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 ///////////////////////////////////////////////////////////////////////////
24 memset(this, 0, sizeof(*this));
27 void Pose::horizontal_flip(scalar_t scene_width) {
28 _head_xc = scene_width - 1 - _head_xc;
29 _body_xc = scene_width - 1 - _body_xc;
32 void Pose::translate(scalar_t dx, scalar_t dy) {
33 _bounding_box_xmin += dx;
34 _bounding_box_ymin += dy;
35 _bounding_box_xmax += dx;
36 _bounding_box_ymax += dy;
43 void Pose::scale(scalar_t factor) {
44 _bounding_box_xmin *= factor;
45 _bounding_box_ymin *= factor;
46 _bounding_box_xmax *= factor;
47 _bounding_box_ymax *= factor;
50 _head_radius *= factor;
55 const scalar_t tolerance_scale_ratio_for_hit = 1.5;
56 const scalar_t tolerance_distance_factor_for_hit = 1.0;
58 bool Pose::hit(int level, Pose *pose) {
62 if(_head_radius/pose->_head_radius > tolerance_scale_ratio_for_hit ||
63 pose->_head_radius/_head_radius > tolerance_scale_ratio_for_hit)
66 scalar_t sq_delta = _head_radius * pose->_head_radius * sq(tolerance_distance_factor_for_hit);
70 if(sq(_head_xc - pose->_head_xc) + sq(_head_yc - pose->_head_yc) > sq_delta)
73 if(level == 0) return true;
77 if(sq(_body_xc - pose->_body_xc) + sq(_body_yc - pose->_body_yc) > 4 * sq_delta)
80 if(level == 1) return true;
82 cerr << "Hit criterion is undefined for level " << level << endl;
87 const scalar_t tolerance_scale_ratio_for_collide = 1.2;
88 const scalar_t tolerance_distance_factor_for_collide = 0.25;
90 bool Pose::collide(int level, Pose *pose) {
94 if(_head_radius/pose->_head_radius > tolerance_scale_ratio_for_collide ||
95 pose->_head_radius/_head_radius > tolerance_scale_ratio_for_collide)
98 scalar_t sq_delta = _head_radius * pose->_head_radius * sq(tolerance_distance_factor_for_collide);
102 if(sq(_head_xc - pose->_head_xc) + sq(_head_yc - pose->_head_yc) <= sq_delta)
105 if(level == 0) return false;
109 if(sq(_body_xc - pose->_body_xc) + sq(_body_yc - pose->_body_yc) <= sq_delta)
112 if(level == 1) return false;
114 cerr << "Colliding criterion is undefined for level " << level << endl;
119 void Pose::draw(int thickness, int r, int g, int b, int level, RGBImage *image) {
120 // Draw the head circle
122 image->draw_ellipse(thickness, r, g, b,
123 _head_xc, _head_yc, _head_radius, _head_radius, 0);
125 // int vx = int(cos(_head_tilt) * _head_radius);
126 // int vy = int(sin(_head_tilt) * _head_radius);
127 // image->draw_line(thickness, r, g, b, _head_xc, _head_yc, _head_xc + vx, _head_yc + vy);
131 // image->draw_line(thickness, r, g, b,
132 // int(_body_xc) - delta, int(_body_yc),
133 // int(_body_xc) + delta, int(_body_yc));
135 // image->draw_line(thickness, r, g, b,
136 // int(_body_xc), int(_body_yc) - delta,
137 // int(_body_xc), int(_body_yc) + delta);
139 scalar_t vx = _body_xc - _head_xc, vy = _body_yc - _head_yc;
140 scalar_t l = sqrt(vx * vx + vy * vy);
144 scalar_t body_radius = 12 + thickness / 2;
146 if(l > _head_radius + thickness + body_radius) {
147 image->draw_line(thickness, r, g, b,
148 _head_xc + vx * (_head_radius + thickness/2),
149 _head_yc + vy * (_head_radius + thickness/2),
150 _body_xc - vx * (body_radius - thickness/2),
151 _body_yc - vy * (body_radius - thickness/2));
154 // An ugly way to make a filled disc
155 for(scalar_t u = 0; u < body_radius; u += thickness / 2) {
156 image->draw_ellipse(thickness, r, g, b, _body_xc, _body_yc, u, u, 0);
162 void Pose::print(ostream *out) {
163 (*out) << " _head_xc " << _head_xc << endl;
164 (*out) << " _head_yc " << _head_yc << endl;
165 (*out) << " _head_radius " << _head_radius << endl;
166 (*out) << " _body_xc " << _body_xc << endl;
167 (*out) << " _body_yc " << _body_yc << endl;
170 void Pose::write(ostream *out) {
171 write_var(out, &_bounding_box_xmin);
172 write_var(out, &_bounding_box_ymin);
173 write_var(out, &_bounding_box_xmax);
174 write_var(out, &_bounding_box_ymax);
175 write_var(out, &_head_xc); write_var(out, &_head_yc);
176 write_var(out, &_head_radius);
177 write_var(out, &_body_xc);
178 write_var(out, &_body_yc);
181 void Pose::read(istream *in) {
182 read_var(in, &_bounding_box_xmin);
183 read_var(in, &_bounding_box_ymin);
184 read_var(in, &_bounding_box_xmax);
185 read_var(in, &_bounding_box_ymax);
186 read_var(in, &_head_xc); read_var(in, &_head_yc);
187 read_var(in, &_head_radius);
188 read_var(in, &_body_xc);
189 read_var(in, &_body_yc);