result.ncol]; assert(p_y0!=NULL);
+    for(int i=0;i<width;i++)
+    {
+        p_y[i] = i*iyratio;
+        p_y0[i] = (int)p_y[i];
+        if(p_y0[i]==ncol-1) p_y0[i]--;
+        p_y[i] -= p_y0[i];
+    }
+
+    for(int i=0;i<height;i++)
+    {
+        int x0; REAL x;
+        x = i*ixratio;
+        x0 = (int)x;
+        if(x0==nrow-1) x0--;
+        x -= x0;
+		T* rp = result.p[i];
+		const T* px0 = p[x0];
+		const T* px1 = p[x0+1];
+        for(int j=0;j<width;j++)
+        {
+            int y0=p_y0[j];
+            REAL y=p_y[j],fx0,fx1;
+
+            fx0 = REAL(px0[y0] + y*(px0[y0+1]-px0[y0]));
+            fx1 = REAL(px1[y0] + y*(px1[y0+1]-px1[y0]));
+
+            rp[j] = T(fx0 + x*(fx1-fx0));
+        }
+    }
+
+    delete[] p_y; p_y=NULL;
+    delete[] p_y0; p_y0=NULL;
+}
+
+template<class T>
+void IntImage<T>::CalcIntegralImageInPlace(void)
+// We pad a zero column and a zero row, so 24*24 image will be 25*25 in size
+// if the input image is not padded, the results on 1st row will be problematic
+{
+    for(int i=1;i<ncol;i++)     // process the first line
+    {
+        buf[i] += buf[i-1];
+    }
+    for(int i=1;i<nrow;i++)
+    {
+        REAL partialsum = 0;
+		T* curp = p[i];
+		T* prep = p[i-1];
+        for(int j=0;j<ncol;j++)
+        {
+            partialsum += REAL(curp[j]);
+            curp[j] = prep[j] + partialsum;
+        }
+    }
+}
+
+template<class T>
+void IntImage<T>::Swap(IntImage<T>& image2)
+{
+    Array2dC<T>::Swap(image2);
+    std::swap(variance,image2.variance);
+    std::swap(label,image2.label);
+}
+
+template<class T>
+void IntImage<T>::Sobel(IntImage<REAL>& result,const bool useSqrt,const bool normalize)
+{// compute the Sobel gradient. For now, we just use the very inefficient way. Optimization can be done later
+// if useSqrt = true, we compute the real Sobel gradient; otherwise, the square of it
+// if normalize = true, the numbers are normalized to be in 0..255
+    result.Create(nrow,ncol);
+    for(int i=0;i<nrow;i++) result.p[i][0] = result.p[i][ncol-1] = 0;
+	std::fill(result.p[0],result.p[0]+ncol,0.0);
+	std::fill(result.p[nrow-1],result.p[nrow-1],0.0);
+    for(int i=1;i<nrow-1;i++)
+    {
+		T* p1 = p[i-1];
+		T* p2 = p[i];
+		T* p3 = p[i+1];
+		REAL* pr = result.p[i];
+        for(int j=1;j<ncol-1;j++)
+        {
+            REAL gx =     p1[j-1] - p1[j+1]
+                     + 2*(p2[j-1]   - p2[j+1])
+                     +    p3[j-1] - p3[j+1];
+            REAL gy =     p1[j-1] - p3[j-1]
+                     + 2*(p1[j]   - p3[j])
+                     +    p1[j+1] - p3[j+1];
+           pr[j] = gx*gx+gy*gy;
+        }
+    }
+	if(useSqrt || normalize ) // if we want to normalize the result image, we'd better use the true Sobel gradient
+		for(int i=1;i<nrow-1;i++)
+			for(int j=1;j<ncol-1;j++)
+				result.p[i][j] = sqrt(result.p[i][j]);
+
+    if(normalize)
+    {
+        REAL minv = 1e20, maxv = -minv;
+        for(int i=1;i<nrow-1;i++)
+        {
+            for(int j=1;j<ncol-1;j++)
+            {
+                if(result.p[i][j]<minv)
+                    minv = result.p[i][j];
+                else if(result.p[i][j]>maxv)
+                    maxv = result.p[i][j];
+            }
+        }
+        for(int i=0;i<nrow;i++) result.p[i][0] = result.p[i][ncol-1] = minv;
+        for(int i=0;i<ncol;i++) result.p[0][i] = result.p[nrow-1][i] = minv;
+        REAL s = 255.0/(maxv-minv);
+        for(int i=0;i<nrow*ncol;i++) result.buf[i] = (result.buf[i]-minv)*s;
+    }
+}
+
+#endif //__INTIMAGE_H__

Makefile

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+CC=g++
+WLEVEL=-Wall
+CFLAGS=-c $(WLEVEL) -march=native -O3 `pkg-config --cflags opencv` -ffast-math
+LDFLAGS= `pkg-config --libs opencv`
+SOURCES= Pedestrian_ICRA.cpp main.cpp
+OBJECTS=$(SOURCES:.cpp=.o)
+
+all:  detect
+
+depend:
+	g++ $(CFLAGS) -MM $(SOURCES) > .deps
+
+clean:
+	rm -rf *.o detect *~ *.bak
+
+detect: $(OBJECTS)
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@
+
+.cpp.o:
+	$(CC) $(CFLAGS) $*.cpp
+
+include .deps

Makefile.MinGW64

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+CC=g++
+WLEVEL=-Wall
+CFLAGS=-c $(WLEVEL) -march=native -O3 -Ic:\OpenCV2.2\include -Ic:\OpenCV2.2\include\opencv -ffast-math
+LDFLAGS= -Lc:\OpenCV2.2\MinGW\lib
+SOURCES= Pedestrian_ICRA.cpp main.cpp
+OBJECTS=$(SOURCES:.cpp=.o)
+
+all:  detect
+
+depend:
+	g++ $(CFLAGS) -MM $(SOURCES) > .deps
+
+clean:
+	del *.o detect.exe *~ *.bak
+
+detect: $(OBJECTS)
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@ -lopencv_core220 -lopencv_highgui220 -lopencv_imgproc220
+
+.cpp.o:
+	$(CC) $(CFLAGS) $*.cpp
+
+include .deps

Makefile.win

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+CC = cl.exe
+CFLAGS = -nologo -Ox -EHsc -I. -D _CRT_SECURE_NO_DEPRECATE -D _USE_MATH_DEFINES /fp:fast -c
+
+#IMPORTANT: Make sure that you changed these paths to the one in your computer
+OPENCV_INCLUDE = -I "c:\OpenCV2.2\include\opencv" -I "c:\OpenCV2.2\include"
+OPENCV_LIB = "c:\OpenCV2.2\lib"
+OPENCV = $(OPENCV_INCLUDE)
+
+all: PedDetect.exe
+
+Pedestrian_ICRA.obj: Pedestrian_ICRA.cpp Pedestrian.h mdarray.h IntImage.h
+	$(CC) $(CFLAGS) $(OPENCV) Pedestrian_ICRA.cpp
+
+main.obj: main.cpp
+	$(CC) $(CFLAGS) $(OPENCV) main.cpp
+
+PedDetect.exe: Pedestrian_ICRA.obj main.obj
+	$(CC) $(OPENCV_LIB)\opencv_core220.lib $(OPENCV_LIB)\opencv_highgui220.lib $(OPENCV_LIB)\opencv_imgproc220.lib main.obj Pedestrian_ICRA.obj -o PedDetect.exe
+
+clean:
+    -erase /Q *.obj PedDetect.exe