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 ///////////////////////////////////////////////////////////////////////////
23 This class factorizes the information from a PoseCell needed by a
24 PiFeature to be evaluated on an image. Since there can be in there
25 costly operations such as trigonometric mappings, it provides a
26 substantial cost optimization.
30 #ifndef PI_REFERENTIAL_H
31 #define PI_REFERENTIAL_H
33 #include "rectangle.h"
34 #include "pose_cell.h"
35 #include "rgb_image.h"
38 // The best scale so that the head size is
39 // ~global.reference_head_size. This is an integer scale as defined
43 scalar_t _horizontal_polarity;
45 // The head frame in _common_scale. The vectors are of length the _RADIUS_ of the head
46 scalar_t _head_xc, _head_yc, _head_radius;
47 scalar_t _head_window_scaling;
48 scalar_t _head_ux, _head_uy, _head_vx, _head_vy;
49 scalar_t _head_ux_nopolarity, _head_uy_nopolarity, _head_vx_nopolarity, _head_vy_nopolarity;
51 //**********************************************************************
52 // Useless fields, but they are necessary so that the optimized code
53 // with g++ gives the same results as some reference
54 // experiments. Sorry for that.
55 scalar_t _body_xc, _body_yc;
57 //**********************************************************************
59 // The belly frame is defined by the belly location and head scale
60 scalar_t _belly_xc, _belly_yc;
61 scalar_t _belly_ux, _belly_uy, _belly_vx, _belly_vy;
62 scalar_t _belly_ux_nopolarity, _belly_uy_nopolarity, _belly_vx_nopolarity, _belly_vy_nopolarity;
63 scalar_t _belly_window_scaling;
65 // The head-belly frame is defined by the head location and the belly
66 scalar_t _head_belly_xc, _head_belly_yc;
67 scalar_t _head_belly_ux, _head_belly_uy, _head_belly_vx, _head_belly_vy;
68 int _head_belly_edge_shift;
70 void draw_frame(RGBImage *image,
71 int registration_mode,
78 PiReferential(PoseCell *cell);
81 // A square frame centered on the head, of size four times the
82 // head radius and, flipped horizontally if the belly is on the
83 // left of the head center
86 // Same as above, without the flipping
89 // A frame centered on the belly, of size eight times the head
90 // radius, flipped horizontally if the belly is on the left of the
94 // Same as above, without the flipping
97 // A frame centered on the middle point between the head center
98 // and the belly, of size twice the distance head center - belly
99 // in the head-belly direction, and of four times the head radius
103 // Same as above with rotation of the edges
109 // The rectangle coordinates are in the reference frames. For the
110 // head for instance [-0.5, 0.5] x [-0.5, 0.5] corresponds to the
113 void register_rectangle(int registration_mode,
117 int register_edge(int registration_type, int edge_type);
119 void draw(RGBImage *image, int level);
121 void draw_window(RGBImage *image,
122 int registration_mode, Rectangle *window,
125 static void print_registration_mode(ostream *out, int registration_mode);