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Removes warnings about multi-line macro and not covered by if
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Needs review if the lines with warnings regarding if should be inside the lambda or outside it
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@kunaltyagi
kunaltyagi committed Sep 30, 2019
1 parent 893c34a commit 0deb728
Showing 1 changed file with 59 additions and 29 deletions.
88 changes: 59 additions & 29 deletions people/src/hog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,13 +184,15 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
if( !soft_bin || bin_size==1 ) {
// interpolate w.r.t. orientation only, not spatial bin_size
H1=H+(x/bin_size)*hb;
#define GH H1[O0[y]]+=M0[y]; H1[O1[y]]+=M1[y]; y++;
if( bin_size==1 ) for(y=0; y<h0;) { GH; H1++; }
else if( bin_size==2 ) for(y=0; y<h0;) { GH; GH; H1++; }
else if( bin_size==3 ) for(y=0; y<h0;) { GH; GH; GH; H1++; }
else if( bin_size==4 ) for(y=0; y<h0;) { GH; GH; GH; GH; H1++; }
else for( y=0; y<h0;) { for( int y1=0; y1<bin_size; y1++ ) { GH; } H1++; }
#undef GH
const auto GH = [&H1, &O0, &O1, &y, &M0, &M1]()
{
H1[O0[y]]+=M0[y]; H1[O1[y]]+=M1[y]; y++;
};
if( bin_size==1 ) for(y=0; y<h0;) { GH(); H1++; }
else if( bin_size==2 ) for(y=0; y<h0;) { GH(); GH(); H1++; }
else if( bin_size==3 ) for(y=0; y<h0;) { GH(); GH(); GH(); H1++; }
else if( bin_size==4 ) for(y=0; y<h0;) { GH(); GH(); GH(); GH(); H1++; }
else for( y=0; y<h0;) { for( int y1=0; y1<bin_size; y1++ ) { GH(); } H1++; }

} else {
// interpolate using trilinear interpolation
Expand All @@ -200,19 +202,34 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
if( x==0 ) { init=(0+.5f)*sInv-0.5f; xb=init; }
hasLf = xb>=0; xb0 = hasLf?(int)xb:-1; hasRt = xb0 < wb-1;
xd=xb-xb0; xb+=sInv; yb=init; y=0;
// macros for code conciseness
#define GHinit yd=yb-yb0; yb+=sInv; H0=H+xb0*hb+yb0; xyd=xd*yd; \
ms[0]=1-xd-yd+xyd; ms[1]=yd-xyd; ms[2]=xd-xyd; ms[3]=xyd;
#define GH(H,ma,mb) H1=H; pcl::sse_stru(*H1,pcl::sse_add(pcl::sse_ldu(*H1),pcl::sse_mul(ma,mb)));
// lambda for code conciseness
// @TODO: remove the very generic closure for specific variable one
const auto GHinit = [&]()
{
yd=yb-yb0;
yb+=sInv;
H0=H+xb0*hb+yb0;
xyd=xd*yd;

ms[0]=1-xd-yd+xyd;
ms[1]=yd-xyd;
ms[2]=xd-xyd;
ms[3]=xyd;
};
const auto GH = [&H1](const auto&H, const auto&ma, const auto&mb)
{
H1=H;
pcl::sse_stru(*H1, pcl::sse_add(pcl::sse_ldu(*H1), pcl::sse_mul(ma,mb)));
};
// leading rows, no top bin_size
for( ; y<bin_size/2; y++ ) {
yb0=-1; GHinit;
yb0=-1; GHinit();
if(hasLf) { H0[O0[y]+1]+=ms[1]*M0[y]; H0[O1[y]+1]+=ms[1]*M1[y]; }
if(hasRt) { H0[O0[y]+hb+1]+=ms[3]*M0[y]; H0[O1[y]+hb+1]+=ms[3]*M1[y]; }
}
// main rows, has top and bottom bins, use SSE for minor speedup
for( ; ; y++ ) {
yb0 = (int) yb; if(yb0>=hb-1) break; GHinit;
yb0 = (int) yb; if(yb0>=hb-1) break; GHinit();
_m0=pcl::sse_set(M0[y]); _m1=pcl::sse_set(M1[y]);
if(hasLf) { _m=pcl::sse_set(0,0,ms[1],ms[0]);
GH(H0+O0[y],_m,_m0); GH(H0+O1[y],_m,_m1); }
Expand All @@ -221,24 +238,32 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
}
// final rows, no bottom bin_size
for( ; y<h0; y++ ) {
yb0 = (int) yb; GHinit;
yb0 = (int) yb; GHinit();
if(hasLf) { H0[O0[y]]+=ms[0]*M0[y]; H0[O1[y]]+=ms[0]*M1[y]; }
if(hasRt) { H0[O0[y]+hb]+=ms[2]*M0[y]; H0[O1[y]+hb]+=ms[2]*M1[y]; }
}
#undef GHinit
#undef GH
#else
float ms[4], xyd, yb, xd, yd;
bool hasLf, hasRt; int xb0, yb0;
if( x==0 ) { init=(0+.5f)*sInv-0.5f; xb=init; }
hasLf = xb>=0; xb0 = hasLf?(int)xb:-1; hasRt = xb0 < wb-1;
xd=xb-xb0; xb+=sInv; yb=init; y=0;
// macros for code conciseness
#define GHinit yd=yb-yb0; yb+=sInv; H0=H+xb0*hb+yb0; xyd=xd*yd; \
ms[0]=1-xd-yd+xyd; ms[1]=yd-xyd; ms[2]=xd-xyd; ms[3]=xyd;
// lambda for code conciseness
const auto GHinit = [&]()
{
yd=yb-yb0;
yb+=sInv;
H0=H+xb0*hb+yb0;
xyd=xd*yd;

ms[0]=1-xd-yd+xyd;
ms[1]=yd-xyd;
ms[2]=xd-xyd;
ms[3]=xyd;
};
// leading rows, no top bin_size
for( ; y<bin_size/2; y++ ) {
yb0=-1; GHinit;
yb0=-1; GHinit();
if(hasLf) { H0[O0[y]+1]+=ms[1]*M0[y]; H0[O1[y]+1]+=ms[1]*M1[y]; }
if(hasRt) { H0[O0[y]+hb+1]+=ms[3]*M0[y]; H0[O1[y]+hb+1]+=ms[3]*M1[y]; }
}
Expand All @@ -247,7 +272,7 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
yb0 = (int) yb;
if(yb0>=hb-1)
break;
GHinit;
GHinit();

if(hasLf)
{
Expand All @@ -266,11 +291,10 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
}
// final rows, no bottom bin_size
for( ; y<h0; y++ ) {
yb0 = (int) yb; GHinit;
yb0 = (int) yb; GHinit();
if(hasLf) { H0[O0[y]]+=ms[0]*M0[y]; H0[O1[y]]+=ms[0]*M1[y]; }
if(hasRt) { H0[O0[y]+hb]+=ms[2]*M0[y]; H0[O1[y]+hb]+=ms[2]*M1[y]; }
}
#undef GHinit
#endif
}
}
Expand All @@ -289,9 +313,12 @@ pcl::people::HOG::normalization (float *H, int h, int w, int bin_size, int n_ori
for( x=0; x<wb-1; x++ ) for( y=0; y<hb-1; y++ ) {
N1=N+x*hb+y; *N1=1/float(std::sqrt( N1[0] + N1[1] + N1[hb] + N1[hb+1] +eps )); }
// perform 4 normalizations per spatial block (handling boundary regions)
#define U(a,b) Gs[a][y]=H1[y]*N1[y-(b)]; if(Gs[a][y]>clip) Gs[a][y]=clip;
for( o=0; o<n_orients; o++ ) for( x=0; x<wb; x++ ) {
H1=H+o*nb+x*hb; N1=N+x*hb; float *Gs[4]; Gs[0]=G+o*nb+x*hb;
const auto U = [&Gs, &H1, &N1, &y, &clip](const auto&a, const auto&b)
{
Gs[a][y] = std::min(clip, H1[y] * N1[y - b]);
};
for( y=1; y<4; y++ ) Gs[y]=Gs[y-1]+nb*n_orients;
bool lf, md, rt; lf=(x==0); rt=(x==wb-1); md=(!lf && !rt);
y=0; if(!rt) U(0,0); if(!lf) U(2,hb);
Expand All @@ -300,7 +327,6 @@ pcl::people::HOG::normalization (float *H, int h, int w, int bin_size, int n_ori
if(rt) for( y=1; y<hb-1; y++ ) { U(2,hb); U(3,hb+1); }
y=hb-1; if(!rt) U(1,1); if(!lf) U(3,hb+1);
} free(N);
#undef U
}

void
Expand Down Expand Up @@ -385,7 +411,10 @@ pcl::people::HOG::grad1 (float *I, float *Gx, float *Gy, int h, int w, int x) co
*_G++ = pcl::sse_mul(pcl::sse_sub(*_In++,*_Ip++), _r);
}
// compute column of Gy
#define GRADY(r) *Gy++ = (*In++-*Ip++)*r;
const auto GRADY = [&Gy, &In, &Ip](const auto& r)
{
*Gy++ = (*In++ - *Ip++) * r;
};
Ip = I;
In = Ip + 1;
// GRADY(1); Ip--; for(y = 1; y < h-1; y++) GRADY(.5f); In--; GRADY(1);
Expand All @@ -402,7 +431,6 @@ pcl::people::HOG::grad1 (float *I, float *Gx, float *Gy, int h, int w, int x) co
for(; y < h-1; y++) GRADY(.5f);
In--;
GRADY(1);
#undef GRADY
#else
int y, y1;
float *Ip, *In, r;
Expand All @@ -427,7 +455,10 @@ pcl::people::HOG::grad1 (float *I, float *Gx, float *Gy, int h, int w, int x) co
*Gx++=(*In++ - *Ip++)*r;

// compute column of Gy
#define GRADY(r) *Gy++=(*In++-*Ip++)*r;
const auto GRADY = [&Gy, &In, &Ip](const auto& r)
{
*Gy++ = (*In++ - *Ip++) * r;
};
Ip=I; In=Ip+1;
// GRADY(1); Ip--; for(y=1; y<h-1; y++) GRADY(.5f); In--; GRADY(1);
y1=((~((size_t) Gy) + 1) & 15)/4; if(y1==0) y1=4; if(y1>h-1) y1=h-1;
Expand All @@ -436,7 +467,6 @@ pcl::people::HOG::grad1 (float *I, float *Gx, float *Gy, int h, int w, int x) co
r = 0.5f;
for(; y<h-1; y++)
GRADY(.5f); In--; GRADY(1);
#undef GRADY
#endif
}

Expand Down

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