X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=pi_referential.cc;h=c2b716e34862183eccd9eb00f14d49700ee23fb1;hb=33852c7b378d419be75d15a9663ee6b071c2f534;hp=3fe7a27820ecbe101d3aa0d3cd6ec172bff09623;hpb=8236ef5635eda3f1532acc126ce0569d6bb8869e;p=folded-ctf.git diff --git a/pi_referential.cc b/pi_referential.cc index 3fe7a27..c2b716e 100644 --- a/pi_referential.cc +++ b/pi_referential.cc @@ -70,20 +70,10 @@ void PiReferential::draw_frame(RGBImage *image, image->draw_line(2, r, g, b, x3, y3, x4, y4); image->draw_line(2, r, g, b, x4, y4, x1, y1); } else { - // int xc = (x1 + x2 + x3 + x4)/4, yc = (y1 + y2 + y3 + y4)/4; - // image->draw_line(1, r, g, b, xc - delta, yc, xc + delta, yc); - // image->draw_line(1, r, g, b, xc, yc - delta, xc, yc + delta); image->draw_line(2, r, g, b, x1, y1, x2, y2); image->draw_line(2, r, g, b, x2, y2, x3, y3); image->draw_line(2, r, g, b, x3, y3, x4, y4); image->draw_line(2, r, g, b, x4, y4, x1, y1); - // image->draw_line(2, r, g, b, - // (2*xc + 5 * x1 + 5 * x2)/12, (2 * yc + 5 * y1 + 5 * y2)/12, - // (x1 + x2)/2, (y1 + y2)/2); - // image->draw_line(6, r, g, b, - // (2*xc + 3 * x2 + 3 * x3)/8, (2 * yc + 3 * y2 + 3 * y3)/8, - // (x2 + x3)/2, (y2 + y3)/2 - // ); } } @@ -132,37 +122,12 @@ void PiReferential::draw_window(RGBImage *image, image->draw_line(6, r, g, b, xmax, ymax, xmin, ymax); image->draw_line(6, r, g, b, xmin, ymax, xmin, ymin); -// if(filled) { -// int delta = 6; -// for(int d = ymin - ymax; d <= xmax - xmin; d += delta) { -// int x1 = xmin + d; -// int y1 = ymin; -// int x2 = xmin + d + ymax - ymin; -// int y2 = ymax; -// if(x1 < xmin) { y1 = y1 + (xmin - x1); x1 = xmin; } -// if(x2 > xmax) { y2 = y2 - (x2 - xmax); x2 = xmax; } -// image->draw_line(3, r, g, b, x1, y1, x2, y2); -// } -// } - r = 0; g = 0; b = 0; image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin); image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax); image->draw_line(2, r, g, b, xmax, ymax, xmin, ymax); image->draw_line(2, r, g, b, xmin, ymax, xmin, ymin); -// if(filled) { -// int delta = 6; -// for(int d = ymin - ymax; d <= xmax - xmin; d += delta) { -// int x1 = xmin + d; -// int y1 = ymin; -// int x2 = xmin + d + ymax - ymin; -// int y2 = ymax; -// if(x1 < xmin) { y1 = y1 + (xmin - x1); x1 = xmin; } -// if(x2 > xmax) { y2 = y2 - (x2 - xmax); x2 = xmax; } -// image->draw_line(1, r, g, b, x1, y1, x2, y2); -// } -// } } else { image->draw_line(2, r, g, b, xmin, ymin, xmax, ymin); image->draw_line(2, r, g, b, xmax, ymin, xmax, ymax); @@ -269,9 +234,6 @@ void PiReferential::draw_edge_and_scale(RGBImage *image, scalar_t l = sqrt(dx * dx + dy * dy); -// dx = dx / l; -// dy = dy / l; - if(edges) { int delta = 3; image->draw_ellipse(1, r, g, b, xc, yc, radius + delta, radius + delta, 0); @@ -284,23 +246,11 @@ void PiReferential::draw_edge_and_scale(RGBImage *image, int(xc + u * dx + s * dy), int(yc + u * dy - s * dx)); } -// for(int y = yc - radius; y <= yc + radius; y++) { -// for(int x = xc - radius; x <= xc + radius; x++) { -// if(x >= 0 && x < image->width() && y >= 0 && y < image->height() && -// (x - xc) * dx + (y - yc) * dy >= 0) { -// image->draw_point(r, g, b, x, y); -// } -// } -// } - } else if(_tag == RichImage::variance_tag) { image->draw_ellipse(1, r, g, b, xc, yc, 8, 8, 0); } - - // else if(_tag >= RichImage::first_gray_tag && _tag < RichImage::first_gray_tag + RichImage::nb_gray_tags) { - // } } PiReferential::PiReferential(PoseCell *cell) { @@ -324,7 +274,8 @@ PiReferential::PiReferential(PoseCell *cell) { _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio; _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio; - _body_window_scaling = sqrt(_body_radius_1 * _body_radius_2); + + _body_tilt = 0; if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) { _body_tilt += M_PI; @@ -334,19 +285,20 @@ PiReferential::PiReferential(PoseCell *cell) { const scalar_t belly_frame_factor = 2.0; - _belly_xc = _body_xc; - _belly_yc = _body_yc; + _belly_xc = cell->_belly_xc.middle() * discrete_scale_ratio; + _belly_yc = cell->_belly_yc.middle() * discrete_scale_ratio; _belly_window_scaling = _head_window_scaling * belly_frame_factor; // Head-belly location - _head_belly_xc = (_head_xc + _body_xc) * 0.5; - _head_belly_yc = (_head_yc + _body_yc) * 0.5; + _head_belly_xc = (_head_xc + _belly_xc) * 0.5; + _head_belly_yc = (_head_yc + _belly_yc) * 0.5; ////////////////////////////////////////////////////////////////////// // Frames if(_body_xc >= _head_xc) { +// if(_belly_xc >= _head_xc) { _horizontal_polarity = 1; } else { _horizontal_polarity = -1; @@ -397,20 +349,10 @@ PiReferential::PiReferential(PoseCell *cell) { scalar_t l = sqrt(_head_belly_vx * _head_belly_vx + _head_belly_vy * _head_belly_vy); - _head_belly_vx = _head_belly_vx/l * _head_radius * 2; - _head_belly_vy = _head_belly_vy/l * _head_radius * 2; + _head_belly_vx = (_head_belly_vx / l) * _head_radius * 2; + _head_belly_vy = (_head_belly_vy / l) * _head_radius * 2; _head_belly_edge_shift = int(floor(- RichImage::nb_edge_tags * atan2(_head_belly_ux, _head_belly_uy) / (2 * M_PI) + 0.5)); _head_belly_edge_shift = (RichImage::nb_edge_tags + _head_belly_edge_shift) % RichImage::nb_edge_tags; - - // Body frame - - _body_ux = cos(_body_tilt) * _body_radius_1 * 2.0; - _body_uy = sin(_body_tilt) * _body_radius_1 * 2.0; - _body_vx = - sin(_body_tilt) * _body_radius_2 * 2.0; - _body_vy = cos(_body_tilt) * _body_radius_2 * 2.0; - - _body_edge_shift = int(floor(RichImage::nb_edge_tags * _body_tilt / (2 * M_PI) + 0.5)); - _body_edge_shift = (RichImage::nb_edge_tags + _body_edge_shift) % RichImage::nb_edge_tags; } int PiReferential::common_scale() {