X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=folded-ctf.git;a=blobdiff_plain;f=pi_referential.cc;h=87d41969e559562ede4f9a384bed0648ca687926;hp=6e7eb3e4c43d1135f69548a0305eb8e5d00cbf91;hb=6e1801915cc847204e8ae8a4ff04463b2e85f538;hpb=d922ad61d35e9a6996730bec24b16f8bf7bc426c

diff --git a/pi_referential.cc b/pi_referential.cc
index 6e7eb3e..87d4196 100644
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -52,11 +52,6 @@ void PiReferential::draw_frame(RGBImage *image,
     r = 255; g = 0; b = 0;
     break;
 
-  case PiReferential::RM_BODY:
-  case PiReferential::RM_BODY_EDGES:
-    r = 0; g = 128; b = 255;
-    break;
-
   default:
     cerr << "INCONSISTENCY" << endl;
     abort();
@@ -120,11 +115,6 @@ void PiReferential::draw_window(RGBImage *image,
     r = 255; g = 0; b = 0;
     break;
 
-  case PiReferential::RM_BODY:
-  case PiReferential::RM_BODY_EDGES:
-    r = 0; g = 128; b = 255;
-    break;
-
   default:
     cerr << "INCONSISTENCY" << endl;
     abort();
@@ -225,12 +215,6 @@ void PiReferential::draw_edge_and_scale(RGBImage *image,
     r = 255; g = 0; b = 0;
     break;
 
-  case PiReferential::RM_BODY_EDGES:
-    edges = 1;
-  case PiReferential::RM_BODY:
-    r = 0; g = 128; b = 255;
-    break;
-
   default:
     cerr << "INCONSISTENCY" << endl;
     abort();
@@ -338,9 +322,8 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   // Body location
 
-  _body_xc = cell->_body_xc.middle() * discrete_scale_ratio;
-  _body_yc = cell->_body_yc.middle() * discrete_scale_ratio;
-  _body_window_scaling = sqrt(_body_radius_1 * _body_radius_2);
+  _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
+  _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
 
   if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
     _body_tilt += M_PI;
@@ -417,16 +400,6 @@ PiReferential::PiReferential(PoseCell *cell) {
   _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() {
@@ -489,16 +462,6 @@ void PiReferential::register_rectangle(int registration_mode,
     }
     break;
 
-  case RM_BODY:
-  case RM_BODY_EDGES:
-    {
-      xc = _body_xc + alpha * _body_ux + beta * _body_vx;
-      yc = _body_yc + alpha * _body_uy + beta * _body_vy;
-      w = (original->xmax - original->xmin) * _body_window_scaling;
-      h = (original->ymax - original->ymin) * _body_window_scaling;
-    }
-    break;
-
   default:
     cerr << "Undefined registration mode." << endl;
     abort();
@@ -527,7 +490,6 @@ int PiReferential::register_edge(int registration_mode, int edge_type) {
     case PiReferential::RM_HEAD:
     case PiReferential::RM_BELLY:
     case PiReferential::RM_HEAD_BELLY:
-    case PiReferential::RM_BODY:
       if(_horizontal_polarity < 0) {
         e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
       }
@@ -540,13 +502,6 @@ int PiReferential::register_edge(int registration_mode, int edge_type) {
       e += _head_belly_edge_shift;
       break;
 
-    case PiReferential::RM_BODY_EDGES:
-      if(_horizontal_polarity < 0) {
-        e = (RichImage::nb_edge_tags - e) % RichImage::nb_edge_tags;
-      }
-      e += _body_edge_shift;
-      break;
-
     default:
       cerr << "INCONSISTENCY" << endl;
       abort();
@@ -564,22 +519,6 @@ int PiReferential::register_edge(int registration_mode, int edge_type) {
 void PiReferential::draw(RGBImage *image, int level) {
   int x1, y1, x2, y2, x3, y3, x4, y4;
 
-  if(level >= 2) {
-
-    // Draw the RM_BODY reference frame
-
-    x1 = int(_body_xc + _body_ux + _body_vx);
-    y1 = int(_body_yc + _body_uy + _body_vy);
-    x2 = int(_body_xc - _body_ux + _body_vx);
-    y2 = int(_body_yc - _body_uy + _body_vy);
-    x3 = int(_body_xc - _body_ux - _body_vx);
-    y3 = int(_body_yc - _body_uy - _body_vy);
-    x4 = int(_body_xc + _body_ux - _body_vx);
-    y4 = int(_body_yc + _body_uy - _body_vy);
-
-    draw_frame(image, RM_BODY, x1, y1, x2, y2, x3, y3, x4, y4);
-  }
-
   if(level >= 1) {
 
     // Draw the RM_BELLY reference frame
@@ -643,12 +582,6 @@ void PiReferential::print_registration_mode(ostream *out, int registration_mode)
   case RM_HEAD_BELLY_EDGES:
     (*out) << "RM_HEAD_BELLY_EDGES";
     break;
-  case RM_BODY:
-    (*out) << "RM_BODY";
-    break;
-  case RM_BODY_EDGES:
-    (*out) << "RM_BODY_EDGES";
-    break;
   default:
     abort();
   }