/* http://www.opengl.org/documentation/specs/man_pages/hardcopy/GL/html/glu/lookat.html
http://msdn.microsoft.com/en-us/library/bb205343.aspx
*/
void
RMtx4LookAtRH( RMtx4* out, const RVec3* eye, const RVec3* at, const RVec3* up )
{
#define AX(i) RVec3GetElement( &axis_x, i )
#define AY(i) RVec3GetElement( &axis_y, i )
#define AZ(i) RVec3GetElement( &axis_z, i )
RVec3 axis_x, axis_y, axis_z;
RMtx4Identity( out );
RVec3Sub( &axis_z, eye, at );
RVec3Normalize( &axis_z, &axis_z );
RVec3Cross( &axis_x, up, &axis_z );
RVec3Normalize( &axis_x, &axis_x );
RVec3Cross( &axis_y, &axis_z, &axis_x );
SET_ELEMENT( out, 0, 0, AX(0) );
SET_ELEMENT( out, 0, 1, AX(1) );
SET_ELEMENT( out, 0, 2, AX(2) );
SET_ELEMENT( out, 0, 3, -RVec3Dot(&axis_x, eye) );
SET_ELEMENT( out, 1, 0, AY(0) );
SET_ELEMENT( out, 1, 1, AY(1) );
SET_ELEMENT( out, 1, 2, AY(2) );
SET_ELEMENT( out, 1, 3, -RVec3Dot(&axis_y, eye) );
SET_ELEMENT( out, 2, 0, AZ(0) );
SET_ELEMENT( out, 2, 1, AZ(1) );
SET_ELEMENT( out, 2, 2, AZ(2) );
SET_ELEMENT( out, 2, 3, -RVec3Dot(&axis_z, eye) );
#undef AX
#undef AY
#undef AZ
}
cv::Mat_<int> cModel::__lbf_fast(const cv::Mat_<uchar>&img, const cv::Rect& bbox, const cv::Mat_<float>& shape,int markID, int stage)
{
int max_stage = m_Model.__head.__num_stage;
int num_node = m_Model.__head.__num_leaf + m_Model.__head.__num_node;
int num_point = m_Model.__head.__num_point;
int num_tree_per_point = m_Model.__head.__num_tree_per_point;
int num_leaf = m_Model.__head.__num_leaf;
m_AX[stage].row(markID) *= bbox.width;
m_AY[stage].row(markID) *= bbox.height;
m_BX[stage].row(markID) *= bbox.width;
m_BY[stage].row(markID) *= bbox.height;
m_AX[stage].row(markID) += shape(markID, 0);
m_AY[stage].row(markID) += shape(markID, 1);
m_BX[stage].row(markID) += shape(markID, 0);
m_BY[stage].row(markID) += shape(markID, 1);
cv::Mat_<int> cind = cv::Mat::ones(m_AX[stage].cols, 1, CV_32SC1);
cv::Mat_<float> AX = m_AX[stage].row(markID);
cv::Mat_<float> AY = m_AY[stage].row(markID);
cv::Mat_<float> BX = m_BX[stage].row(markID);
cv::Mat_<float> BY = m_BY[stage].row(markID);
cv::Mat_<float> Thresh = m_Thresh[stage].row(markID);
int width = img.cols;
int height = img.rows;
for (int j = 0; j < AX.cols; j += num_node){
for (int index = 0; index < m_Model.__head.__num_node; index++){
int pos = j + index;
int a_x = (int)(AX(0, pos) + 0.5);
int a_y = (int)(AY(0, pos) + 0.5);
int b_x = (int)(BX(0, pos) + 0.5);
int b_y = (int)(BY(0, pos) + 0.5);
a_x = MAX(0, MIN(a_x, width - 1));
a_y = MAX(0, MIN(a_y, height - 1));
b_x = MAX(0, MIN(b_x, width - 1));
b_y = MAX(0, MIN(b_y, height - 1));
float pixel_v_a = (float)img(cv::Point(a_x, a_y));
float pixel_v_b = (float)img(cv::Point(b_x, b_y));
float val = pixel_v_a - pixel_v_b;
if (val < (float)Thresh(0, pos)){
cind(pos, 0) = 0;
}
}
}
cv::Mat_<int> binfeature = cv::Mat::zeros(1, (int)cv::sum(m_Isleaf).val[0], CV_32SC1);
int cumnum_nodes = 0;
int cumnum_leafnodes = 0;
for (int t = 0; t < num_tree_per_point; t++){
int id_cnode = 0;
while (1){
if (m_Isleaf(id_cnode + cumnum_nodes)){
binfeature(0, cumnum_leafnodes + __getindex(m_Idleafnodes, id_cnode)) = 1;
cumnum_nodes = cumnum_nodes + num_node;
cumnum_leafnodes = cumnum_leafnodes + num_leaf;
break;
}
id_cnode = m_Cnodes(cumnum_nodes + id_cnode, cind(cumnum_nodes + id_cnode, 0));
}
}
return binfeature;
}