Stereo objects detection on a flat world. Rodrigo Benenson @ KULeuven. 2011. Parsed the configuration file very_fast_over_bahnhof_cvpr2012.config.

ini Overwriting existing log file objects_detection.out.txt Using stereo camera calibration file: ../../video_input/calibration/stereo_calib ration_bahnhof.proto.txt 2013-04-30 20:52:35 {83475b00} [ StereoCameraCalibration ] : stereo_calibration_ data name: Andreas Ess Bahnhofstrasse sequence stereo calibration libprotobuf ERROR google/protobuf/message_lite.cc:123] Can't parse message of ty pe "doppia_protobuf.DetectorModel" because it is missing required fields: detect or_type Reading files: ../../../../doppia/data/sample_test_images/bahnhof/image_00000090_0.png ../../../../doppia/data/sample_test_images/bahnhof/image_00000090_1.png 2013-04-30 20:52:35 {83475b00} [ ObjectsDetectorFactory ] : Model file ../../../ data/trained_models/2012_04_04_1417_trained_model_multiscales_synthetic_softcasc ade.proto.bin is not in text binary buffer format libprotobuf ERROR google/protobuf/text_format.cc:172] Error parsing text-format doppia_protobuf.DetectorModel: 2:1: Invalid control characters encountered in te xt. libprotobuf ERROR google/protobuf/text_format.cc:172] Error parsing text-format doppia_protobuf.DetectorModel: 2:9: Message type "doppia_protobuf.DetectorModel" has no field named "Scales". 2013-04-30 20:52:35 {83475b00} [ ObjectsDetectorFactory ] : Model file ../../../ data/trained_models/2012_04_04_1417_trained_model_multiscales_synthetic_softcasc ade.proto.bin is not in text protocol buffer format 2013-04-30 20:52:35 {83475b00} [ ObjectsDetectorFactory ] : Parsed the binary mo del file ../../../data/trained_models/2012_04_04_1417_trained_model_multiscales_ synthetic_softcascade.proto.bin add_cascade_offset: at stage 0 the offset value is -0.05000 add_cascade_offset: at stage 1000 the offset value is -0.05000 add_cascade_offset: at stage 1999 the offset value is -0.05000 add_cascade_offset: at stage 0 the offset value is -0.05000 add_cascade_offset: at stage 1000 the offset value is -0.05000 add_cascade_offset: at stage 1999 the offset value is -0.05000 add_cascade_offset: at stage 0 the offset value is -0.05000 add_cascade_offset: at stage 1000 the offset value is -0.05000 add_cascade_offset: at stage 1999 the offset value is -0.05000 add_cascade_offset: at stage 0 the offset value is -0.05000 add_cascade_offset: at stage 1000 the offset value is -0.05000 add_cascade_offset: at stage 1999 the offset value is -0.05000 add_cascade_offset: at stage 0 the offset value is -0.05000 add_cascade_offset: at stage 1000 the offset value is -0.05000 add_cascade_offset: at stage 1999 the offset value is -0.05000 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Parsing mu ltiscales model Scales 0.5, 1.0, 2.0, 4.0, 8.0 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Multiscale s model is being normalized to have maximum detection score == 1 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Model inde x 0 has scale 0.5 2013-04-30 20:52:35 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The so ft cascade contains 2000 stages Stage 0 cascade_threshold == -0.010148 Stage 1999 cascade_threshold == -0.010174 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Model inde x 1 has scale 1 2013-04-30 20:52:35 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The so ft cascade contains 2000 stages Stage 0 cascade_threshold == -0.010119 Stage 1999 cascade_threshold == -0.010146 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Model inde

x 2 has scale 2 2013-04-30 20:52:35 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The so ft cascade contains 2000 stages Stage 0 cascade_threshold == -0.010106 Stage 1999 cascade_threshold == -0.010132 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Model inde x 3 has scale 4 2013-04-30 20:52:35 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The so ft cascade contains 2000 stages Stage 0 cascade_threshold == -0.010108 Stage 1999 cascade_threshold == -0.010135 2013-04-30 20:52:35 {83475b00} [ MultiScalesIntegralChannelsModel ] : Model inde x 4 has scale 8 2013-04-30 20:52:35 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The so ft cascade contains 2000 stages Stage 0 cascade_threshold == -0.010115 Stage 1999 cascade_threshold == -0.010142 2013-04-30 20:52:36 {83475b00} [ SoftCascadeOverIntegralChannelsModel ] : The de tector model seems to include a cascade thresholds 2013-04-30 20:52:36 {83475b00} [ ObjectsDetectorFactory ] : Updating the score t hreshold using the last cascade threshold of detector 0. New score threshold == -0.015 (= -0.005 + -0.010) 2013-04-30 20:52:48 {83475b00} [ GpuIntegralChannelsDetector ] : cv::gpu::CudaMe m::canMapHostMemory() == 1 2013-04-30 20:52:48 {83475b00} [ MultiScalesIntegralChannelsModel ] : Will use t he cascade thresholds provided in 5 out of 5 detectors in the multiscales model 2013-04-30 20:52:48 {83475b00} [ GpuVeryFastIntegralChannelsDetector ] : Will us e the model soft cascade at run time 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 3.77651 (index 48) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 3.95735 (index 49) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 4.14684 (index 50) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 4.34541 (index 51) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 4.55348 (index 52) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 4.77152 (index 53) despite being empty 2013-04-30 20:52:48 {83475b00} [ AbstractObjectsDetector ] : Warning: _Not_ skip ping the scale 5 (index 54) despite being empty BaseVeryFastIntegralChannelsDetector::compute_scaled_detection_cascades Selected model scale 0.500 for detection window scale 0.400 Selected model scale 0.500 for detection window scale 0.419 Selected model scale 0.500 for detection window scale 0.439 Selected model scale 0.500 for detection window scale 0.460 Selected model scale 0.500 for detection window scale 0.482 Selected model scale 0.500 for detection window scale 0.505 Selected model scale 0.500 for detection window scale 0.530 Selected model scale 0.500 for detection window scale 0.555 Selected model scale 0.500 for detection window scale 0.582 Selected model scale 0.500 for detection window scale 0.609 Selected model scale 0.500 for detection window scale 0.639 Selected model scale 0.500 for detection window scale 0.669 Selected model scale 0.500 for detection window scale 0.701 Selected model scale 1.000 for detection window scale 0.735 Selected model scale 1.000 for detection window scale 0.770 Selected model scale 1.000 for detection window scale 0.807 Selected model scale 1.000 for detection window scale 0.845

Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 1.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 2.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Selected model scale 4.000 for detection Detection window scale 0.400 has strides => (1, 1) [channel pixels] Detection window scale 0.419 has strides => (1, 1) [channel pixels] Detection window scale 0.439 has strides => (1, 1) [channel pixels] Detection window scale 0.460 has strides => (1, 1) [channel pixels] Detection window scale 0.482 has strides => (1, 1) [channel pixels] Detection window scale 0.505 has strides => (1, 1) [channel pixels] Detection window scale 0.530 has strides => (1, 1) [channel pixels] Detection window scale 0.555 has strides => (1, 1) [channel pixels] Detection window scale 0.582 has strides => (1, 1) [channel pixels] Detection window scale 0.609 has strides => (1, 1) [channel pixels] Detection window scale 0.639 has strides => (1, 1) [channel pixels]

window scale 0.886 window scale 0.928 window scale 0.973 window scale 1.019 window scale 1.068 window scale 1.119 window scale 1.173 window scale 1.229 window scale 1.288 window scale 1.350 window scale 1.414 window scale 1.482 window scale 1.553 window scale 1.627 window scale 1.705 window scale 1.787 window scale 1.872 window scale 1.962 window scale 2.056 window scale 2.154 window scale 2.258 window scale 2.366 window scale 2.479 window scale 2.598 window scale 2.722 window scale 2.852 window scale 2.989 window scale 3.132 window scale 3.282 window scale 3.439 window scale 3.604 window scale 3.777 window scale 3.957 window scale 4.147 window scale 4.345 window scale 4.553 window scale 4.772 window scale 5.000 (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels] (x,y) == (0.000, 0.000) [image pixels]

Detection window scale 0.669 has => (1, 1) [channel pixels] Detection window scale 0.701 has => (1, 1) [channel pixels] Detection window scale 0.735 has => (1, 1) [channel pixels] Detection window scale 0.770 has => (1, 1) [channel pixels] Detection window scale 0.807 has => (1, 1) [channel pixels] Detection window scale 0.845 has => (1, 1) [channel pixels] Detection window scale 0.886 has => (1, 1) [channel pixels] Detection window scale 0.928 has => (1, 1) [channel pixels] Detection window scale 0.973 has => (1, 1) [channel pixels] Detection window scale 1.019 has => (1, 1) [channel pixels] Detection window scale 1.068 has => (1, 1) [channel pixels] Detection window scale 1.119 has => (1, 1) [channel pixels] Detection window scale 1.173 has => (1, 1) [channel pixels] Detection window scale 1.229 has => (1, 1) [channel pixels] Detection window scale 1.288 has => (1, 1) [channel pixels] Detection window scale 1.350 has => (1, 1) [channel pixels] Detection window scale 1.414 has => (1, 1) [channel pixels] Detection window scale 1.482 has => (1, 1) [channel pixels] Detection window scale 1.553 has => (1, 1) [channel pixels] Detection window scale 1.627 has => (1, 1) [channel pixels] Detection window scale 1.705 has => (1, 1) [channel pixels] Detection window scale 1.787 has => (1, 1) [channel pixels] Detection window scale 1.872 has => (1, 1) [channel pixels] Detection window scale 1.962 has => (1, 1) [channel pixels] Detection window scale 2.056 has => (1, 1) [channel pixels] Detection window scale 2.154 has => (1, 1) [channel pixels] Detection window scale 2.258 has => (1, 1) [channel pixels] Detection window scale 2.366 has => (1, 1) [channel pixels] Detection window scale 2.479 has => (1, 1) [channel pixels] Detection window scale 2.598 has => (1, 1) [channel pixels]

strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels] strides (x,y) == (0.000, 0.000) [image pixels]

Detection window scale 2.722 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 2.852 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 2.989 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.132 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.282 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.439 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.604 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.777 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 3.957 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 4.147 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 4.345 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 4.553 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 4.772 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] Detection window scale 5.000 has strides (x,y) == (0.000, 0.000) => (1, 1) [channel pixels] scale_index == 0, original_height == 428, updated_height == 60 scale_index == 1, original_height == 426, updated_height == 60 scale_index == 2, original_height == 423, updated_height == 59 scale_index == 3, original_height == 421, updated_height == 60 scale_index == 4, original_height == 418, updated_height == 61 scale_index == 5, original_height == 415, updated_height == 59 scale_index == 6, original_height == 412, updated_height == 60 scale_index == 7, original_height == 408, updated_height == 61 scale_index == 8, original_height == 405, updated_height == 60 scale_index == 9, original_height == 402, updated_height == 60 scale_index == 10, original_height == 398, updated_height == 60 scale_index == 11, original_height == 394, updated_height == 60 scale_index == 12, original_height == 390, updated_height == 60 scale_index == 13, original_height == 385, updated_height == 60 scale_index == 14, original_height == 381, updated_height == 60 scale_index == 15, original_height == 376, updated_height == 60 scale_index == 16, original_height == 371, updated_height == 60 scale_index == 17, original_height == 366, updated_height == 60 scale_index == 18, original_height == 361, updated_height == 59 scale_index == 19, original_height == 355, updated_height == 61 scale_index == 20, original_height == 349, updated_height == 60 scale_index == 21, original_height == 343, updated_height == 59 scale_index == 22, original_height == 336, updated_height == 61 scale_index == 23, original_height == 329, updated_height == 60 scale_index == 24, original_height == 322, updated_height == 60 scale_index == 25, original_height == 315, updated_height == 61 scale_index == 26, original_height == 307, updated_height == 60 scale_index == 27, original_height == 298, updated_height == 60 scale_index == 28, original_height == 290, updated_height == 60 scale_index == 29, original_height == 281, updated_height == 60 scale_index == 30, original_height == 271, updated_height == 60 scale_index == 31, original_height == 261, updated_height == 59

[image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels] [image pixels]

scale_index == 32, original_height == 251, updated_height == 60 scale_index == 33, original_height == 240, updated_height == 60 scale_index == 34, original_height == 228, updated_height == 61 scale_index == 35, original_height == 216, updated_height == 60 scale_index == 36, original_height == 204, updated_height == 60 scale_index == 37, original_height == 191, updated_height == 60 scale_index == 38, original_height == 177, updated_height == 60 scale_index == 39, original_height == 162, updated_height == 59 scale_index == 40, original_height == 147, updated_height == 60 scale_index == 41, original_height == 131, updated_height == 59 scale_index == 42, original_height == 114, updated_height == 60 scale_index == 43, original_height == 97, updated_height == 60 scale_index == 44, original_height == 79, updated_height == 42 scale_index == 45, original_height == 59, updated_height == 22 scale_index == 46, original_height == 39, updated_height == 2 2013-04-30 20:52:48 {83475b00} [ BaseIntegralChannelsDetector ] : Warning: At sc ale index 47 the detection window size is larger than the biggest ground plane c orridor. Setting the detection search to a single line. scale_index == 47, original_height == 18, updated_height == 1 Expected speed gain == 5.31x (num pixels original/updated) GpuVeryFastIntegralChannelsDetector::compute_v2 max search range (min_x, min_y; max_x, max_y) == (0, 0; 153, 60) 2013-04-30 20:52:48 {83475b00} [ GpuIntegralChannelsDetector ] : scaled_x == 640 , scaled_y == 480 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. 2013-04-30 20:52:48 {80748b40} [ FastGroundPlaneEstimator ] : Warning: Did not f ind a ground plane, keeping previous estimate. Requested frame number 101 but frames should be in range (90, 100) Processed a total of 10 input frames Average objects detection speed per iteration 32.86 [Hz] (in the last 10 iterati ons) End of game, have a nice day. /home/awake/doppia2/src/applications/objects_detection/../../../libs/cudatemplat es/include/cudatemplates/devicememory.hpp:344 (void Cuda::DeviceMemoryStorage<Ty pe, Dim>::free() [with Type = float, unsigned int Dim = 1u]): unload of CUDA runtime failed