2 ///////////////////////////////////////////////////////////////////////////
3 // This program is free software: you can redistribute it and/or modify //
4 // it under the terms of the version 3 of the GNU General Public License //
5 // as published by the Free Software Foundation. //
7 // This program is distributed in the hope that it will be useful, but //
8 // WITHOUT ANY WARRANTY; without even the implied warranty of //
9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
10 // General Public License for more details. //
12 // You should have received a copy of the GNU General Public License //
13 // along with this program. If not, see <http://www.gnu.org/licenses/>. //
15 // Written by Francois Fleuret //
16 // (C) Idiap Research Institute //
18 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
19 ///////////////////////////////////////////////////////////////////////////
21 #include "pi_referential.h"
23 #include "rich_image.h"
25 void PiReferential::draw_frame(RGBImage *image,
26 int registration_mode,
34 switch(registration_mode) {
36 case PiReferential::RM_HEAD:
37 r = 0; g = 255; b = 0;
40 case PiReferential::RM_HEAD_NO_POLARITY:
41 r = 128; g = 255; b = 128;
44 case PiReferential::RM_BELLY:
45 r = 64; g = 0; b = 255;
48 case PiReferential::RM_BELLY_NO_POLARITY:
49 r = 192; g = 128; b = 255;
52 case PiReferential::RM_HEAD_BELLY:
53 case PiReferential::RM_HEAD_BELLY_EDGES:
54 r = 255; g = 0; b = 0;
58 cerr << "INCONSISTENCY" << endl;
62 if(global.pictures_for_article) {
63 r = 255; g = 255; b = 255;
64 image->draw_line(6, r, g, b, x1, y1, x2, y2);
65 image->draw_line(6, r, g, b, x2, y2, x3, y3);
66 image->draw_line(6, r, g, b, x3, y3, x4, y4);
67 image->draw_line(6, r, g, b, x4, y4, x1, y1);
70 image->draw_line(2, r, g, b, x1, y1, x2, y2);
71 image->draw_line(2, r, g, b, x2, y2, x3, y3);
72 image->draw_line(2, r, g, b, x3, y3, x4, y4);
73 image->draw_line(2, r, g, b, x4, y4, x1, y1);
75 image->draw_line(2, r, g, b, x1, y1, x2, y2);
76 image->draw_line(2, r, g, b, x2, y2, x3, y3);
77 image->draw_line(2, r, g, b, x3, y3, x4, y4);
78 image->draw_line(2, r, g, b, x4, y4, x1, y1);
82 void PiReferential::draw_window(RGBImage *image,
83 int registration_mode, Rectangle *window,
87 switch(registration_mode) {
89 case PiReferential::RM_HEAD:
90 r = 0; g = 255; b = 0;
93 case PiReferential::RM_HEAD_NO_POLARITY:
94 r = 128; g = 255; b = 128;
97 case PiReferential::RM_BELLY:
98 r = 64; g = 0; b = 255;
101 case PiReferential::RM_BELLY_NO_POLARITY:
102 r = 192; g = 128; b = 255;
105 case PiReferential::RM_HEAD_BELLY:
106 case PiReferential::RM_HEAD_BELLY_EDGES:
107 r = 255; g = 0; b = 0;
111 cerr << "INCONSISTENCY" << endl;
115 int xmin = int(window->xmin);
116 int ymin = int(window->ymin);
117 int xmax = int(window->xmax);
118 int ymax = int(window->ymax);
120 if(global.pictures_for_article) {
121 r = 255; g = 255; b = 255;
122 image->draw_line(6, r, g, b, xmin, ymin, xmax, ymin);
123 image->draw_line(6, r, g, b, xmax, ymin, xmax, ymax);
124 image->draw_line(6, r, g, b, xmax, ymax, xmin, ymax);
125 image->draw_line(6, r, g, b, xmin, ymax, xmin, ymin);
128 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
129 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
130 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
131 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
134 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
135 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
136 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
137 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
140 for(int d = ymin - ymax; d <= xmax - xmin; d += delta) {
143 int x2 = xmin + d + ymax - ymin;
145 if(x1 < xmin) { y1 = y1 + (xmin - x1); x1 = xmin; }
146 if(x2 > xmax) { y2 = y2 - (x2 - xmax); x2 = xmax; }
147 image->draw_line(1, r, g, b, x1, y1, x2, y2);
154 PiReferential::PiReferential(PoseCell *cell) {
155 scalar_t head_radius = sqrt(scalar_t(cell->_head_radius.min * cell->_head_radius.max));
157 _common_scale = global.scale_to_discrete_log_scale(head_radius / global.min_head_radius);
159 scalar_t discrete_scale_ratio = global.discrete_log_scale_to_scale(_common_scale);
161 //////////////////////////////////////////////////////////////////////
162 // Locations and scales
166 _head_xc = cell->_head_xc.middle() * discrete_scale_ratio;
167 _head_yc = cell->_head_yc.middle() * discrete_scale_ratio;
168 _head_radius = cell->_head_radius.middle() * discrete_scale_ratio;
169 _head_window_scaling = _head_radius * 2.0;
173 // **********************************************************************
174 // Useless code, but necessary to keep the exact same results with
175 // g++ 4.1 and -O3 options on reference experiments.
176 _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
177 _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
179 if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
182 // **********************************************************************
186 const scalar_t belly_frame_factor = 2.0;
188 _belly_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
189 _belly_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
190 _belly_window_scaling = _head_window_scaling * belly_frame_factor;
192 // Head-belly location
194 _head_belly_xc = (_head_xc + _belly_xc) * 0.5;
195 _head_belly_yc = (_head_yc + _belly_yc) * 0.5;
197 //////////////////////////////////////////////////////////////////////
200 if(_body_xc >= _head_xc) {
201 // if(_belly_xc >= _head_xc) {
202 _horizontal_polarity = 1;
204 _horizontal_polarity = -1;
209 if(_horizontal_polarity < 0) {
210 _head_ux = _head_radius * 2.0;
213 _head_ux = - _head_radius * 2.0;
218 _head_vy = - _head_radius * 2.0;
220 _head_ux_nopolarity = _head_radius * 2.0;
221 _head_uy_nopolarity = 0;
222 _head_vx_nopolarity = 0;
223 _head_vy_nopolarity = - _head_radius * 2.0;
227 _belly_ux = _head_ux * belly_frame_factor;
228 _belly_uy = _head_uy * belly_frame_factor;
229 _belly_vx = _head_vx * belly_frame_factor;
230 _belly_vy = _head_vy * belly_frame_factor;
232 _belly_ux_nopolarity = _head_ux_nopolarity * belly_frame_factor;
233 _belly_uy_nopolarity = _head_uy_nopolarity * belly_frame_factor;
234 _belly_vx_nopolarity = _head_vx_nopolarity * belly_frame_factor;
235 _belly_vy_nopolarity = _head_vy_nopolarity * belly_frame_factor;
239 _head_belly_ux = 2 * (_head_xc - _head_belly_xc);
240 _head_belly_uy = 2 * (_head_yc - _head_belly_yc);
242 if(_horizontal_polarity < 0) {
243 _head_belly_vx = _head_belly_uy;
244 _head_belly_vy = - _head_belly_ux;
246 _head_belly_vx = - _head_belly_uy;
247 _head_belly_vy = _head_belly_ux;
250 scalar_t l = sqrt(_head_belly_vx * _head_belly_vx + _head_belly_vy * _head_belly_vy);
252 _head_belly_vx = (_head_belly_vx / l) * _head_radius * 2;
253 _head_belly_vy = (_head_belly_vy / l) * _head_radius * 2;
254 _head_belly_edge_shift = int(floor(- RichImage::nb_edge_tags * atan2(_head_belly_ux, _head_belly_uy) / (2 * M_PI) + 0.5));
255 _head_belly_edge_shift = (RichImage::nb_edge_tags + _head_belly_edge_shift) % RichImage::nb_edge_tags;
258 int PiReferential::common_scale() {
259 return _common_scale;
262 void PiReferential::register_rectangle(int registration_mode,
265 scalar_t alpha, beta , xc, yc, w, h;
267 alpha = (original->xmin + original->xmax) * 0.5;
268 beta = (original->ymin + original->ymax) * 0.5;
270 switch(registration_mode) {
274 xc = _head_xc + alpha * _head_ux + beta * _head_vx;
275 yc = _head_yc + alpha * _head_uy + beta * _head_vy;
276 w = (original->xmax - original->xmin) * _head_window_scaling;
277 h = (original->ymax - original->ymin) * _head_window_scaling;
281 case RM_HEAD_NO_POLARITY:
283 xc = _head_xc + alpha * _head_ux_nopolarity + beta * _head_vx_nopolarity;
284 yc = _head_yc + alpha * _head_uy_nopolarity + beta * _head_vy_nopolarity;
285 w = (original->xmax - original->xmin) * _head_window_scaling;
286 h = (original->ymax - original->ymin) * _head_window_scaling;
292 xc = _belly_xc + alpha * _belly_ux + beta * _belly_vx;
293 yc = _belly_yc + alpha * _belly_uy + beta * _belly_vy;
294 w = (original->xmax - original->xmin) * _belly_window_scaling;
295 h = (original->ymax - original->ymin) * _belly_window_scaling;
299 case RM_BELLY_NO_POLARITY:
301 xc = _belly_xc + alpha * _belly_ux_nopolarity + beta * _belly_vx_nopolarity;
302 yc = _belly_yc + alpha * _belly_uy_nopolarity + beta * _belly_vy_nopolarity;
303 w = (original->xmax - original->xmin) * _belly_window_scaling;
304 h = (original->ymax - original->ymin) * _belly_window_scaling;
309 case RM_HEAD_BELLY_EDGES:
311 xc = _head_belly_xc + alpha * _head_belly_ux + beta * _head_belly_vx;
312 yc = _head_belly_yc + alpha * _head_belly_uy + beta * _head_belly_vy;
313 w = (original->xmax - original->xmin) * _head_window_scaling;
314 h = (original->ymax - original->ymin) * _head_window_scaling;
319 cerr << "Undefined registration mode." << endl;
323 result->xmin = xc - 0.5 * w;
324 result->ymin = yc - 0.5 * h;
325 result->xmax = xc + 0.5 * w;
326 result->ymax = yc + 0.5 * h;
328 ASSERT(result->xmin < result->xmax && result->ymin < result->ymax);
331 int PiReferential::register_edge(int registration_mode, int edge_type) {
333 if(edge_type >= RichImage::first_edge_tag &&
334 edge_type < RichImage::first_edge_tag + RichImage::nb_edge_tags) {
336 int e = edge_type - RichImage::first_edge_tag;
338 switch(registration_mode) {
339 case PiReferential::RM_HEAD_NO_POLARITY:
340 case PiReferential::RM_BELLY_NO_POLARITY:
343 case PiReferential::RM_HEAD:
344 case PiReferential::RM_BELLY:
345 case PiReferential::RM_HEAD_BELLY:
346 if(_horizontal_polarity < 0) {
347 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
351 case PiReferential::RM_HEAD_BELLY_EDGES:
352 if(_horizontal_polarity < 0) {
353 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
355 e += _head_belly_edge_shift;
359 cerr << "INCONSISTENCY" << endl;
363 e = e % RichImage::nb_edge_tags;
365 return RichImage::first_edge_tag + e;
369 else return edge_type;
372 void PiReferential::draw(RGBImage *image, int level) {
373 int x1, y1, x2, y2, x3, y3, x4, y4;
377 // Draw the RM_BELLY reference frame
379 x1 = int(_belly_xc + _belly_ux + _belly_vx);
380 y1 = int(_belly_yc + _belly_uy + _belly_vy);
381 x2 = int(_belly_xc - _belly_ux + _belly_vx);
382 y2 = int(_belly_yc - _belly_uy + _belly_vy);
383 x3 = int(_belly_xc - _belly_ux - _belly_vx);
384 y3 = int(_belly_yc - _belly_uy - _belly_vy);
385 x4 = int(_belly_xc + _belly_ux - _belly_vx);
386 y4 = int(_belly_yc + _belly_uy - _belly_vy);
388 draw_frame(image, RM_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
390 // Draw the RM_HEAD_BELLY reference frame
392 x1 = int(_head_belly_xc + _head_belly_ux + _head_belly_vx);
393 y1 = int(_head_belly_yc + _head_belly_uy + _head_belly_vy);
394 x2 = int(_head_belly_xc - _head_belly_ux + _head_belly_vx);
395 y2 = int(_head_belly_yc - _head_belly_uy + _head_belly_vy);
396 x3 = int(_head_belly_xc - _head_belly_ux - _head_belly_vx);
397 y3 = int(_head_belly_yc - _head_belly_uy - _head_belly_vy);
398 x4 = int(_head_belly_xc + _head_belly_ux - _head_belly_vx);
399 y4 = int(_head_belly_yc + _head_belly_uy - _head_belly_vy);
401 draw_frame(image, RM_HEAD_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
404 // Draw the RM_HEAD reference frame
406 x1 = int(_head_xc + _head_ux + _head_vx);
407 y1 = int(_head_yc + _head_uy + _head_vy);
408 x2 = int(_head_xc - _head_ux + _head_vx);
409 y2 = int(_head_yc - _head_uy + _head_vy);
410 x3 = int(_head_xc - _head_ux - _head_vx);
411 y3 = int(_head_yc - _head_uy - _head_vy);
412 x4 = int(_head_xc + _head_ux - _head_vx);
413 y4 = int(_head_yc + _head_uy - _head_vy);
415 draw_frame(image, RM_HEAD, x1, y1, x2, y2, x3, y3, x4, y4);
418 void PiReferential::print_registration_mode(ostream *out, int registration_mode) {
419 switch(registration_mode) {
423 case RM_HEAD_NO_POLARITY:
424 (*out) << "RM_HEAD_NO_POLARITY";
427 (*out) << "RM_BELLY";
429 case RM_BELLY_NO_POLARITY:
430 (*out) << "RM_BELLY_NO_POLARITY";
433 (*out) << "RM_HEAD_BELLY";
435 case RM_HEAD_BELLY_EDGES:
436 (*out) << "RM_HEAD_BELLY_EDGES";