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PolygonData.cc Go to the documentation of this file. //-*-c++-*- #include "ShapeLine.h" #include "ShapeRoot.h" #include "ShapeSpace.h" #include "Sketch.h" #include "SketchSpace.h" #include "visops.h" #include "PolygonData.h" #include "ShapePolygon.h" namespace DualCoding { DATASTUFF_CC(PolygonData); PolygonData::PolygonData(const LineData& side) : BaseData(*side.space,polygonDataType), edges(), vertices() { edges.push_back(side); updateVertices(); mobile = POLYGON_DATA_MOBILE; } PolygonData::PolygonData(ShapeSpace& _space, const vector<Point>& pts, bool closed, bool end1Valid, bool end2Valid) : BaseData(_space, polygonDataType), edges(), vertices(pts.size()>1 ? pts : vector<Point>()) { mobile = POLYGON_DATA_MOBILE; if (pts.empty()) return; for(vector<Point>::const_iterator vtx_it = pts.begin(); vtx_it < pts.end()-1; vtx_it++) edges.push_back(LineData(_space, *vtx_it, *(vtx_it+1))); edges.front().end1Pt().setValid(end1Valid); edges.back().end2Pt().setValid(end2Valid); if (closed) // close polygon tryClosePolygon(); } vector<Shape<LineData> > PolygonData::extractPolygonEdges(Sketch<bool> const& sketch, Sketch<bool> const& occluder) { vector<Shape<LineData> > lines(LineData::extractLines(sketch, occluder,4)); return lines; } void PolygonData::updateVertices() { vertices.clear(); if (edges.empty()) return; if (isClosed()) vertices.push_back(end1Ln().intersectionWithLine(end2Ln())); else vertices.push_back(end1Pt()); if (edges.size() > 1) for (vector<LineData>::const_iterator it = edges.begin(); it != edges.end()-1; it++) vertices.push_back(it->intersectionWithLine(*(it+1))); if (isClosed()) vertices.push_back(vertices.front()); else vertices.push_back(end2Pt()); } vector<ShapeRoot> PolygonData::formPolygons(const vector<LineData>& lines) { if (lines.empty()) return vector<ShapeRoot>(); // sort lines from longest to shortest vector<LineData> allEdges = lines; sort(allEdges.begin(),allEdges.end(), ptr_fun(isFirstLineLonger)); vector<ShapeRoot> newPolygons; for (vector<LineData>::iterator line_it = allEdges.begin(); line_it != allEdges.end(); line_it++) { Shape<PolygonData> temp_polygon(*line_it); for (vector<LineData>::iterator line_it2 = line_it+1; line_it2 < allEdges.end(); line_it2++) { if (line_it2->getColor() == line_it->getColor() && (temp_polygon->tryUpdateEdge(Shape<LineData>(*line_it2)) || temp_polygon->tryImportNewEndline(*line_it2))) { allEdges.erase(line_it2); line_it2 = line_it; } } temp_polygon->setColor(line_it->getColor()); temp_polygon->updateVertices(); temp_polygon->printParams(); newPolygons.push_back(temp_polygon); } return newPolygons; } vector<ShapeRoot> PolygonData::formPolygons(const vector<LineData>& lines, vector<Shape<PolygonData> >& existingPolygons, vector<ShapeRoot>& deletedPolygons) { if (lines.empty()) return vector<ShapeRoot>(); vector<LineData> allEdges = lines; for (vector<Shape<PolygonData> >::const_iterator pol_it = existingPolygons.begin(); pol_it < existingPolygons.end(); pol_it++) { vector<LineData> existingEdges = (*pol_it)->getEdges(); const int existingParentID = (*pol_it)->getId(); for (vector<LineData>::iterator edge_it = existingEdges.begin(); edge_it != existingEdges.end(); edge_it++) edge_it->setParentId(existingParentID); // set parent id of all edges to its owner allEdges.insert(allEdges.end(), existingEdges.begin(),existingEdges.end()); } vector<ShapeRoot> newPolygons = formPolygons(allEdges); for (vector<Shape<PolygonData> >::iterator existing_it = existingPolygons.begin(); existing_it < existingPolygons.end(); existing_it++) { vector<ShapeRoot>::iterator new_it = newPolygons.begin(); for (; new_it < newPolygons.end(); new_it++) { const Shape<PolygonData>& newPolygon = ShapeRootTypeConst(*new_it,PolygonData); if ((*existing_it)->getEdges().size() == newPolygon->getEdges().size()) { vector<LineData>::const_iterator edge_it = newPolygon->getEdges().begin(); const int parentPolygonID = (*existing_it)->getId(); for (;edge_it != newPolygon->getEdges().end(); edge_it++) if (parentPolygonID != edge_it->getParentId()) break; if (edge_it == newPolygon->getEdges().end()) {// this new_it has the exactly same set of edges as existing_it (*existing_it)->edges = newPolygon->edges; (*existing_it)->vertices = newPolygon->vertices; new_it->deleteShape(); newPolygons.erase(new_it--); cout << " => match for existing polygon " << parentPolygonID << endl; break; } } } if (new_it == newPolygons.end()) { deletedPolygons.push_back(*existing_it); existingPolygons.erase(existing_it--); } } return newPolygons; } BoundingBox PolygonData::getBoundingBox() const { BoundingBox result(vertices[0].coordX(), vertices[0].coordX(), vertices[0].coordY(), vertices[0].coordY()); for (vector<Point>::const_iterator it = vertices.begin(); it != vertices.end(); it++) { if ( (*it).coordX() < result.xmin ) result.xmin = (*it).coordX(); else if ( (*it).coordX() > result.xmax ) result.xmax = (*it).coordX(); if ( (*it).coordY() < result.ymin ) result.ymin = (*it).coordY(); else if ( (*it).coordY() > result.ymax ) result.ymax = (*it).coordY(); } return result; } bool PolygonData::formsNewEndline(const LineData& ln, bool useEnd1Pt, bool useEnd2Pt) const { if (edges.empty()) return true; useEnd1Pt &= ln.end1Pt().isValid(); // don't use invalid endpoint useEnd2Pt &= ln.end2Pt().isValid(); // don't use invalid endpoint if (!(useEnd1Pt || useEnd2Pt)) return false; if (end1Pt().isValid()) //forms vertex with end1Ln? if((useEnd1Pt && end1Pt().distanceFrom(ln.end1Pt()) < THRESH_DIST_VERTEX) || (useEnd2Pt && end1Pt().distanceFrom(ln.end2Pt()) < THRESH_DIST_VERTEX)) return true; if (end2Pt().isValid()) //forms vertex with end2Ln? if((useEnd1Pt && end2Pt().distanceFrom(ln.end1Pt()) < THRESH_DIST_VERTEX) || (useEnd2Pt && end2Pt().distanceFrom(ln.end2Pt()) < THRESH_DIST_VERTEX)) return true; return false; } bool PolygonData::tryImportNewEndline(const LineData& ln, bool useEnd1Pt, bool useEnd2Pt) { if (edges.empty()) { edges.push_back(ln); return true; } useEnd1Pt &= ln.end1Pt().isValid(); // don't use invalid endpoint useEnd2Pt &= ln.end2Pt().isValid(); // don't use invalid endpoint if (!(useEnd1Pt || useEnd2Pt)) return false; if (end1Pt().isValid()) { if (useEnd1Pt && end1Pt().distanceFrom(ln.end1Pt()) < THRESH_DIST_VERTEX) { LineData end1ln = ln; end1ln.setEndPts(ln.end2Pt(),ln.end1Pt()); edges.insert(edges.begin(), end1ln); return true; } else if (useEnd2Pt && end1Pt().distanceFrom(ln.end2Pt()) < THRESH_DIST_VERTEX) { edges.insert(edges.begin(), ln); return true; } } if (end2Pt().isValid()) { if (useEnd1Pt && end2Pt().distanceFrom(ln.end1Pt()) < THRESH_DIST_VERTEX) { edges.push_back(ln); return true; } else if (useEnd2Pt && end2Pt().distanceFrom(ln.end2Pt()) < THRESH_DIST_VERTEX) { LineData end2ln = ln; end2ln.setEndPts(ln.end2Pt(),ln.end1Pt()); edges.push_back(end2ln); return true; } } return false; } bool PolygonData::tryClosePolygon() { if (vertices.size()<3 || !end1Pt().isValid() || !end2Pt().isValid()) return false; if (end1Ln().isMatchFor(end2Ln())) { cout << "end1 match for end2\n"; end1Ln().printParams(); end2Ln().printParams(); edges.erase(edges.end()); } edges.push_back(LineData(*space,end2Pt(),end1Pt())); edges.front().end1Pt().setValid(true); updateVertices(); return true; } bool PolygonData::isClosed() const { return (edges.size() > 2 && (end1Ln().isMatchFor(end2Ln()) || ((end1Pt().distanceFrom(end2Pt()) < THRESH_DIST_VERTEX) && end1Pt().isValid() && end2Pt().isValid()))); } bool PolygonData::isMatchForEdge(const LineData& other) const { for(vector<LineData>::const_iterator this_it = edges.begin(); this_it != edges.end(); this_it++) if (this_it->isMatchFor(other)) return true; return false; } // remove edges whose confidence < 0 // break polygon into pieces if inner edge removed vector<ShapeRoot> PolygonData::updateState() { bool breakPolygon = false; for (vector<LineData>::iterator it = edges.begin(); it != edges.end(); it++) { if (it->getConfidence() < 0) { if (! (it == edges.begin() || it == edges.end()-1)) //inner edge deleted breakPolygon = true; edges.erase(it--); } } if (breakPolygon && !edges.empty()) { //form new polygons from the remaining edges of this polygon vector<LineData> lines(edges); edges.clear(); return formPolygons(lines); } else return vector<ShapeRoot>(); } bool PolygonData::tryUpdateEdge(const ShapeRoot& ln) { for(vector<LineData>::iterator it = edges.begin(); it != edges.end(); it++) if (it->isMatchFor(ln) && it->updateParams(ln)) { it->increaseConfidence(ln); if (it->getParentId() == 0 && ln->getParentId() != 0) it->setParentId(ln->getParentId()); return true; } return false; } /* for(vector<Point>::iterator it = polygon.getVertices.begin(); it != polygon.getVertices.end(); it++) ..... */ bool PolygonData::isMatchFor(const ShapeRoot& other) const { if (other->isType(lineDataType) && isSameColorAs(other)) { const LineData& other_ln = ShapeRootTypeConst(other,LineData).getData(); return (isMatchForEdge(other_ln)); } if (other->isType(polygonDataType) && isSameColorAs(other)) { const PolygonData& other_polygon = ShapeRootTypeConst(other,PolygonData).getData(); if (other_polygon.getEdges().size() == edges.size()) { vector<LineData>::const_iterator other_it = other_polygon.getEdges().begin(); vector<LineData>::const_iterator this_it = getEdges().begin(); for (; other_it != other_polygon.getEdges().end(); other_it++, this_it++) if (!this_it->isMatchFor(*other_it)) break; if (this_it == edges.end()) return true; vector<LineData>::const_reverse_iterator other_rit = other_polygon.getEdges().rbegin(); this_it = edges.begin(); for (; other_rit != other_polygon.getEdges().rend(); other_it++, this_it++) if (!this_it->isMatchFor(*other_rit)) break; return (this_it == edges.end()); } } return false; } int PolygonData::getConfidence() const { switch (edges.size()) { case 0: return -1; case 1: return edges.front().getConfidence(); default: vector<LineData>::const_iterator it = edges.begin(); int conf = (it++)->getConfidence(); for (; it != edges.end(); it++) if (conf > it->getConfidence()) conf = it->getConfidence(); return conf; }; } bool PolygonData::updateParams(const ShapeRoot& other, bool) { if (other->isType(lineDataType) && tryUpdateEdge(other)) { updateVertices(); return true; } return false; } /* bool PolygonData::doUpdateParams(const ShapeRoot& other, bool) { if (other->isType(lineDataType)) return (tryUpdateEdge(other)); || tryImportNewEndline(ShapeRootTypeConst(other,LineData).getData())); else if (other->isType(polygonDataType)) { const PolygonData& other_polygon = ShapeRootTypeConst(other, PolygonData).getData(); return tryImportNewEndline(other_polygon.end1Ln(),true,false) || tryImportNewEndline(other_polygon.end2Ln(),false,true); } return false; } */ bool PolygonData::isAdmissible() const { for (vector<LineData>::const_iterator it = edges.begin(); it != edges.end(); it++) { if (it->isAdmissible()) return true; } return false; } // define a line from pt to most distant vertex from this point. // count number of intersections with edges (except the ones bool PolygonData::isInside(const Point& pt) const { if (!isClosed()) return false; float mostDist = -1; unsigned int mostDistIndex = -1U; const unsigned int numVertices = vertices.size()-1; // number of unique vertices (first and last are same) for (unsigned int i = 0; i < numVertices; i++) { float dist = pt.distanceFrom(vertices[i]); if (dist > mostDist) { mostDist = dist; mostDistIndex = i; } } // cout << "Most distant vertex: " << vertices[mostDistIndex] << endl; LineData ln(this->getSpace(),pt,(vertices[mostDistIndex])); unsigned int intersectionCount = 0; // this is a check if this point falls between the two edges surrounding the most distant vertex from this point // if not, odd number of intersection indicates the point is inside, so increment the count by 1 { float theta0 = (mostDistIndex == 0) ? ((vertices.front() == vertices.back()) ? atan2(vertices[vertices.size()-2].coordY()-vertices[mostDistIndex].coordY(), vertices[vertices.size()-2].coordX()-vertices[mostDistIndex].coordX()) : atan2(vertices[vertices.size()-1].coordY()-vertices[mostDistIndex].coordY(), vertices[vertices.size()-1].coordX()-vertices[mostDistIndex].coordX())) : atan2(vertices[mostDistIndex-1].coordY()-vertices[mostDistIndex].coordY(), vertices[mostDistIndex-1].coordX()-vertices[mostDistIndex].coordX()); float theta1 = atan2(pt.coordY()-vertices[mostDistIndex].coordY(),pt.coordX()-vertices[mostDistIndex].coordX()); float theta2 = (mostDistIndex == vertices.size()-1) ? ((vertices.front() == vertices.back()) ? atan2(vertices[1].coordY()-vertices[mostDistIndex].coordY(), vertices[1].coordX()-vertices[mostDistIndex].coordX()) : atan2(vertices[0].coordY()-vertices[mostDistIndex].coordY(), vertices[0].coordX()-vertices[mostDistIndex].coordX())) : atan2(vertices[mostDistIndex+1].coordY()-vertices[mostDistIndex].coordY(), vertices[mostDistIndex+1].coordX()-vertices[mostDistIndex].coordX()); if ((theta2>theta0 && !((theta2-theta0<M_PI && theta2>theta1 && theta1>theta0) || (2*M_PI-theta2+theta0<M_PI && (theta1>theta2 || theta0>theta1)))) || (theta0>theta2 && !((theta0-theta2<M_PI && theta0>theta1 && theta1>theta2) || (2*M_PI-theta0+theta2<M_PI && (theta1>theta0 || theta2>theta1))))) { // cout << "orientataion not b/w edges\n"; intersectionCount++; } } // cout << " " << ln.end1Pt() << " <-> " << ln.end2Pt() << endl; for (unsigned int i = mostDistIndex+1; i < numVertices+mostDistIndex-1; i++) { LineData cleanEdge(*space,vertices[i%numVertices],vertices[(i+1)%numVertices]); // cout << " " << i << ": " << cleanEdge.end1Pt() << " <-> " << cleanEdge.end2Pt(); if (ln.getOrientation() != cleanEdge.getOrientation() && ln.intersectsLine(cleanEdge)) { // cout << " true\n"; intersectionCount++; } } return (intersectionCount%2) == 0; } void PolygonData::printParams() const { cout << edges.size() << " edge(s)\n"; for (vector<LineData>::const_iterator it = edges.begin(); it != edges.end(); it++) cout << it->end1Pt() << " -> " << it->end2Pt() << endl; cout << vertices.size () << " vertice(s):\n"; for (vector<Point>::const_iterator it = vertices.begin(); it != vertices.end(); it++) cout << (*it) << endl; } void PolygonData::applyTransform(const NEWMAT::Matrix& Tmat) { for (vector<LineData>::iterator it = edges.begin(); it != edges.end(); it++) it->applyTransform(Tmat); for (vector<Point>::iterator it = vertices.begin(); it != vertices.end(); it++) it->applyTransform(Tmat); } void PolygonData::projectToGround(const NEWMAT::Matrix& camToBase, const NEWMAT::ColumnVector& groundplane) { for (vector<LineData>::iterator it = edges.begin(); it != edges.end(); it++) it->projectToGround(camToBase,groundplane); } Point PolygonData::getCentroid() const { if (edges.empty()) return Point(0,0,0,getRefFrameType()); vector<LineData>::const_iterator it = edges.begin(); Point centroid = (it++)->getCentroid(); for (; it != edges.end(); it++) centroid += it->getCentroid(); return centroid/edges.size(); } void PolygonData::setColor(rgb new_color) { color_rgb = new_color; for (vector<LineData>::iterator it = edges.begin(); it != edges.end(); it++) it->setColor(color_rgb); deleteRendering(); } // helper function to sort lines from longest to shortest bool PolygonData::isFirstLineLonger(const Shape<LineData>& ln1,const Shape<LineData>& ln2) { return ln1->isLongerThan(ln2); } Sketch<bool>* PolygonData::render() const { string const result_name = "render(" + getName() + ")"; Sketch<bool> canvas(space->getDualSpace(), result_name); canvas = 0; const int width = space->getDualSpace().getWidth(); const int height = space->getDualSpace().getHeight(); float x1, y1, x2, y2; for (vector<LineData>::const_iterator it = edges.begin(); it != edges.end(); it++) { it->setDrawCoords(x1, y1, x2, y2, width, height); it->drawline2d(canvas, (int)x1, (int)y1, (int)x2, (int)y2); } if (!isClosed()) return new Sketch<bool>(canvas); NEW_SKETCH_N(borders, bool, visops::zeros(canvas)); for (int i = 0; i < width; i++) { borders(i,0) = ! canvas(i,0); borders(i,height-1) = ! canvas(i,height-1); } for (int j = 1; j < height-1; j++) { borders(0,j) = ! canvas(0,j); borders(width-1,j) = ! canvas(width-1,j); } usint const not_reached = usint(-1); NEW_SKETCH_N(bd, usint, visops::bdist(borders, canvas, width*height)); bd->inheritFrom(*this); bd->setColorMap(jetMap); NEW_SKETCH(result, bool, bd == not_reached); result->setName(result_name); return new Sketch<bool>(result); } //================ Convex Hull ================ class convexHullPoint { public: int x, y; float angle; convexHullPoint() : x(0), y(0), angle(0) {} convexHullPoint(int _x, int _y, float _a) : x(_x), y(_y), angle(_a) {} static int crossProduct(const convexHullPoint &p1, const convexHullPoint &p2, const convexHullPoint &p3) { return (p2.x - p1.x)*(p3.y - p1.y) - (p3.x - p1.x)*(p2.y - p1.y); } class pointCompare : public binary_function<convexHullPoint, convexHullPoint, bool> { private: const convexHullPoint &pivot; public: pointCompare(const convexHullPoint &_pivot) : pivot(_pivot) {} bool operator() (const convexHullPoint &p1, const convexHullPoint &p2) { if ( p1.angle < p2.angle ) return true; else if ( p1.angle > p2.angle ) return false; else { int const d1x = pivot.x - p1.x; int const d1y = pivot.y - p1.y; int const d2x = pivot.x - p2.x; int const d2y = pivot.y - p2.y; return (d1x*d1x+d1y*d1y) < (d2x*d2x+d2y*d2y); } } } ; }; Shape<PolygonData> PolygonData::convexHull(const Sketch<bool> &sketch) { int const spts = sketch->sum(); int const width = sketch.width; int const npix = sketch->getNumPixels(); // cout << "septs,width,npix= " << spts << ", " << width << ", " << npix << endl; // construct a vector of points and find the pivot point NEW_SKETCH_N(neighbs, uchar, visops::neighborSum(sketch)); std::vector<convexHullPoint> points(spts); points.clear(); int pivot_x = -1, pivot_y = width+1; for (int i=0; i<npix; i++) { // cout << sketch[i] << " : " << neighbs[i] << endl; if ( sketch[i] && neighbs[i] < 8 ) { int const x = i % width; int const y = i / width; points.push_back(convexHullPoint(x,y,0)); if ( y < pivot_y || (y == pivot_y && x > pivot_x) ) { pivot_x = x; pivot_y = y; }; } } int const npts = points.size(); // sort points by angle from the pivot, and if colinear, take closer point first for (int i=0; i<npts; i++) points[i].angle = (float) -atan2((float) (pivot_y - points[i].y), (float) (pivot_x - points[i].x)); std::sort(points.begin(),points.end(),convexHullPoint::pointCompare(convexHullPoint(pivot_x,pivot_y,0))); // push points onto a stack to form the convex hull vector<convexHullPoint> hull(npts); hull.clear(); hull.push_back(points[0]); hull.push_back(points[1]); for ( int i=2; i<npts; i++ ) { int last = hull.size() - 1; int o = convexHullPoint::crossProduct(hull[last-1],hull[last],points[i]); if ( o == 0 ) hull[last] = points[i]; else if ( o < 0 ) hull.push_back(points[i]); else { while ( o >= 0 && hull.size() > 2 ) { hull.pop_back(); last--; o = convexHullPoint::crossProduct(hull[last-1],hull[last],points[i]); } hull.push_back(points[i]); } } int const nhull = hull.size(); // build a polygon to represent the hull ShapeSpace &ShS = sketch->getDualSpace(); vector<Point> vertices; for (int i=0; i<nhull; i++) vertices.push_back(Point(hull[i].x, hull[i].y)); vertices.push_back(Point(hull[0].x, hull[0].y)); // force closed polygon: don't trust tryClose() return Shape<PolygonData>(new PolygonData(ShS,vertices,true)); } } // namespace

DualCoding 3.0beta

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