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 ///////////////////////////////////////////////////////////////////////////
21 This class factorizes the information from a PoseCell needed by a
22 PiFeature to be evaluated on an image. Since there can be in there
23 costly operations such as trigonometric mappings, it provides a
24 substantial cost optimization.
28 #ifndef PI_REFERENTIAL_H
29 #define PI_REFERENTIAL_H
31 #include "rectangle.h"
32 #include "pose_cell.h"
33 #include "rgb_image.h"
36 // The best scale so that the head size is
37 // ~global.reference_head_size. This is an integer scale as defined
41 scalar_t _horizontal_polarity;
43 // The head frame in _common_scale. The vectors are of length the _RADIUS_ of the head
44 scalar_t _head_xc, _head_yc, _head_radius;
45 scalar_t _head_window_scaling;
46 scalar_t _head_ux, _head_uy, _head_vx, _head_vy;
47 scalar_t _head_ux_nopolarity, _head_uy_nopolarity, _head_vx_nopolarity, _head_vy_nopolarity;
49 //**********************************************************************
50 // Useless fields, but they are necessary so that the optimized code
51 // with g++ gives the same results as some reference
52 // experiments. Sorry for that.
53 scalar_t _body_xc, _body_yc;
55 //**********************************************************************
57 // The belly frame is defined by the belly location and head scale
58 scalar_t _belly_xc, _belly_yc;
59 scalar_t _belly_ux, _belly_uy, _belly_vx, _belly_vy;
60 scalar_t _belly_ux_nopolarity, _belly_uy_nopolarity, _belly_vx_nopolarity, _belly_vy_nopolarity;
61 scalar_t _belly_window_scaling;
63 // The head-belly frame is defined by the head location and the belly
64 scalar_t _head_belly_xc, _head_belly_yc;
65 scalar_t _head_belly_ux, _head_belly_uy, _head_belly_vx, _head_belly_vy;
66 int _head_belly_edge_shift;
68 void draw_frame(RGBImage *image,
69 int registration_mode,
76 PiReferential(PoseCell *cell);
79 // A square frame centered on the head, of size four times the
80 // head radius and, flipped horizontally if the belly is on the
81 // left of the head center
84 // Same as above, without the flipping
87 // A frame centered on the belly, of size eight times the head
88 // radius, flipped horizontally if the belly is on the left of the
92 // Same as above, without the flipping
95 // A frame centered on the middle point between the head center
96 // and the belly, of size twice the distance head center - belly
97 // in the head-belly direction, and of four times the head radius
101 // Same as above with rotation of the edges
107 // The rectangle coordinates are in the reference frames. For the
108 // head for instance [-0.5, 0.5] x [-0.5, 0.5] corresponds to the
111 void register_rectangle(int registration_mode,
115 int register_edge(int registration_type, int edge_type);
117 void draw(RGBImage *image, int level);
119 void draw_window(RGBImage *image,
120 int registration_mode, Rectangle *window,
123 static void print_registration_mode(ostream *out, int registration_mode);