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 ///////////////////////////////////////////////////////////////////////////
26 memset(this, 0, sizeof(*this));
29 void Pose::horizontal_flip(scalar_t scene_width) {
30 _head_xc = scene_width - 1 - _head_xc;
31 _belly_xc = scene_width - 1 - _belly_xc;
34 const scalar_t tolerance_scale_ratio_for_hit = 1.5;
35 const scalar_t tolerance_distance_factor_for_hit = 1.0;
37 bool Pose::hit(int level, Pose *pose) {
41 if(_head_radius/pose->_head_radius > tolerance_scale_ratio_for_hit ||
42 pose->_head_radius/_head_radius > tolerance_scale_ratio_for_hit)
45 scalar_t sq_delta = _head_radius * pose->_head_radius * sq(tolerance_distance_factor_for_hit);
49 if(sq(_head_xc - pose->_head_xc) + sq(_head_yc - pose->_head_yc) > sq_delta)
52 if(level == 0) return true;
56 if(sq(_belly_xc - pose->_belly_xc) + sq(_belly_yc - pose->_belly_yc) > 4 * sq_delta)
59 if(level == 1) return true;
61 cerr << "Hit criterion is undefined for level " << level << endl;
66 const scalar_t tolerance_scale_ratio_for_collide = 1.2;
67 const scalar_t tolerance_distance_factor_for_collide = 0.25;
69 bool Pose::collide(int level, Pose *pose) {
73 if(_head_radius/pose->_head_radius > tolerance_scale_ratio_for_collide ||
74 pose->_head_radius/_head_radius > tolerance_scale_ratio_for_collide)
77 scalar_t sq_delta = _head_radius * pose->_head_radius * sq(tolerance_distance_factor_for_collide);
81 if(sq(_head_xc - pose->_head_xc) + sq(_head_yc - pose->_head_yc) <= sq_delta)
84 if(level == 0) return false;
88 if(sq(_belly_xc - pose->_belly_xc) + sq(_belly_yc - pose->_belly_yc) <= sq_delta)
91 if(level == 1) return false;
93 cerr << "Colliding criterion is undefined for level " << level << endl;
98 void Pose::draw(int thickness, int r, int g, int b, int level, RGBImage *image) {
100 // Draw the head circle
102 image->draw_ellipse(thickness, r, g, b,
103 _head_xc, _head_yc, _head_radius, _head_radius, 0);
107 scalar_t vx = _belly_xc - _head_xc, vy = _belly_yc - _head_yc;
108 scalar_t l = sqrt(vx * vx + vy * vy);
112 scalar_t belly_radius = 12 + thickness / 2;
114 if(l > _head_radius + thickness + belly_radius) {
115 image->draw_line(thickness, r, g, b,
116 _head_xc + vx * (_head_radius + thickness/2),
117 _head_yc + vy * (_head_radius + thickness/2),
118 _belly_xc - vx * (belly_radius - thickness/2),
119 _belly_yc - vy * (belly_radius - thickness/2));
122 // An ugly way to make a filled disc
124 for(scalar_t u = 0; u < belly_radius; u += thickness / 2) {
125 image->draw_ellipse(thickness, r, g, b, _belly_xc, _belly_yc, u, u, 0);
131 void Pose::print(ostream *out) {
132 (*out) << " _head_xc " << _head_xc << endl;
133 (*out) << " _head_yc " << _head_yc << endl;
134 (*out) << " _head_radius " << _head_radius << endl;
135 (*out) << " _belly_xc " << _belly_xc << endl;
136 (*out) << " _belly_yc " << _belly_yc << endl;
139 void Pose::write(ostream *out) {
140 write_var(out, &_bounding_box_xmin);
141 write_var(out, &_bounding_box_ymin);
142 write_var(out, &_bounding_box_xmax);
143 write_var(out, &_bounding_box_ymax);
144 write_var(out, &_head_xc); write_var(out, &_head_yc);
145 write_var(out, &_head_radius);
146 write_var(out, &_belly_xc);
147 write_var(out, &_belly_yc);
150 void Pose::read(istream *in) {
151 read_var(in, &_bounding_box_xmin);
152 read_var(in, &_bounding_box_ymin);
153 read_var(in, &_bounding_box_xmax);
154 read_var(in, &_bounding_box_ymax);
155 read_var(in, &_head_xc); read_var(in, &_head_yc);
156 read_var(in, &_head_radius);
157 read_var(in, &_belly_xc);
158 read_var(in, &_belly_yc);