2 * folded-ctf is an implementation of the folded hierarchy of
3 * classifiers for object detection, developed by Francois Fleuret
6 * Copyright (c) 2008 Idiap Research Institute, http://www.idiap.ch/
7 * Written by Francois Fleuret <francois.fleuret@idiap.ch>
9 * This file is part of folded-ctf.
11 * folded-ctf is free software: you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License version 3 as
13 * published by the Free Software Foundation.
15 * folded-ctf is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 * General Public License for more details.
20 * You should have received a copy of the GNU General Public License
21 * along with folded-ctf. If not, see <http://www.gnu.org/licenses/>.
25 #include "pi_referential.h"
27 #include "rich_image.h"
29 void PiReferential::draw_frame(RGBImage *image,
30 int registration_mode,
38 switch(registration_mode) {
40 case PiReferential::RM_HEAD:
41 r = 0; g = 255; b = 0;
44 case PiReferential::RM_HEAD_NO_POLARITY:
45 r = 128; g = 255; b = 128;
48 case PiReferential::RM_BELLY:
49 r = 64; g = 0; b = 255;
52 case PiReferential::RM_BELLY_NO_POLARITY:
53 r = 192; g = 128; b = 255;
56 case PiReferential::RM_HEAD_BELLY:
57 case PiReferential::RM_HEAD_BELLY_EDGES:
58 r = 255; g = 0; b = 0;
62 cerr << "INCONSISTENCY" << endl;
66 if(global.pictures_for_article) {
67 r = 255; g = 255; b = 255;
68 image->draw_line(6, r, g, b, x1, y1, x2, y2);
69 image->draw_line(6, r, g, b, x2, y2, x3, y3);
70 image->draw_line(6, r, g, b, x3, y3, x4, y4);
71 image->draw_line(6, r, g, b, x4, y4, x1, y1);
74 image->draw_line(2, r, g, b, x1, y1, x2, y2);
75 image->draw_line(2, r, g, b, x2, y2, x3, y3);
76 image->draw_line(2, r, g, b, x3, y3, x4, y4);
77 image->draw_line(2, r, g, b, x4, y4, x1, y1);
79 image->draw_line(2, r, g, b, x1, y1, x2, y2);
80 image->draw_line(2, r, g, b, x2, y2, x3, y3);
81 image->draw_line(2, r, g, b, x3, y3, x4, y4);
82 image->draw_line(2, r, g, b, x4, y4, x1, y1);
86 void PiReferential::draw_window(RGBImage *image,
87 int registration_mode, Rectangle *window,
91 switch(registration_mode) {
93 case PiReferential::RM_HEAD:
94 r = 0; g = 255; b = 0;
97 case PiReferential::RM_HEAD_NO_POLARITY:
98 r = 128; g = 255; b = 128;
101 case PiReferential::RM_BELLY:
102 r = 64; g = 0; b = 255;
105 case PiReferential::RM_BELLY_NO_POLARITY:
106 r = 192; g = 128; b = 255;
109 case PiReferential::RM_HEAD_BELLY:
110 case PiReferential::RM_HEAD_BELLY_EDGES:
111 r = 255; g = 0; b = 0;
115 cerr << "INCONSISTENCY" << endl;
119 int xmin = int(window->xmin);
120 int ymin = int(window->ymin);
121 int xmax = int(window->xmax);
122 int ymax = int(window->ymax);
124 if(global.pictures_for_article) {
125 r = 255; g = 255; b = 255;
126 image->draw_line(6, r, g, b, xmin, ymin, xmax, ymin);
127 image->draw_line(6, r, g, b, xmax, ymin, xmax, ymax);
128 image->draw_line(6, r, g, b, xmax, ymax, xmin, ymax);
129 image->draw_line(6, r, g, b, xmin, ymax, xmin, ymin);
132 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
133 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
134 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
135 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
138 image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin);
139 image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax);
140 image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax);
141 image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin);
144 for(int d = ymin - ymax; d <= xmax - xmin; d += delta) {
147 int x2 = xmin + d + ymax - ymin;
149 if(x1 < xmin) { y1 = y1 + (xmin - x1); x1 = xmin; }
150 if(x2 > xmax) { y2 = y2 - (x2 - xmax); x2 = xmax; }
151 image->draw_line(1, r, g, b, x1, y1, x2, y2);
158 PiReferential::PiReferential(PoseCell *cell) {
159 scalar_t head_radius = sqrt(scalar_t(cell->_head_radius.min * cell->_head_radius.max));
161 _common_scale = global.scale_to_discrete_log_scale(head_radius / global.min_head_radius);
163 scalar_t discrete_scale_ratio = global.discrete_log_scale_to_scale(_common_scale);
165 //////////////////////////////////////////////////////////////////////
166 // Locations and scales
170 _head_xc = cell->_head_xc.middle() * discrete_scale_ratio;
171 _head_yc = cell->_head_yc.middle() * discrete_scale_ratio;
172 _head_radius = cell->_head_radius.middle() * discrete_scale_ratio;
173 _head_window_scaling = _head_radius * 2.0;
177 // **********************************************************************
178 // Useless code, but necessary to keep the exact same results with
179 // g++ 4.1 and -O3 options on reference experiments.
180 _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
181 _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
183 if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
186 // **********************************************************************
190 const scalar_t belly_frame_factor = 2.0;
192 _belly_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
193 _belly_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
194 _belly_window_scaling = _head_window_scaling * belly_frame_factor;
196 // Head-belly location
198 _head_belly_xc = (_head_xc + _belly_xc) * 0.5;
199 _head_belly_yc = (_head_yc + _belly_yc) * 0.5;
201 //////////////////////////////////////////////////////////////////////
204 if(_body_xc >= _head_xc) {
205 // if(_belly_xc >= _head_xc) {
206 _horizontal_polarity = 1;
208 _horizontal_polarity = -1;
213 if(_horizontal_polarity < 0) {
214 _head_ux = _head_radius * 2.0;
217 _head_ux = - _head_radius * 2.0;
222 _head_vy = - _head_radius * 2.0;
224 _head_ux_nopolarity = _head_radius * 2.0;
225 _head_uy_nopolarity = 0;
226 _head_vx_nopolarity = 0;
227 _head_vy_nopolarity = - _head_radius * 2.0;
231 _belly_ux = _head_ux * belly_frame_factor;
232 _belly_uy = _head_uy * belly_frame_factor;
233 _belly_vx = _head_vx * belly_frame_factor;
234 _belly_vy = _head_vy * belly_frame_factor;
236 _belly_ux_nopolarity = _head_ux_nopolarity * belly_frame_factor;
237 _belly_uy_nopolarity = _head_uy_nopolarity * belly_frame_factor;
238 _belly_vx_nopolarity = _head_vx_nopolarity * belly_frame_factor;
239 _belly_vy_nopolarity = _head_vy_nopolarity * belly_frame_factor;
243 _head_belly_ux = 2 * (_head_xc - _head_belly_xc);
244 _head_belly_uy = 2 * (_head_yc - _head_belly_yc);
246 if(_horizontal_polarity < 0) {
247 _head_belly_vx = _head_belly_uy;
248 _head_belly_vy = - _head_belly_ux;
250 _head_belly_vx = - _head_belly_uy;
251 _head_belly_vy = _head_belly_ux;
254 scalar_t l = sqrt(_head_belly_vx * _head_belly_vx + _head_belly_vy * _head_belly_vy);
256 _head_belly_vx = (_head_belly_vx / l) * _head_radius * 2;
257 _head_belly_vy = (_head_belly_vy / l) * _head_radius * 2;
258 _head_belly_edge_shift = int(floor(- RichImage::nb_edge_tags * atan2(_head_belly_ux, _head_belly_uy) / (2 * M_PI) + 0.5));
259 _head_belly_edge_shift = (RichImage::nb_edge_tags + _head_belly_edge_shift) % RichImage::nb_edge_tags;
262 int PiReferential::common_scale() {
263 return _common_scale;
266 void PiReferential::register_rectangle(int registration_mode,
269 scalar_t alpha, beta , xc, yc, w, h;
271 alpha = (original->xmin + original->xmax) * 0.5;
272 beta = (original->ymin + original->ymax) * 0.5;
274 switch(registration_mode) {
278 xc = _head_xc + alpha * _head_ux + beta * _head_vx;
279 yc = _head_yc + alpha * _head_uy + beta * _head_vy;
280 w = (original->xmax - original->xmin) * _head_window_scaling;
281 h = (original->ymax - original->ymin) * _head_window_scaling;
285 case RM_HEAD_NO_POLARITY:
287 xc = _head_xc + alpha * _head_ux_nopolarity + beta * _head_vx_nopolarity;
288 yc = _head_yc + alpha * _head_uy_nopolarity + beta * _head_vy_nopolarity;
289 w = (original->xmax - original->xmin) * _head_window_scaling;
290 h = (original->ymax - original->ymin) * _head_window_scaling;
296 xc = _belly_xc + alpha * _belly_ux + beta * _belly_vx;
297 yc = _belly_yc + alpha * _belly_uy + beta * _belly_vy;
298 w = (original->xmax - original->xmin) * _belly_window_scaling;
299 h = (original->ymax - original->ymin) * _belly_window_scaling;
303 case RM_BELLY_NO_POLARITY:
305 xc = _belly_xc + alpha * _belly_ux_nopolarity + beta * _belly_vx_nopolarity;
306 yc = _belly_yc + alpha * _belly_uy_nopolarity + beta * _belly_vy_nopolarity;
307 w = (original->xmax - original->xmin) * _belly_window_scaling;
308 h = (original->ymax - original->ymin) * _belly_window_scaling;
313 case RM_HEAD_BELLY_EDGES:
315 xc = _head_belly_xc + alpha * _head_belly_ux + beta * _head_belly_vx;
316 yc = _head_belly_yc + alpha * _head_belly_uy + beta * _head_belly_vy;
317 w = (original->xmax - original->xmin) * _head_window_scaling;
318 h = (original->ymax - original->ymin) * _head_window_scaling;
323 cerr << "Undefined registration mode." << endl;
327 result->xmin = xc - 0.5 * w;
328 result->ymin = yc - 0.5 * h;
329 result->xmax = xc + 0.5 * w;
330 result->ymax = yc + 0.5 * h;
332 ASSERT(result->xmin < result->xmax && result->ymin < result->ymax);
335 int PiReferential::register_edge(int registration_mode, int edge_type) {
337 if(edge_type >= RichImage::first_edge_tag &&
338 edge_type < RichImage::first_edge_tag + RichImage::nb_edge_tags) {
340 int e = edge_type - RichImage::first_edge_tag;
342 switch(registration_mode) {
343 case PiReferential::RM_HEAD_NO_POLARITY:
344 case PiReferential::RM_BELLY_NO_POLARITY:
347 case PiReferential::RM_HEAD:
348 case PiReferential::RM_BELLY:
349 case PiReferential::RM_HEAD_BELLY:
350 if(_horizontal_polarity < 0) {
351 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
355 case PiReferential::RM_HEAD_BELLY_EDGES:
356 if(_horizontal_polarity < 0) {
357 e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
359 e += _head_belly_edge_shift;
363 cerr << "INCONSISTENCY" << endl;
367 e = e % RichImage::nb_edge_tags;
369 return RichImage::first_edge_tag + e;
373 else return edge_type;
376 void PiReferential::draw(RGBImage *image, int level) {
377 int x1, y1, x2, y2, x3, y3, x4, y4;
381 // Draw the RM_BELLY reference frame
383 x1 = int(_belly_xc + _belly_ux + _belly_vx);
384 y1 = int(_belly_yc + _belly_uy + _belly_vy);
385 x2 = int(_belly_xc - _belly_ux + _belly_vx);
386 y2 = int(_belly_yc - _belly_uy + _belly_vy);
387 x3 = int(_belly_xc - _belly_ux - _belly_vx);
388 y3 = int(_belly_yc - _belly_uy - _belly_vy);
389 x4 = int(_belly_xc + _belly_ux - _belly_vx);
390 y4 = int(_belly_yc + _belly_uy - _belly_vy);
392 draw_frame(image, RM_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
394 // Draw the RM_HEAD_BELLY reference frame
396 x1 = int(_head_belly_xc + _head_belly_ux + _head_belly_vx);
397 y1 = int(_head_belly_yc + _head_belly_uy + _head_belly_vy);
398 x2 = int(_head_belly_xc - _head_belly_ux + _head_belly_vx);
399 y2 = int(_head_belly_yc - _head_belly_uy + _head_belly_vy);
400 x3 = int(_head_belly_xc - _head_belly_ux - _head_belly_vx);
401 y3 = int(_head_belly_yc - _head_belly_uy - _head_belly_vy);
402 x4 = int(_head_belly_xc + _head_belly_ux - _head_belly_vx);
403 y4 = int(_head_belly_yc + _head_belly_uy - _head_belly_vy);
405 draw_frame(image, RM_HEAD_BELLY, x1, y1, x2, y2, x3, y3, x4, y4);
408 // Draw the RM_HEAD reference frame
410 x1 = int(_head_xc + _head_ux + _head_vx);
411 y1 = int(_head_yc + _head_uy + _head_vy);
412 x2 = int(_head_xc - _head_ux + _head_vx);
413 y2 = int(_head_yc - _head_uy + _head_vy);
414 x3 = int(_head_xc - _head_ux - _head_vx);
415 y3 = int(_head_yc - _head_uy - _head_vy);
416 x4 = int(_head_xc + _head_ux - _head_vx);
417 y4 = int(_head_yc + _head_uy - _head_vy);
419 draw_frame(image, RM_HEAD, x1, y1, x2, y2, x3, y3, x4, y4);
422 void PiReferential::print_registration_mode(ostream *out, int registration_mode) {
423 switch(registration_mode) {
427 case RM_HEAD_NO_POLARITY:
428 (*out) << "RM_HEAD_NO_POLARITY";
431 (*out) << "RM_BELLY";
433 case RM_BELLY_NO_POLARITY:
434 (*out) << "RM_BELLY_NO_POLARITY";
437 (*out) << "RM_HEAD_BELLY";
439 case RM_HEAD_BELLY_EDGES:
440 (*out) << "RM_HEAD_BELLY_EDGES";