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BAD.cpp
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BAD.cpp
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/**
* @copyright 2021 Xoan Iago Suarez Canosa. All rights reserved.
* Constact: [email protected]
* Software developed in the PhD: Low-level vision for resource-limited devices
*/
#include <cassert>
#include "BAD.h"
#define UPM_DEGREES_TO_RADS 0.017453292519943295
#define UPM_ROUNDNUM(x) ((int)(x + 0.5f))
#define UPM_BAD_EXTRA_RATIO_MARGIN 1.75
namespace upm {
/**
* @brief Rectifies the coordinates of the box pairs measurement functions with the keypoint
* location parameters.
* @param boxes_params The input parameters defining the location of each pair of boxes inside
* the normalized (32x32) patch.
* @param out_params The output parameters, now the boxes are located in the full image.
* @param kp The keypoint defining the offset, rotation and scale to be applied
* @param scale_factor A scale factor that magnifies the measurement functions w.r.t. the keypoint.
* @param patch_size The size of the normalized patch where the measurement functions were learnt.
*/
static inline void rectifyBoxes(const std::vector<BAD::BoxPairParams> &boxes_params,
std::vector<BAD::BoxPairParams> &out_params,
const cv::KeyPoint &kp,
float scale_factor = 1,
const cv::Size &patch_size = cv::Size(32, 32)) {
float m00, m01, m02, m10, m11, m12;
float s, cosine, sine;
s = scale_factor * kp.size / (0.5f * (patch_size.width + patch_size.height));
out_params.resize(boxes_params.size());
if (kp.angle == -1) {
m00 = s;
m01 = 0.0f;
m02 = -0.5f * s * patch_size.width + kp.pt.x;
m10 = 0.0f;
m11 = s;
m12 = -s * 0.5f * patch_size.height + kp.pt.y;
} else {
cosine = (kp.angle >= 0) ? float(cos(kp.angle * UPM_DEGREES_TO_RADS)) : 1.f;
sine = (kp.angle >= 0) ? float(sin(kp.angle * UPM_DEGREES_TO_RADS)) : 0.f;
m00 = s * cosine;
m01 = -s * sine;
m02 = (-s * cosine + s * sine) * patch_size.width * 0.5f + kp.pt.x;
m10 = s * sine;
m11 = s * cosine;
m12 = (-s * sine - s * cosine) * patch_size.height * 0.5f + kp.pt.y;
}
for (size_t i = 0; i < boxes_params.size(); i++) {
out_params[i].x1 = UPM_ROUNDNUM(m00 * boxes_params[i].x1 + m01 * boxes_params[i].y1 + m02);
out_params[i].y1 = UPM_ROUNDNUM(m10 * boxes_params[i].x1 + m11 * boxes_params[i].y1 + m12);
out_params[i].x2 = UPM_ROUNDNUM(m00 * boxes_params[i].x2 + m01 * boxes_params[i].y2 + m02);
out_params[i].y2 = UPM_ROUNDNUM(m10 * boxes_params[i].x2 + m11 * boxes_params[i].y2 + m12);
out_params[i].boxRadius = UPM_ROUNDNUM(s * boxes_params[i].boxRadius);
}
}
/**
* @brief Computes the Box Average Difference, measuring the difference of gray level in the two
* square regions.
* @param box_params The weak-learner parameter defining the size and locations of each box.
* @param integral_img The integral image used to compute the average gray value in the square regions.
* @return The difference of gray level in the two squares defined by box_params
*/
static inline float computeBadResponse(const BAD::BoxPairParams &box_params,
const cv::Mat &integral_img) {
assert(!integral_img.empty());
assert(integral_img.type() == CV_32SC1);
int frame_w, frame_h, box1x1, box1y1, box1x2, box1y2, box2x1, box2y1, box2x2, box2y2;
int A, B, C, D;
int box_area1, box_area2;
float sum1, sum2, average1, average2;
// Since the integral image has one extra row and col, calculate the patch dimensions
frame_w = integral_img.cols;
frame_h = integral_img.rows;
// For the first box, we calculate its margin coordinates
box1x1 = box_params.x1 - box_params.boxRadius;
if (box1x1 < 0)
box1x1 = 0;
else if (box1x1 >= frame_w - 1)
box1x1 = frame_w - 2;
box1y1 = box_params.y1 - box_params.boxRadius;
if (box1y1 < 0)
box1y1 = 0;
else if (box1y1 >= frame_h - 1)
box1y1 = frame_h - 2;
box1x2 = box_params.x1 + box_params.boxRadius + 1;
if (box1x2 <= 0)
box1x2 = 1;
else if (box1x2 >= frame_w)
box1x2 = frame_w - 1;
box1y2 = box_params.y1 + box_params.boxRadius + 1;
if (box1y2 <= 0)
box1y2 = 1;
else if (box1y2 >= frame_h)
box1y2 = frame_h - 1;
assert((box1x1 < box1x2 && box1y1 < box1y2) && "Box 1 has size 0");
// For the second box, we calculate its margin coordinates
box2x1 = box_params.x2 - box_params.boxRadius;
if (box2x1 < 0)
box2x1 = 0;
else if (box2x1 >= frame_w - 1)
box2x1 = frame_w - 2;
box2y1 = box_params.y2 - box_params.boxRadius;
if (box2y1 < 0)
box2y1 = 0;
else if (box2y1 >= frame_h - 1)
box2y1 = frame_h - 2;
box2x2 = box_params.x2 + box_params.boxRadius + 1;
if (box2x2 <= 0)
box2x2 = 1;
else if (box2x2 >= frame_w)
box2x2 = frame_w - 1;
box2y2 = box_params.y2 + box_params.boxRadius + 1;
if (box2y2 <= 0)
box2y2 = 1;
else if (box2y2 >= frame_h)
box2y2 = frame_h - 1;
assert((box2x1 < box2x2 && box2y1 < box2y2) && "Box 2 has size 0");
// Read the integral image values for the first box
A = integral_img.at<int>(box1y1, box1x1);
B = integral_img.at<int>(box1y1, box1x2);
C = integral_img.at<int>(box1y2, box1x1);
D = integral_img.at<int>(box1y2, box1x2);
// Calculate the mean intensity value of the pixels in the box
sum1 = float(A + D - B - C);
box_area1 = (box1y2 - box1y1) * (box1x2 - box1x1);
assert(box_area1 > 0);
average1 = sum1 / box_area1;
// Calculate the indices on the integral image where the box falls
A = integral_img.at<int>(box2y1, box2x1);
B = integral_img.at<int>(box2y1, box2x2);
C = integral_img.at<int>(box2y2, box2x1);
D = integral_img.at<int>(box2y2, box2x2);
// Calculate the mean intensity value of the pixels in the box
sum2 = float(A + D - B - C);
box_area2 = (box2y2 - box2y1) * (box2x2 - box2x1);
assert(box_area2 > 0);
average2 = sum2 / box_area2;
return average1 - average2;
}
/**
* @brief Function that determines if a keypoint is close to the image border.
* @param kp The detected keypoint
* @param img_size The size of the image
* @param patch_size The size of the normalized patch where the measurement functions were learnt.
* @param scale_factor A scale factor that magnifies the measurement functions w.r.t. the keypoint.
* @return true if the keypoint is in the border, false otherwise
*/
static inline bool isKeypointInTheBorder(const cv::KeyPoint &kp,
const cv::Size &img_size,
const cv::Size &patch_size = {32, 32},
float scale_factor = 1) {
// This would be the correct measure but since we will compare with half of the size, use this as border size
float s = scale_factor * kp.size / (patch_size.width + patch_size.height);
cv::Size2f border(patch_size.width * s * UPM_BAD_EXTRA_RATIO_MARGIN,
patch_size.height * s * UPM_BAD_EXTRA_RATIO_MARGIN);
if (kp.pt.x < border.width || kp.pt.x + border.width >= img_size.width)
return true;
if (kp.pt.y < border.height || kp.pt.y + border.height >= img_size.height)
return true;
return false;
}
///////////////////////////////////////////////////////////////////////////////
BAD::BAD(float scale_factor, BadSize n_bits) {
scale_factor_ = scale_factor;
if (n_bits == SIZE_512_BITS){
// With data augmentation
// box_params_ = {{17,18,12,15,2}, {13,14,5,7,5}, {21,16,16,14,1}, {27,11,18,20,3}, {17,13,16,19,2}, {18,24,18,16,5}, {12,11,10,25,6}, {14,17,14,13,1}, {7,4,4,15,4}, {27,27,23,8,4}, {19,13,19,6,6}, {14,15,10,16,1}, {13,15,12,22,1}, {8,22,3,27,3}, {13,19,8,13,1}, {18,16,17,12,1}, {27,7,25,11,4}, {24,20,20,15,2}, {16,24,14,3,3}, {23,18,7,18,7}, {8,7,2,1,1}, {17,28,17,26,3}, {17,13,17,10,2}, {10,18,10,11,1}, {11,28,7,22,2}, {18,13,15,15,1}, {7,14,3,20,3}, {17,19,14,15,1}, {14,12,14,8,2}, {14,12,13,11,1}, {21,9,19,19,2}, {4,28,3,10,3}, {27,27,26,26,4}, {19,22,19,19,2}, {12,25,12,20,1}, {19,12,15,12,1}, {28,21,23,21,2}, {10,15,7,18,2}, {12,7,10,3,3}, {21,16,19,15,1}, {19,20,18,17,1}, {26,2,19,7,2}, {18,2,15,22,2}, {24,26,24,22,5}, {15,26,15,19,1}, {13,19,11,20,1}, {5,14,4,10,4}, {15,7,15,4,2}, {13,16,11,7,1}, {15,22,15,18,1}, {24,8,23,4,4}, {13,11,11,14,1}, {4,19,3,19,3}, {22,12,19,10,1}, {24,27,15,22,2}, {12,13,10,10,1}, {11,25,9,29,2}, {15,21,15,10,1}, {19,16,18,19,1}, {29,13,24,8,2}, {17,16,16,20,1}, {12,17,12,15,1}, {28,4,2,11,2}, {7,25,5,19,3}, {22,13,20,16,1}, {14,16,13,17,1}, {10,3,8,11,3}, {18,7,17,11,2}, {27,11,25,22,2}, {5,26,3,28,3}, {28,13,27,13,3}, {22,20,20,28,3}, {12,6,5,2,2}, {14,18,13,16,1}, {17,29,3,25,2}, {20,20,19,19,1}, {15,12,14,15,1}, {12,14,12,13,1}, {17,14,10,26,3}, {11,15,6,12,6}, {9,22,9,19,1}, {19,18,19,14,1}, {23,15,12,18,2}, {12,15,11,14,1}, {28,2,27,9,2}, {11,19,11,11,7}, {13,29,13,23,2}, {27,19,22,17,3}, {17,3,17,2,2}, {4,6,3,3,3}, {19,15,16,16,1}, {22,5,20,9,2}, {14,6,13,9,2}, {17,16,13,16,2}, {24,18,12,6,6}, {20,14,18,15,2}, {20,9,18,13,1}, {18,20,17,8,2}, {10,15,9,15,2}, {13,7,12,26,2}, {13,12,11,19,2}, {15,2,2,29,2}, {15,12,14,13,1}, {20,30,19,26,1}, {28,26,28,4,3}, {16,13,15,12,1}, {18,11,17,25,2}, {3,17,1,24,1}, {21,18,19,22,1}, {9,13,9,8,2}, {19,18,16,16,1}, {21,22,17,20,1}, {13,4,13,3,3}, {24,15,21,9,1}, {24,25,19,17,6}, {4,14,3,14,2}, {17,13,14,19,1}, {7,19,4,16,3}, {4,20,1,5,1}, {15,13,12,14,3}, {19,26,19,21,2}, {11,26,10,18,5}, {17,16,17,13,1}, {19,16,19,11,1}, {4,26,4,23,4}, {14,19,14,13,5}, {10,13,8,13,2}, {14,12,14,10,1}, {29,24,26,19,2}, {26,9,19,19,5}, {16,23,16,17,1}, {4,13,3,4,3}, {13,16,7,21,2}, {17,16,16,17,1}, {29,15,5,18,2}, {29,2,23,5,2}, {9,17,9,14,2}, {25,26,25,22,5}, {13,21,13,20,1}, {23,12,7,20,6}, {6,8,6,3,3}, {13,19,13,17,1}, {25,21,22,20,1}, {24,17,23,15,2}, {20,8,17,4,1}, {11,19,10,17,1}, {9,11,6,9,1}, {25,9,24,14,1}, {18,20,13,14,3}, {26,23,25,23,5}, {14,20,11,4,4}, {28,7,25,13,3}, {13,13,12,12,1}, {7,29,2,2,2}, {16,17,16,8,5}, {20,6,19,12,3}, {19,7,19,6,6}, {20,13,19,14,1}, {19,24,16,29,2}, {8,15,4,13,1}, {7,9,2,10,2}, {15,14,14,13,1}, {18,13,18,11,1}, {8,19,5,23,2}, {3,13,1,14,1}, {23,20,16,14,1}, {17,15,13,18,2}, {16,16,9,14,5}, {15,28,15,27,3}, {18,20,16,19,1}, {16,17,16,11,2}, {30,1,10,19,1}, {12,19,9,23,2}, {25,13,21,13,1}, {9,23,5,24,5}, {13,20,13,18,1}, {13,13,12,13,3}, {29,18,25,2,2}, {30,30,25,26,1}, {16,20,15,11,1}, {18,16,18,14,1}, {15,18,5,7,4}, {16,13,15,19,1}, {26,24,16,9,5}, {1,28,1,5,1}, {20,17,20,16,1}, {15,19,10,17,4}, {12,9,10,5,1}, {30,29,28,29,1}, {29,17,27,18,2}, {17,29,15,27,2}, {9,29,9,28,2}, {23,24,21,22,1}, {22,2,1,1,1}, {20,4,20,1,1}, {5,30,4,25,1}, {20,8,17,12,7}, {10,7,3,17,3}, {21,17,14,15,5}, {14,10,13,8,1}, {4,21,4,13,3}, {30,1,24,10,1}, {15,17,14,16,3}, {21,23,20,15,3}, {17,20,17,18,3}, {12,11,12,6,5}, {15,15,12,17,1}, {25,9,16,25,6}, {22,28,22,27,3}, {5,8,3,3,3}, {9,5,9,1,1}, {30,12,29,23,1}, {20,21,5,9,5}, {15,21,15,20,1}, {11,17,10,23,2}, {16,11,15,13,1}, {16,12,16,10,1}, {15,6,14,3,3}, {2,4,1,1,1}, {15,16,11,15,1}, {24,6,24,2,2}, {8,15,6,12,1}, {21,27,1,30,1}, {17,10,14,16,3}, {13,9,7,7,7}, {22,17,19,17,1}, {16,14,14,13,2}, {14,21,13,23,1}, {18,2,15,7,2}, {3,25,1,24,1}, {24,20,7,14,7}, {26,25,24,19,2}, {6,25,6,23,6}, {15,24,15,17,7}, {22,14,16,15,1}, {17,25,17,23,1}, {12,18,2,26,2}, {30,30,26,11,1}, {22,8,16,14,5}, {9,16,8,20,1}, {4,14,2,13,2}, {28,7,27,8,1}, {10,22,9,24,1}, {14,16,13,18,3}, {28,26,3,15,2}, {12,15,10,15,1}, {18,17,17,15,1}, {30,10,28,14,1}, {30,14,28,30,1}, {30,18,7,13,1}, {3,19,2,20,1}, {16,19,14,13,2}, {11,9,5,27,4}, {16,19,15,15,2}, {24,22,18,19,7}, {12,17,12,12,1}, {28,5,28,1,1}, {4,29,2,30,1}, {27,11,27,8,1}, {8,3,8,1,1}, {15,10,15,8,3}, {12,27,11,18,4}, {25,6,22,8,6}, {15,3,15,2,2}, {19,22,17,19,1}, {24,21,24,16,2}, {9,7,6,6,6}, {13,26,11,27,2}, {24,10,19,12,4}, {22,17,22,9,2}, {17,14,14,11,1}, {13,4,13,3,1}, {15,18,15,17,1}, {29,30,29,24,1}, {29,29,20,17,2}, {6,12,2,27,2}, {18,17,14,13,2}, {11,27,11,26,4}, {22,12,3,18,3}, {15,13,13,9,1}, {12,20,7,18,1}, {16,6,15,9,1}, {3,6,1,7,1}, {12,17,11,19,1}, {15,8,8,18,7}, {11,19,11,5,3}, {17,20,16,23,3}, {12,6,9,13,1}, {2,1,1,2,1}, {14,26,13,21,3}, {25,16,16,14,3}, {30,14,29,14,1}, {27,25,15,22,4}, {13,10,8,7,2}, {18,19,13,14,1}, {28,28,28,22,3}, {8,14,8,11,1}, {23,28,22,24,2}, {8,2,3,18,2}, {22,24,22,23,7}, {20,17,15,16,1}, {8,11,6,4,4}, {25,13,23,13,2}, {18,18,16,15,1}, {20,16,16,15,1}, {18,20,14,26,3}, {17,12,17,8,1}, {1,5,1,3,1}, {22,13,13,20,2}, {17,16,17,14,3}, {27,17,25,17,2}, {8,23,6,29,2}, {15,4,14,18,1}, {10,24,10,17,4}, {25,30,25,28,1}, {3,22,1,29,1}, {24,8,23,17,1}, {26,3,26,1,1}, {18,22,18,17,2}, {9,17,8,10,2}, {29,22,29,2,2}, {19,4,5,10,3}, {3,28,3,27,1}, {12,15,11,18,1}, {30,3,28,4,1}, {7,9,7,8,1}, {24,15,8,14,7}, {30,6,20,16,1}, {18,18,1,10,1}, {30,20,28,21,1}, {15,15,13,14,1}, {6,3,5,1,1}, {3,8,1,17,1}, {3,2,2,2,2}, {19,28,18,20,1}, {20,20,20,17,2}, {21,30,19,29,1}, {12,19,12,13,1}, {29,10,29,4,2}, {20,16,20,14,1}, {15,9,11,16,2}, {8,13,6,26,4}, {13,11,12,8,2}, {17,27,17,26,4}, {29,29,14,12,1}, {29,2,28,3,2}, {9,15,7,9,4}, {27,28,12,30,1}, {14,30,2,28,1}, {19,12,18,14,1}, {26,5,24,15,5}, {2,24,2,2,2}, {6,21,5,21,1}, {22,16,9,17,2}, {16,19,15,17,1}, {2,29,2,28,2}, {25,11,24,1,1}, {16,30,16,29,1}, {14,20,14,17,3}, {15,14,11,17,3}, {18,17,16,21,1}, {17,8,17,4,2}, {11,4,11,3,3}, {25,16,9,17,6}, {18,8,18,6,6}, {17,22,17,19,1}, {8,20,3,11,3}, {20,17,4,17,1}, {29,12,12,19,2}, {14,29,14,28,2}, {12,18,10,18,1}, {13,15,13,11,2}, {18,15,14,15,2}, {19,17,17,19,1}, {22,17,12,16,6}, {30,22,29,18,1}, {30,2,29,20,1}, {12,3,1,1,1}, {4,7,1,7,1}, {27,10,21,13,4}, {18,21,18,13,3}, {12,4,3,6,2}, {12,10,9,3,2}, {3,28,2,29,2}, {22,2,20,5,2}, {27,18,20,3,3}, {6,24,6,23,1}, {27,26,9,16,4}, {5,18,5,11,5}, {20,14,15,12,3}, {19,16,19,15,1}, {27,4,21,9,4}, {3,19,2,29,1}, {20,24,18,22,1}, {18,7,18,2,1}, {28,30,28,28,1}, {11,24,10,9,1}, {21,18,21,14,3}, {27,19,26,18,2}, {16,18,10,6,6}, {11,18,5,19,1}, {24,16,22,16,1}, {17,15,17,9,5}, {27,29,20,11,2}, {29,25,28,22,1}, {21,11,21,5,1}, {12,15,8,16,2}, {2,29,1,30,1}, {18,12,4,21,3}, {18,9,11,13,3}, {18,3,10,21,3}, {17,11,16,16,1}, {15,17,13,14,1}, {7,7,7,5,5}, {9,29,5,18,2}, {10,11,10,6,6}, {28,26,25,26,1}, {19,30,8,20,1}, {8,15,7,29,2}, {21,18,19,17,1}, {2,22,1,22,1}, {12,20,4,17,1}, {27,8,4,14,2}, {26,10,25,13,1}, {19,13,19,8,3}, {12,16,7,18,7}, {20,26,12,3,3}, {6,10,3,10,2}, {25,25,25,21,2}, {12,3,7,16,2}, {8,4,4,17,4}, {12,20,5,8,5}, {22,15,8,13,7}, {12,13,12,8,2}, {20,15,19,13,1}, {30,5,29,8,1}, {14,29,13,23,2}, {18,19,9,10,7}, {2,11,1,10,1}, {12,13,12,11,1}, {27,15,9,5,4}, {13,12,7,17,2}, {8,17,1,26,1}, {20,24,11,12,4}, {12,24,10,22,6}, {19,29,14,20,1}, {20,27,20,25,2}, {9,25,8,27,1}, {7,11,5,11,1}, {20,11,11,8,1}, {9,8,9,5,1}, {27,9,25,10,1}, {30,20,22,20,1}, {26,21,26,20,1}, {30,14,27,16,1}, {12,16,11,19,3}, {7,28,6,29,1}, {17,23,17,22,2}, {12,17,2,2,1}, {17,14,17,13,1}, {18,12,16,16,1}, {7,23,7,17,1}, {25,12,9,15,4}, {16,6,16,5,5}, {8,16,7,16,7}, {6,7,5,7,5}, {15,13,15,12,2}, {13,15,13,13,3}, {16,12,16,11,1}, {18,15,15,14,3}, {17,8,14,5,4}, {9,26,6,22,5}, {17,16,14,17,3}, {25,1,24,2,1}, {14,16,14,15,1}, {24,22,4,23,4}, {30,29,27,29,1}, {17,18,17,17,1}, {19,30,19,28,1}, {21,27,21,23,3}, {16,18,15,20,1}, {27,27,13,12,4}, {30,25,27,26,1}, {4,21,3,7,1}, {10,5,10,4,4}, {14,14,5,3,1}, {23,6,21,3,3}, {9,20,2,15,2}, {23,9,20,13,1}, {15,14,12,3,3}, {19,25,19,18,4}, {27,25,24,22,4}, {15,15,15,11,1}, {17,16,14,13,1}, {12,18,12,17,1}, {30,3,30,2,1}, {21,20,18,28,3}, {25,25,7,14,5}, {3,11,2,3,2}, {25,5,9,21,4}, {6,15,4,28,3}, {9,9,3,3,3}, {16,19,14,16,2}, {10,25,10,20,1}, {2,17,2,15,1}, {17,15,15,16,1}, {20,15,19,15,1}, {22,2,22,1,1}, {15,19,15,18,1}, {15,16,10,12,1}, {28,2,23,14,2}, {11,3,9,2,1}};
// thresholds_ = {14.45,4.15,7.75,9.65,2.25,0.15,0.45,-0.95,3.65,-1.75,1.05,5.45,-0.05,-2.65,3.35,1.65,-1.55,2.85,3.05,22.05,-3.65,-0.15,-0.55,-0.05,3.25,-2.85,-1.25,10.45,-1.05,1.25,3.15,2.05,-0.55,-1.25,3.45,4.35,2.45,2.55,1.35,1.25,2.75,-0.15,8.35,0.35,-1.25,0.75,-0.45,-0.05,0.85,3.65,1.55,1.75,-0.35,1.35,4.85,-2.25,0.25,-2.15,3.35,1.95,6.25,0.35,24.45,-1.15,0.85,-1.95,5.15,1.35,0.85,0.35,-0.45,4.95,-0.25,2.45,11.75,0.85,-1.65,0.05,4.05,-0.35,-0.95,-0.25,49.35,0.85,1.95,0.25,1.15,-2.65,-0.25,0.85,-5.65,1.15,3.05,4.05,7.35,9.05,0.35,1.65,1.65,2.55,6.95,1.75,0.85,-1.15,1.35,5.45,1.35,-2.35,-0.15,0.85,-3.05,0.05,-0.35,-0.65,11.65,-0.85,1.15,2.35,-9.25,16.05,-1.45,1.95,0.35,-0.35,0.15,0.25,-1.35,0.65,-4.05,-2.25,1.05,-0.05,-1.55,0.25,69.45,0.15,-1.25,-1.85,-0.65,8.75,-0.95,1.95,1.05,-1.45,2.15,-1.85,-1.75,-2.95,2.65,0.65,-1.05,4.35,0.25,19.65,0.35,1.65,0.65,2.75,2.85,-10.95,3.65,-4.15,0.25,-0.65,-2.25,3.75,35.75,3.15,-0.55,1.95,-6.55,88.35,7.25,1.75,-4.15,0.25,0.25,0.65,3.75,1.65,2.85,42.15,11.75,-1.25,-8.25,0.05,2.15,0.65,-1.55,-2.75,1.15,-0.15,-0.75,16.85,1.15,1.45,15.35,19.45,8.65,-1.25,0.25,2.15,0.15,2.85,-2.25,1.75,-15.15,4.15,-0.45,-8.25,1.25,-0.85,3.55,0.45,-1.25,9.65,1.25,3.15,-2.05,-6.85,-0.05,3.25,7.05,2.35,-1.45,-1.05,20.25,1.15,1.35,1.05,5.15,2.55,0.55,0.55,-0.15,0.65,-28.35,3.85,2.05,-1.15,3.05,-0.95,-1.55,-0.35,101.95,0.35,-2.05,-2.15,4.25,105.15,1.15,27.45,30.15,18.45,-2.45,1.85,2.95,-3.75,-0.65,0.05,0.25,34.45,-2.05,0.25,3.25,2.05,2.85,3.45,20.95,1.45,-1.95,-0.35,-6.85,1.15,-31.95,11.85,2.75,0.15,8.35,1.15,2.15,-1.15,-1.05,2.45,1.45,0.15,-1.65,41.85,0.35,0.65,-0.35,0.25,56.75,23.55,88.85,-7.25,1.05,0.75,-1.05,-1.65,-9.75,-16.95,-0.05,-10.05,34.15,14.75,-0.95,1.45,4.85,-0.05,-0.35,0.75,64.75,24.25,-0.35,-13.65,2.85,1.75,-0.35,0.25,-12.15,108.05,-0.35,-3.35,1.95,-0.35,21.25,-20.05,95.85,-1.05,-17.75,-0.55,2.75,0.65,0.75,-1.85,2.65,-2.15,1.05,-0.05,4.25,3.75,-13.55,-0.05,105.95,0.45,3.05,9.35,79.25,1.75,7.65,-0.45,0.95,79.15,28.05,0.05,0.65,-0.35,0.95,2.05,1.15,2.75,-1.65,8.65,3.55,-0.25,-28.95,-7.35,122.25,0.55,4.75,1.75,11.15,0.15,2.55,0.05,-7.95,51.05,6.25,0.05,-1.15,0.75,26.65,-1.25,1.15,-0.55,0.05,5.85,1.55,2.25,-1.65,-16.85,-62.65,-1.25,-1.05,-1.55,1.35,0.25,-0.65,0.85,17.45,0.25,-9.35,34.35,0.95,-0.95,-10.05,1.45,-6.05,93.25,3.15,-10.85,-1.65,-0.15,-2.45,-0.35,0.15,118.15,-81.85,4.05,1.05,-0.85,152.35,0.65,1.35,-12.35,95.35,-23.25,-0.75,75.65,50.85,47.85,2.55,0.55,0.15,0.25,38.15,-2.65,-1.95,-1.05,110.25,35.25,2.65,3.65,18.75,89.45,-0.55,0.35,0.25,105.05,0.25,1.25,-34.65,-0.55,-0.15,0.75,-0.15,-0.15,-94.25,-12.05,-15.35,-1.75,31.35,0.15,-2.15,-0.15,-12.05,-0.35,-0.65,-0.55,28.95,39.05,7.05,0.65,-1.65,2.85,4.85,-1.85,1.75,-31.65,0.05,13.75,-0.35,0.35,-5.75,83.85,0.95,27.95,-0.25,-19.05,2.45,-13.25,44.05,51.85,-0.05,0.05,79.35,111.25,-61.65,3.05,-69.95,35.65,62.05,-0.25,-1.05,-2.95,0.95,-0.15,-18.15,-18.65,74.55,2.65};
// Without data augmentation
box_params_ = {{17, 12, 18, 15, 2}, {13, 5, 14, 7, 5}, {21, 16, 16, 14, 1}, {27, 18, 11, 20, 3}, {17, 16, 13, 19, 2}, {18, 18, 24, 16, 5}, {12, 10, 11, 25, 6}, {14, 14, 17, 13, 1}, {7, 4, 4, 15, 4}, {27, 23, 27, 8, 4}, {19, 19, 13, 6, 6}, {14, 10, 15, 16, 1}, {13, 12, 15, 22, 1}, {8, 3, 22, 27, 3}, {13, 8, 19, 13, 1}, {18, 17, 16, 12, 1}, {27, 25, 7, 11, 4}, {24, 20, 20, 15, 2}, {16, 14, 24, 3, 3}, {23, 7, 18, 18, 7}, {8, 2, 7, 1, 1}, {17, 17, 28, 26, 3}, {17, 17, 13, 10, 2}, {10, 10, 18, 11, 1}, {11, 7, 28, 22, 2}, {18, 15, 13, 15, 1}, {7, 3, 14, 20, 3}, {17, 14, 19, 15, 1}, {14, 14, 12, 8, 2}, {14, 13, 12, 11, 1}, {21, 19, 9, 19, 2}, {4, 3, 28, 10, 3}, {27, 26, 27, 26, 4}, {19, 19, 22, 19, 2}, {12, 12, 25, 20, 1}, {19, 15, 12, 12, 1}, {28, 23, 21, 21, 2}, {10, 7, 15, 18, 2}, {12, 10, 7, 3, 3}, {21, 19, 16, 15, 1}, {19, 18, 20, 17, 1}, {26, 19, 2, 7, 2}, {18, 15, 2, 22, 2}, {24, 24, 26, 22, 5}, {15, 15, 26, 19, 1}, {13, 11, 19, 20, 1}, {5, 4, 14, 10, 4}, {15, 15, 7, 4, 2}, {13, 11, 16, 7, 1}, {15, 15, 22, 18, 1}, {24, 23, 8, 4, 4}, {13, 11, 11, 14, 1}, {4, 3, 19, 19, 3}, {22, 19, 12, 10, 1}, {24, 15, 27, 22, 2}, {12, 10, 13, 10, 1}, {11, 9, 25, 29, 2}, {15, 15, 21, 10, 1}, {19, 18, 16, 19, 1}, {29, 24, 13, 8, 2}, {17, 16, 16, 20, 1}, {12, 12, 17, 15, 1}, {28, 2, 4, 11, 2}, {7, 5, 25, 19, 3}, {22, 20, 13, 16, 1}, {14, 13, 16, 17, 1}, {10, 8, 3, 11, 3}, {18, 17, 7, 11, 2}, {27, 25, 11, 22, 2}, {5, 3, 26, 28, 3}, {28, 27, 13, 13, 3}, {22, 20, 20, 28, 3}, {12, 5, 6, 2, 2}, {14, 13, 18, 16, 1}, {17, 3, 29, 25, 2}, {20, 19, 20, 19, 1}, {15, 14, 12, 15, 1}, {12, 12, 14, 13, 1}, {17, 10, 14, 26, 3}, {11, 6, 15, 12, 6}, {9, 9, 22, 19, 1}, {19, 19, 18, 14, 1}, {23, 12, 15, 18, 2}, {12, 11, 15, 14, 1}, {28, 27, 2, 9, 2}, {11, 11, 19, 11, 7}, {13, 13, 29, 23, 2}, {27, 22, 19, 17, 3}, {17, 17, 3, 2, 2}, {4, 3, 6, 3, 3}, {19, 16, 15, 16, 1}, {22, 20, 5, 9, 2}, {14, 13, 6, 9, 2}, {17, 13, 16, 16, 2}, {24, 12, 18, 6, 6}, {20, 18, 14, 15, 2}, {20, 18, 9, 13, 1}, {18, 17, 20, 8, 2}, {10, 9, 15, 15, 2}, {13, 12, 7, 26, 2}, {13, 11, 12, 19, 2}, {15, 2, 2, 29, 2}, {15, 14, 12, 13, 1}, {20, 19, 30, 26, 1}, {28, 28, 26, 4, 3}, {16, 15, 13, 12, 1}, {18, 17, 11, 25, 2}, {3, 1, 17, 24, 1}, {21, 19, 18, 22, 1}, {9, 9, 13, 8, 2}, {19, 16, 18, 16, 1}, {21, 17, 22, 20, 1}, {13, 13, 4, 3, 3}, {24, 21, 15, 9, 1}, {24, 19, 25, 17, 6}, {4, 3, 14, 14, 2}, {17, 14, 13, 19, 1}, {7, 4, 19, 16, 3}, {4, 1, 20, 5, 1}, {15, 12, 13, 14, 3}, {19, 19, 26, 21, 2}, {11, 10, 26, 18, 5}, {17, 17, 16, 13, 1}, {19, 19, 16, 11, 1}, {4, 4, 26, 23, 4}, {14, 14, 19, 13, 5}, {10, 8, 13, 13, 2}, {14, 14, 12, 10, 1}, {29, 26, 24, 19, 2}, {26, 19, 9, 19, 5}, {16, 16, 23, 17, 1}, {4, 3, 13, 4, 3}, {13, 7, 16, 21, 2}, {17, 16, 16, 17, 1}, {29, 5, 15, 18, 2}, {29, 23, 2, 5, 2}, {9, 9, 17, 14, 2}, {25, 25, 26, 22, 5}, {13, 13, 21, 20, 1}, {23, 7, 12, 20, 6}, {6, 6, 8, 3, 3}, {13, 13, 19, 17, 1}, {25, 22, 21, 20, 1}, {24, 23, 17, 15, 2}, {20, 17, 8, 4, 1}, {11, 10, 19, 17, 1}, {9, 6, 11, 9, 1}, {25, 24, 9, 14, 1}, {18, 13, 20, 14, 3}, {26, 25, 23, 23, 5}, {14, 11, 20, 4, 4}, {28, 25, 7, 13, 3}, {13, 12, 13, 12, 1}, {7, 2, 29, 2, 2}, {16, 16, 17, 8, 5}, {20, 19, 6, 12, 3}, {19, 19, 7, 6, 6}, {20, 19, 13, 14, 1}, {19, 16, 24, 29, 2}, {8, 4, 15, 13, 1}, {7, 2, 9, 10, 2}, {15, 14, 14, 13, 1}, {18, 18, 13, 11, 1}, {8, 5, 19, 23, 2}, {3, 1, 13, 14, 1}, {23, 16, 20, 14, 1}, {17, 13, 15, 18, 2}, {16, 9, 16, 14, 5}, {15, 15, 28, 27, 3}, {18, 16, 20, 19, 1}, {16, 16, 17, 11, 2}, {30, 10, 1, 19, 1}, {12, 9, 19, 23, 2}, {25, 21, 13, 13, 1}, {9, 5, 23, 24, 5}, {13, 13, 20, 18, 1}, {13, 12, 13, 13, 3}, {29, 25, 18, 2, 2}, {30, 25, 30, 26, 1}, {16, 15, 20, 11, 1}, {18, 18, 16, 14, 1}, {15, 5, 18, 7, 4}, {16, 15, 13, 19, 1}, {26, 16, 24, 9, 5}, {1, 1, 28, 5, 1}, {20, 20, 17, 16, 1}, {15, 10, 19, 17, 4}, {12, 10, 9, 5, 1}, {30, 28, 29, 29, 1}, {29, 27, 17, 18, 2}, {17, 15, 29, 27, 2}, {9, 9, 29, 28, 2}, {23, 21, 24, 22, 1}, {22, 1, 2, 1, 1}, {20, 20, 4, 1, 1}, {5, 4, 30, 25, 1}, {20, 17, 8, 12, 7}, {10, 3, 7, 17, 3}, {21, 14, 17, 15, 5}, {14, 13, 10, 8, 1}, {4, 4, 21, 13, 3}, {30, 24, 1, 10, 1}, {15, 14, 17, 16, 3}, {21, 20, 23, 15, 3}, {17, 17, 20, 18, 3}, {12, 12, 11, 6, 5}, {15, 12, 15, 17, 1}, {25, 16, 9, 25, 6}, {22, 22, 28, 27, 3}, {5, 3, 8, 3, 3}, {9, 9, 5, 1, 1}, {30, 29, 12, 23, 1}, {20, 5, 21, 9, 5}, {15, 15, 21, 20, 1}, {11, 10, 17, 23, 2}, {16, 15, 11, 13, 1}, {16, 16, 12, 10, 1}, {15, 14, 6, 3, 3}, {2, 1, 4, 1, 1}, {15, 11, 16, 15, 1}, {24, 24, 6, 2, 2}, {8, 6, 15, 12, 1}, {21, 1, 27, 30, 1}, {17, 14, 10, 16, 3}, {13, 7, 9, 7, 7}, {22, 19, 17, 17, 1}, {16, 14, 14, 13, 2}, {14, 13, 21, 23, 1}, {18, 15, 2, 7, 2}, {3, 1, 25, 24, 1}, {24, 7, 20, 14, 7}, {26, 24, 25, 19, 2}, {6, 6, 25, 23, 6}, {15, 15, 24, 17, 7}, {22, 16, 14, 15, 1}, {17, 17, 25, 23, 1}, {12, 2, 18, 26, 2}, {30, 26, 30, 11, 1}, {22, 16, 8, 14, 5}, {9, 8, 16, 20, 1}, {4, 2, 14, 13, 2}, {28, 27, 7, 8, 1}, {10, 9, 22, 24, 1}, {14, 13, 16, 18, 3}, {28, 3, 26, 15, 2}, {12, 10, 15, 15, 1}, {18, 17, 17, 15, 1}, {30, 28, 10, 14, 1}, {30, 28, 14, 30, 1}, {30, 7, 18, 13, 1}, {3, 2, 19, 20, 1}, {16, 14, 19, 13, 2}, {11, 5, 9, 27, 4}, {16, 15, 19, 15, 2}, {24, 18, 22, 19, 7}, {12, 12, 17, 12, 1}, {28, 28, 5, 1, 1}, {4, 2, 29, 30, 1}, {27, 27, 11, 8, 1}, {8, 8, 3, 1, 1}, {15, 15, 10, 8, 3}, {12, 11, 27, 18, 4}, {25, 22, 6, 8, 6}, {15, 15, 3, 2, 2}, {19, 17, 22, 19, 1}, {24, 24, 21, 16, 2}, {9, 6, 7, 6, 6}, {13, 11, 26, 27, 2}, {24, 19, 10, 12, 4}, {22, 22, 17, 9, 2}, {17, 14, 14, 11, 1}, {13, 13, 4, 3, 1}, {15, 15, 18, 17, 1}, {29, 29, 30, 24, 1}, {29, 20, 29, 17, 2}, {6, 2, 12, 27, 2}, {18, 14, 17, 13, 2}, {11, 11, 27, 26, 4}, {22, 3, 12, 18, 3}, {15, 13, 13, 9, 1}, {12, 7, 20, 18, 1}, {16, 15, 6, 9, 1}, {3, 1, 6, 7, 1}, {12, 11, 17, 19, 1}, {15, 8, 8, 18, 7}, {11, 11, 19, 5, 3}, {17, 16, 20, 23, 3}, {12, 9, 6, 13, 1}, {2, 1, 1, 2, 1}, {14, 13, 26, 21, 3}, {25, 16, 16, 14, 3}, {30, 29, 14, 14, 1}, {27, 15, 25, 22, 4}, {13, 8, 10, 7, 2}, {18, 13, 19, 14, 1}, {28, 28, 28, 22, 3}, {8, 8, 14, 11, 1}, {23, 22, 28, 24, 2}, {8, 3, 2, 18, 2}, {22, 22, 24, 23, 7}, {20, 15, 17, 16, 1}, {8, 6, 11, 4, 4}, {25, 23, 13, 13, 2}, {18, 16, 18, 15, 1}, {20, 16, 16, 15, 1}, {18, 14, 20, 26, 3}, {17, 17, 12, 8, 1}, {1, 1, 5, 3, 1}, {22, 13, 13, 20, 2}, {17, 17, 16, 14, 3}, {27, 25, 17, 17, 2}, {8, 6, 23, 29, 2}, {15, 14, 4, 18, 1}, {10, 10, 24, 17, 4}, {25, 25, 30, 28, 1}, {3, 1, 22, 29, 1}, {24, 23, 8, 17, 1}, {26, 26, 3, 1, 1}, {18, 18, 22, 17, 2}, {9, 8, 17, 10, 2}, {29, 29, 22, 2, 2}, {19, 5, 4, 10, 3}, {3, 3, 28, 27, 1}, {12, 11, 15, 18, 1}, {30, 28, 3, 4, 1}, {7, 7, 9, 8, 1}, {24, 8, 15, 14, 7}, {30, 20, 6, 16, 1}, {18, 1, 18, 10, 1}, {30, 28, 20, 21, 1}, {15, 13, 15, 14, 1}, {6, 5, 3, 1, 1}, {3, 1, 8, 17, 1}, {3, 2, 2, 2, 2}, {19, 18, 28, 20, 1}, {20, 20, 20, 17, 2}, {21, 19, 30, 29, 1}, {12, 12, 19, 13, 1}, {29, 29, 10, 4, 2}, {20, 20, 16, 14, 1}, {15, 11, 9, 16, 2}, {8, 6, 13, 26, 4}, {13, 12, 11, 8, 2}, {17, 17, 27, 26, 4}, {29, 14, 29, 12, 1}, {29, 28, 2, 3, 2}, {9, 7, 15, 9, 4}, {27, 12, 28, 30, 1}, {14, 2, 30, 28, 1}, {19, 18, 12, 14, 1}, {26, 24, 5, 15, 5}, {2, 2, 24, 2, 2}, {6, 5, 21, 21, 1}, {22, 9, 16, 17, 2}, {16, 15, 19, 17, 1}, {2, 2, 29, 28, 2}, {25, 24, 11, 1, 1}, {16, 16, 30, 29, 1}, {14, 14, 20, 17, 3}, {15, 11, 14, 17, 3}, {18, 16, 17, 21, 1}, {17, 17, 8, 4, 2}, {11, 11, 4, 3, 3}, {25, 9, 16, 17, 6}, {18, 18, 8, 6, 6}, {17, 17, 22, 19, 1}, {8, 3, 20, 11, 3}, {20, 4, 17, 17, 1}, {29, 12, 12, 19, 2}, {14, 14, 29, 28, 2}, {12, 10, 18, 18, 1}, {13, 13, 15, 11, 2}, {18, 14, 15, 15, 2}, {19, 17, 17, 19, 1}, {22, 12, 17, 16, 6}, {30, 29, 22, 18, 1}, {30, 29, 2, 20, 1}, {12, 1, 3, 1, 1}, {4, 1, 7, 7, 1}, {27, 21, 10, 13, 4}, {18, 18, 21, 13, 3}, {12, 3, 4, 6, 2}, {12, 9, 10, 3, 2}, {3, 2, 28, 29, 2}, {22, 20, 2, 5, 2}, {27, 20, 18, 3, 3}, {6, 6, 24, 23, 1}, {27, 9, 26, 16, 4}, {5, 5, 18, 11, 5}, {20, 15, 14, 12, 3}, {19, 19, 16, 15, 1}, {27, 21, 4, 9, 4}, {3, 2, 19, 29, 1}, {20, 18, 24, 22, 1}, {18, 18, 7, 2, 1}, {28, 28, 30, 28, 1}, {11, 10, 24, 9, 1}, {21, 21, 18, 14, 3}, {27, 26, 19, 18, 2}, {16, 10, 18, 6, 6}, {11, 5, 18, 19, 1}, {24, 22, 16, 16, 1}, {17, 17, 15, 9, 5}, {27, 20, 29, 11, 2}, {29, 28, 25, 22, 1}, {21, 21, 11, 5, 1}, {12, 8, 15, 16, 2}, {2, 1, 29, 30, 1}, {18, 4, 12, 21, 3}, {18, 11, 9, 13, 3}, {18, 10, 3, 21, 3}, {17, 16, 11, 16, 1}, {15, 13, 17, 14, 1}, {7, 7, 7, 5, 5}, {9, 5, 29, 18, 2}, {10, 10, 11, 6, 6}, {28, 25, 26, 26, 1}, {19, 8, 30, 20, 1}, {8, 7, 15, 29, 2}, {21, 19, 18, 17, 1}, {2, 1, 22, 22, 1}, {12, 4, 20, 17, 1}, {27, 4, 8, 14, 2}, {26, 25, 10, 13, 1}, {19, 19, 13, 8, 3}, {12, 7, 16, 18, 7}, {20, 12, 26, 3, 3}, {6, 3, 10, 10, 2}, {25, 25, 25, 21, 2}, {12, 7, 3, 16, 2}, {8, 4, 4, 17, 4}, {12, 5, 20, 8, 5}, {22, 8, 15, 13, 7}, {12, 12, 13, 8, 2}, {20, 19, 15, 13, 1}, {30, 29, 5, 8, 1}, {14, 13, 29, 23, 2}, {18, 9, 19, 10, 7}, {2, 1, 11, 10, 1}, {12, 12, 13, 11, 1}, {27, 9, 15, 5, 4}, {13, 7, 12, 17, 2}, {8, 1, 17, 26, 1}, {20, 11, 24, 12, 4}, {12, 10, 24, 22, 6}, {19, 14, 29, 20, 1}, {20, 20, 27, 25, 2}, {9, 8, 25, 27, 1}, {7, 5, 11, 11, 1}, {20, 11, 11, 8, 1}, {9, 9, 8, 5, 1}, {27, 25, 9, 10, 1}, {30, 22, 20, 20, 1}, {26, 26, 21, 20, 1}, {30, 27, 14, 16, 1}, {12, 11, 16, 19, 3}, {7, 6, 28, 29, 1}, {17, 17, 23, 22, 2}, {12, 2, 17, 2, 1}, {17, 17, 14, 13, 1}, {18, 16, 12, 16, 1}, {7, 7, 23, 17, 1}, {25, 9, 12, 15, 4}, {16, 16, 6, 5, 5}, {8, 7, 16, 16, 7}, {6, 5, 7, 7, 5}, {15, 15, 13, 12, 2}, {13, 13, 15, 13, 3}, {16, 16, 12, 11, 1}, {18, 15, 15, 14, 3}, {17, 14, 8, 5, 4}, {9, 6, 26, 22, 5}, {17, 14, 16, 17, 3}, {25, 24, 1, 2, 1}, {14, 14, 16, 15, 1}, {24, 4, 22, 23, 4}, {30, 27, 29, 29, 1}, {17, 17, 18, 17, 1}, {19, 19, 30, 28, 1}, {21, 21, 27, 23, 3}, {16, 15, 18, 20, 1}, {27, 13, 27, 12, 4}, {30, 27, 25, 26, 1}, {4, 3, 21, 7, 1}, {10, 10, 5, 4, 4}, {14, 5, 14, 3, 1}, {23, 21, 6, 3, 3}, {9, 2, 20, 15, 2}, {23, 20, 9, 13, 1}, {15, 12, 14, 3, 3}, {19, 19, 25, 18, 4}, {27, 24, 25, 22, 4}, {15, 15, 15, 11, 1}, {17, 14, 16, 13, 1}, {12, 12, 18, 17, 1}, {30, 30, 3, 2, 1}, {21, 18, 20, 28, 3}, {25, 7, 25, 14, 5}, {3, 2, 11, 3, 2}, {25, 9, 5, 21, 4}, {6, 4, 15, 28, 3}, {9, 3, 9, 3, 3}, {16, 14, 19, 16, 2}, {10, 10, 25, 20, 1}, {2, 2, 17, 15, 1}, {17, 15, 15, 16, 1}, {20, 19, 15, 15, 1}, {22, 22, 2, 1, 1}, {15, 15, 19, 18, 1}, {15, 10, 16, 12, 1}, {28, 23, 2, 14, 2}, {11, 9, 3, 2, 1},};
thresholds_ = {14.45,4.15,7.75,9.65,2.25,0.15,0.45,-0.95,3.65,-1.75,1.05,5.45,-0.05,-2.65,3.35,1.65,-1.55,2.85,3.05,22.05,-3.65,-0.15,-0.55,-0.05,3.25,-2.85,-1.25,10.45,-1.05,1.25,3.15,2.05,-0.55,-1.25,3.45,4.35,2.45,2.55,1.35,1.25,2.75,-0.15,8.35,0.35,-1.25,0.75,-0.45,-0.05,0.85,3.65,1.55,1.75,-0.35,1.35,4.85,-2.25,0.25,-2.15,3.35,1.95,6.25,0.35,24.45,-1.15,0.85,-1.95,5.15,1.35,0.85,0.35,-0.45,4.95,-0.25,2.45,11.75,0.85,-1.65,0.05,4.05,-0.35,-0.95,-0.25,49.35,0.85,1.95,0.25,1.15,-2.65,-0.25,0.85,-5.65,1.15,3.05,4.05,7.35,9.05,0.35,1.65,1.65,2.55,6.95,1.75,0.85,-1.15,1.35,5.45,1.35,-2.35,-0.15,0.85,-3.05,0.05,-0.35,-0.65,11.65,-0.85,1.15,2.35,-9.25,16.05,-1.45,1.95,0.35,-0.35,0.15,0.25,-1.35,0.65,-4.05,-2.25,1.05,-0.05,-1.55,0.25,69.45,0.15,-1.25,-1.85,-0.65,8.75,-0.95,1.95,1.05,-1.45,2.15,-1.85,-1.75,-2.95,2.65,0.65,-1.05,4.35,0.25,19.65,0.35,1.65,0.65,2.75,2.85,-10.95,3.65,-4.15,0.25,-0.65,-2.25,3.75,35.75,3.15,-0.55,1.95,-6.55,88.35,7.25,1.75,-4.15,0.25,0.25,0.65,3.75,1.65,2.85,42.15,11.75,-1.25,-8.25,0.05,2.15,0.65,-1.55,-2.75,1.15,-0.15,-0.75,16.85,1.15,1.45,15.35,19.45,8.65,-1.25,0.25,2.15,0.15,2.85,-2.25,1.75,-15.15,4.15,-0.45,-8.25,1.25,-0.85,3.55,0.45,-1.25,9.65,1.25,3.15,-2.05,-6.85,-0.05,3.25,7.05,2.35,-1.45,-1.05,20.25,1.15,1.35,1.05,5.15,2.55,0.55,0.55,-0.15,0.65,-28.35,3.85,2.05,-1.15,3.05,-0.95,-1.55,-0.35,101.95,0.35,-2.05,-2.15,4.25,105.15,1.15,27.45,30.15,18.45,-2.45,1.85,2.95,-3.75,-0.65,0.05,0.25,34.45,-2.05,0.25,3.25,2.05,2.85,3.45,20.95,1.45,-1.95,-0.35,-6.85,1.15,-31.95,11.85,2.75,0.15,8.35,1.15,2.15,-1.15,-1.05,2.45,1.45,0.15,-1.65,41.85,0.35,0.65,-0.35,0.25,56.75,23.55,88.85,-7.25,1.05,0.75,-1.05,-1.65,-9.75,-16.95,-0.05,-10.05,34.15,14.75,-0.95,1.45,4.85,-0.05,-0.35,0.75,64.75,24.25,-0.35,-13.65,2.85,1.75,-0.35,0.25,-12.15,108.05,-0.35,-3.35,1.95,-0.35,21.25,-20.05,95.85,-1.05,-17.75,-0.55,2.75,0.65,0.75,-1.85,2.65,-2.15,1.05,-0.05,4.25,3.75,-13.55,-0.05,105.95,0.45,3.05,9.35,79.25,1.75,7.65,-0.45,0.95,79.15,28.05,0.05,0.65,-0.35,0.95,2.05,1.15,2.75,-1.65,8.65,3.55,-0.25,-28.95,-7.35,122.25,0.55,4.75,1.75,11.15,0.15,2.55,0.05,-7.95,51.05,6.25,0.05,-1.15,0.75,26.65,-1.25,1.15,-0.55,0.05,5.85,1.55,2.25,-1.65,-16.85,-62.65,-1.25,-1.05,-1.55,1.35,0.25,-0.65,0.85,17.45,0.25,-9.35,34.35,0.95,-0.95,-10.05,1.45,-6.05,93.25,3.15,-10.85,-1.65,-0.15,-2.45,-0.35,0.15,118.15,-81.85,4.05,1.05,-0.85,152.35,0.65,1.35,-12.35,95.35,-23.25,-0.75,75.65,50.85,47.85,2.55,0.55,0.15,0.25,38.15,-2.65,-1.95,-1.05,110.25,35.25,2.65,3.65,18.75,89.45,-0.55,0.35,0.25,105.05,0.25,1.25,-34.65,-0.55,-0.15,0.75,-0.15,-0.15,-94.25,-12.05,-15.35,-1.75,31.35,0.15,-2.15,-0.15,-12.05,-0.35,-0.65,-0.55,28.95,39.05,7.05,0.65,-1.65,2.85,4.85,-1.85,1.75,-31.65,0.05,13.75,-0.35,0.35,-5.75,83.85,0.95,27.95,-0.25,-19.05,2.45,-13.25,44.05,51.85,-0.05,0.05,79.35,111.25,-61.65,3.05,-69.95,35.65,62.05,-0.25,-1.05,-2.95,0.95,-0.15,-18.15,-18.65,74.55,2.65};
}else{
// With data augmentation
// box_params_ = {};
// thresholds_ = {};
// Without data augmentation
box_params_ = {{25, 13, 14, 15, 6}, {16, 14, 15, 11, 1}, {14, 7, 14, 8, 6}, {10, 6, 9, 20, 6}, {13, 13, 26, 19, 5}, {19, 19, 14, 5, 4}, {16, 15, 19, 13, 2}, {26, 21, 26, 12, 5}, {18, 15, 23, 20, 2}, {12, 10, 15, 20, 1}, {26, 18, 4, 8, 3}, {8, 2, 21, 29, 2}, {19, 17, 16, 19, 1}, {10, 5, 3, 13, 3}, {16, 10, 10, 14, 1}, {19, 18, 12, 17, 1}, {21, 21, 26, 19, 5}, {6, 5, 7, 5, 5}, {22, 20, 12, 14, 2}, {14, 13, 12, 17, 1}, {11, 10, 16, 13, 2}, {7, 7, 23, 17, 3}, {27, 25, 13, 8, 4}, {20, 16, 19, 14, 1}, {27, 24, 10, 16, 2}, {13, 13, 12, 6, 2}, {14, 13, 18, 23, 1}, {14, 11, 8, 1, 1}, {14, 12, 23, 9, 2}, {6, 2, 19, 13, 2}, {8, 6, 19, 19, 3}, {18, 17, 28, 25, 3}, {29, 25, 28, 22, 2}, {15, 15, 19, 17, 3}, {23, 19, 21, 19, 1}, {20, 20, 20, 16, 3}, {29, 25, 4, 8, 2}, {17, 16, 6, 25, 2}, {12, 8, 21, 29, 1}, {14, 9, 15, 17, 2}, {18, 17, 5, 3, 3}, {21, 18, 12, 10, 1}, {17, 14, 14, 14, 2}, {5, 3, 26, 6, 3}, {16, 15, 13, 14, 1}, {28, 24, 21, 22, 3}, {13, 13, 12, 10, 1}, {22, 21, 3, 11, 3}, {27, 4, 27, 16, 4}, {12, 7, 13, 10, 1}, {15, 15, 25, 22, 2}, {19, 18, 10, 12, 1}, {17, 17, 16, 9, 2}, {21, 21, 17, 14, 2}, {13, 12, 19, 16, 1}, {11, 9, 11, 15, 1}, {15, 14, 26, 28, 3}, {17, 17, 22, 20, 1}, {10, 2, 26, 27, 2}, {28, 26, 12, 23, 3}, {4, 3, 5, 14, 3}, {17, 17, 7, 4, 3}, {19, 17, 15, 15, 1}, {7, 2, 8, 5, 2}, {22, 19, 15, 14, 2}, {15, 12, 16, 20, 1}, {13, 12, 19, 20, 1}, {17, 17, 10, 8, 2}, {26, 19, 16, 15, 4}, {9, 8, 14, 20, 2}, {27, 27, 14, 4, 4}, {17, 15, 14, 9, 1}, {5, 5, 4, 3, 3}, {15, 9, 30, 5, 1}, {7, 7, 25, 23, 6}, {12, 11, 24, 16, 1}, {20, 20, 29, 20, 2}, {19, 15, 18, 19, 1}, {9, 7, 11, 11, 7}, {27, 26, 26, 15, 4}, {10, 10, 28, 27, 3}, {8, 8, 12, 6, 3}, {21, 16, 23, 22, 1}, {22, 4, 7, 25, 4}, {17, 16, 19, 15, 1}, {28, 11, 21, 15, 3}, {15, 15, 3, 2, 2}, {16, 14, 16, 17, 3}, {10, 7, 17, 18, 3}, {12, 12, 18, 15, 1}, {18, 16, 16, 13, 1}, {20, 19, 16, 15, 1}, {16, 11, 15, 11, 1}, {4, 2, 14, 13, 2}, {29, 27, 18, 17, 2}, {16, 14, 18, 16, 1}, {23, 22, 29, 27, 2}, {18, 18, 13, 11, 1}, {26, 21, 23, 27, 4}, {18, 17, 22, 18, 1}, {3, 2, 11, 21, 2}, {13, 13, 18, 9, 3}, {15, 14, 14, 5, 2}, {1, 1, 14, 1, 1}, {29, 5, 2, 9, 2}, {12, 11, 17, 17, 1}, {13, 12, 10, 25, 4}, {5, 1, 13, 25, 1}, {13, 13, 16, 12, 1}, {16, 16, 23, 12, 1}, {27, 22, 14, 14, 2}, {29, 27, 29, 27, 2}, {23, 22, 6, 4, 4}, {22, 22, 16, 8, 3}, {14, 11, 1, 9, 1}, {12, 10, 11, 8, 2}, {24, 7, 19, 16, 7}, {5, 2, 29, 20, 2}, {19, 19, 15, 13, 1}, {15, 8, 18, 24, 2}, {4, 1, 24, 30, 1}, {17, 17, 30, 26, 1}, {9, 7, 8, 5, 2}, {15, 15, 20, 18, 1}, {27, 14, 5, 26, 4}, {18, 18, 19, 15, 1}, {24, 9, 14, 12, 1}, {20, 18, 6, 10, 1}, {21, 21, 23, 21, 1}, {19, 6, 17, 6, 6}, {10, 6, 13, 12, 3}, {30, 27, 10, 14, 1}, {9, 6, 5, 3, 3}, {26, 18, 21, 19, 2}, {23, 23, 5, 4, 4}, {14, 11, 11, 12, 1}, {18, 16, 13, 13, 1}, {7, 3, 8, 16, 3}, {16, 16, 15, 12, 2}, {25, 24, 20, 25, 3}, {20, 19, 14, 14, 1}, {12, 12, 29, 5, 1}, {23, 13, 17, 13, 5}, {27, 23, 27, 22, 4}, {11, 11, 4, 3, 3}, {9, 7, 18, 15, 1}, {18, 18, 17, 14, 1}, {28, 6, 2, 17, 2}, {5, 3, 20, 22, 3}, {30, 30, 30, 2, 1}, {16, 15, 8, 13, 1}, {15, 14, 16, 13, 1}, {28, 27, 5, 5, 3}, {13, 12, 13, 12, 1}, {7, 6, 8, 7, 6}, {10, 10, 21, 17, 1}, {11, 3, 17, 30, 1}, {16, 9, 17, 14, 7}, {17, 9, 16, 14, 1}, {14, 13, 29, 27, 2}, {19, 19, 5, 3, 2}, {18, 14, 16, 14, 1}, {10, 8, 23, 25, 2}, {17, 15, 17, 18, 1}, {16, 16, 22, 16, 6}, {29, 27, 11, 11, 2}, {13, 7, 9, 11, 1}, {18, 17, 23, 19, 4}, {12, 11, 14, 17, 1}, {13, 11, 23, 18, 2}, {27, 23, 8, 20, 4}, {18, 18, 18, 11, 4}, {8, 5, 21, 8, 5}, {23, 21, 5, 10, 1}, {16, 16, 16, 12, 1}, {18, 14, 17, 19, 1}, {16, 16, 27, 24, 2}, {21, 15, 17, 15, 1}, {16, 15, 5, 9, 2}, {24, 1, 16, 30, 1}, {15, 14, 14, 19, 1}, {19, 12, 12, 14, 2}, {5, 3, 5, 4, 3}, {16, 16, 11, 9, 1}, {16, 6, 9, 18, 6}, {25, 23, 24, 14, 1}, {5, 5, 26, 17, 5}, {9, 6, 16, 18, 1}, {29, 9, 25, 24, 2}, {25, 24, 22, 30, 1}, {22, 20, 2, 5, 2}, {27, 25, 1, 11, 1}, {15, 14, 12, 10, 1}, {17, 16, 6, 8, 1}, {28, 23, 8, 7, 3}, {24, 23, 24, 22, 7}, {7, 5, 18, 20, 3}, {22, 20, 15, 20, 1}, {30, 28, 21, 20, 1}, {3, 2, 18, 18, 2}, {6, 5, 14, 15, 1}, {15, 15, 18, 16, 1}, {7, 5, 11, 2, 1}, {17, 13, 17, 15, 3}, {12, 7, 15, 15, 5}, {16, 15, 12, 18, 1}, {14, 14, 26, 25, 5}, {11, 8, 17, 18, 1}, {23, 15, 13, 21, 7}, {10, 10, 9, 2, 2}, {17, 12, 13, 19, 1}, {20, 19, 25, 22, 1}, {9, 8, 26, 21, 1}, {19, 19, 22, 18, 1}, {8, 3, 15, 12, 1}, {26, 16, 13, 19, 5}, {24, 21, 12, 13, 1}, {12, 12, 14, 9, 1}, {3, 1, 7, 1, 1}, {16, 15, 9, 3, 3}, {23, 23, 20, 8, 7}, {24, 22, 16, 15, 1}, {20, 20, 19, 14, 1}, {30, 29, 27, 22, 1}, {27, 4, 17, 16, 4}, {8, 5, 13, 13, 5}, {19, 10, 8, 16, 3}, {30, 30, 11, 4, 1}, {14, 14, 21, 20, 1}, {14, 13, 11, 13, 1}, {30, 28, 2, 5, 1}, {17, 12, 29, 24, 2}, {15, 6, 25, 30, 1}, {4, 1, 1, 1, 1}, {12, 5, 16, 20, 5}, {16, 14, 20, 15, 1}, {6, 6, 17, 9, 3}, {20, 12, 17, 20, 4}, {15, 12, 15, 4, 4}, {28, 22, 20, 21, 3}, {14, 9, 18, 18, 5}, {26, 23, 1, 5, 1}, {21, 11, 24, 10, 7}, {15, 14, 19, 12, 1}, {27, 11, 29, 16, 1}, {23, 22, 19, 29, 1}, {2, 2, 30, 29, 1}, {14, 6, 16, 5, 3}, {17, 14, 13, 16, 1}, {19, 15, 14, 16, 1}, {20, 13, 25, 15, 6}, {19, 11, 18, 12, 5}, {30, 30, 30, 13, 1}, {3, 1, 14, 9, 1}, {20, 1, 17, 18, 1}, {16, 12, 20, 19, 1}};
thresholds_ = {21.65,5.65,4.95,2.45,2.25,0.85,3.35,1.75,4.55,-1.55,4.55,-5.05,3.15,4.85,9.95,1.35,-2.05,-0.15,1.55,3.35,0.25,0.35,2.45,2.75,-1.65,-0.05,-0.75,0.85,2.95,-1.65,-0.05,-0.25,-3.85,-0.05,3.35,0.05,-3.55,2.65,1.95,6.35,0.85,2.65,12.45,0.05,3.35,1.75,-1.05,-1.05,28.25,0.35,-0.15,2.05,2.55,0.85,1.35,1.15,1.25,1.35,1.85,3.95,0.75,1.65,-3.15,-6.35,2.05,-5.15,1.75,-0.65,-0.65,1.05,-0.85,0.85,-0.35,9.05,0.75,-1.75,0.75,16.05,0.35,0.75,0.05,0.05,3.75,14.15,-8.95,67.25,-0.45,1.65,-1.95,1.15,1.85,3.95,-1.75,0.45,-1.55,1.05,-0.25,-1.05,3.05,-1.05,1.95,-0.05,0.85,3.05,34.85,-0.15,4.35,-10.65,2.35,-1.35,0.05,1.05,1.05,-0.15,0.45,-0.55,10.45,1.35,-0.95,0.45,-0.85,1.45,-1.85,1.65,2.75,1.05,81.45,3.35,0.85,2.65,9.35,1.15,1.35,-1.55,0.85,20.65,2.05,12.85,7.95,2.25,0.05,0.85,8.75,-8.25,-0.35,1.65,-3.95,92.55,0.55,0.35,-0.75,-12.25,0.55,1.05,0.95,1.15,-43.25,3.05,4.35,7.15,0.15,57.95,4.35,0.75,0.05,0.05,5.45,0.55,0.95,20.55,-4.45,0.75,4.55,-0.15,8.65,42.65,-0.45,-1.25,-1.75,11.25,-8.15,2.85,-2.85,-5.05,44.65,1.45,-0.75,11.85,2.05,1.25,4.45,-1.35,5.95,1.35,-2.55,5.05,-2.85,7.35,-1.35,-0.45,0.45,-11.85,-39.65,1.65,-0.05,3.65,-0.35,0.05,1.85,-0.45,-1.75,3.95,5.25,-1.05,-11.95,37.05,-1.15,1.25,0.75,-6.05,-1.55,-1.65,0.85,0.35,101.55,-5.05,3.65,-2.35,-0.35,-1.65,0.65,6.35,2.85,5.25,24.05,38.15,-1.05,3.05,0.35,-16.05,-1.25,0.25,1.95,-0.85,107.65,-1.55,-0.25,26.95,35.95,-4.85,1.55,10.85,-7.15,-4.25,-25.15,2.75};
}
}
void BAD::compute(cv::InputArray _image,
std::vector<cv::KeyPoint> &keypoints,
cv::OutputArray &_descriptors) {
cv::Mat image = _image.getMat();
if (image.empty())
return;
if (keypoints.empty()){
// clean output buffer (it may be reused with "allocated" data)
_descriptors.release();
return;
}
assert(image.type() == CV_8UC1);
cv::Mat integral_img;
// compute the integral image
cv::integral(image, integral_img);
// Create the output array of descriptors
_descriptors.create((int)keypoints.size(), descriptorSize(), descriptorType());
// descriptor storage
cv::Mat descriptors = _descriptors.getMat();
assert(descriptors.type() == CV_8UC1);
computeBAD(integral_img, keypoints, descriptors);
}
void BAD::computeBAD(const cv::Mat &integral_img,
const std::vector<cv::KeyPoint> &keypoints,
cv::Mat &descriptors) {
assert(!integral_img.empty());
assert(descriptors.rows == keypoints.size());
const int *integral_ptr = integral_img.ptr<int>();
cv::Size frame_size(integral_img.cols - 1, integral_img.rows - 1);
/////////////////// Parallel Loop to process descriptors ////////////////////
#ifndef UPM_BAD_PARALLEL
const cv::Range range(0, keypoints.size());
#else
cv::parallel_for_(cv::Range(0, int(keypoints.size())), [&](const cv::Range &range){
#endif
// Get a pointer to the first element in the range
// Get a pointer to the first element in the range
BoxPairParams *box_pair;
float response_fun;
int area_response_fun, kpIdx;
size_t box_pair_idx;
int box1x1, box1y1, box1x2, box1y2, box2x1, box2y1, box2x2, box2y2, bit_idx, side;
uchar byte = 0;
std::vector<BoxPairParams> img_boxes(box_params_.size());
uchar *d = &descriptors.at<uchar>(range.start, 0);
for (kpIdx = range.start; kpIdx < range.end; kpIdx++) {
// Rectify the weak learners coordinates using the keypoint information
// Rectify the weak learners coordinates using the keypoint information
rectifyBoxes(box_params_, img_boxes, keypoints[kpIdx], scale_factor_, patch_size_);
if (isKeypointInTheBorder(keypoints[kpIdx], frame_size, patch_size_, scale_factor_)) {
// Code to process the keypoints in the image margins
for (box_pair_idx = 0; box_pair_idx < box_params_.size(); box_pair_idx++) {
bit_idx = 7 - int(box_pair_idx % 8);
response_fun = computeBadResponse(img_boxes[box_pair_idx], integral_img);
// Set the bit to 1 if the response function is less or equal to the threshod
byte |= (response_fun <= thresholds_[box_pair_idx]) << bit_idx;
// If we filled the byte, save it
if (bit_idx == 0) {
*d = byte;
byte = 0;
d++;
}
}
} else {
// Code to process the keypoints in the image center
box_pair = img_boxes.data();
for (box_pair_idx = 0; box_pair_idx < box_params_.size(); box_pair_idx++) {
bit_idx = 7 - int(box_pair_idx % 8);
// For the first box, we calculate its margin coordinates
box1x1 = box_pair->x1 - box_pair->boxRadius;
box1y1 = (box_pair->y1 - box_pair->boxRadius) * integral_img.cols;
box1x2 = box_pair->x1 + box_pair->boxRadius + 1;
box1y2 = (box_pair->y1 + box_pair->boxRadius + 1) * integral_img.cols;
// For the second box, we calculate its margin coordinates
box2x1 = box_pair->x2 - box_pair->boxRadius;
box2y1 = (box_pair->y2 - box_pair->boxRadius) * integral_img.cols;
box2x2 = box_pair->x2 + box_pair->boxRadius + 1;
box2y2 = (box_pair->y2 + box_pair->boxRadius + 1) * integral_img.cols;
side = 1 + (box_pair->boxRadius << 1);
// Get the difference between the average level of the two boxes
area_response_fun = (integral_ptr[box1y1 + box1x1] // A of Box1
+ integral_ptr[box1y2 + box1x2] // D of Box1
- integral_ptr[box1y1 + box1x2] // B of Box1
- integral_ptr[box1y2 + box1x1] // C of Box1
- integral_ptr[box2y1 + box2x1] // A of Box2
- integral_ptr[box2y2 + box2x2] // D of Box2
+ integral_ptr[box2y1 + box2x2] // B of Box2
+ integral_ptr[box2y2 + box2x1]); // C of Box2
// Set the bit to 1 if the response function is less or equal to the threshod
byte |= (area_response_fun <= (thresholds_[box_pair_idx] * (side * side))) << bit_idx;
box_pair++;
// If we filled the byte, save it
if (bit_idx == 0) {
*d = byte;
byte = 0;
d++;
}
} // End of for each dimension
} // End of else (of pixels in the image center)
} // End of for each keypoint
#ifdef UPM_BAD_PARALLEL
});
#endif
}
}