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PyramidData.cc Go to the documentation of this file. //-*-c++-*- #include <iostream> #include <vector> #include "BaseData.h" // superclass #include "Point.h" // Point data member #include "ShapeTypes.h" // pyramidDataType #include "SketchSpace.h" #include "Sketch.h" #include "visops.h" #include "ShapeSpace.h" // required by DATASTUFF_CC #include "ShapeRoot.h" // required by DATASTUFF_CC #include "PyramidData.h" #include "ShapePyramid.h" #include "ShapePoint.h" #include "Region.h" namespace DualCoding { PyramidData::PyramidData(ShapeSpace& _space, const EndPoint &_FL, const EndPoint &_FR, const EndPoint &_BL, const EndPoint &_BR, const EndPoint &_Top) : BaseData(_space,pyramidDataType), FL(_FL), FR(_FR), BL(_BL), BR(_BR), Top(_Top), centroid((FL + FR + BL + BR + Top) / 5) { } DATASTUFF_CC(PyramidData); bool PyramidData::isMatchFor(const ShapeRoot& other) const { if (!(isSameTypeAs(other) && isSameColorAs(other))) return false; // needs implementation float dist = 0; return dist < 20; } void PyramidData::mergeWith(const ShapeRoot& other) { const Shape<PyramidData>& other_pyramid = ShapeRootTypeConst(other,PyramidData); if (other_pyramid->confidence <= 0) return; } bool PyramidData::updateParams(const ShapeRoot& other, bool) { const Shape<PyramidData>& other_pyramid = *static_cast<const Shape<PyramidData>*>(&other); // ++confidence; FL = (FL*(confidence-1) + other_pyramid->getFL())/confidence; FR = (FR*(confidence-1) + other_pyramid->getFR())/confidence; BL = (BL*(confidence-1) + other_pyramid->getBL())/confidence; BR = (BR*(confidence-1) + other_pyramid->getBR())/confidence; Top = (Top*(confidence-1) + other_pyramid->getTop())/confidence; deleteRendering(); return true; } //! Print information about this shape. (Virtual in BaseData.) void PyramidData::printParams() const { cout << "Type = " << getTypeName(); cout << "Shape ID = " << getId() << endl; cout << "Parent ID = " << getParentId() << endl; printf("color = %d %d %d\n",getColor().red,getColor().green,getColor().blue); cout << "viewable = " << isViewable() << endl; } //! Transformations. (Virtual in BaseData.) void PyramidData::applyTransform(const NEWMAT::Matrix& Tmat) { FL.applyTransform(Tmat); FR.applyTransform(Tmat); BL.applyTransform(Tmat); BR.applyTransform(Tmat); Top.applyTransform(Tmat); } /*void PyramidData::projectToGround(const NEWMAT::ColumnVector& groundplane) { FL.projectToGround(groundplane); FR.projectToGround(groundplane); BL.projectToGround(groundplane); BR.projectToGround(groundplane); Point bottomCenter = (FL + FR + BL + BR) / 4.0; float height; Top.projectToGround(groundplane); height = Top.getHeightAbovePoint(bottomCenter, groundplane); Top.setCoords(bottomCenter.coordX(), bottomCenter.coordY(), bottomCenter.coordZ() + height); centroid = bottomCenter; centroid.setCoords(centroid.coordX(), centroid.coordY(), centroid.coordZ() + height/5); std::cout<<"New centroid: ("<<centroid.coordX()<<","<<centroid.coordY()<<","<<centroid.coordZ()<<")\n"; }*/ void PyramidData::projectToGround(const NEWMAT::Matrix & camToBase, const NEWMAT::ColumnVector& groundplane) { FL.projectToGround(camToBase, groundplane); FR.projectToGround(camToBase, groundplane); BL.projectToGround(camToBase, groundplane); BR.projectToGround(camToBase, groundplane); Point bottomCenter = (FL + FR + BL + BR) / 4.0; float height; Top.projectToGround(camToBase, groundplane); height = Top.getHeightAbovePoint(bottomCenter, groundplane); Top.setCoords(bottomCenter.coordX(), bottomCenter.coordY(), bottomCenter.coordZ() + height); centroid = bottomCenter; centroid.setCoords(centroid.coordX(), centroid.coordY(), centroid.coordZ() + height/5); std::cout<<"New centroid: ("<<centroid.coordX()<<","<<centroid.coordY()<<","<<centroid.coordZ()<<")\n"; } // ===================================================== // BEGIN SKETCH MANIPULATION AND PYRAMID EXTRACTION CODE // ===================================================== //! Pyramid extraction. //! Render into a sketch space and return reference. (Private.) Sketch<bool>* PyramidData::render() const { SketchSpace &renderspace = space->getDualSpace(); //int const width = renderspace.getWidth(); //int const height = renderspace.getHeight(); //float x1,y1,x2,y2; Sketch<bool>* draw_result = new Sketch<bool>(renderspace, "render("+getName()+")"); (*draw_result)->setParentId(getViewableId()); (*draw_result)->setColor(getColor()); *draw_result = 0; LineData F(*space, FL, FR); *draw_result = *draw_result & F.getRendering(); LineData L(*space, FL, BL); *draw_result = *draw_result & L.getRendering(); LineData B(*space, BL, BR); *draw_result = *draw_result & B.getRendering(); LineData R(*space, BR, FR); *draw_result = *draw_result & R.getRendering(); LineData FT(*space, FL, Top); *draw_result = *draw_result & FT.getRendering(); LineData LT(*space, FR, Top); *draw_result = *draw_result & LT.getRendering(); LineData BT(*space, BL, Top); *draw_result = *draw_result & BT.getRendering(); LineData RT(*space, BR, Top); *draw_result = *draw_result & RT.getRendering(); return draw_result; } /* Same idea as extractBrick, but simpler */ Shape<PyramidData> PyramidData::extractPyramid(ShapeSpace& space, vector<Shape<BlobData> > &blobs) { unsigned int nblobs = blobs.size(); std::vector<Point> centroids; ShapeRoot invalid; if (nblobs != 2) { return ShapeRootType(invalid,PyramidData); } for (unsigned int i=0; i<nblobs; i++) { centroids.push_back(blobs[i]->getCentroid()); } // Check inter-blob distance if (centroids[0].distanceFrom(centroids[1]) >= blobs[0]->topLeft.distanceFrom(centroids[0]) + blobs[1]->topLeft.distanceFrom(centroids[1])){ return ShapeRootType(invalid,PyramidData); } int left=-1, right=-1; if (centroids[0].isLeftOf(centroids[1], camcentric)) { left = 0; right = 1; } else { left = 1; right = 0; } const int INTERSECT_DIST = 5, MIN_REQUIRED_DIST = 2; NEW_SKETCH_N(leftEdist, uchar, visops::edist(blobs[left]->getRendering())); NEW_SKETCH_N(rightEdist, uchar, visops::edist(blobs[right]->getRendering())); NEW_SKETCH(small, bool, leftEdist<MIN_REQUIRED_DIST & rightEdist<MIN_REQUIRED_DIST); if (!small->max()){ return ShapeRootType(invalid,PyramidData); } NEW_SKETCH(boundary, bool, leftEdist<INTERSECT_DIST & rightEdist<INTERSECT_DIST); rgb green_rgb(0, 255, 0); boundary->setColor(green_rgb); // Extract candidate points std::vector<std::vector<Point> > points(5); /* * 0 * /|\ * / | \ * / | \ * / L | R \ * / | \ <--- 4 * 1-----2-----3 */ NEW_SHAPE(boundaryline, LineData, LineData::extractLine(boundary)); if (boundaryline.isValid()) { points[0].push_back(boundaryline->topPt()); points[2].push_back(boundaryline->bottomPt()); } // Find the corners for each face individually // blobData::findCorners takes the number of corners you expect, so this // uses the same method as extractBrick std::vector<Point> candidates; candidates = findBoundingTriangle(space, blobs[left], centroids[left], boundaryline); float cornerValue; std::vector<Point> lcorners = blobs[left]->findCorners(3, candidates, cornerValue); if (lcorners.size() == 3) { unsigned int leftCorner = 0; for (unsigned int i=1; i<3; i++){ if (lcorners[i].isLeftOf(lcorners[leftCorner], camcentric)) { leftCorner = i; } } points[1].push_back(lcorners[leftCorner]); points[2].push_back(lcorners[(leftCorner+1)%3]); points[0].push_back(lcorners[(leftCorner+2)%3]); } else { return ShapeRootType(invalid,PyramidData); } // find the corners of the right face. candidates.clear(); candidates = findBoundingTriangle(space, blobs[right], centroids[right], boundaryline); std::vector<Point> rcorners = blobs[right]->findCorners(3, candidates, cornerValue); if (rcorners.size() == 3) { unsigned int rightCorner = 0; for (unsigned int i=1; i<3; i++){ if (rcorners[i].isRightOf(rcorners[rightCorner], camcentric)) { rightCorner = i; } } points[3].push_back(rcorners[rightCorner]); points[0].push_back(rcorners[(rightCorner+1)%3]); points[2].push_back(rcorners[(rightCorner+2)%3]); } else { return ShapeRootType(invalid,PyramidData); } // debug output for (unsigned int i=0; i<5; i++){ for (unsigned int j=0; j<points[i].size(); j++) { NEW_SHAPE(corner, PointData, PointData(space, points[i][j])); char name[10]; sprintf(name, "corner%d%d",i,j); corner->setName(name); } } vector<Point> finalCorners(5); Point empty(0,0); for (unsigned int i=0; i<5; i++) { finalCorners[i] = empty; for (unsigned int j=0; j<points[i].size(); j++) { finalCorners[i]+=points[i][j]; } if (points[i].size() > 0) { finalCorners[i]/=points[i].size(); } } finalCorners[4] = finalCorners[1] + finalCorners[3] - finalCorners[2]; NEW_SHAPE(returnPyramid, PyramidData, new PyramidData(space, finalCorners[1], finalCorners[2], finalCorners[4], finalCorners[3], finalCorners[0])); return returnPyramid; } // A bounding triangle with room around it // contracted in quadrilateral (polygon) fitting vector<Point> PyramidData::findBoundingTriangle(ShapeSpace& space, Shape<BlobData> blob, Point /*centroid*/, Shape<LineData> parallel) { const float PARALLEL_EXTEND_FACTOR = .4, ORTHO_EXTEND_FACTOR = .4; vector<Point> candidates; Point thirdPoint = (Region::extractRegion(blob->getRendering())).mostDistantPtFrom(parallel.getData()); LineData perpendicular(space, thirdPoint, parallel->getThetaNorm()); Point isect(perpendicular.intersectionWithLine(parallel)); Point orthoExtend((thirdPoint - isect)*ORTHO_EXTEND_FACTOR); Point parallelExtend((parallel->end2Pt() - parallel->end1Pt())*PARALLEL_EXTEND_FACTOR); Point pt1(parallel->end1Pt() - parallelExtend - orthoExtend); Point pt2(parallel->end2Pt() + parallelExtend - orthoExtend); if (pt1.isAbove(pt2, camcentric) && thirdPoint.isLeftOf(pt1, camcentric) || !pt1.isAbove(pt2, camcentric) && !thirdPoint.isLeftOf(pt1, camcentric)){ candidates.push_back(pt2); candidates.push_back(pt1); } else { candidates.push_back(pt1); candidates.push_back(pt2); } candidates.push_back(thirdPoint + orthoExtend); // debug output NEW_SHAPE(candidate31, PointData, PointData(space, candidates[0])); NEW_SHAPE(candidate32, PointData, PointData(space, candidates[1])); NEW_SHAPE(candidate33, PointData, PointData(space, candidates[2])); candidate31->setParentId(blob->getViewableId()); candidate32->setParentId(blob->getViewableId()); candidate33->setParentId(blob->getViewableId()); return candidates; } } // namespace

DualCoding 3.0beta

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