//==============================================================================
void
face_detector::
train(ft_data &data,
const string fname,
const Mat &ref,
const bool mirror,
const bool visi,
const float frac,
const float scaleFactor,
const int minNeighbours,
const Size minSize)
{
detector.load(fname.c_str()); detector_fname = fname; reference = ref.clone();
vector<float> xoffset(0),yoffset(0),zoffset(0);
for(int i = 0; i < data.n_images(); i++){
Mat im = data.get_image(i,0); if(im.empty())continue;
vector<Point2f> p = data.get_points(i,false); int n = p.size();
Mat pt = Mat(p).reshape(1,2*n);
vector<Rect> faces; Mat eqIm; equalizeHist(im,eqIm);
detector.detectMultiScale(eqIm,faces,scaleFactor,minNeighbours,0
|CV_HAAR_FIND_BIGGEST_OBJECT
|CV_HAAR_SCALE_IMAGE,minSize);
if(faces.size() >= 1){
if(visi){
Mat I; cvtColor(im,I,CV_GRAY2RGB);
for(int i = 0; i < n; i++)circle(I,p[i],1,CV_RGB(0,255,0),2,CV_AA);
rectangle(I,faces[0].tl(),faces[0].br(),CV_RGB(255,0,0),3);
imshow("face detector training",I); waitKey(10);
}
//check if enough points are in detected rectangle
if(this->enough_bounded_points(pt,faces[0],frac)){
Point2f center = this->center_of_mass(pt); float w = faces[0].width;
xoffset.push_back((center.x - (faces[0].x+0.5*faces[0].width ))/w);
yoffset.push_back((center.y - (faces[0].y+0.5*faces[0].height))/w);
zoffset.push_back(this->calc_scale(pt)/w);
}
}
if(mirror){
im = data.get_image(i,1); if(im.empty())continue;
p = data.get_points(i,true);
pt = Mat(p).reshape(1,2*n);
equalizeHist(im,eqIm);
detector.detectMultiScale(eqIm,faces,scaleFactor,minNeighbours,0
|CV_HAAR_FIND_BIGGEST_OBJECT
|CV_HAAR_SCALE_IMAGE,minSize);
if(faces.size() >= 1){
if(visi){
Mat I; cvtColor(im,I,CV_GRAY2RGB);
for(int i = 0; i < n; i++)circle(I,p[i],1,CV_RGB(0,255,0),2,CV_AA);
rectangle(I,faces[0].tl(),faces[0].br(),CV_RGB(255,0,0),3);
imshow("face detector training",I); waitKey(10);
}
//check if enough points are in detected rectangle
if(this->enough_bounded_points(pt,faces[0],frac)){
Point2f center = this->center_of_mass(pt); float w = faces[0].width;
xoffset.push_back((center.x - (faces[0].x+0.5*faces[0].width ))/w);
yoffset.push_back((center.y - (faces[0].y+0.5*faces[0].height))/w);
zoffset.push_back(this->calc_scale(pt)/w);
}
}
}
}
//choose median value
Mat X = Mat(xoffset),Xsort,Y = Mat(yoffset),Ysort,Z = Mat(zoffset),Zsort;
cv::sort(X,Xsort,CV_SORT_EVERY_COLUMN|CV_SORT_ASCENDING); int nx = Xsort.rows;
cv::sort(Y,Ysort,CV_SORT_EVERY_COLUMN|CV_SORT_ASCENDING); int ny = Ysort.rows;
cv::sort(Z,Zsort,CV_SORT_EVERY_COLUMN|CV_SORT_ASCENDING); int nz = Zsort.rows;
detector_offset = Vec3f(Xsort.fl(nx/2),Ysort.fl(ny/2),Zsort.fl(nz/2)); return;
}
//------------------------------------------------------------------------
Vec3 CGunTurret::GetSweepPos(IEntity *pTarget, const Vec3 &shootPos)
{
pTarget=ResolveTarget(pTarget);
// sweep on ground
int nhints = m_fireparams.hints.size();
float sweepTime = m_turretparams.sweep_time / (float)nhints;
float timeFiring = max(0.f, GetBurstTime() - sweepTime*(m_fireHint-1));
float sweepRelTime = min(1.f, timeFiring/sweepTime);
if(sweepRelTime == 1.f && m_fireHint == nhints)
return shootPos;
Vec3 wpos(GetWeaponPos());
Vec3 dir = shootPos - wpos;
Vec3 dir2d(dir.x, dir.y, 0.f);
float dist2d = dir2d.GetLength();
if(dist2d < 2.f*m_fireparams.hints[0].y)
return shootPos; // don't sweep when target too close
dir2d /= dist2d;
Vec3 right = Vec3(0,0,-1) % dir2d;
Vec3 zoffset(0,0,0);
if(IPhysicalEntity *pPE = pTarget->GetPhysics())
{
pe_status_pos ppos;
if(pPE->GetStatus(&ppos))
zoffset=Vec3(0,0,-0.5f*(ppos.BBox[1].z-ppos.BBox[0].z));
}
Vec3 lastHintPos(shootPos);
const Vec2 &lastHint = m_fireparams.hints[m_fireHint-1];
lastHintPos += lastHint.y*-dir2d + lastHint.x*right + zoffset;
Vec3 nextHintPos(shootPos);
if(m_fireHint < nhints)
{
const Vec2 &nextHint = m_fireparams.hints[m_fireHint];
nextHintPos += nextHint.y*-dir2d + nextHint.x*right + zoffset;
}
Vec3 currPos = Vec3::CreateLerp(lastHintPos, nextHintPos, sweepRelTime);
if(sweepRelTime == 1.f && m_fireHint < nhints)
++m_fireHint;
if(g_pGameCVars->i_debug_turrets == eGTD_Sweep)
{
IRenderAuxGeom *pGeom = gEnv->pRenderer->GetIRenderAuxGeom();
pGeom->SetRenderFlags(e_Def3DPublicRenderflags);
ColorB col(0,255,255,128);
pGeom->DrawSphere(currPos, 0.3f, col);
pGeom->DrawSphere(lastHintPos, 0.3f, col);
pGeom->DrawSphere(nextHintPos, 0.3f, col);
pGeom->DrawLine(lastHintPos, col, nextHintPos, col);
gEnv->pRenderer->DrawLabel(currPos, 1.4f, "sweep, hint %i, ratio %.2f)", m_fireHint, sweepRelTime);
}
return currPos;
}
