From 97a7e68f234cc09807d2d55f550e2516be0e9093 Mon Sep 17 00:00:00 2001 From: Francois Fleuret Date: Fri, 28 Sep 2007 08:52:27 +0200 Subject: [PATCH] --- Makefile | 52 + README.txt | 141 +++ array.h | 137 +++ global.cc | 30 + global.h | 54 + gpl-3.0.txt | 674 ++++++++++ integral_array.h | 65 + integral_proba_view.h | 75 ++ misc.cc | 89 ++ misc.h | 39 + normal_law.cc | 37 + normal_law.h | 34 + pom.cc | 317 +++++ pom_solver.cc | 143 +++ pom_solver.h | 75 ++ proba_view.cc | 33 + proba_view.h | 52 + rectangle.cc | 24 + rectangle.h | 25 + rgb_image.cc | 340 ++++++ rgb_image.h | 67 + room.cc | 83 ++ room.h | 57 + test.pom | 2700 +++++++++++++++++++++++++++++++++++++++++ vector.h | 139 +++ 25 files changed, 5482 insertions(+) create mode 100644 Makefile create mode 100644 README.txt create mode 100644 array.h create mode 100644 global.cc create mode 100644 global.h create mode 100644 gpl-3.0.txt create mode 100644 integral_array.h create mode 100644 integral_proba_view.h create mode 100644 misc.cc create mode 100644 misc.h create mode 100644 normal_law.cc create mode 100644 normal_law.h create mode 100644 pom.cc create mode 100644 pom_solver.cc create mode 100644 pom_solver.h create mode 100644 proba_view.cc create mode 100644 proba_view.h create mode 100644 rectangle.cc create mode 100644 rectangle.h create mode 100644 rgb_image.cc create mode 100644 rgb_image.h create mode 100644 room.cc create mode 100644 room.h create mode 100644 test.pom create mode 100644 vector.h diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..4ae6fd4 --- /dev/null +++ b/Makefile @@ -0,0 +1,52 @@ + +#==============================================================================# +# This program is free software: you can redistribute it and/or modify # +# it under the terms of the version 3 of the GNU General Public License # +# as published by the Free Software Foundation. # +# # +# This program is distributed in the hope that it will be useful, but # +# WITHOUT ANY WARRANTY; without even the implied warranty of # +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU # +# General Public License for more details. # +# # +# You should have received a copy of the GNU General Public License # +# along with this program. If not, see . # +# # +# Written by Francois Fleuret # +# (C) Ecole Polytechnique Federale de Lausanne # +# Contact for comments & bug reports # +#==============================================================================# + +ifeq ($(STATIC),yes) + LDFLAGS=-static -lm -lpng -lz +else + LDFLAGS=-lm -lpng +endif + +ifeq ($(DEBUG),yes) + OPTIMIZE_FLAG = -g -DDEBUG +else + OPTIMIZE_FLAG = -g -O3 +endif + +ifeq ($(PROFILE),yes) + PROFILE_FLAG = -pg +endif + +CXXFLAGS = -Wall $(OPTIMIZE_FLAG) $(PROFILE_FLAG) + +all: pom + +pom.tgz: + cd .. ; tar zcvf pom/pom.tgz pom/*.cc pom/*.h pom/Makefile pom/images/*.png pom/test.pom pom/*.txt + +pom: pom.o global.o pom_solver.o proba_view.o normal_law.o rectangle.o room.o misc.o rgb_image.o + $(CXX) $(CXXFLAGS) -o $@ $^ $(LDFLAGS) + +Makefile.depend: *.h *.cc Makefile + $(CC) -M *.cc > Makefile.depend + +clean: + \rm -f pom *.o Makefile.depend + +-include Makefile.depend diff --git a/README.txt b/README.txt new file mode 100644 index 0000000..f8d973f --- /dev/null +++ b/README.txt @@ -0,0 +1,141 @@ + +INTRODUCTION +------------ + + The Probabilistic Occupancy Map is a procedure which estimates the + marginal probabilities of presence of individuals at every location + in an area of interest under a simple appearance model, given binary + images corresponding to the result of a background-subtraction from + different viewpoints. + + The appearance model is parametrized by a family of rectangles which + approximate the silhouettes of individuals standing at every + location of interest, from every point of view. + +INSTALLATION AND TEST +--------------------- + + This program should compile by typing `make' on any standard + GNU/Linux system, as long as the libpng is installed with its header + files. + + To run a simple test on the images provided in the archive just type + + ./pom test.pom + + It will generate several result files in the /tmp directory. + + If the program is not provided with a filename, it will process the + standard input, but will not make any output. + +CONFIGURATION FILE +------------------ + + The configuration file contains the following keywords + + ROOM + + Defines the input image size, the number of cameras and the number + of locations in the area of interest. + + RECTANGLE notvisible| + + Defines the parameters of a certain rectangle, standing for an + individual at a certain location viewed from a certain camera. All + non-specified rectangles are "not visible" by default. + + INPUT_VIEW_FORMAT + + Specifies the filenames of the input images produced by the + background subtraction. The immobile parts should be black (0, 0, + 0) and the moving ones white (255, 255, 255). See FILENAME FORMAT + below. + + RESULT_VIEW_FORMAT + + Specifies the filenames of the result images. See FILENAME FORMAT + below. + + RESULT_FORMAT + + Specifies the filenames of the result probability files, which + contains one marginal probability per line, hence as many lines as + there are locations of interest. See FILENAME FORMAT below. + + CONVERGENCE_VIEW_FORMAT + + Specifies the filenames of the images for individual iteration + during the convergence of the algorithm. Use with care, since tens + of images will be produced for every single frame. See FILENAME + FORMAT below. + + PRIOR + + Sets the prior probability of presence (common to all + locations). Default is 0.01. + + SIGMA_IMAGE_DENSITY + + Sets the variance of the distance between the image produced by + the background subtraction and the ideal synthetic image. Default + is 0.01. + + MAX_NB_SOLVER_ITERATIONS + + Sets a bound on the number of iterations. Default is 100. + + PROBA_IGNORED + + Sets the probability of absence ignored by the solver to speed up + the convergence (use with care, it can produce false + positive). Default is 1.0 + + The file test.pom provided in the archive gives an example. Lines + starting with "#" are ignored. + +FILENAME FORMAT +--------------- + + Every filename format in the configuration file is a string with the + following three "conversion specifications": + + %c camera number + + %f frame number + + %i iteration number + + Some of these fields may be meaningless, depending with the + context. For instance the iteration number is defined only for + CONVERGENCE_VIEW_FORMAT. + +REFERENCES +---------- + + For more information about the POM algorithm, please check the + section V and appendix A of: + + François Fleuret, Jérôme Berclaz, Richard Lengagne and Pascal Fua, + "Multi-Camera People Tracking with a Probabilistic Occupancy Map", + IEEE Transactions on Pattern Analysis and Machine Intelligence + (TPAMI), 2007, to be published. + + This distributed version of the software is slightly slower than the + one described in the article, for which many values such as the + image size were hard-coded in the source to let the compiler + optimize the code. + +LICENSE +------- + + This source code is available under the terms of the version 3 of + the GNU General Public License as published by the Free Software + Foundation. In short: If you distribute a software that uses POM, + you have to distribute it under GPL version 3, hence with the source + code. Another option is to contact us to purchase a commercial + license. + +CONTACT +------- + + Please mail pom@epfl.ch for bug reports, comments and questions. diff --git a/array.h b/array.h new file mode 100644 index 0000000..f921516 --- /dev/null +++ b/array.h @@ -0,0 +1,137 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef ARRAY_H +#define ARRAY_H + +#include +#include +#include + +using namespace std; + +#include "misc.h" + +template +class Array { +public: + int width, height; + // [i][j] is faster on i386 CPU than [i + j * width] + T *content; + T **heads; + + inline void resize(int w, int h) { + delete[] content; + delete[] heads; + width = w; height = h; + content = new T[width * height]; + heads = new T *[width]; + for(int i = 0; i < width; i++) heads[i] = content + i * height; + } + + inline int get_width() const { return width; } + inline int get_height() const { return height; } + + inline Array() : width(0), height(0), content(0), heads(0) { } + + inline Array(int w, int h) : width(w), height(h) { + content = new T[width * height]; + heads = new T *[width]; + for(int i = 0; i < width; i++) heads[i] = content + i * height; + } + + inline Array(const Array &a) : width(a.width), height(a.height) { + content = new T[width * height]; + heads = new T *[width]; + for(int i = 0; i < width; i++) heads[i] = content + i * height; + memcpy(content, a.content, height * width * sizeof(T)); + } + + inline ~Array() { delete[] content; delete[] heads; } + + inline Array &operator = (const Array &a) { + if(this != &a) { + if(a.width != width || a.height != height) resize(a.width, a.height); + if(width > 0 && height > 0) memcpy(content, a.content, height * width * sizeof(T)); + } + return *this; + } + + inline Array& clear() { + memset(content, 0, height * width * sizeof(T)); + return *this; + } + + inline T dot(const Array &a) { + ASSERT(width == a.width && height == a.height, "Size mismatch in Array::dot"); + T *u1 = content, *u2 = a.content; + T s = 0; + for(int i = 0; i < width * height; i++) s += *(u1++) * *(u2++); + return s; + } + + inline T sum_square() { + T *u = content; + T s = 0; + for(int i = 0; i < width * height; i++) { s += *u * *u; u++; } + return s; + } + + inline T sum() { + T *u = content; + T s = 0; + for(int i = 0; i < width * height; i++) s += *(u++); + return s; + } + + inline T &operator () (int i, int j) { + ASSERT(i >= 0 && i < width && j >= 0 && j < height, "Index out of bounds in Array::operator ()"); + return heads[i][j]; + } + + inline T operator () (int i, int j) const { + ASSERT(i >= 0 && i < width && j >= 0 && j < height, "Index out of bounds in Array::operator () const"); + return heads[i][j]; + } + + inline void print(std::ostream &os) const { + for(int i = 0; i < width; i++) for(int j = 0; j < height; j++) + os << heads[i][j] << ((i < width-1) ? ' ' : '\n'); + } + + inline void print_for_gnuplot(std::ostream &os) const { + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) + os << i << " " << j << " " << heads[i][j] << "\n"; + os << "\n"; + } + } + + inline T l2distance(const Array &m) { + ASSERT(m.width == width && m.height == height, "Array size mismatch"); + T r = 0; + for(int i = 0; i < width * height; i++) r += (m.content[i] - content[i]) * (m.content[i] - content[i]); + return r; + } +}; + +template +std::ostream &operator << (std::ostream &os, const Array &v) { v.print(os); return os; } + +#endif diff --git a/global.cc b/global.cc new file mode 100644 index 0000000..db2866e --- /dev/null +++ b/global.cc @@ -0,0 +1,30 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include "global.h" + +scalar_t global_prior = 0.01; +scalar_t global_mu_image_density = 0.0; +scalar_t global_sigma_image_density = 0.01; +scalar_t global_smoothing_coefficient = 0.8; +int global_max_nb_solver_iterations = 100; +scalar_t global_error_max = 1e-4; +int global_nb_stable_error_for_convergence = 5; +scalar_t global_proba_ignored = 1.00; + diff --git a/global.h b/global.h new file mode 100644 index 0000000..342380b --- /dev/null +++ b/global.h @@ -0,0 +1,54 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef GLOBAL_H +#define GLOBAL_H + +#include "misc.h" + +// We used the same prior at every location, but POMSolver::solve +// takes as parameter a vector of priors if you want +extern scalar_t global_prior; + +// The parameters of the Normal law for the conditional image density, +// given the true state. Mu does not appear in the paper, sigma does. +extern scalar_t global_mu_image_density; +extern scalar_t global_sigma_image_density; + +// When we iterate the solver, we smooth the estimate to prevent from +// oscillating effects that tend to appear naturally +extern scalar_t global_smoothing_coefficient; + +// Ugly parameters for defining the convergence of the solver. I guess +// there are far better ways to do + +// Hard bound on the number of iterations +extern int global_max_nb_solver_iterations; + +// What error is considered acceptable +extern scalar_t global_error_max; + +// How many steps under the global_error_max defines convergence +extern int global_nb_stable_error_for_convergence; + +// If the probability of absence is greated than that, ignore the +// avatar in the computation of the average image to save computation +extern scalar_t global_proba_ignored; + +#endif diff --git a/gpl-3.0.txt b/gpl-3.0.txt new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/gpl-3.0.txt @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/integral_array.h b/integral_array.h new file mode 100644 index 0000000..e84141b --- /dev/null +++ b/integral_array.h @@ -0,0 +1,65 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef INTEGRAL_ARRAY_H +#define INTEGRAL_ARRAY_H + +#include + +using namespace std; + +#include "array.h" + +template +class IntegralArray: public Array { +public: + + void compute(const Array *m) { + T *v = Array::content, *w = m->Array::content; + for(int x = 0; x < Array::height; x++) *(v++) = 0; + + register T sl; + for(int y = 1; y < Array::width; y++) { + sl = 0; *(v++) = 0; + for(int x = 0; x < Array::height - 1; x++) { + sl += *(w++); + *(v++) = sl + *(v - Array::height); + } + } + } + + IntegralArray(int w, int h) : Array(w+1, h+1) { } + + IntegralArray(const Array &m) : Array(m->get_width() + 1, m->get_height() + 1) { + compute(m); + } + + // Integral on xmin <= x < xmax, ymin <= y < ymax + // Thus, xmax and ymax can go up to m->width+1 and m->height+1 respectively + + inline T integral(int xmin, int ymin, int xmax, int ymax) const { + ASSERT(xmin <= xmax && ymin <= ymax, "Inconsistent bounds for integral"); + ASSERT(xmin >= 0 && xmax < Array::width && + ymin >= 0 && ymax < Array::height, "Index out of bounds in Array::operator () const"); + return Array::heads[xmax][ymax] + Array::heads[xmin][ymin] + - Array::heads[xmax][ymin] - Array::heads[xmin][ymax]; + } +}; + +#endif diff --git a/integral_proba_view.h b/integral_proba_view.h new file mode 100644 index 0000000..ff164b0 --- /dev/null +++ b/integral_proba_view.h @@ -0,0 +1,75 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef INTEGRAL_PROBA_VIEW_H +#define INTEGRAL_PROBA_VIEW_H + +#include "proba_view.h" +#include "integral_array.h" + +class IntegralProbaView : public IntegralArray { +public: + IntegralProbaView(int view_width, int view_height) : IntegralArray(view_width, view_height) {}; + + // Computes the integral image and returns the sum of all the + // original image pixels + + inline scalar_t compute_sum(const ProbaView *m) { + scalar_t *p = content, *pm = m->content; + for(int x = 0; x < height; x++) *(p++) = 0; + + register scalar_t st = 0; + register scalar_t sl; + for(register int y = 1; y < width; y++) { + sl = 0; *(p++) = sl; + for(register int x = 0; x < height - 1; x++) { + sl += *(pm++); + *p = sl + *(p - height); + p++; + } + st += sl; + } + + return st; + } + + // Computes the integral image and returns the sum of (2m-1)*b + + inline scalar_t compute_sum(const ProbaView *m, const ProbaView *b) { + scalar_t *p = content, *pm = m->content, *pb = b->content; + + for(int x = 0; x < height; x++) *(p++) = 0; + + scalar_t st = 0; + register scalar_t sl; + for(int y = 1; y < width; y++) { + sl = 0; *(p++) = 0; + for(int x = 0; x < height - 1; x++) { + st -= *pb; + sl += *(pm++) * *(pb++); + *p = sl + *(p - height); + p++; + } + st += 2 * sl; + } + + return st; + } +}; +#endif diff --git a/misc.cc b/misc.cc new file mode 100644 index 0000000..adaf6ed --- /dev/null +++ b/misc.cc @@ -0,0 +1,89 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include +#include + +using namespace std; + +#include "misc.h" + +char *next_word(char *buffer, char *r, int buffer_size) { + char *s; + s = buffer; + if(r != 0) { + while((*r == ' ') || (*r == '\t') || (*r == ',')) r++; + if(*r == '"') { + r++; + while((*r != '"') && (*r != '\0') && + (s. // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef MISC_H +#define MISC_H + +#ifdef DEBUG +#define ASSERT(x, s) if(!(x)) { std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << " [" << (s) << "]\n"; abort(); } +#else +#define ASSERT(x, s) +#endif + +typedef double scalar_t; + +template T sq(T x) { return x*x; } + +const int buffer_size = 1024; + +char *next_word(char *buffer, char *r, int buffer_size); + +int pomsprintf(char *buffer, int buffer_length, char *format, int n_camera, int n_frame, int n_iteration); + +#endif diff --git a/normal_law.cc b/normal_law.cc new file mode 100644 index 0000000..02278d8 --- /dev/null +++ b/normal_law.cc @@ -0,0 +1,37 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include "normal_law.h" +#include + +NormalLaw::~NormalLaw() { } + +scalar_t NormalLaw::log_proba(scalar_t x) { + return normalizer - sq(x - expectation)/(2*variance); +} + +scalar_t NormalLaw::proba(scalar_t x) { + return exp(normalizer - sq(x - expectation)/(2*variance)); +} + +void NormalLaw::set(scalar_t e, scalar_t v) { + expectation = e; + variance = v; + normalizer = - 0.5 * log(variance * 2 * M_PI); +} diff --git a/normal_law.h b/normal_law.h new file mode 100644 index 0000000..6f36965 --- /dev/null +++ b/normal_law.h @@ -0,0 +1,34 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef NORMAL_LAW_H +#define NORMAL_LAW_H + +#include "misc.h" + +class NormalLaw { +public: + ~NormalLaw(); + scalar_t expectation, variance, normalizer; + scalar_t log_proba(scalar_t x); + scalar_t proba(scalar_t x); + void set(scalar_t e, scalar_t v); +}; + +#endif diff --git a/pom.cc b/pom.cc new file mode 100644 index 0000000..20498fe --- /dev/null +++ b/pom.cc @@ -0,0 +1,317 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include +#include + +using namespace std; + +#include "misc.h" +#include "global.h" +#include "vector.h" +#include "room.h" +#include "pom_solver.h" + +void check_parameter(char *s, int line_number, char *buffer) { + if(!s) { + cerr << "Missing parameter line " << line_number << ":" << endl; + cerr << buffer << endl; + exit(1); + } +} + +int main(int argc, char **argv) { + + if(argc > 2) { + cerr << argv[0] << " [-h | --help | ]" << endl; + exit(1); + } + + ifstream *configuration_file = 0; + istream *input_stream; + + if(argc > 1) { + if(strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0) { + cout << argv[0] << " [-h | --help | ]" << endl + << endl + << " If a configuration file name is provided, the programs processes it" << endl + << " and prints information about the files it generates. Otherwise, it" << endl + << " reads the standard input and does not produce any output unless an" << endl + << " error occurs." << endl + << endl; + exit(0); + } + configuration_file = new ifstream(argv[1]); + if(configuration_file->fail()) { + cerr << "Can not open " << argv[1] << " for reading." << endl; + exit(1); + } + input_stream = configuration_file; + } else input_stream = &cin; + + char input_view_format[buffer_size] = ""; + char result_format[buffer_size] = ""; + char result_view_format[buffer_size] = ""; + char convergence_view_format[buffer_size] = ""; + + char buffer[buffer_size], token[buffer_size]; + + int line_number = 0; + Vector *proba_views = 0; + + Room *room = 0; + + while(!input_stream->eof()) { + + input_stream->getline(buffer, buffer_size); + line_number++; + + char *s = buffer; + s = next_word(token, s, buffer_size); + + if(strcmp(token, "ROOM") == 0) { + int view_width = -1, view_height = -1; + int nb_positions = -1; + int nb_cameras = -1; + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + view_width = atoi(token); + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + view_height = atoi(token); + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + nb_cameras = atoi(token); + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + nb_positions = atoi(token); + + if(room) { + cerr << "Room already defined, line" << line_number << "." << endl; + exit(1); + } + + room = new Room(view_width, view_height, nb_cameras, nb_positions); + proba_views = new Vector(nb_cameras); + for(int c = 0; c < proba_views->length(); c++) + (*proba_views)[c] = new ProbaView(view_width, view_height); + } + + else if(strcmp(token, "CONVERGENCE_VIEW_FORMAT") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(convergence_view_format, s, buffer_size); + } + + else if(strcmp(token, "INPUT_VIEW_FORMAT") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(input_view_format, s, buffer_size); + } + + else if(strcmp(token, "RESULT_VIEW_FORMAT") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(result_view_format, s, buffer_size); + } + + else if(strcmp(token, "RESULT_FORMAT") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(result_format, s, buffer_size); + } + + else if(strcmp(token, "PROCESS") == 0) { + RGBImage tmp; + int first_frame, nb_frames; + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + first_frame = atoi(token); + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + nb_frames = atoi(token); + + POMSolver solver(room); + + Vector prior(room->nb_positions()); + Vector proba_presence(room->nb_positions()); + for(int i = 0; i < room->nb_positions(); i++) prior[i] = global_prior; + + if(strcmp(input_view_format, "") == 0) { + cerr << "You must specify the input view format." << endl; + exit(1); + } + + for(int f = first_frame; f < first_frame + nb_frames; f++) { + + if(configuration_file) + cout << "Processing frame " << f << endl; + + for(int c = 0; c < room->nb_cameras(); c++) { + pomsprintf(buffer, buffer_size, input_view_format, c, f, 0); + tmp.read_png(buffer); + (*proba_views)[c]->from_image(&tmp); + } + + if(strcmp(convergence_view_format, "") != 0) + solver.solve(room, &prior, proba_views, &proba_presence, f, convergence_view_format); + else + solver.solve(room, &prior, proba_views, &proba_presence, f, 0); + + if(strcmp(result_view_format, "") != 0) + for(int c = 0; c < room->nb_cameras(); c++) { + pomsprintf(buffer, buffer_size, result_view_format, c, f, 0); + if(configuration_file) + cout << "Saving " << buffer << endl; + room->save_stochastic_view(buffer, c, (*proba_views)[c], &proba_presence); + } + + if(strcmp(result_format, "") != 0) { + pomsprintf(buffer, buffer_size, result_format, 0, f, 0); + ofstream result(buffer); + if(result.fail()) { + cerr << "Can not open " << token << " for writing." << endl; + exit(1); + } + if(configuration_file) + cout << "Saving " << buffer << endl; + for(int i = 0; i < room->nb_positions(); i++) + result << i << " " << proba_presence[i] << endl; + result.flush(); + } + } + } + + else if(strcmp(token, "RECTANGLE") == 0) { + int n_camera, n_position; + + if(!room) { + cerr << "You must define a room before adding rectangles, line" << line_number << "." << endl; + exit(1); + } + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + n_camera = atoi(token); + + if(n_camera < 0 || n_camera >= room->nb_cameras()) { + cerr << "Out of range camera number line " << line_number << "." << endl; + exit(1); + } + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + n_position = atoi(token); + + if(n_position < 0 || n_camera >= room->nb_positions()) { + cerr << "Out of range position number line " << line_number << "." << endl; + exit(1); + } + + Rectangle *current = room->avatar(n_camera, n_position); + + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + if(strcmp(token, "notvisible") == 0) { + current->visible = false; + current->xmin = -1; + current->ymin = -1; + current->xmax = -1; + current->ymax = -1; + } else { + current->visible = true; + current->xmin = atoi(token); + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + current->ymin = atoi(token); + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + current->xmax = atoi(token); + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + current->ymax = atoi(token); + + if(current->xmin < 0 || current->xmax >= room->view_width() || + current->ymin < 0 || current->ymax >= room->view_height()) { + cerr << "Rectangle out of bounds, line " << line_number << endl; + exit(1); + } + } + } + + else if(strcmp(token, "PRIOR") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_prior = atof(token); + } + + else if(strcmp(token, "SIGMA_IMAGE_DENSITY") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_sigma_image_density = atof(token); + } + + else if(strcmp(token, "SMOOTHING_COEFFICIENT") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_smoothing_coefficient = atof(token); + } + + else if(strcmp(token, "MAX_NB_SOLVER_ITERATIONS") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_max_nb_solver_iterations = atoi(token); + } + + else if(strcmp(token, "ERROR_MAX") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_error_max = atof(token); + } + + else if(strcmp(token, "NB_STABLE_ERROR_FOR_CONVERGENCE") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_nb_stable_error_for_convergence = atoi(token); + } + + else if(strcmp(token, "PROBA_IGNORED") == 0) { + check_parameter(s, line_number, buffer); + s = next_word(token, s, buffer_size); + global_proba_ignored = atof(token); + } + + else if(strcmp(buffer, "") == 0 || buffer[0] == '#') { } + + else { + cerr << "Unknown token " << token << "."; + exit(1); + } + } + + if(proba_views) + for(int c = 0; c < proba_views->length(); c++) delete (*proba_views)[c]; + + delete proba_views; + delete room; + + delete configuration_file; +} diff --git a/pom_solver.cc b/pom_solver.cc new file mode 100644 index 0000000..76cc9a5 --- /dev/null +++ b/pom_solver.cc @@ -0,0 +1,143 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include +#include +#include + +using namespace std; + +#include "pom_solver.h" +#include "global.h" + +////////////////////////////////////////////////////////////////////// + +POMSolver::POMSolver(Room *room) : neg(room->view_width(), room->view_height()), + neg_view(room->view_width(), room->view_height()), + ii_neg(room->view_width(), room->view_height()), + ii_neg_view(room->view_width(), room->view_height()) { + global_difference.set(global_mu_image_density, global_sigma_image_density); +} + +////////////////////////////////////////////////////////////////////// + +void POMSolver::compute_average_images(int camera, + Room *room, + Vector *proba_absence) { + neg.fill(1.0); + + for(int n = 0; n < room->nb_positions(); n++) if((*proba_absence)[n] <= global_proba_ignored) { + Rectangle *r = room->avatar(camera, n); + if(r->visible) + neg.multiply_subarray(r->xmin, r->ymin, r->xmax + 1, r->ymax + 1, (*proba_absence)[n]); + } +} + +////////////////////////////////////////////////////////////////////// + +void POMSolver::add_log_ratio(int camera, + Room *room, + ProbaView *view, + Vector *proba_absence, + Vector *sum) { + + // Computes the average on the complete picture + + compute_average_images(camera, room, proba_absence); + + double s = ii_neg.compute_sum(&neg); + double sv = ii_neg_view.compute_sum(&neg, view); + + scalar_t noise_proba = 0.01; // 1% of the scene can remain unexplained + scalar_t average_surface = room->view_width() * room->view_height() * (1 + noise_proba) - s; + scalar_t average_diff = average_surface + sv; + + // Cycles throw all positions and adds the log likelihood ratio to + // the total sum for each + + for(int i = 0; i < room->nb_positions(); i++) { + Rectangle *r = room->avatar(camera, i); + if(r->visible) { + scalar_t lambda = 1 - 1/(*proba_absence)[i]; + + scalar_t integral_neg = ii_neg.integral(r->xmin, r->ymin, r->xmax + 1, r->ymax + 1); + scalar_t average_surface_givpre = average_surface + integral_neg; + scalar_t average_surface_givabs = average_surface + lambda * integral_neg; + + scalar_t integral_neg_view = ii_neg_view.integral(r->xmin, r->ymin, r->xmax + 1, r->ymax + 1); + scalar_t average_diff_givpre = average_diff + integral_neg - 2 * integral_neg_view; + scalar_t average_diff_givabs = average_diff + lambda * (integral_neg - 2 * integral_neg_view); + + scalar_t log_mu0 = global_difference.log_proba(average_diff_givabs / average_surface_givabs); + scalar_t log_mu1 = global_difference.log_proba(average_diff_givpre / average_surface_givpre); + + (*sum)[i] += log_mu1 - log_mu0; + + } + } +} + +void POMSolver::solve(Room *room, + Vector *prior, + Vector *views, + Vector *proba_presence, + int nb_frame, + char *convergence_file_format) { + + Vector log_prior_ratio(prior->length()); + + Vector sum(room->nb_positions()); + Vector proba_absence(room->nb_positions()); + + for(int i = 0; i < room->nb_positions(); i++) { + log_prior_ratio[i] = log((*prior)[i]/(1 - (*prior)[i])); + proba_absence[i] = 1 - (*prior)[i]; + } + + int nb_stab = 0; + + for(int it = 0; (nb_stab < global_nb_stable_error_for_convergence) && (it < global_max_nb_solver_iterations); it++) { + + sum.clear(); + for(int c = 0; c < room->nb_cameras(); c++) + add_log_ratio(c, room, (*views)[c], &proba_absence, &sum); + + scalar_t e = 0; + for(int i = 0; i < room->nb_positions(); i++) { + scalar_t np = global_smoothing_coefficient * proba_absence[i] + (1 - global_smoothing_coefficient) / (1 + exp(log_prior_ratio[i] + sum[i])); + if(abs(proba_absence[i] - np) > e) e = abs(proba_absence[i] - np); + proba_absence[i] = np; + } + + if(e < global_error_max) nb_stab++; else nb_stab = 0; + + if(convergence_file_format) { + char buffer[buffer_size]; + for(int p = 0; p < room->nb_positions(); p++) (*proba_presence)[p] = 1 - proba_absence[p]; + for(int c = 0; c < room->nb_cameras(); c++) { + pomsprintf(buffer, buffer_size, convergence_file_format, c, nb_frame, it); + cout << "Saving " << buffer << "\n"; cout.flush(); + room->save_stochastic_view(buffer, c, (*views)[c], proba_presence); + } + } + + } + + for(int p = 0; p < room->nb_positions(); p++) (*proba_presence)[p] = 1 - proba_absence[p]; +} diff --git a/pom_solver.h b/pom_solver.h new file mode 100644 index 0000000..b0624b4 --- /dev/null +++ b/pom_solver.h @@ -0,0 +1,75 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef POM_SOLVER_H +#define POM_SOLVER_H + +#include "misc.h" +#include "integral_proba_view.h" +#include "normal_law.h" +#include "room.h" + +class POMSolver { + + // At each pixel the proba for the pixel to be off + + ProbaView neg; + + // At each pixel, 0 if the view is 0, and the proba for the pixel to + // be off if the view is 1 (or, more mathematically: neg * view) + + ProbaView neg_view; + + // Integral images to speed-up computation + + IntegralProbaView ii_neg, ii_neg_view; + + // Distribution of surface_difference / surface_synthetic + + NormalLaw global_difference; + + void compute_average_images(int camera, + Room *room, + Vector *proba_absence); + + // Adds to every sum[i] the value log(P(X_i = 1 | V_camera) / P(X_i + // = 0 | V_camera)), given the other P(X_j = 1 | V) + + void add_log_ratio(int camera, + Room *room, + ProbaView *view, + Vector *proba_absence, + Vector *sum); + +public: + + POMSolver(Room *room); + + // Uses the computation above for the various cameras and the prior + // to refresh proba_absence. Iterates as many times as specified. + + void solve(Room *room, + Vector *prior, + Vector *views, + Vector *proba_presence, + int nb_frame, + char *convergence_file_format); +}; + +#endif diff --git a/proba_view.cc b/proba_view.cc new file mode 100644 index 0000000..3bf3faf --- /dev/null +++ b/proba_view.cc @@ -0,0 +1,33 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include "proba_view.h" + +ProbaView::ProbaView(int view_width, int view_height) : Array(view_width, view_height) { } + +void ProbaView::from_image(const RGBImage *image) { + ASSERT(image->width() == width && image->height() == height, + "Image size missmatch"); + int k = 0; + for(int x = 0; x < width; x++) for(int y = 0; y < height; y++) { + content[k++] = scalar_t(image->pixel(x, y, 0) + + image->pixel(x, y, 1) + + image->pixel(x, y, 2))/(3 * 255); + } +} diff --git a/proba_view.h b/proba_view.h new file mode 100644 index 0000000..1433043 --- /dev/null +++ b/proba_view.h @@ -0,0 +1,52 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef PROBA_VIEW_H +#define PROBA_VIEW_H + +#include "misc.h" +#include "array.h" +#include "rgb_image.h" + +class ProbaView : public Array { +public: + ProbaView(int view_width, int view_height); + + void from_image(const RGBImage *picture); + + inline void fill(const scalar_t &t) { + register scalar_t *s = content; + register int i = 0; + for(i = 0; i < width * height - 7; i += 8) { + *(s++) = t; *(s++) = t; *(s++) = t; *(s++) = t; + *(s++) = t; *(s++) = t; *(s++) = t; *(s++) = t; + } + for(; i < width * height; i++) *(s++) = t; + } + + inline void multiply_subarray(int xmin, int ymin, int xmax, int ymax, scalar_t k) { + register scalar_t *s = content + xmin * height + ymin; + for(register int x = 0; x < xmax - xmin; x++) { + for(register int y = 0; y < ymax - ymin; y++) *(s++) *= k; + s += height - ymax + ymin; + } + } +}; + +#endif diff --git a/rectangle.cc b/rectangle.cc new file mode 100644 index 0000000..82739b3 --- /dev/null +++ b/rectangle.cc @@ -0,0 +1,24 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include "rectangle.h" + +Rectangle::Rectangle() { + visible = false; +} diff --git a/rectangle.h b/rectangle.h new file mode 100644 index 0000000..6ac5f0c --- /dev/null +++ b/rectangle.h @@ -0,0 +1,25 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +class Rectangle { +public: + bool visible; + int xmin, ymin, xmax, ymax; + Rectangle(); +}; diff --git a/rgb_image.cc b/rgb_image.cc new file mode 100644 index 0000000..26d4e3c --- /dev/null +++ b/rgb_image.cc @@ -0,0 +1,340 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include +#include + +using namespace std; + +#include + +#include "rgb_image.h" + +void RGBImage::allocate() { + _bit_plans = new unsigned char **[RGB_DEPTH]; + _bit_lines = new unsigned char *[RGB_DEPTH * _height]; + _bit_map = new unsigned char [_width * _height * RGB_DEPTH]; + for(int k = 0; k < RGB_DEPTH; k++) _bit_plans[k] = _bit_lines + k * _height; + for(int k = 0; k < RGB_DEPTH * _height; k++) _bit_lines[k] = _bit_map + k * _width; +} + +void RGBImage::deallocate() { + delete[] _bit_plans; + delete[] _bit_lines; + delete[] _bit_map; +} + +RGBImage::RGBImage() : _bit_plans(0), _bit_lines(0), _bit_map(0) { } + +RGBImage::RGBImage(int width, int height) : _width(width), _height(height) { + allocate(); + memset(_bit_map, 0, _width * _height * RGB_DEPTH * sizeof(unsigned char)); +} + +RGBImage::~RGBImage() { + deallocate(); +} + +void RGBImage::write_ppm(const char *filename) { + FILE *outfile; + + if ((outfile = fopen (filename, "wb")) == 0) { + fprintf (stderr, "Can't open %s for reading\n", filename); + exit(1); + } + + fprintf(outfile, "P6\n%d %d\n255\n", _width, _height); + + char *raw = new char[_width * _height * 3]; + + int k = 0; + for(int y = 0; y < _height; y++) for(int x = 0; x < _width; x++) { + raw[k++] = _bit_map[x + _width * (y + _height * RED)]; + raw[k++] = _bit_map[x + _width * (y + _height * GREEN)]; + raw[k++] = _bit_map[x + _width * (y + _height * BLUE)]; + } + + fwrite((void *) raw, sizeof(unsigned char), _width * _height * 3, outfile); + fclose(outfile); + + delete[] raw; +} + +void RGBImage::read_ppm(const char *filename) { + const int buffer_size = 1024; + FILE *infile; + char buffer[buffer_size]; + int max; + + deallocate(); + + if((infile = fopen (filename, "r")) == 0) { + fprintf (stderr, "Can't open %s for reading\n", filename); + exit(1); + } + + fgets(buffer, buffer_size, infile); + + if(strncmp(buffer, "P6", 2) == 0) { + + do { + fgets(buffer, buffer_size, infile); + } while((buffer[0] < '0') || (buffer[0] > '9')); + sscanf(buffer, "%d %d", &_width, &_height); + fgets(buffer, buffer_size, infile); + sscanf(buffer, "%d", &max); + + allocate(); + + unsigned char *raw = new unsigned char[_width * _height * RGB_DEPTH]; + fread(raw, sizeof(unsigned char), _width * _height * RGB_DEPTH, infile); + + int k = 0; + for(int y = 0; y < _height; y++) for(int x = 0; x < _width; x++) { + _bit_plans[RED][y][x] = raw[k++]; + _bit_plans[GREEN][y][x] = raw[k++]; + _bit_plans[BLUE][y][x] = raw[k++]; + } + + delete[] raw; + + } else if(strncmp(buffer, "P5", 2) == 0) { + + do { + fgets(buffer, buffer_size, infile); + } while((buffer[0] < '0') || (buffer[0] > '9')); + sscanf(buffer, "%d %d", &_width, &_height); + fgets(buffer, buffer_size, infile); + sscanf(buffer, "%d", &max); + + allocate(); + + unsigned char *pixbuf = new unsigned char[_width * _height]; + fread(buffer, sizeof(unsigned char), _width * _height, infile); + + int k = 0, l = 0; + for(int y = 0; y < _height; y++) for(int x = 0; x < _width; x++) { + unsigned char c = pixbuf[k++]; + _bit_map[l++] = c; + _bit_map[l++] = c; + _bit_map[l++] = c; + } + + delete[] pixbuf; + + } else { + cerr << "Can not read ppm of type [" << buffer << "] from " << filename << ".\n"; + exit(1); + } +} + +void RGBImage::read_png(const char* filename) { + // This is the number of bytes the read_png routine will read to + // decide if the file is a PNG or not. According to the png + // documentation, it can be 1 to 8 bytes, 8 being the max and the + // best. + + const int header_size = 8; + + png_byte header[header_size]; + png_bytep *row_pointers; + + deallocate(); + + // open file + FILE *fp = fopen(filename, "rb"); + if (!fp) { + cerr << "Unable to open file " << filename << " for reading.\n"; + exit(1); + } + + // read header + fread(header, 1, header_size, fp); + if (png_sig_cmp(header, 0, header_size)) { + cerr << "File " << filename << " does not look like PNG.\n"; + fclose(fp); + exit(1); + } + + // create png pointer + png_structp png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING, 0, 0, 0); + if (!png_ptr) { + cerr << "png_create_read_struct failed\n"; + fclose(fp); + exit(1); + } + + // create png info struct + png_infop info_ptr = png_create_info_struct(png_ptr); + if (!info_ptr) { + png_destroy_read_struct(&png_ptr, (png_infopp) 0, (png_infopp) 0); + cerr << "png_create_info_struct failed\n"; + fclose(fp); + exit(1); + } + + // get image info + png_init_io(png_ptr, fp); + png_set_sig_bytes(png_ptr, header_size); + png_read_info(png_ptr, info_ptr); + + _width = info_ptr->width; + _height = info_ptr->height; + + png_byte bit_depth, color_type, channels; + color_type = info_ptr->color_type; + bit_depth = info_ptr->bit_depth; + channels = info_ptr->channels; + + if(bit_depth != 8) { + cerr << "Can only read 8-bits PNG images." << endl; + exit(1); + } + + // allocate image pointer + row_pointers = (png_bytep*) malloc(sizeof(png_bytep) * _height); + for (int y = 0; y < _height; y++) + row_pointers[y] = (png_byte*) malloc(info_ptr->rowbytes); + + allocate(); + + // read image + png_read_image(png_ptr, row_pointers); + + // send image to red, green and blue buffers + switch (color_type) { + case PNG_COLOR_TYPE_GRAY: + { + unsigned char pixel = 0; + for (int y = 0; y < _height; y++) for (int x = 0; x < _width; x++) { + pixel = row_pointers[y][x]; + _bit_plans[RED][y][x] = pixel; + _bit_plans[GREEN][y][x] = pixel; + _bit_plans[BLUE][y][x] = pixel; + } + } + break; + + case PNG_COLOR_TYPE_GRAY_ALPHA: + cerr << "PNG type GRAY_ALPHA not supported.\n"; + exit(1); + break; + + case PNG_COLOR_TYPE_PALETTE: + cerr << "PNG type PALETTE not supported.\n"; + exit(1); + break; + + case PNG_COLOR_TYPE_RGB: + { + if(channels != RGB_DEPTH) { + cerr << "Unsupported number of channels for RGB type\n"; + break; + } + int k; + for (int y = 0; y < _height; y++) { + k = 0; + for (int x = 0; x < _width; x++) { + _bit_plans[RED][y][x] = row_pointers[y][k++]; + _bit_plans[GREEN][y][x] = row_pointers[y][k++]; + _bit_plans[BLUE][y][x] = row_pointers[y][k++]; + } + } + } + break; + + case PNG_COLOR_TYPE_RGB_ALPHA: + cerr << "PNG type RGB_ALPHA not supported.\n"; + exit(1); + break; + + default: + cerr << "Unknown PNG type\n"; + exit(1); + } + + // release memory + png_destroy_read_struct(&png_ptr, &info_ptr, 0); + + for (int y = 0; y < _height; y++) free(row_pointers[y]); + free(row_pointers); + + fclose(fp); +} + +void RGBImage::write_png(const char *filename) { + png_bytep *row_pointers; + + // create file + FILE *fp = fopen(filename, "wb"); + + if (!fp) { + cerr << "Unable to create image '" << filename << "'\n"; + exit(1); + } + + png_structp png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, 0, 0, 0); + + if (!png_ptr) { + cerr << "png_create_write_struct failed\n"; + fclose(fp); + exit(1); + } + + png_infop info_ptr = png_create_info_struct(png_ptr); + if (!info_ptr) { + cerr << "png_create_info_struct failed\n"; + fclose(fp); + exit(1); + } + + png_init_io(png_ptr, fp); + + png_set_IHDR(png_ptr, info_ptr, _width, _height, + 8, 2, PNG_INTERLACE_NONE, + PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE); + + png_write_info(png_ptr, info_ptr); + + // allocate memory + row_pointers = (png_bytep*) malloc(sizeof(png_bytep) * _height); + for (int y = 0; y < _height; y++) + row_pointers[y] = (png_byte*) malloc(info_ptr->rowbytes); + + int k; + for (int y = 0; y < _height; y++) { + k = 0; + for (int x = 0; x < _width; x++) { + row_pointers[y][k++] = _bit_map[x + _width * (y + _height * RED)]; + row_pointers[y][k++] = _bit_map[x + _width * (y + _height * GREEN)]; + row_pointers[y][k++] = _bit_map[x + _width * (y + _height * BLUE)]; + } + } + + png_write_image(png_ptr, row_pointers); + png_write_end(png_ptr, 0); + + png_destroy_write_struct(&png_ptr, &info_ptr); + + // cleanup heap allocation + for (int y = 0; y < _height; y++) free(row_pointers[y]); + free(row_pointers); + + fclose(fp); +} diff --git a/rgb_image.h b/rgb_image.h new file mode 100644 index 0000000..c0e0c43 --- /dev/null +++ b/rgb_image.h @@ -0,0 +1,67 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef RGB_IMAGE_H +#define RGB_IMAGE_H + +#include "misc.h" + +using namespace std; + +class RGBImage { +protected: + int _width, _height; + unsigned char ***_bit_plans, **_bit_lines, *_bit_map; + static const int RED = 0; + static const int GREEN = 1; + static const int BLUE = 2; + static const int RGB_DEPTH = 3; + + void allocate(); + void deallocate(); + +public: + + RGBImage(); + RGBImage(int width, int height); + virtual ~RGBImage(); + + inline int width() const { return _width; } + inline int height() const { return _height; } + + inline void set_pixel(int x, int y, unsigned char r, unsigned char g, unsigned char b) { + ASSERT(x >= 0 && x < _width && y >= 0 && y < _height, "Out of bounds."); + _bit_plans[RED][y][x] = r; + _bit_plans[GREEN][y][x] = g; + _bit_plans[BLUE][y][x] = b; + } + + inline unsigned char pixel(int x, int y, int d) const { + ASSERT(x >= 0 && x < _width && y >= 0 && y < _height && d >= 0 && d < RGB_DEPTH, "Out of bounds."); + return _bit_plans[d][y][x]; + } + + virtual void read_ppm(const char *filename); + virtual void write_ppm(const char *filename); + + virtual void read_png(const char *filename); + virtual void write_png(const char *filename); +}; + +#endif diff --git a/room.cc b/room.cc new file mode 100644 index 0000000..ad03036 --- /dev/null +++ b/room.cc @@ -0,0 +1,83 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#include + +#include "room.h" +#include "misc.h" + +Room::Room(int view_width, int view_height, int nb_cameras, int nb_positions) { + _view_width = view_width; + _view_height = view_height; + _nb_cameras = nb_cameras; + _nb_positions = nb_positions; + _rectangles = new Rectangle[_nb_cameras * _nb_positions]; +} + +Room::~Room() { + delete[] _rectangles; +} + +void Room::save_stochastic_view(char *name, + int n_camera, + const ProbaView *view, + const Vector *proba_presence) const { + + RGBImage image(view->get_width(), view->get_height()); + + Array proba_pixel_off(_view_width, _view_height); + + for(int px = 0; px < _view_width; px++) for(int py = 0; py < _view_height; py++) + proba_pixel_off(px, py) = 1.0; + + Array dots(_view_width, _view_height); + dots.clear(); + + for(int n = 0; n < nb_positions(); n++) { + Rectangle *r = avatar(n_camera, n); + if(r->visible) { + for(int py = r->ymin; py < r->ymax; py++) + for(int px = r->xmin; px < r->xmax; px++) + proba_pixel_off(px, py) *= (1 - (*proba_presence)[n]); + if(r->xmin > 0 && r->xmax < _view_width-1 && r->ymax < _view_height-1) + dots((r->xmax + r->xmin)/2, r->ymax) = true; + } + } + + for(int py = 0; py < _view_height; py++) for(int px = 0; px < _view_width; px++) { + scalar_t r, g, b; + scalar_t a = proba_pixel_off(px, py); + + if(dots(px, py)) { r = 0.0; g = 0.0; b = 0.0; } + else { + if(a < 0.5) { r = 0; g = 0; b = 2*a; } + else { r = (a - 0.5) * 2; g = (a - 0.5) * 2; b = 1.0; } + } + + scalar_t c = (*view)(px, py); + + r = c * 0.0 + (1 - c) * r; + g = c * 0.8 + (1 - c) * g; + b = c * 0.6 + (1 - c) * b; + + image.set_pixel(px, py, (unsigned char) (255 * r), (unsigned char) (255 * g), (unsigned char) (255 * b)); + } + + image.write_png(name); +} diff --git a/room.h b/room.h new file mode 100644 index 0000000..f8c4c90 --- /dev/null +++ b/room.h @@ -0,0 +1,57 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef ROOM_H +#define ROOM_H + +#include "rectangle.h" +#include "proba_view.h" +#include "vector.h" + +using namespace std; + +class Room { + + int _nb_cameras, _nb_positions; + int _view_width, _view_height; + + Rectangle *_rectangles; + +public: + + Room(int view_width, int view_height, int nb_cameras, int nb_positions); + ~Room(); + + inline int nb_positions() const { return _nb_positions; } + inline int nb_cameras() const { return _nb_cameras; } + inline int view_width() const { return _view_width; } + inline int view_height() const { return _view_height; } + + inline Rectangle *avatar(int n_camera, int n_position) const { + ASSERT(n_camera >= 0 && n_camera < _nb_cameras && + n_position >= 0 && n_position < _nb_positions, + "Index out of bounds"); + return _rectangles + n_camera * _nb_positions + n_position; + } + + void save_stochastic_view(char *name, int ncam, const ProbaView *view, + const Vector *proba_presence) const; +}; + +#endif diff --git a/test.pom b/test.pom new file mode 100644 index 0000000..a785bb1 --- /dev/null +++ b/test.pom @@ -0,0 +1,2700 @@ + +# Simple file for the Probabilistic Occupancy Map + +# The images are of resolution 160x120, there are two cameras and 1332 +# locations of interest + +ROOM 160 120 2 1332 + +# The rectangles modeling silhouettes for every camera and location + +RECTANGLE 0 0 notvisible +RECTANGLE 0 1 notvisible +RECTANGLE 0 2 notvisible +RECTANGLE 0 3 notvisible +RECTANGLE 0 4 notvisible +RECTANGLE 0 5 notvisible +RECTANGLE 0 6 notvisible +RECTANGLE 0 7 notvisible +RECTANGLE 0 8 notvisible +RECTANGLE 0 9 notvisible +RECTANGLE 0 10 notvisible +RECTANGLE 0 11 notvisible +RECTANGLE 0 12 notvisible +RECTANGLE 0 13 notvisible +RECTANGLE 0 14 notvisible +RECTANGLE 0 15 notvisible +RECTANGLE 0 16 notvisible +RECTANGLE 0 17 notvisible +RECTANGLE 0 18 notvisible +RECTANGLE 0 19 notvisible +RECTANGLE 0 20 notvisible +RECTANGLE 0 21 notvisible +RECTANGLE 0 22 notvisible +RECTANGLE 0 23 notvisible +RECTANGLE 0 24 notvisible +RECTANGLE 0 25 notvisible +RECTANGLE 0 26 notvisible +RECTANGLE 0 27 notvisible +RECTANGLE 0 28 notvisible +RECTANGLE 0 29 notvisible +RECTANGLE 0 30 notvisible +RECTANGLE 0 31 notvisible +RECTANGLE 0 32 notvisible +RECTANGLE 0 33 notvisible +RECTANGLE 0 34 notvisible +RECTANGLE 0 35 notvisible +RECTANGLE 0 36 notvisible +RECTANGLE 0 37 notvisible +RECTANGLE 0 38 notvisible +RECTANGLE 0 39 notvisible +RECTANGLE 0 40 notvisible +RECTANGLE 0 41 notvisible +RECTANGLE 0 42 notvisible +RECTANGLE 0 43 notvisible +RECTANGLE 0 44 notvisible +RECTANGLE 0 45 notvisible +RECTANGLE 0 46 notvisible +RECTANGLE 0 47 notvisible +RECTANGLE 0 48 notvisible +RECTANGLE 0 49 notvisible +RECTANGLE 0 50 notvisible +RECTANGLE 0 51 notvisible +RECTANGLE 0 52 notvisible +RECTANGLE 0 53 notvisible +RECTANGLE 0 54 notvisible +RECTANGLE 0 55 notvisible +RECTANGLE 0 56 notvisible +RECTANGLE 0 57 notvisible +RECTANGLE 0 58 notvisible +RECTANGLE 0 59 notvisible +RECTANGLE 0 60 notvisible +RECTANGLE 0 61 notvisible +RECTANGLE 0 62 notvisible +RECTANGLE 0 63 notvisible +RECTANGLE 0 64 notvisible +RECTANGLE 0 65 notvisible +RECTANGLE 0 66 notvisible +RECTANGLE 0 67 notvisible +RECTANGLE 0 68 notvisible +RECTANGLE 0 69 notvisible +RECTANGLE 0 70 notvisible +RECTANGLE 0 71 notvisible +RECTANGLE 0 72 notvisible +RECTANGLE 0 73 notvisible +RECTANGLE 0 74 notvisible +RECTANGLE 0 75 notvisible +RECTANGLE 0 76 notvisible +RECTANGLE 0 77 notvisible +RECTANGLE 0 78 notvisible +RECTANGLE 0 79 notvisible +RECTANGLE 0 80 notvisible +RECTANGLE 0 81 notvisible +RECTANGLE 0 82 notvisible +RECTANGLE 0 83 notvisible +RECTANGLE 0 84 notvisible +RECTANGLE 0 85 notvisible +RECTANGLE 0 86 notvisible +RECTANGLE 0 87 notvisible +RECTANGLE 0 88 notvisible +RECTANGLE 0 89 notvisible 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notvisible +RECTANGLE 0 162 notvisible +RECTANGLE 0 163 notvisible +RECTANGLE 0 164 notvisible +RECTANGLE 0 165 notvisible +RECTANGLE 0 166 notvisible +RECTANGLE 0 167 notvisible +RECTANGLE 0 168 notvisible +RECTANGLE 0 169 notvisible +RECTANGLE 0 170 notvisible +RECTANGLE 0 171 notvisible +RECTANGLE 0 172 notvisible +RECTANGLE 0 173 notvisible +RECTANGLE 0 174 notvisible +RECTANGLE 0 175 notvisible +RECTANGLE 0 176 notvisible +RECTANGLE 0 177 notvisible +RECTANGLE 0 178 notvisible +RECTANGLE 0 179 notvisible +RECTANGLE 0 180 notvisible +RECTANGLE 0 181 notvisible +RECTANGLE 0 182 notvisible +RECTANGLE 0 183 notvisible +RECTANGLE 0 184 notvisible +RECTANGLE 0 185 notvisible +RECTANGLE 0 186 notvisible +RECTANGLE 0 187 notvisible +RECTANGLE 0 188 notvisible +RECTANGLE 0 189 notvisible +RECTANGLE 0 190 notvisible +RECTANGLE 0 191 notvisible +RECTANGLE 0 192 notvisible +RECTANGLE 0 193 notvisible +RECTANGLE 0 194 notvisible +RECTANGLE 0 195 notvisible +RECTANGLE 0 196 notvisible +RECTANGLE 0 197 notvisible +RECTANGLE 0 198 notvisible +RECTANGLE 0 199 notvisible +RECTANGLE 0 200 notvisible +RECTANGLE 0 201 notvisible +RECTANGLE 0 202 notvisible +RECTANGLE 0 203 notvisible +RECTANGLE 0 204 notvisible +RECTANGLE 0 205 notvisible +RECTANGLE 0 206 notvisible +RECTANGLE 0 207 notvisible +RECTANGLE 0 208 notvisible +RECTANGLE 0 209 notvisible +RECTANGLE 0 210 notvisible +RECTANGLE 0 211 notvisible +RECTANGLE 0 212 notvisible +RECTANGLE 0 213 notvisible +RECTANGLE 0 214 notvisible +RECTANGLE 0 215 notvisible +RECTANGLE 0 216 notvisible +RECTANGLE 0 217 notvisible +RECTANGLE 0 218 notvisible +RECTANGLE 0 219 notvisible +RECTANGLE 0 220 notvisible +RECTANGLE 0 221 notvisible +RECTANGLE 0 222 notvisible +RECTANGLE 0 223 notvisible +RECTANGLE 0 224 notvisible +RECTANGLE 0 225 notvisible +RECTANGLE 0 226 notvisible +RECTANGLE 0 227 notvisible +RECTANGLE 0 228 notvisible +RECTANGLE 0 229 notvisible +RECTANGLE 0 230 notvisible +RECTANGLE 0 231 notvisible +RECTANGLE 0 232 notvisible +RECTANGLE 0 233 notvisible +RECTANGLE 0 234 notvisible +RECTANGLE 0 235 notvisible +RECTANGLE 0 236 notvisible +RECTANGLE 0 237 notvisible +RECTANGLE 0 238 notvisible +RECTANGLE 0 239 notvisible +RECTANGLE 0 240 notvisible +RECTANGLE 0 241 notvisible +RECTANGLE 0 242 notvisible +RECTANGLE 0 243 notvisible +RECTANGLE 0 244 notvisible +RECTANGLE 0 245 notvisible +RECTANGLE 0 246 notvisible +RECTANGLE 0 247 notvisible +RECTANGLE 0 248 notvisible +RECTANGLE 0 249 notvisible +RECTANGLE 0 250 notvisible +RECTANGLE 0 251 notvisible +RECTANGLE 0 252 notvisible +RECTANGLE 0 253 notvisible +RECTANGLE 0 254 notvisible +RECTANGLE 0 255 notvisible +RECTANGLE 0 256 notvisible +RECTANGLE 0 257 notvisible +RECTANGLE 0 258 notvisible +RECTANGLE 0 259 notvisible +RECTANGLE 0 260 notvisible +RECTANGLE 0 261 notvisible +RECTANGLE 0 262 notvisible +RECTANGLE 0 263 notvisible +RECTANGLE 0 264 notvisible +RECTANGLE 0 265 notvisible +RECTANGLE 0 266 notvisible +RECTANGLE 0 267 notvisible 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+RECTANGLE 1 1321 67 2 79 39 +RECTANGLE 1 1322 63 3 75 39 +RECTANGLE 1 1323 59 3 71 39 +RECTANGLE 1 1324 55 3 67 39 +RECTANGLE 1 1325 51 3 63 39 +RECTANGLE 1 1326 47 3 59 39 +RECTANGLE 1 1327 43 3 54 38 +RECTANGLE 1 1328 39 3 50 38 +RECTANGLE 1 1329 35 3 46 38 +RECTANGLE 1 1330 31 3 42 38 +RECTANGLE 1 1331 28 3 39 38 + +# The filenames of the view to load + +INPUT_VIEW_FORMAT images/view-f%f-c%c.png + +# Where to save the "average synthetic views" + +RESULT_VIEW_FORMAT /tmp/result-f%f-c%c.png + +# Where to save the maps of marginal probabilities + +RESULT_FORMAT /tmp/proba-f%f.dat + +# Where to save the images for every iteration of the estimation +# process + +# CONVERGENCE_VIEW_FORMAT /tmp/convergence-f%f-c%c-i%i.png + +# To speed-up the convergence, the solver ignores locations when the +# probability of absence is greater than 0.99 + +PROBA_IGNORED 0.99 + +# Processes 30 frames from frame 160 + +PROCESS 160 30 diff --git a/vector.h b/vector.h new file mode 100644 index 0000000..fdfe5fe --- /dev/null +++ b/vector.h @@ -0,0 +1,139 @@ + +////////////////////////////////////////////////////////////////////////////////// +// This program is free software: you can redistribute it and/or modify // +// it under the terms of the version 3 of the GNU General Public License // +// as published by the Free Software Foundation. // +// // +// This program is distributed in the hope that it will be useful, but // +// WITHOUT ANY WARRANTY; without even the implied warranty of // +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // +// General Public License for more details. // +// // +// You should have received a copy of the GNU General Public License // +// along with this program. If not, see . // +// // +// Written by Francois Fleuret // +// (C) Ecole Polytechnique Federale de Lausanne // +// Contact for comments & bug reports // +////////////////////////////////////////////////////////////////////////////////// + +#ifndef VECTOR_H +#define VECTOR_H + +#include +#include +#include + +using namespace std; + +#include "misc.h" + +template +class Vector { +protected: + int size; + T *content; +public: + inline void resize(int s) { + delete[] content; + size = s; + content = new T[size]; + } + + inline int length() const { return size; } + + inline Vector(std::istream &is) { + is.read((char *) &size, sizeof(size)); + content = new T[size]; + is.read((char *) content, sizeof(T)*size); + } + + inline Vector() : size(0), content(0) { } + inline Vector(int s) : size(s), content(new T[size]) {} + inline Vector(const Vector &v) : size(v.size), content(new T[size]) { + if(size > 0) memcpy(content, v.content, size * sizeof(T)); + } + inline ~Vector() { + delete[] content; +#ifdef DEBUG + content = 0; +#endif + } + + inline void load(std::istream &is) { + is.read((char *) &size, sizeof(size)); + resize(size); + is.read((char *) content, sizeof(T) * size); + } + + inline void save(std::ostream &os) const { + os.write((char *) &size, sizeof(size)); + os.write((char *) content, sizeof(T) * size); + } + +// inline void fill(const T &t) { +// T *s = content; +// for(int i = 0; i < size; i++) *(s++) = t; +// } + + inline Vector &operator = (const Vector &v) { + if(this != &v) { + if(v.size != size) { + delete[] content; + size = v.size; + content = new T[size]; + } + if(size > 0) memcpy(content, v.content, size * sizeof(T)); + } + return *this; + } + + inline bool operator == (const Vector &v) { + if(this != &v) { + if(v.size != size) return false; + return memcmp(content, v.content, size * sizeof(T)) == 0; + } else return true; + } + + inline bool operator != (const Vector &v) { + if(this != &v) { + if(v.size != size) return true; + return memcmp(content, v.content, size * sizeof(T)) != 0; + } else return false; + } + + inline Vector & clear() { + if(size > 0) memset(content, 0, size * sizeof(T)); + return *this; + } + + inline T &operator [] (int k) { + ASSERT(k >= 0 && k < size, "Index out of bound in Vector::operator []"); + return content[k]; + } + + inline T operator [] (int k) const { + ASSERT(k >= 0 && k < size, "Index out of bound in Vector::operator [] const"); + return content[k]; + } + + inline T norme() const { + T s = 0; + for(int i = 0; i +std::ostream &operator << (std::ostream &os, const Vector &v) { v.print(os); return os; } + +#endif -- 2.20.1