From b54e3aee813afbf8a25ceb39fcdb2fe13b485ec6 Mon Sep 17 00:00:00 2001
From: Sebastian Gomez-Gonzalez <sebastian@robot-learning.de>
Date: Thu, 13 Jul 2017 15:05:10 +0200
Subject: [PATCH] The logistic regression validator (not tested)
---
include/ball_tracking/img_proc.hpp | 13 +++++++++++++
src/img_proc.cpp | 27 +++++++++++++++++++++++++++
2 files changed, 40 insertions(+)
diff --git a/include/ball_tracking/img_proc.hpp b/include/ball_tracking/img_proc.hpp
index 5f42941..a0de07a 100644
--- a/include/ball_tracking/img_proc.hpp
+++ b/include/ball_tracking/img_proc.hpp
@@ -22,6 +22,19 @@ namespace ball_tracking {
*/
cv::Mat map_channel_quad(cv::InputArray src, cv::InputArray mean, cv::InputArray S);
+ /**
+ * @brief Applies a pixel-wise logistic regression with quadratic features to the source
+ * image and returns a single-channel image with the log-probabilities
+ *
+ * @param[in] src The source image
+ * @param[in] bkg A background image (Without the ball)
+ * @param[in] weights Vector of weights of logistic regression
+ *
+ * @returns a new image where every pixel corresponds to the log-probability of the
+ * pixel being a ball according to the trained classifier
+ */
+ cv::Mat quadf_log_reg(cv::InputArray src, cv::InputArray bkg, cv::InputArray weights);
+
/**
* @brief Produces a single channel image highlighting the possible position of the ball
diff --git a/src/img_proc.cpp b/src/img_proc.cpp
index 5d73ed6..b7a6d32 100644
--- a/src/img_proc.cpp
+++ b/src/img_proc.cpp
@@ -34,4 +34,31 @@ namespace ball_tracking {
return ans;
}
+ cv::Mat quadf_log_reg(cv::InputArray _src, cv::InputArray _bkg, cv::InputArray _weights) {
+ Mat src = _src.getMat(), bkg = _bkg.getMat(), tmp_weight = _weights.getMat();
+ const unsigned int channels = src.channels();
+ CV_Assert(channels == 3);
+ CV_Assert(src.rows == bkg.rows && src.cols == bkg.cols);
+ double w[28];
+ copy(tmp_weight.begin<double>(), tmp_weight.end<double>(), w);
+
+ Mat ans(src.rows, src.cols, CV_64FC1);
+ MatIterator_<Vec3b> it=src.begin<Vec3b>(), end=src.end<Vec3b>();
+ MatIterator_<Vec3b> it_bkg=bkg.begin<Vec3b>();
+ MatIterator_<double> it_ans = ans.begin<double>();
+ for (; it != end; it++, it_ans++, it_bkg++) {
+ double sum = 0.0;
+ double lfeat[7] = {(*it)[0]/255.0, (*it)[1]/255.0, (*it)[2]/255.0,
+ (*it_bkg)[0]/255.0, (*it_bkg)[1]/255.0, (*it_bkg)[2]/255.0, 1.0};
+ double* wptr = w;
+ for (unsigned int i=0; i<7; i++) {
+ for (unsigned int j=i; j<channels; j++, wptr++) {
+ sum += (*wptr) * lfeat[i] * lfeat[j];
+ }
+ }
+ *it_ans = sum;
+ }
+ return ans;
+ }
+
};
--
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