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diff --git a/Makefile b/Makefile
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.        #
+#                                                                             #
+# Written by Francois Fleuret                                                 #
+# (C) Ecole Polytechnique Federale de Lausanne                                 #
+# Contact <pom@epfl.ch> 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 (file)
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 <view width> <view height> <number of cameras> <number of locations>
+
+    Defines the input image size, the number of cameras and the number
+    of locations in the area of interest.
+
+  RECTANGLE <camera number> <location number> notvisible|<xmin> <ymin> <xmax> <ymax>
+
+    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 <input image filename 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 <result image filename format>
+
+    Specifies the filenames of the result images. See FILENAME FORMAT
+    below.
+
+  RESULT_FORMAT <result filename 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 <convergence file name 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#ifndef ARRAY_H
+#define ARRAY_H
+
+#include <iostream>
+#include <string.h>
+#include <stdlib.h>
+
+using namespace std;
+
+#include "misc.h"
+
+template<class T>
+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<T> &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<class T>
+std::ostream &operator << (std::ostream &os, const Array<T> &v) { v.print(os); return os; }
+
+#endif

diff --git a/global.cc b/global.cc
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 (file)
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. <http://fsf.org/>
+ 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.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
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+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
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+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
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+  Some devices are designed to deny users access to install or run
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+
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+  12. No Surrender of Others' Freedom.
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+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

diff --git a/integral_array.h b/integral_array.h
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#ifndef INTEGRAL_ARRAY_H
+#define INTEGRAL_ARRAY_H
+
+#include <iostream>
+
+using namespace std;
+
+#include "array.h"
+
+template <class T>
+class IntegralArray: public Array<T> {
+public:
+
+  void compute(const Array<T> *m) {
+    T *v = Array<T>::content, *w = m->Array<T>::content;
+    for(int x = 0; x < Array<T>::height; x++) *(v++) = 0;
+
+    register T sl;
+    for(int y = 1; y < Array<T>::width; y++) {
+      sl = 0; *(v++) = 0;
+      for(int x = 0; x < Array<T>::height - 1; x++) {
+        sl += *(w++);
+        *(v++) = sl + *(v - Array<T>::height);
+      }
+    }
+  }
+
+  IntegralArray(int w, int h) : Array<T>(w+1, h+1) { }
+
+  IntegralArray(const Array<T> &m) : Array<T>(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<T>::width &&
+           ymin >= 0 && ymax < Array<T>::height, "Index out of bounds in Array::operator () const");
+    return Array<T>::heads[xmax][ymax] + Array<T>::heads[xmin][ymin]
+      - Array<T>::heads[xmax][ymin] - Array<T>::heads[xmin][ymax];
+  }
+};
+
+#endif

diff --git a/integral_proba_view.h b/integral_proba_view.h
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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<scalar_t> {
+public:
+  IntegralProbaView(int view_width, int view_height) : IntegralArray<scalar_t>(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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include <iostream>
+#include <fstream>
+
+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<buffer+buffer_size-1))
+        *s++ = *r++;
+      if(*r == '"') r++;
+    } else {
+      while((*r != '\r') && (*r != '\n') && (*r != '\0') &&
+            (*r != '\t') && (*r != ' ') && (*r != ',')) {
+        if(s == buffer + buffer_size) {
+          cerr << "Buffer overflow in next_word." << endl;
+          exit(1);
+        }
+        *s++ = *r++;
+      }
+    }
+
+    while((*r == ' ') || (*r == '\t') || (*r == ',')) r++;
+    if((*r == '\0') || (*r=='\r') || (*r=='\n')) r = 0;
+  }
+  *s = '\0';
+
+  return r;
+}
+
+int pomsprintf(char *buffer, int buffer_length, char *format, int n_camera, int n_frame, int n_iteration) {
+  char *s = buffer, *t = format;
+
+  while(*t && s < buffer + buffer_length - 1) {
+    if(*t == '%') {
+      t++;
+      int v;
+      switch(*t) {
+      case 'c':
+        v = n_camera;
+        t++;
+        break;
+      case 'f':
+        v = n_frame;
+        t++;
+        break;
+      case 'i':
+        v = n_iteration;
+        t++;
+        break;
+      default:
+        cerr << "Unknown format type in " << format << "." << endl;
+        exit(1);
+      }
+
+      s += snprintf(s, buffer + buffer_length - s, "%d", v);
+    } else *(s++) = *(t++);
+  }
+
+  *(s++) = '\0';
+
+  return s - buffer;
+}

diff --git a/misc.h b/misc.h
new file mode 100644 (file)
index 0000000..7ad905a
--- /dev/null
+++ b/misc.h
@@ -0,0 +1,39 @@
+
+//////////////////////////////////////////////////////////////////////////////////
+// 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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 <class T> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include "normal_law.h"
+#include <cmath>
+
+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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include <iostream>
+#include <fstream>
+
+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 | <configuration file>]" << 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 | <configuration file>]" << 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<ProbaView *> *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<ProbaView *>(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<scalar_t> prior(room->nb_positions());
+      Vector<scalar_t> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include <iostream>
+#include <fstream>
+#include <cmath>
+
+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<scalar_t> *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<scalar_t> *proba_absence,
+                              Vector<scalar_t> *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<scalar_t> *prior,
+                      Vector<ProbaView *> *views,
+                      Vector<scalar_t> *proba_presence,
+                      int nb_frame,
+                      char *convergence_file_format) {
+
+  Vector<scalar_t> log_prior_ratio(prior->length());
+
+  Vector<scalar_t> sum(room->nb_positions());
+  Vector<scalar_t> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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<scalar_t> *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<scalar_t> *proba_absence,
+                     Vector<scalar_t> *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<scalar_t> *prior,
+             Vector<ProbaView *> *views,
+             Vector<scalar_t> *proba_presence,
+             int nb_frame,
+             char *convergence_file_format);
+};
+
+#endif

diff --git a/proba_view.cc b/proba_view.cc
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include "proba_view.h"
+
+ProbaView::ProbaView(int view_width, int view_height) : Array<scalar_t>(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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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<scalar_t> {
+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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include "rectangle.h"
+
+Rectangle::Rectangle() {
+  visible = false;
+}

diff --git a/rectangle.h b/rectangle.h
new file mode 100644 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include <iostream>
+#include <stdio.h>
+
+using namespace std;
+
+#include <libpng/png.h>
+
+#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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#include <cmath>
+
+#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<scalar_t> *proba_presence) const  {
+
+  RGBImage image(view->get_width(), view->get_height());
+
+  Array<scalar_t> 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<bool> 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> 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<scalar_t> *proba_presence) const;
+};
+
+#endif

diff --git a/test.pom b/test.pom
new file mode 100644 (file)
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
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+
+# 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 (file)
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 <http://www.gnu.org/licenses/>.         //
+//                                                                              //
+// Written by Francois Fleuret                                                  //
+// (C) Ecole Polytechnique Federale de Lausanne                                 //
+// Contact <pom@epfl.ch> for comments & bug reports                             //
+//////////////////////////////////////////////////////////////////////////////////
+
+#ifndef VECTOR_H
+#define VECTOR_H
+
+#include <iostream>
+#include <string.h>
+#include <stdlib.h>
+
+using namespace std;
+
+#include "misc.h"
+
+template<class T>
+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<size; i++) s += content[i] * content[i];
+    return sqrt(s);
+  }
+
+  inline void print(std::ostream &os) const {
+    for(int i = 0; i < size; i++) os << content[i] << ((i < size - 1) ? " " : "\n");
+  }
+
+  inline void print_for_gnuplot(std::ostream &os) const {
+    for(int i = 0; i < size; i++) os << content[i] << "\n";
+  }
+
+};
+
+template<class T>
+std::ostream &operator << (std::ostream &os, const Vector<T> &v) { v.print(os); return os; }
+
+#endif