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 ///////////////////////////////////////////////////////////////////////////
21 #include "pose_cell_hierarchy.h"
24 PoseCellHierarchy::PoseCellHierarchy() {
28 PoseCellHierarchy::PoseCellHierarchy(LabelledImagePool *train_pool) {
29 _nb_levels = global.nb_levels;
30 _min_head_radius = global.min_head_radius;
31 _max_head_radius = global.max_head_radius;
32 _root_cell_nb_xy_per_radius = global.root_cell_nb_xy_per_radius;
35 int nb_total_targets = 0;
36 for(int i = 0; i < train_pool->nb_images(); i++) {
37 image = train_pool->grab_image(i);
38 // We are going to symmetrize
39 nb_total_targets += 2 * image->nb_targets();
40 train_pool->release_image(i);
43 RelativeBellyPoseCell targets[nb_total_targets];
46 for(int i = 0; i < train_pool->nb_images(); i++) {
47 image = train_pool->grab_image(i);
50 add_root_cells(image, &cell_set);
52 for(int t = 0; t < image->nb_targets(); t++) {
53 Pose pose = *image->get_target_pose(t);
56 cell_set.get_containing_cell(&pose)->get_centroid(&coarse);
58 targets[u]._belly_xc.set((pose._belly_xc - coarse._head_xc) / coarse._head_radius);
59 targets[u]._belly_yc.set((pose._belly_yc - coarse._head_yc) / coarse._head_radius);
62 pose.horizontal_flip(image->width());
64 cell_set.get_containing_cell(&pose)->get_centroid(&coarse);
66 targets[u]._belly_xc.set((pose._belly_xc - coarse._head_xc) / coarse._head_radius);
67 targets[u]._belly_yc.set((pose._belly_yc - coarse._head_yc) / coarse._head_radius);
71 train_pool->release_image(i);
74 scalar_t fattening = 1.1;
76 Interval belly_rxc, belly_ryc;
78 belly_rxc.set(&targets[0]._belly_xc);
79 belly_ryc.set(&targets[0]._belly_yc);
81 for(int t = 0; t < nb_total_targets; t++) {
82 belly_rxc.swallow(&targets[t]._belly_xc);
83 belly_ryc.swallow(&targets[t]._belly_yc);
86 belly_rxc.min *= fattening;
87 belly_rxc.max *= fattening;
88 belly_ryc.min *= fattening;
89 belly_ryc.max *= fattening;
91 scalar_t belly_rxc_min = belly_resolution * floor(belly_rxc.min / belly_resolution);
92 int nb_belly_rxc = int(ceil((belly_rxc.max - belly_rxc_min) / belly_resolution));
94 scalar_t belly_ryc_min = belly_resolution * floor(belly_ryc.min / belly_resolution);
95 int nb_belly_ryc = int(ceil((belly_ryc.max - belly_ryc_min) / belly_resolution));
97 int used[nb_belly_rxc * nb_belly_rxc];
99 for(int k = 0; k < nb_belly_rxc * nb_belly_ryc; k++) {
103 // An ugly way to compute the convexe enveloppe
105 for(scalar_t alpha = 0; alpha < M_PI * 2; alpha += (2 * M_PI) / 100) {
106 scalar_t vx = cos(alpha), vy = sin(alpha);
109 for(int t = 0; t < nb_total_targets; t++) {
110 rho = min(rho, vx * targets[t]._belly_xc.middle() + vy * targets[t]._belly_yc.middle());
115 for(int j = 0; j < nb_belly_ryc; j++) {
116 for(int i = 0; i < nb_belly_rxc; i++) {
118 vx * (scalar_t(i + 0) * belly_resolution + belly_rxc_min) +
119 vy * (scalar_t(j + 0) * belly_resolution + belly_ryc_min) < rho
121 vx * (scalar_t(i + 1) * belly_resolution + belly_rxc_min) +
122 vy * (scalar_t(j + 0) * belly_resolution + belly_ryc_min) < rho
124 vx * (scalar_t(i + 0) * belly_resolution + belly_rxc_min) +
125 vy * (scalar_t(j + 1) * belly_resolution + belly_ryc_min) < rho
127 vx * (scalar_t(i + 1) * belly_resolution + belly_rxc_min) +
128 vy * (scalar_t(j + 1) * belly_resolution + belly_ryc_min) < rho
130 used[i + j * nb_belly_rxc] = 0;
137 for(int j = 0; j < nb_belly_ryc; j++) {
138 for(int i = 0; i < nb_belly_rxc; i++) {
139 if(used[i + nb_belly_rxc * j]) {
145 _belly_cells = new RelativeBellyPoseCell[_nb_belly_cells];
148 for(int j = 0; j < nb_belly_ryc; j++) {
149 for(int i = 0; i < nb_belly_rxc; i++) {
151 if(used[i + nb_belly_rxc * j]) {
153 RelativeBellyPoseCell mother;
155 scalar_t x = scalar_t(i) * belly_resolution + belly_rxc_min;
156 scalar_t y = scalar_t(j) * belly_resolution + belly_ryc_min;
158 mother._belly_xc.set(x, x + belly_resolution);
159 mother._belly_yc.set(y, y + belly_resolution);
161 _belly_cells[k++] = mother;
167 PoseCellHierarchy::~PoseCellHierarchy() {
168 delete[] _belly_cells;
171 int PoseCellHierarchy::nb_levels() {
175 void PoseCellHierarchy::get_containing_cell(Image *image, int level,
176 Pose *pose, PoseCell *result_cell) {
177 PoseCellSet cell_set;
179 for(int l = 0; l < level + 1; l++) {
180 cell_set.erase_content();
182 add_root_cells(image, &cell_set);
184 add_subcells(l, result_cell, &cell_set);
187 *result_cell = *(cell_set.get_containing_cell(pose));
191 void PoseCellHierarchy::add_root_cells(Image *image, PoseCellSet *cell_set) {
193 const int nb_scales = int((log(_max_head_radius) - log(_min_head_radius)) / log(2) *
194 global.nb_scales_per_power_of_two);
196 scalar_t alpha = log(_min_head_radius);
197 scalar_t beta = log(2) / scalar_t(global.nb_scales_per_power_of_two);
199 for(int s = 0; s < nb_scales; s++) {
200 scalar_t cell_xy_size = exp(alpha + scalar_t(s) * beta) / global.root_cell_nb_xy_per_radius;
202 cell._head_radius.min = exp(alpha + scalar_t(s) * beta);
203 cell._head_radius.max = exp(alpha + scalar_t(s+1) * beta);
204 cell._head_tilt.min = -M_PI;
205 cell._head_tilt.max = M_PI;
206 for(scalar_t y = 0; y < image->height(); y += cell_xy_size)
207 for(scalar_t x = 0; x < image->width(); x += cell_xy_size) {
208 cell._head_xc.min = x;
209 cell._head_xc.max = x + cell_xy_size;
210 cell._head_yc.min = y;
211 cell._head_yc.max = y + cell_xy_size;
212 cell._belly_xc.min = cell._head_xc.min - pseudo_infty;
213 cell._belly_xc.max = cell._head_xc.max + pseudo_infty;
214 cell._belly_yc.min = cell._head_yc.min - pseudo_infty;
215 cell._belly_yc.max = cell._head_yc.max + pseudo_infty;
216 cell_set->add_cell(&cell);
221 void PoseCellHierarchy::add_subcells(int level, PoseCell *root,
222 PoseCellSet *cell_set) {
228 // Here we split the belly-center coordinate cell part
229 PoseCell cell = *root;
230 scalar_t r = sqrt(cell._head_radius.min * cell._head_radius.max);
231 scalar_t x = (cell._head_xc.min + cell._head_xc.max) / 2.0;
232 scalar_t y = (cell._head_yc.min + cell._head_yc.max) / 2.0;
233 for(int k = 0; k < _nb_belly_cells; k++) {
234 cell._belly_xc.min = (_belly_cells[k]._belly_xc.min * r) + x;
235 cell._belly_xc.max = (_belly_cells[k]._belly_xc.max * r) + x;
236 cell._belly_yc.min = (_belly_cells[k]._belly_yc.min * r) + y;
237 cell._belly_yc.max = (_belly_cells[k]._belly_yc.max * r) + y;
238 cell_set->add_cell(&cell);
245 cerr << "Inconsistent level in PoseCellHierarchy::add_subcells" << endl;
253 int PoseCellHierarchy::nb_incompatible_poses(LabelledImagePool *pool) {
254 PoseCell target_cell;
255 PoseCellSet cell_set;
256 LabelledImage *image;
260 for(int i = 0; i < pool->nb_images(); i++) {
261 image = pool->grab_image(i);
263 for(int t = 0; t < image->nb_targets(); t++) {
264 cell_set.erase_content();
266 int error_level = -1;
268 for(int l = 0; error_level < 0 && l < _nb_levels; l++) {
269 cell_set.erase_content();
272 add_root_cells(image, &cell_set);
274 add_subcells(l, &target_cell, &cell_set);
277 int nb_compliant = 0;
279 for(int c = 0; c < cell_set.nb_cells(); c++) {
280 if(cell_set.get_cell(c)->contains(image->get_target_pose(t))) {
281 target_cell = *(cell_set.get_cell(c));
286 if(nb_compliant != 1) {
291 if(error_level >= 0) {
296 pool->release_image(i);
302 void PoseCellHierarchy::write(ostream *os) {
303 write_var(os, &_min_head_radius);
304 write_var(os, &_max_head_radius);
305 write_var(os, &_root_cell_nb_xy_per_radius);
306 write_var(os, &_nb_belly_cells);
307 for(int k = 0; k < _nb_belly_cells; k++)
308 write_var(os, &_belly_cells[k]);
311 void PoseCellHierarchy::read(istream *is) {
312 delete[] _belly_cells;
313 read_var(is, &_min_head_radius);
314 read_var(is, &_max_head_radius);
315 read_var(is, &_root_cell_nb_xy_per_radius);
316 read_var(is, &_nb_belly_cells);
317 delete[] _belly_cells;
318 _belly_cells = new RelativeBellyPoseCell[_nb_belly_cells];
319 for(int k = 0; k < _nb_belly_cells; k++) {
320 read_var(is, &_belly_cells[k]);