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, (C) IDIAP //
16 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
17 ///////////////////////////////////////////////////////////////////////////
19 #include "pi_referential.h"
21 #include "rich_image.h"
23 void PiReferential::draw_frame(RGBImage *image,
24 int registration_mode,
32 switch(registration_mode) {
34 case PiReferential::RM_HEAD:
35 r = 0; g = 255; b = 0;
38 case PiReferential::RM_HEAD_NO_POLARITY:
39 r = 128; g = 255; b = 128;
42 case PiReferential::RM_BELLY:
43 r = 64; g = 0; b = 255;
46 case PiReferential::RM_BELLY_NO_POLARITY:
47 r = 192; g = 128; b = 255;
50 case PiReferential::RM_HEAD_BELLY:
51 case PiReferential::RM_HEAD_BELLY_EDGES:
52 r = 255; g = 0; b = 0;
56 cerr << "INCONSISTENCY" << endl;
60 if(global.pictures_for_article) {
61 r = 255; g = 255; b = 255;
62 image->draw_line(6, r, g, b, x1, y1, x2, y2);
63 image->draw_line(6, r, g, b, x2, y2, x3, y3);
64 image->draw_line(6, r, g, b, x3, y3, x4, y4);
65 image->draw_line(6, r, g, b, x4, y4, x1, y1);
68 image->draw_line(2, r, g, b, x1, y1, x2, y2);
69 image->draw_line(2, r, g, b, x2, y2, x3, y3);
70 image->draw_line(2, r, g, b, x3, y3, x4, y4);
71 image->draw_line(2, r, g, b, x4, y4, x1, y1);
73 // int xc = (x1 + x2 + x3 + x4)/4, yc = (y1 + y2 + y3 + y4)/4;
74 // image->draw_line(1, r, g, b, xc - delta, yc, xc + delta, yc);
75 // image->draw_line(1, r, g, b, xc, yc - delta, xc, yc + delta);
76 image->draw_line(2, r, g, b, x1, y1, x2, y2);
77 image->draw_line(2, r, g, b, x2, y2, x3, y3);
78 image->draw_line(2, r, g, b, x3, y3, x4, y4);
79 image->draw_line(2, r, g, b, x4, y4, x1, y1);
80 // image->draw_line(2, r, g, b,
81 // (2*xc + 5 * x1 + 5 * x2)/12, (2 * yc + 5 * y1 + 5 * y2)/12,
82 // (x1 + x2)/2, (y1 + y2)/2);
83 // image->draw_line(6, r, g, b,
84 // (2*xc + 3 * x2 + 3 * x3)/8, (2 * yc + 3 * y2 + 3 * y3)/8,
85 // (x2 + x3)/2, (y2 + y3)/2
90 void PiReferential::draw_window(RGBImage *image,
91 int registration_mode, Rectangle *window,
95 switch(registration_mode) {
97 case PiReferential::RM_HEAD:
98 r = 0; g = 255; b = 0;
101 case PiReferential::RM_HEAD_NO_POLARITY:
102 r = 128; g = 255; b = 128;
105 case PiReferential::RM_BELLY:
106 r = 64; g = 0; b = 255;
109 case PiReferential::RM_BELLY_NO_POLARITY:
110 r = 192; g = 128; b = 255;
113 case PiReferential::RM_HEAD_BELLY:
114 case PiReferential::RM_HEAD_BELLY_EDGES:
115 r = 255; g = 0; b = 0;
119 cerr << "INCONSISTENCY" << endl;
123 int xmin = int(window->xmin);
124 int ymin = int(window->ymin);
125 int xmax = int(window->xmax);
126 int ymax = int(window->ymax);
128 if(global.pictures_for_article) {
129 r = 255; g = 255; b = 255;
130 image->draw_line(6, r, g, b, xmin, ymin, xmax, ymin);
131 image->draw_line(6, r, g, b, xmax, ymin, xmax, ymax);
132 image->draw_line(6, r, g, b, xmax, ymax, xmin, ymax);
133 image->draw_line(6, r, g, b, xmin, ymax, xmin, ymin);
136 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
137 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
138 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
139 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
142 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
143 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
144 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
145 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
148 for(int d = ymin - ymax; d <= xmax - xmin; d += delta) {
151 int x2 = xmin + d + ymax - ymin;
153 if(x1 < xmin) { y1 = y1 + (xmin - x1); x1 = xmin; }
154 if(x2 > xmax) { y2 = y2 - (x2 - xmax); x2 = xmax; }
155 image->draw_line(1, r, g, b, x1, y1, x2, y2);
162 void PiReferential::draw_edge_and_scale(RGBImage *image,
163 int registration_mode, Rectangle *window,
164 int _tag, int _edge_scale) {
165 const int ref_radius = 10;
169 switch(registration_mode) {
171 case PiReferential::RM_HEAD:
172 r = 0; g = 255; b = 0;
175 case PiReferential::RM_HEAD_NO_POLARITY:
176 r = 128; g = 255; b = 128;
179 case PiReferential::RM_BELLY:
180 r = 64; g = 0; b = 255;
183 case PiReferential::RM_BELLY_NO_POLARITY:
184 r = 192; g = 128; b = 255;
187 case PiReferential::RM_HEAD_BELLY_EDGES:
189 case PiReferential::RM_HEAD_BELLY:
190 r = 255; g = 0; b = 0;
194 cerr << "INCONSISTENCY" << endl;
198 scalar_t xc = (window->xmin + window->xmax)/2;
199 scalar_t yc = (window->ymin + window->ymax)/2;
200 int radius = ref_radius * (1 << _edge_scale);
202 image->draw_ellipse(1, r, g, b, xc, yc, radius, radius, 0);
204 if(_tag >= RichImage::first_edge_tag && _tag < RichImage::first_edge_tag + RichImage::nb_edge_tags) {
208 switch(_tag - RichImage::first_edge_tag) {
245 scalar_t l = sqrt(dx * dx + dy * dy);
249 image->draw_ellipse(1, r, g, b, xc, yc, radius + delta, radius + delta, 0);
252 for(scalar_t u = 0; u <= radius; u += 0.1) {
253 scalar_t s = sqrt(radius * radius - (u * u * l * l))/l;
254 image->draw_line(2, r, g, b,
255 int(xc + u * dx - s * dy), int(yc + u * dy + s * dx),
256 int(xc + u * dx + s * dy), int(yc + u * dy - s * dx));
261 else if(_tag == RichImage::variance_tag) {
262 image->draw_ellipse(1, r, g, b, xc, yc, 8, 8, 0);
266 PiReferential::PiReferential(PoseCell *cell) {
267 scalar_t head_radius = sqrt(scalar_t(cell->_head_radius.min * cell->_head_radius.max));
269 _common_scale = global.scale_to_discrete_log_scale(head_radius / global.min_head_radius);
271 scalar_t discrete_scale_ratio = global.discrete_log_scale_to_scale(_common_scale);
273 //////////////////////////////////////////////////////////////////////
274 // Locations and scales
278 _head_xc = cell->_head_xc.middle() * discrete_scale_ratio;
279 _head_yc = cell->_head_yc.middle() * discrete_scale_ratio;
280 _head_radius = cell->_head_radius.middle() * discrete_scale_ratio;
281 _head_window_scaling = _head_radius * 2.0;
285 _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
286 _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
290 if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
296 const scalar_t belly_frame_factor = 2.0;
298 _belly_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
299 _belly_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
300 _belly_window_scaling = _head_window_scaling * belly_frame_factor;
302 // Head-belly location
304 _head_belly_xc = (_head_xc + _belly_xc) * 0.5;
305 _head_belly_yc = (_head_yc + _belly_yc) * 0.5;
307 //////////////////////////////////////////////////////////////////////
310 if(_body_xc >= _head_xc) {
311 _horizontal_polarity = 1;
313 _horizontal_polarity = -1;
318 if(_horizontal_polarity < 0) {
319 _head_ux = _head_radius * 2.0;
322 _head_ux = - _head_radius * 2.0;
327 _head_vy = - _head_radius * 2.0;
329 _head_ux_nopolarity = _head_radius * 2.0;
330 _head_uy_nopolarity = 0;
331 _head_vx_nopolarity = 0;
332 _head_vy_nopolarity = - _head_radius * 2.0;
336 _belly_ux = _head_ux * belly_frame_factor;
337 _belly_uy = _head_uy * belly_frame_factor;
338 _belly_vx = _head_vx * belly_frame_factor;
339 _belly_vy = _head_vy * belly_frame_factor;
341 _belly_ux_nopolarity = _head_ux_nopolarity * belly_frame_factor;
342 _belly_uy_nopolarity = _head_uy_nopolarity * belly_frame_factor;
343 _belly_vx_nopolarity = _head_vx_nopolarity * belly_frame_factor;
344 _belly_vy_nopolarity = _head_vy_nopolarity * belly_frame_factor;
348 _head_belly_ux = 2 * (_head_xc - _head_belly_xc);
349 _head_belly_uy = 2 * (_head_yc - _head_belly_yc);
351 if(_horizontal_polarity < 0) {
352 _head_belly_vx = _head_belly_uy;
353 _head_belly_vy = - _head_belly_ux;
355 _head_belly_vx = - _head_belly_uy;
356 _head_belly_vy = _head_belly_ux;
359 scalar_t l = sqrt(_head_belly_vx * _head_belly_vx + _head_belly_vy * _head_belly_vy);
361 _head_belly_vx = _head_belly_vx/l * _head_radius * 2;
362 _head_belly_vy = _head_belly_vy/l * _head_radius * 2;
363 _head_belly_edge_shift = int(floor(- RichImage::nb_edge_tags * atan2(_head_belly_ux, _head_belly_uy) / (2 * M_PI) + 0.5));
364 _head_belly_edge_shift = (RichImage::nb_edge_tags + _head_belly_edge_shift) % RichImage::nb_edge_tags;
367 int PiReferential::common_scale() {
368 return _common_scale;
371 void PiReferential::register_rectangle(int registration_mode,
374 scalar_t alpha, beta , xc, yc, w, h;
376 alpha = (original->xmin + original->xmax) * 0.5;
377 beta = (original->ymin + original->ymax) * 0.5;
379 switch(registration_mode) {
383 xc = _head_xc + alpha * _head_ux + beta * _head_vx;
384 yc = _head_yc + alpha * _head_uy + beta * _head_vy;
385 w = (original->xmax - original->xmin) * _head_window_scaling;
386 h = (original->ymax - original->ymin) * _head_window_scaling;
390 case RM_HEAD_NO_POLARITY:
392 xc = _head_xc + alpha * _head_ux_nopolarity + beta * _head_vx_nopolarity;
393 yc = _head_yc + alpha * _head_uy_nopolarity + beta * _head_vy_nopolarity;
394 w = (original->xmax - original->xmin) * _head_window_scaling;
395 h = (original->ymax - original->ymin) * _head_window_scaling;
401 xc = _belly_xc + alpha * _belly_ux + beta * _belly_vx;
402 yc = _belly_yc + alpha * _belly_uy + beta * _belly_vy;
403 w = (original->xmax - original->xmin) * _belly_window_scaling;
404 h = (original->ymax - original->ymin) * _belly_window_scaling;
408 case RM_BELLY_NO_POLARITY:
410 xc = _belly_xc + alpha * _belly_ux_nopolarity + beta * _belly_vx_nopolarity;
411 yc = _belly_yc + alpha * _belly_uy_nopolarity + beta * _belly_vy_nopolarity;
412 w = (original->xmax - original->xmin) * _belly_window_scaling;
413 h = (original->ymax - original->ymin) * _belly_window_scaling;
418 case RM_HEAD_BELLY_EDGES:
420 xc = _head_belly_xc + alpha * _head_belly_ux + beta * _head_belly_vx;
421 yc = _head_belly_yc + alpha * _head_belly_uy + beta * _head_belly_vy;
422 w = (original->xmax - original->xmin) * _head_window_scaling;
423 h = (original->ymax - original->ymin) * _head_window_scaling;
428 cerr << "Undefined registration mode." << endl;
432 result->xmin = xc - 0.5 * w;
433 result->ymin = yc - 0.5 * h;
434 result->xmax = xc + 0.5 * w;
435 result->ymax = yc + 0.5 * h;
437 ASSERT(result->xmin < result->xmax && result->ymin < result->ymax);
440 int PiReferential::register_edge(int registration_mode, int edge_type) {
442 if(edge_type >= RichImage::first_edge_tag &&
443 edge_type < RichImage::first_edge_tag + RichImage::nb_edge_tags) {
445 int e = edge_type - RichImage::first_edge_tag;
447 switch(registration_mode) {
448 case PiReferential::RM_HEAD_NO_POLARITY:
449 case PiReferential::RM_BELLY_NO_POLARITY:
452 case PiReferential::RM_HEAD:
453 case PiReferential::RM_BELLY:
454 case PiReferential::RM_HEAD_BELLY:
455 if(_horizontal_polarity < 0) {
456 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
460 case PiReferential::RM_HEAD_BELLY_EDGES:
461 if(_horizontal_polarity < 0) {
462 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
464 e += _head_belly_edge_shift;
468 cerr << "INCONSISTENCY" << endl;
472 e = e % RichImage::nb_edge_tags;
474 return RichImage::first_edge_tag + e;
478 else return edge_type;
481 void PiReferential::draw(RGBImage *image, int level) {
482 int x1, y1, x2, y2, x3, y3, x4, y4;
486 // Draw the RM_BELLY reference frame
488 x1 = int(_belly_xc + _belly_ux + _belly_vx);
489 y1 = int(_belly_yc + _belly_uy + _belly_vy);
490 x2 = int(_belly_xc - _belly_ux + _belly_vx);
491 y2 = int(_belly_yc - _belly_uy + _belly_vy);
492 x3 = int(_belly_xc - _belly_ux - _belly_vx);
493 y3 = int(_belly_yc - _belly_uy - _belly_vy);
494 x4 = int(_belly_xc + _belly_ux - _belly_vx);
495 y4 = int(_belly_yc + _belly_uy - _belly_vy);
497 draw_frame(image, RM_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
499 // Draw the RM_HEAD_BELLY reference frame
501 x1 = int(_head_belly_xc + _head_belly_ux + _head_belly_vx);
502 y1 = int(_head_belly_yc + _head_belly_uy + _head_belly_vy);
503 x2 = int(_head_belly_xc - _head_belly_ux + _head_belly_vx);
504 y2 = int(_head_belly_yc - _head_belly_uy + _head_belly_vy);
505 x3 = int(_head_belly_xc - _head_belly_ux - _head_belly_vx);
506 y3 = int(_head_belly_yc - _head_belly_uy - _head_belly_vy);
507 x4 = int(_head_belly_xc + _head_belly_ux - _head_belly_vx);
508 y4 = int(_head_belly_yc + _head_belly_uy - _head_belly_vy);
510 draw_frame(image, RM_HEAD_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
513 // Draw the RM_HEAD reference frame
515 x1 = int(_head_xc + _head_ux + _head_vx);
516 y1 = int(_head_yc + _head_uy + _head_vy);
517 x2 = int(_head_xc - _head_ux + _head_vx);
518 y2 = int(_head_yc - _head_uy + _head_vy);
519 x3 = int(_head_xc - _head_ux - _head_vx);
520 y3 = int(_head_yc - _head_uy - _head_vy);
521 x4 = int(_head_xc + _head_ux - _head_vx);
522 y4 = int(_head_yc + _head_uy - _head_vy);
524 draw_frame(image, RM_HEAD, x1, y1, x2, y2, x3, y3, x4, y4);
527 void PiReferential::print_registration_mode(ostream *out, int registration_mode) {
528 switch(registration_mode) {
532 case RM_HEAD_NO_POLARITY:
533 (*out) << "RM_HEAD_NO_POLARITY";
536 (*out) << "RM_BELLY";
538 case RM_BELLY_NO_POLARITY:
539 (*out) << "RM_BELLY_NO_POLARITY";
542 (*out) << "RM_HEAD_BELLY";
544 case RM_HEAD_BELLY_EDGES:
545 (*out) << "RM_HEAD_BELLY_EDGES";