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EllipseData.cc Go to the documentation of this file. //-*-c++-*- #include <iostream> #include <vector> #include <list> #include <math.h> #include "BaseData.h" // superclass #include "Point.h" // Point data member #include "Measures.h" // coordinate_t; AngPi data member #include "ShapeTypes.h" // ellipseDataType #include "SketchSpace.h" #include "Sketch.h" #include "Region.h" #include "visops.h" #include "ShapeSpace.h" // required by DATASTUFF_CC #include "ShapeRoot.h" // required by DATASTUFF_CC #include "EllipseData.h" #include "ShapeEllipse.h" namespace DualCoding { inline int round(float x) { return (int) ceil((double)x-0.5f); } EllipseData::EllipseData(ShapeSpace& _space, const Point &c) : BaseData(_space, getStaticType()), center_pt(c), semimajor(0), semiminor(0), orientation(0) { center_pt.setRefFrameType(getRefFrameType()); mobile = ELLIPSE_DATA_MOBILE; } DATASTUFF_CC(EllipseData); BoundingBox EllipseData::getBoundingBox() const { float o_sin = sin(orientation); float o_cos = cos(orientation); Point major_tip(semimajor*o_cos, semimajor*o_sin); Point minor_tip(-semiminor*o_sin, semiminor*o_cos); return BoundingBox(BoundingBox(BoundingBox(center_pt+major_tip), BoundingBox(center_pt-major_tip)), BoundingBox(BoundingBox(center_pt+minor_tip), BoundingBox(center_pt-minor_tip))); } bool EllipseData::isMatchFor(const ShapeRoot& other) const { if (!(isSameTypeAs(other) && isSameColorAs(other))) return false; const Shape<EllipseData>& other_ellipse = ShapeRootTypeConst(other,EllipseData); float dist = center_pt.distanceFrom(other_ellipse->centerPt()); return dist < 2*max(semimajor,other_ellipse->semimajor); // *** DST hack } bool EllipseData::updateParams(const ShapeRoot& other, bool) { const Shape<EllipseData>& other_ellipse = ShapeRootTypeConst(other,EllipseData); if (other_ellipse->confidence <= 0) return false; const int other_conf = other_ellipse->confidence; center_pt = (center_pt*confidence + other_ellipse->centerPt()*other_conf) / (confidence+other_conf); semimajor = (semimajor*confidence + other_ellipse->getSemimajor()*other_conf) / (confidence+other_conf); semiminor = (semiminor*confidence + other_ellipse->getSemiminor()*other_conf) / (confidence+other_conf); orientation = orientation*((orientation_t)confidence/(confidence+other_conf)) + other_ellipse->getOrientation()*((orientation_t)confidence/(confidence+other_conf)); return true; } //! Print information about this shape. (Virtual in BaseData.) void EllipseData::printParams() const { cout << "Type = " << getTypeName(); cout << "Shape ID = " << getId() << endl; cout << "Parent ID = " << getParentId() << endl; // Print critical points. cout << endl; cout << "center{" << centerPt().coordX() << ", " << centerPt().coordY() << "}" << endl; cout << "semimajor = " << getSemimajor() << endl; cout << "semiminor = " << getSemiminor() << endl; cout << "orientation = " << getOrientation() << endl; printf("color = %d %d %d\n",getColor().red,getColor().green,getColor().blue); cout << "mobile = " << isMobile() << endl; cout << "viewable = " << isViewable() << endl; } pair<Point,Point> EllipseData::findFeaturePoints() const { AngPi theta = getOrientation(); NEWMAT::ColumnVector from_center(4); float dl = getSemimajor(); from_center << dl*cos(theta) << dl*sin(theta) << 0 << 0; Point majorPt(from_center); majorPt += center_pt; dl = getSemiminor(); theta = theta + (AngPi) (M_PI/2); from_center << dl*sin(theta) << dl*cos(theta) << 0 << 0; Point minorPt(from_center); minorPt += center_pt; return pair<Point,Point>(majorPt,minorPt); } //! Transformations. (Virtual in BaseData.) void EllipseData::applyTransform(const NEWMAT::Matrix& Tmat) { pair<Point,Point> featurePts = findFeaturePoints(); center_pt.applyTransform(Tmat); // orientation = orientation - (AngTwoPi)atan2(Tmat(1,2),Tmat(1,1)); featurePts.first.applyTransform(Tmat); featurePts.second.applyTransform(Tmat); updateProperties(featurePts.first, featurePts.second); } void EllipseData::updateProperties(const Point& majorPt, const Point& minorPt) { setSemiminor(minorPt.xyDistanceFrom(center_pt)); setSemimajor(majorPt.xyDistanceFrom(center_pt)); setOrientation(atan2(majorPt.coords(2)-center_pt.coords(2),majorPt.coords(1)-center_pt.coords(1))); } void EllipseData::projectToGround(const NEWMAT::Matrix& camToBase, const NEWMAT::ColumnVector& groundplane) { pair<Point,Point> featurePts = findFeaturePoints(); center_pt.projectToGround(camToBase,groundplane); featurePts.first.projectToGround(camToBase,groundplane); featurePts.second.projectToGround(camToBase,groundplane); updateProperties(featurePts.first, featurePts.second); } //! Functions to set properties. //{ void EllipseData::setOrientation(const AngPi _orientation) { orientation = AngPi(_orientation); deleteRendering(); } void EllipseData::setSemimajor(float _semimajor) { semimajor = _semimajor; deleteRendering(); } void EllipseData::setSemiminor(float _semiminor) { semiminor = _semiminor; deleteRendering(); } //} // ================================================== // BEGIN SKETCH MANIPULATION AND LINE EXTRACTION CODE // ================================================== //! Ellipse extraction. std::vector<Shape<EllipseData> > EllipseData::extractEllipses(const Sketch<bool>& sketch) { const float AREA_TOLERANCE = 0.5; const int REGION_THRESH = 25; NEW_SKETCH_N(labels,usint,visops::oldlabelcc(sketch,visops::EightWayConnect)); list<Region> regionlist = Region::extractRegions(labels,REGION_THRESH); std::vector<Shape<EllipseData> > ellipses; if(regionlist.empty()) return ellipses; typedef list<Region>::iterator R_IT; for (R_IT it = regionlist.begin(); it != regionlist.end(); ++it) { float ratio = it->findSemiMajorAxisLength()/(float)(it->findSemiMinorAxisLength()); if((ratio < 2.0) && (ratio > 1.0/(float)2.0) && (it->findArea() > M_PI*2.0*(it->findSemiMajorAxisLength()) *2.0*(it->findSemiMinorAxisLength())*AREA_TOLERANCE/4.0)) { Shape<EllipseData> temp_ellipse(*it); temp_ellipse->setParentId(sketch->getViewableId()); temp_ellipse->setColor(sketch->getColor()); ellipses.push_back(Shape<EllipseData>(temp_ellipse)); }; } return ellipses; } //! Render into a sketch space and return reference. (Private.) Sketch<bool>* EllipseData::render() const { SketchSpace &SkS = space->getDualSpace(); NEWMAT::ColumnVector ctr(centerPt().getCoords()); SkS.applyTmat(ctr); const float &cx = ctr(1); const float &cy = ctr(2); const NEWMAT::Matrix &Tmat = SkS.getTmat(); NEWMAT::ColumnVector ori(2); ori << cos(orientation) << sin(orientation); NEWMAT::Matrix rot(2,2); rot(1,1) = Tmat(1,1); rot(1,2) = Tmat(1,2); rot(2,1) = Tmat(2,1); rot(2,2) = Tmat(2,2); ori = rot * ori; const float &cosT = ori(1); const float &sinT = ori(2); const float xRange = semimajor / Tmat(4,4); const float majorSq = xRange*xRange; const float mnrDevMjr = semiminor/semimajor; Sketch<bool> result(SkS, "render("+getName()+")"); result = 0; for (float xDist = -xRange; xDist <= xRange; xDist+=0.2) { const float yRange = sqrt(max((float)0, majorSq - xDist*xDist)) * mnrDevMjr; for (float yDist = -yRange; yDist <= yRange; yDist+=0.2) { int const px = round(cx+xDist*cosT-yDist*sinT); int const py = round(cy+yDist*cosT+xDist*sinT); if ( px >= 0 && px < result.width && py >= 0 && py < result.height ) result(px,py) = true; } } return new Sketch<bool>(result); } } // namespace

DualCoding 3.0beta

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