├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── dataset ├── GT │ ├── Freiburg101_scan.png │ ├── Freiburg101_scan_furnitures_trashbins.png │ ├── Freiburg79_scan_furnitures_trashbins.png │ ├── freiburg_building101.png │ ├── freiburg_building52.png │ ├── freiburg_building79.png │ ├── intel_map.png │ ├── lab_a.png │ ├── lab_b.png │ ├── lab_c.png │ ├── lab_c_scan_furnitures_trashbins.png │ ├── lab_d.png │ ├── lab_d_scan_furnitures.png │ ├── lab_e.png │ ├── lab_ipa_furnitures.png │ └── sistD.png ├── data_setting ├── input │ ├── Freiburg101_scan.png │ ├── Freiburg101_scan_furnitures_trashbins.png │ ├── Freiburg79_scan_furnitures_trashbins.png │ ├── freiburg_building101.png │ ├── freiburg_building52.png │ ├── freiburg_building79.png │ ├── intel_map.png │ ├── lab_a.png │ ├── lab_b.png │ ├── lab_c.png │ ├── lab_c_scan_furnitures_trashbins.png │ ├── lab_d.png │ ├── lab_d_scan_furnitures.png │ ├── lab_e.png │ ├── lab_ipa_furnitures.png │ └── sistD.png ├── input_afterRemoval │ ├── Freiburg101_scan.png │ ├── Freiburg101_scan_furnitures_trashbins.png │ ├── Freiburg79_scan_furnitures_trashbins.png │ ├── freiburg_building101.png │ ├── freiburg_building52.png │ ├── freiburg_building79.png │ ├── intel_map.png │ ├── lab_a.png │ ├── lab_b.png │ ├── lab_c.png │ ├── lab_c_scan_furnitures_trashbins.png │ ├── lab_d.png │ ├── lab_d_scan_furnitures.png │ ├── lab_e.png │ ├── lab_ipa_furnitures.png │ └── sistD.png ├── mazes │ ├── maze.jpg │ ├── maze4000.png │ ├── maze_ipa.png │ ├── maze_maoris.png │ ├── maze_my.png │ ├── singa.png │ ├── singa_ipa.png │ ├── singa_maoris.png │ └── singa_my.png ├── strategy_w │ ├── Freiburg101_scan.png │ ├── Freiburg101_scan_furnitures_trashbins.png │ ├── Freiburg79_scan_furnitures_trashbins.png │ ├── freiburg_building101.png │ ├── freiburg_building52.png │ ├── freiburg_building79.png │ ├── intel_map.png │ ├── lab_a.png │ ├── lab_b.png │ ├── lab_c.png │ ├── lab_c_scan_furnitures_trashbins.png │ ├── lab_d.png │ ├── lab_d_scan_furnitures.png │ ├── lab_e.png │ ├── lab_ipa_furnitures.png │ └── sistD.png └── w=1_25 │ ├── Freiburg101_scan.png │ ├── Freiburg101_scan_furnitures_trashbins.png │ ├── Freiburg79_scan_furnitures_trashbins.png │ ├── freiburg_building101.png │ ├── freiburg_building52.png │ ├── freiburg_building79.png │ ├── intel_map.png │ ├── lab_a.png │ ├── lab_b.png │ ├── lab_c.png │ ├── lab_c_scan_furnitures_trashbins.png │ ├── lab_d.png │ ├── lab_d_scan_furnitures.png │ ├── lab_e.png │ ├── lab_ipa_furnitures.png │ └── sistD.png ├── include ├── AreaGenerate.h ├── Denoise.h ├── RoomDect.h ├── TopoGeometry.h ├── TopoGraph.h ├── VoriConfig.h ├── VoriGraph.h ├── cgal │ ├── AlphaShape.h │ ├── AlphaShapeRemoval.h │ └── CgalVoronoi.h ├── passageSearch.h ├── qt │ └── QImageVoronoi.h └── roomGraph.h ├── src ├── AreaGenerate.cpp ├── Denoise.cpp ├── RoomDect.cpp ├── TopoGraph.cpp ├── VoriConfig.cpp ├── VoriGraph.cpp ├── cgal │ ├── AlphaShape.cpp │ ├── AlphaShapeRemoval.cpp │ └── CgalVoronoi.cpp ├── passageSearch.cpp ├── qt │ └── QImageVoronoi.cpp └── roomGraph.cpp └── test └── example.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | 34 | *~ 35 | build/ 36 | bin/ 37 | .idea/ 38 | cmake-build-debug/ 39 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 2.6) 2 | 3 | project (TOPO_GRAPH_2D) 4 | 5 | find_package( Boost REQUIRED ) 6 | if ( NOT Boost_FOUND ) 7 | message(STATUS "This project requires the Boost library, and will not be compiled.") 8 | return() 9 | endif() 10 | 11 | find_package(CGAL COMPONENTS Core Boost) 12 | FIND_PACKAGE(Qt4 REQUIRED) 13 | 14 | 15 | if ( CGAL_FOUND ) 16 | 17 | include( ${CGAL_USE_FILE} ) 18 | 19 | include( CGAL_CreateSingleSourceCGALProgram ) 20 | 21 | else() 22 | 23 | message(STATUS "This program requires the CGAL library, and will not be compiled.") 24 | 25 | endif() 26 | 27 | INCLUDE(${QT_USE_FILE}) 28 | ADD_DEFINITIONS(${QT_DEFINITIONS}) 29 | 30 | #add_subdirectory (dir) 31 | 32 | set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) 33 | set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) 34 | 35 | add_library (topo_graph_2d STATIC / 36 | src/VoriConfig.cpp / 37 | src/VoriGraph.cpp / 38 | src/TopoGraph.cpp / 39 | src/RoomDect.cpp / 40 | src/roomGraph.cpp / 41 | src/Denoise.cpp / 42 | src/passageSearch.cpp / 43 | src/cgal/CgalVoronoi.cpp / 44 | src/cgal/AlphaShape.cpp / 45 | src/qt/QImageVoronoi.cpp / 46 | src/cgal/AlphaShapeRemoval.cpp) 47 | 48 | include_directories (${TOPO_GRAPH_2D_SOURCE_DIR}/include) 49 | 50 | include_directories(${CGAL_INCLUDE_DIR} ${QT_INCLUDE_DIR}) 51 | 52 | add_executable(example_segmentation test/example.cpp) 53 | include_directories (${TOPO_GRAPH_2D_SOURCE_DIR}/include) 54 | 55 | message(STATUS " cgal: ${CGAL_LIBRARIES} ") 56 | 57 | TARGET_LINK_LIBRARIES(example_segmentation topo_graph_2d ${QT_LIBRARIES} ${CGAL_LIBRARIES} -lboost_unit_test_framework -lboost_filesystem -lboost_system) 58 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Area graph 2 | 3 | ## Paper 4 | The paper describing the method was accepted for publication at ICAR2019. The preprint version is [available on Arxiv](https://arxiv.org/abs/1910.01019). 5 | 6 | Hou, J., Y. Yuan, and S. Schwertfeger, "Area Graph: Generation of Topological Maps using the Voronoi Diagram", 19th International Conference on Advanced Robotics (ICAR): IEEE Press, 2019. 7 | 8 | ``` 9 | @conference {hou2019area, 10 | title = {Area Graph: Generation of Topological Maps using the Voronoi Diagram}, 11 | booktitle = {19th International Conference on Advanced Robotics (ICAR)}, 12 | year = {2019}, 13 | publisher = {IEEE Press}, 14 | organization = {IEEE Press}, 15 | author = {Hou, Jiawei and Yuan, Yijun and Schwertfeger, S{\"o}ren} 16 | } 17 | ``` 18 | 19 | 20 | 21 | 22 | ## How to compile 23 | ### Dependencies 24 | Before running the code, make sure you have installed: cmake, g++, Eigen3, Qt4, CGAL 25 | They can be installed by (Ubuntu): 26 | ``` 27 | sudo apt-get install g++ 28 | sudo apt-get install cmake 29 | sudo apt-get install qt4-default 30 | sudo apt-get install libcgal-dev 31 | ``` 32 | The code has been test on Ubuntu 14.04 and 16.04. 33 | 34 | ### How to use 35 | Now, we can build our Area Graph generation code: 36 | ``` 37 | cd /path/to/map-matching/code/ 38 | mkdir build 39 | cd build 40 | cmake .. 41 | make example_segmentation 42 | ./bin/test_areaMatch Map.png resolution door_width corridor_width noise_percentage 43 | ``` 44 | where the meanings of the arguments are shown belows. 45 | * Map.png: The map you are going to generate the Area Graph for it. Please don't use the maps whose background color is lighter than the sites (obstacle points). 46 | * resolution: resolution of the map (the default resolution is set as 0.05) 47 | * door_width: the widest door's width in the environment 48 | * corridor_width: the narrowest corridor's width in the environment 49 | if you don't know the door width and corridor width of the environment, set it as -1 and we use the fix W = 1.25 to run the Alpha Shape algorithm to detect rooms 50 | * noise_percentage: You can rely on intuition to estimate how much noise is in the map. If you use the map in the directory "afterAlphaRemoval" as input, you can set this argument as 0. 51 | 52 | example: 53 | ``` 54 | ./bin/example_segmentation ../dataset/input/Freiburg79_scan_furnitures_trashbins.png 0.05 -1 -1 1.5 55 | ``` 56 | or 57 | ``` 58 | ./bin/example_segmentation ../dataset/input/Freiburg79_scan_furnitures_trashbins.png 0.05 0.85 2.7 1.5 59 | ``` 60 | 61 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /dataset/GT/Freiburg101_scan.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/STAR-Center/areaGraph/97148680326fb44c524c499cfe8116121308a5ad/dataset/GT/Freiburg101_scan.png -------------------------------------------------------------------------------- /dataset/GT/Freiburg101_scan_furnitures_trashbins.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | resolution (m/pixel) (Bormann did not tell the resolution of the data so we just guess their resolution): 2 | Freiburg79_scan_furnitures_trashbins.png 0.05 3 | Freiburg101_scan.png 0.05 4 | Freiburg101_scan_furnitures_trashbins.png 0.05 5 | freiburg_building79.png 0.05 6 | freiburg_building52.png 0.05 7 | freiburg_building101.png 0.05 8 | intel_map.png 0.05 9 | lab_a.png 0.05 10 | lab_b.png 0.05 11 | lab_c.png 0.05 12 | lab_d_scan_furnitures.png 0.05 13 | lab_ipa_furnitures.png 0.05 14 | sistD.png 0.05 15 | lab_c_scan_furnitures_trashbins.png 0.05 16 | 17 | widest door width (m) and narrowest corridor width (m) (roughly measure with GIMP): 18 | Freiburg79_scan_furnitures_trashbins.png 0.85 2.7 19 | Freiburg101_scan.png 1.15 6 20 | Freiburg101_scan_furnitures_trashbins.png 1.15 6 21 | freiburg_building79.png 1.3 2.05 22 | freiburg_building52.png 0.85 1.65 23 | freiburg_building101.png 1.0 2.7 24 | intel_map.png 2.7 1.4 25 | lab_a.png 0.85 1.15 26 | lab_b.png 1.8 1.2 27 | lab_c.png 2.05 2.3 28 | lab_d_scan_furnitures.png 0.95 0.95 29 | lab_ipa_furnitures.png 1.3 1.6 30 | sistD.png 1.5 2.35 31 | lab_c_scan_furnitures_trashbins.png 2.2 2.05 32 | 33 | w (m) according to strategy: 34 | Freiburg79_scan_furnitures_trashbins.png 0.95 35 | Freiburg101_scan.png 1.25 36 | Freiburg101_scan_furnitures_trashbins.png 1.25 37 | freiburg_building79.png 1.4 38 | freiburg_building52.png 0.95 39 | freiburg_building101.png 1.1 40 | intel_map.png 1.3 41 | lab_a.png 0.95 42 | lab_b.png 1.1 43 | lab_c.png 2.15 44 | lab_d_scan_furnitures.png 1.05 45 | lab_ipa_furnitures.png 1.4 46 | sistD.png 1.6 47 | lab_c_scan_furnitures_trashbins.png 1.95 48 | 49 | noise percentage: 50 | Freiburg79_scan_furnitures_trashbins.png 1.5 51 | Freiburg101_scan.png 0 52 | Freiburg101_scan_furnitures_trashbins.png 0 53 | freiburg_building79.png 3.5 54 | freiburg_building52.png 3.5 55 | freiburg_building101.png 3.5 (please also set MAX_PLEN_REMOVAL as 380 in AlphaShapeRemoval.h for this map, because there is a big obstacle in the map) 56 | intel_map.png 3 57 | lab_a.png 0.2 58 | lab_b.png 3.5 59 | lab_c.png 0 60 | lab_d_scan_furnitures.png 1 61 | lab_ipa_furnitures.png 2.5 62 | sistD.png 0.5 63 | lab_c_scan_furnitures_trashbins.png 2 64 | -------------------------------------------------------------------------------- /dataset/input/Freiburg101_scan.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/STAR-Center/areaGraph/97148680326fb44c524c499cfe8116121308a5ad/dataset/input/Freiburg101_scan.png -------------------------------------------------------------------------------- /dataset/input/Freiburg101_scan_furnitures_trashbins.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/STAR-Center/areaGraph/97148680326fb44c524c499cfe8116121308a5ad/dataset/w=1_25/sistD.png -------------------------------------------------------------------------------- /include/AreaGenerate.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by houjiawei on 18-1-24. 3 | // 4 | 5 | #ifndef TOPO_GRAPH_2D_AREAGENERATE_H 6 | #define TOPO_GRAPH_2D_AREAGENERATE_H 7 | 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | 16 | #include "VoriGraph.h" 17 | #include "TopoGraph.h" 18 | #include "cgal/CgalVoronoi.h" 19 | #include "cgal/AlphaShape.h" 20 | #include "qt/QImageVoronoi.h" 21 | 22 | 23 | //#include "TopoPathMatcher.h" 24 | 25 | #include 26 | 27 | #include 28 | 29 | #include "RoomDect.h" 30 | 31 | #include "roomGraph.h" 32 | #include "Denoise.h" 33 | 34 | void generateAreas(const char *input_name, const char *output_name, VoriConfig *sConfig, VoriGraph &voriGraph); 35 | 36 | 37 | void generateRMG(RMG::AreaGraph &RMGraph); 38 | //bool generateAreas(QImage input_name, QImage output_name){} 39 | #endif //TOPO_GRAPH_2D_AREAGENERATE_H -------------------------------------------------------------------------------- /include/Denoise.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by houjiawei on 18-1-23. 3 | // 4 | 5 | #ifndef TOPO_GRAPH_2D_DENOISE_H 6 | #define TOPO_GRAPH_2D_DENOISE_H 7 | 8 | #endif //TOPO_GRAPH_2D_DENOISE_H 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | 16 | 17 | typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; 18 | typedef Kernel::Point_3 Point; 19 | 20 | 21 | using namespace std; 22 | 23 | QImage paintPoints(const char* file_name, const vector &points, int width, int height); 24 | bool isBlack(uchar* pixel, int black_threshold); 25 | void getPoints(QImage &img, int &black_threshold, vector &points); 26 | void usage(); 27 | bool DenoiseImg(const char* input_name, const char* output_name, int &black_threshold, int neighbors, double percentage); -------------------------------------------------------------------------------- /include/RoomDect.h: -------------------------------------------------------------------------------- 1 | #ifndef ROOM_DECT_H 2 | #define ROOM_DECT_H 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | // includes for defining the Voronoi diagram adaptor 9 | //#include 10 | //#include 11 | //#include 12 | //#include 13 | //#include 14 | 15 | #include 16 | #include 17 | #include 18 | #include 19 | 20 | #include 21 | #include 22 | 23 | #include 24 | 25 | #include "cgal/AlphaShape.h" 26 | 27 | typedef CGAL::Exact_predicates_inexact_constructions_kernel K; 28 | 29 | typedef CGAL::Alpha_shape_vertex_base_2 Avb; 30 | typedef CGAL::Triangulation_hierarchy_vertex_base_2 Av; 31 | typedef CGAL::Triangulation_face_base_2 Tf; 32 | typedef CGAL::Alpha_shape_face_base_2 Af; 33 | 34 | typedef CGAL::Triangulation_default_data_structure_2 Tds; 35 | typedef CGAL::Delaunay_triangulation_2 Dt; 36 | typedef CGAL::Triangulation_hierarchy_2
Ht; 37 | typedef CGAL::Alpha_shape_2 Alpha_shape_2; 38 | 39 | typedef Alpha_shape_2::Alpha_shape_edges_iterator Edge_iterator; 40 | 41 | typedef CGAL::Polygon_2 Polygon_2; 42 | typedef K::Segment_2 Segment; 43 | 44 | //add 45 | typedef Polygon_2::Vertex_iterator Vertex_iterator; 46 | 47 | #include "VoriGraph.h" 48 | 49 | class RoomDect { 50 | public: 51 | // containing roomid of all polygons (except the biggest one) 52 | std::list roomidList; 53 | 54 | //record map room's id to room's vorigraph 55 | std::map voriRooms; 56 | 57 | //map of border vertices in voriroom to the ones in vorigraph 58 | std::map > roomMap; 59 | 60 | //void drawRoom(std::string prefix); 61 | //cut at intersections 62 | void cutEdgeCrossingPolygons(AlphaShapePolygon &alphaSP, VoriGraph &voriGraph, Polygon_2 *poly); 63 | void forRoomDect(AlphaShapePolygon &alphaSP, VoriGraph &voriGraph, AlphaShapePolygon::Polygon_2 *poly); 64 | 65 | void drawPolygon(AlphaShapePolygon &alphaSP, QImage &pImg); 66 | 67 | private: 68 | //return true if edge intersects with polygon and put the cut distances from source to the vector 69 | bool cutDist(VoriGraphHalfEdge *edge, Polygon_2 *polygon, std::vector &distance); 70 | 71 | //used during cutEdgeCrossingPolygons 72 | void setRoomIDForNonRoomVertex(VoriGraphHalfEdge *edge, Polygon_2 *polygon, int index = -1); 73 | 74 | void setRoomIDForPath(VoriGraph &voriGraph, AlphaShapePolygon &alphaSP); 75 | 76 | void mergeDeadEndInRoom_polygon(VoriGraph &voriGraph); 77 | void mergeDeadEndInRoom(VoriGraph &voriGraph); 78 | 79 | void labelpassages(VoriGraph &voriGraph); 80 | 81 | void saveRooms(AlphaShapePolygon &alphaSP, VoriGraph &voriGraph, Polygon_2 *poly); 82 | 83 | void roomCenterCalc(AlphaShapePolygon &alphaSP, int roomIndex, double ¢erX, double ¢erY); 84 | 85 | void generateNewRoom(AlphaShapePolygon &alphaSP, VoriGraph &voriGraph); 86 | 87 | void removeDeadEndRoomVertex(VoriGraph &voriGraph); 88 | 89 | }; 90 | 91 | #endif -------------------------------------------------------------------------------- /include/TopoGeometry.h: -------------------------------------------------------------------------------- 1 | #ifndef TOPO_GEOMETRY_H 2 | #define TOPO_GEOMETRY_H 3 | 4 | #include 5 | #include 6 | 7 | #include 8 | 9 | #define EPSINON 0.00000001 10 | BOOST_GEOMETRY_REGISTER_BOOST_TUPLE_CS(cs::cartesian) 11 | 12 | namespace topo_geometry{ 13 | 14 | typedef boost::geometry::model::d2::point_xy point; 15 | 16 | static double getX(const point &p){ 17 | return boost::geometry::get<0>(p); 18 | } 19 | static double getY(const point &p){ 20 | return boost::geometry::get<1>(p); 21 | } 22 | 23 | // boost::geometry::distance 24 | 25 | 26 | /* Jiawei: crate a polygon DS */ 27 | 28 | struct polygon{ 29 | std::list points; 30 | }; 31 | 32 | static std::string print(const point &p){ 33 | std::stringstream str; 34 | str<(one) == boost::geometry::get<0>(two)) return boost::geometry::get<1>(one) < boost::geometry::get<1>(two); 42 | return boost::geometry::get<0>(one) < boost::geometry::get<0>(two); 43 | } 44 | }; 45 | 46 | class Vertex{ 47 | public: 48 | 49 | point p; 50 | 51 | }; 52 | //add from yutianyan 53 | // comparison for 2D coordinates - in order to judge whether the path is cut from source or target 54 | // set as static to avoid multiple definition 55 | static bool operator==(const point &one, const point &two) { 56 | return (boost::geometry::get<0>( one ) == boost::geometry::get<0>( two )) && 57 | (boost::geometry::get<1>( one ) == boost::geometry::get<1>( two )); 58 | } 59 | /** Jiawei **/ 60 | // static bool operator==(const point &one, const point &two) { 61 | // return (fabs(boost::geometry::get<0>( one ) - boost::geometry::get<0>( two ))( one ) - boost::geometry::get<1>( two )) cutHalfedge(point cutfrom, double cutlength) { 85 | //list to save the cut halfedge 86 | std::list edgeCutted; 87 | if ((cutlength - EPSINON > length_) || (cutlength + EPSINON < 0)) { 88 | //0. can not cut at the point out of the halfedge 89 | return edgeCutted; 90 | } else { 91 | //1. normal cutting (2 Halfedges in result) 92 | if ((cutlength - EPSINON > 0) && (cutlength + EPSINON < length_)) { 93 | double rate = 0; 94 | if (cutfrom == s_) { 95 | rate = cutlength / length_; 96 | } else { 97 | if (cutfrom == t_) { 98 | rate = 1 - cutlength / length_; 99 | } else { 100 | //point must be start or target vertex of the halfedge 101 | return edgeCutted; 102 | } 103 | } 104 | 105 | point cutposition( rate * getX( t_ ) + (1 - rate) * getX( s_ ), 106 | rate * getY( t_ ) + (1 - rate) * getY( s_ )); 107 | Halfedge edgeCut_first( s_, cutposition, o_, dist_, isRay_ ); 108 | Halfedge edgeCut_second( cutposition, t_, o_, dist_, isRay_ ); 109 | 110 | edgeCutted.push_back( edgeCut_first ); 111 | edgeCutted.push_back( edgeCut_second ); 112 | } else { 113 | //2. cutting at source/target 114 | Halfedge edgeCut( s_, t_, o_, dist_, isRay_ ); 115 | edgeCutted.push_back( edgeCut ); 116 | } 117 | return edgeCutted; 118 | } 119 | } 120 | 121 | protected: 122 | 123 | double calcLength(){ 124 | length_ = boost::geometry::distance(s_, t_); 125 | return length_; 126 | } 127 | 128 | /* Jiawei: create polygon face in here */ 129 | 130 | polygon pol; 131 | 132 | point s_, t_, o_; 133 | double dist_, length_; 134 | bool isRay_; 135 | }; 136 | 137 | } 138 | 139 | 140 | #endif 141 | -------------------------------------------------------------------------------- /include/TopoGraph.h: -------------------------------------------------------------------------------- 1 | #ifndef TOPO_GRAPH_H 2 | #define TOPO_GRAPH_H 3 | 4 | #include "VoriGraph.h" 5 | 6 | // #include 7 | 8 | class TopoExit; 9 | 10 | class TopoVertex; 11 | 12 | class TopoHalfEdge; 13 | 14 | class TopoGraph; 15 | 16 | class VoriGraphHalfEdge; 17 | 18 | extern VoriConfig *sConfig; 19 | 20 | 21 | /** 22 | * Saves distance values: distance along the path and hops in the graph and hops only over major vertices 23 | * 记录path的长度(distance)和其上的hope(段数) 24 | */ 25 | struct DistanceCalcHelper { 26 | DistanceCalcHelper() : distance( -1. ), hops( 0 ), majorHops( 0 ) {} 27 | 28 | double distance; 29 | unsigned int hops; 30 | unsigned int majorHops; // only those that not only have feature edges 31 | 32 | void clear(); 33 | }; 34 | 35 | 36 | /** 37 | * A vertex in the topology graph 38 | * 39 | */ 40 | class TopoVertex { 41 | public: 42 | TopoVertex() : distanceOfJoinedVertices( 0. ), isFeatureVertex( false ) {} 43 | 44 | 45 | void calculateAngles(); 46 | 47 | TopoExit *findDirectExitTo(TopoVertex *vertex); 48 | 49 | TopoExit *findExitTo(TopoVertex *vertex, bool *wasMajor = 0); 50 | 51 | std::list aVoriVertices; 52 | 53 | std::list aExits; 54 | double biggestExitAngleRad, smallestExitAngleRad; 55 | 56 | topo_geometry::point point; 57 | double distanceOfJoinedVertices; 58 | 59 | double averageDistanceToObstacles; 60 | 61 | DistanceCalcHelper distanceCalcHelper; 62 | // is true if there are exactly two non-feature adjacent vertices (== this vertex would vanish if the feature edges are removed) 63 | // the opposite is called major Vertex 64 | bool isFeatureVertex; 65 | 66 | // loops that this vertex is part of 67 | // the lower pointer exit has to be first 68 | // experimental for matching.... 69 | std::map, DistanceCalcHelper> loops; 70 | 71 | // for the similairty matching... 72 | bool inconsistent; 73 | 74 | bool isIsomorph; 75 | 76 | unsigned int id; 77 | 78 | friend class TopoGraph; 79 | }; 80 | 81 | /** 82 | * 83 | * A Half edge in the TopoGraph 84 | * 85 | * 86 | */ 87 | class TopoHalfEdge { 88 | public: 89 | TopoHalfEdge() : sourceExit( 0 ), targetExit( 0 ), sourceVertex( 0 ), targetVertex( 0 ), twin( 0 ), 90 | edgeFlags( 0 ) {} 91 | 92 | enum EdgeFlags { 93 | UNKNOWN = 0, 94 | DEAD_END = 0x01, // In this direction a dead end is reached (shorter distance than the rest of the graph) 95 | FEATURE_END = 0x02, // this dead end is even so small that it is just a feature 96 | OUTSIDE = 0x04, // In this direction a ray to the outside is reached 97 | DEAD_ENDISH = 0x08, // There is at least one DEAD_END in this direction 98 | OUTSIDEISH = 0x10, // There is at least one OUTSIDE end in this direction 99 | LOOP = 0x20, // In this direction at least one loop is present 100 | LOOP_BACK = 0x40 101 | }; // Going this direction there is a way to come back to this source (not using this twin!) 102 | 103 | TopoExit *sourceExit; 104 | TopoExit *targetExit; 105 | 106 | TopoVertex *sourceVertex; 107 | TopoVertex *targetVertex; 108 | 109 | TopoHalfEdge *twin; 110 | 111 | // the flas show what to expect if you follow this edge 112 | // so a dead end will have the dead_end flag on the edge that leads to the end vertex 113 | unsigned int edgeFlags; 114 | 115 | bool isRay() { return !(sourceVertex && targetVertex); } 116 | 117 | bool getPointForDistance(double distance, topo_geometry::point &); 118 | 119 | VoriGraphHalfEdge *getFirst() { return *voriHalfEdges.begin(); } 120 | 121 | std::list voriHalfEdges; 122 | double distance; 123 | 124 | }; 125 | 126 | /** 127 | * Handles one edge connected to a (source) vertex (leading from this vertex) 128 | * 129 | */ 130 | class TopoExit { 131 | public: 132 | 133 | TopoHalfEdge *exitEdge; // the edge whose source is topoVertex 134 | TopoHalfEdge *twinEdge() { return exitEdge->twin; } 135 | 136 | TopoVertex *source() { return exitEdge->sourceVertex; } 137 | 138 | TopoVertex *target() { return exitEdge->targetVertex; } 139 | 140 | TopoExit *nextTopoExit; 141 | double angleToNextTopoExitRad; // between 0. and 2 M_PI 142 | 143 | double vertexEdgeDistance; // The distance between the (possibly joined) vertex and the beginning of the actual edge 144 | double totalDistance; // The edge distance plus both vertexEdgeDistances 145 | 146 | double distance() { return totalDistance; } 147 | 148 | // already includes both vertexEdgeDistance 149 | double distanceToNextMajorVertex; 150 | TopoVertex *nextMajorVertex; 151 | 152 | std::map distances; 153 | }; 154 | 155 | 156 | class TopoGraph { 157 | public: 158 | TopoGraph(VoriGraph &pVoriGraph); 159 | 160 | // void paintPaths(QImage &image); 161 | // void paintNumbers(QImage &image); 162 | void printInfo(); 163 | 164 | void assignVertexIds(); 165 | 166 | // private: 167 | void createFromVoriGraph(); 168 | // void paintVoriEdge(QPainter &painter, VoriGraphHalfEdge *edge, bool isFeature); 169 | 170 | void markGraph(); 171 | 172 | void checkFirstVertexInList(std::map &workList); 173 | 174 | void removeDistanceMarks(); 175 | 176 | void setInconsistencyMarks(bool set); 177 | 178 | void calcAllDistances(); 179 | 180 | void calcDistancesFor(TopoExit *startExit); 181 | 182 | void addTargetToWorkList(TopoExit *currExit, std::set &workList, TopoVertex *startVertex); 183 | 184 | 185 | // lists of ALL exits, vertices and half edges in the topo graph... 186 | std::list aExits; 187 | std::list aVertices; 188 | std::list aHalfEdges; 189 | 190 | VoriGraph &aVoriGraph; // the graph all voriGraph pointers refer to 191 | }; 192 | 193 | 194 | #endif 195 | -------------------------------------------------------------------------------- /include/VoriConfig.h: -------------------------------------------------------------------------------- 1 | #ifndef VORI_CONFIG_H 2 | #define VORI_CONFIG_H 3 | 4 | 5 | #include 6 | #include 7 | 8 | struct VoriConfig{ 9 | 10 | 11 | double voronoiMinimumDistanceToObstacle(); 12 | 13 | double topoGraphDistanceToJoinVertices(); 14 | 15 | double topoGraphAngleCalcStartDistance(); 16 | double topoGraphAngleCalcEndDistance(); 17 | double topoGraphAngleCalcStepSize(); 18 | 19 | double topoGraphMarkAsFeatureEdgeLength(); 20 | 21 | double alphaShapeRemovalSquaredSize(); 22 | 23 | // for Vertices 24 | double simiVerNumberOfExitsOffset(); 25 | double simiVerNumberOfExitsMax(); 26 | 27 | double simiVerExitAngleRadOffset(); 28 | double simiVerExitAngleRadMax(); 29 | 30 | double simiVerDistanceToObstaclesOffset(); 31 | double simiVerDistanceToObstaclesMax(); 32 | 33 | double simiVerDistanceBetweenJoinedVerticesOffset(); 34 | double simiVerDistanceBetweenJoinedVerticesMax(); 35 | 36 | double simiExitVertexDistanceOffset(); 37 | double simiExitVertexDistanceMax(); 38 | 39 | double simiExitDistanceToObstaclesOffset(); 40 | double simiExitDistanceToObstaclesMax(); 41 | 42 | double simiConsistencyEdgeDistanceFactor(); 43 | double simiConsistencyEdgeDistanceMinAllowance(); 44 | 45 | double simiIsomorphismMinNumberOfVertices(); 46 | 47 | double simiNeighbourDistanceOffset(); 48 | double simiNeighbourDistanceFactor(); 49 | 50 | double simiNeighbourMaxHopDifference(); 51 | double simiNeighbourMaxMajorHopDifference(); 52 | 53 | double simiNeighbourMinProb(); 54 | double simiNeighbourGoodProb(); 55 | 56 | double firstDeadEndRemovalDistance(); 57 | double secondDeadEndRemovalDistance(); 58 | 59 | double thirdDeadEndRemovalDistance(); 60 | double fourthDeadEndRemovalDistance(); 61 | 62 | 63 | std::map doubleConfigVars; 64 | 65 | }; 66 | 67 | 68 | 69 | 70 | #endif 71 | -------------------------------------------------------------------------------- /include/VoriGraph.h: -------------------------------------------------------------------------------- 1 | #ifndef VORI_GRAPH_H 2 | #define VORI_GRAPH_H 3 | 4 | //#include "cgal/CgalVoronoi.h" 5 | #include "VoriConfig.h" 6 | 7 | #include "TopoGeometry.h" 8 | 9 | #include 10 | #include 11 | #define thresholdForCut 0.001 12 | #define EPSINON 0.00000001 13 | 14 | class VoriGraphVertex; 15 | 16 | class VoriGraphHalfEdge; 17 | 18 | 19 | 20 | /** 21 | * A polygon (jointed faces) in the vori graph 22 | * 23 | */ 24 | struct VoriGraphPolygon { 25 | VoriGraphPolygon() : isRay( false ) {} 26 | 27 | bool operator==(const VoriGraphPolygon &other) { 28 | return this == &other; 29 | } 30 | 31 | bool isRay; 32 | std::list belongpaths; 33 | // 各个face中的site => list of points (for the sites) 34 | std::list sites; 35 | VoriGraphPolygon *twin; 36 | std::list polygonpoints; //多边形端点 37 | 38 | }; 39 | 40 | /** 41 | * A half edge in the vori graph 42 | * 43 | */ 44 | struct VoriGraphHalfEdge { //path 45 | VoriGraphHalfEdge() : source( 0 ), target( 0 ), twin( 0 ), distance( 0 ), deadEnd( false ), groupId( 0 ), 46 | roomId( -1 ), obstacleAverage( 0. ), obstacleMinimum( 0. ), pathFace( NULL ), 47 | roomPath( false ) {} 48 | 49 | bool operator==(const VoriGraphHalfEdge &other) { 50 | return this == &other; 51 | } 52 | 53 | /// the list of path edges - those are simple coordinates forming the path from the voronoi diagram 54 | std::list pathEdges; 55 | 56 | VoriGraphVertex *source; 57 | VoriGraphVertex *target; 58 | VoriGraphPolygon *pathFace; 59 | VoriGraphHalfEdge *twin; // a pointer point to another VoriGraphHalfEdge 60 | 61 | std::list joinPolygon(VoriGraphHalfEdge *, VoriGraphHalfEdge *); 62 | 63 | /// The length along the path of this edge 64 | double distance; //length of this path 65 | /// if this is a ray the ray coordinates are saved in here 66 | topo_geometry::Halfedge topo_ray; 67 | 68 | /// true if this is a dead end 69 | bool deadEnd; 70 | /// a group id assigned to this vertex - after keepBiggestGroup only one group should exist 71 | unsigned int groupId; 72 | 73 | /// average distance to the obstacles along the path 74 | double obstacleAverage; 75 | /// minimum distance to an obstacle along the path 76 | double obstacleMinimum; 77 | 78 | // added from yutianyan 79 | int roomId; // a room id assigned to this halfedge : -1 means not in any room 80 | // set and get function of roomId 81 | void setRoomId(unsigned int i) { roomId = i; }; 82 | int getRoomId() { return roomId; }; 83 | bool roomPath; // artificial path from room border to center 84 | bool markRoomPath() { roomPath = true; }; 85 | bool isRoomPath() { return roomPath; }; 86 | 87 | /// returns if this a ray or not. 88 | bool isRay() const { return (bool) (source) ^ (bool) (target); } 89 | 90 | /// samples one point along the path in a certain distance. 91 | bool getPointForDistance(double distance, topo_geometry::point &); //获取路径上距离始节点特定距离的某个点的坐标（该点可能在某个Halfedge上） 92 | 93 | // added from yutianyan 94 | std::list cutVoriGraphHalfEdge_Polygon(double cutlength, VoriGraphVertex &, 95 | std::list &); 96 | std::list cutVoriGraphHalfEdge_Polygon_accruay(double cutlength, VoriGraphVertex &, 97 | std::list &); 98 | std::list cutVoriGraphHalfEdge(double cutlength, VoriGraphVertex &); 99 | //if size is 0, fail to cut. 100 | }; 101 | 102 | 103 | /** 104 | * A vertex in the voronoi graph 105 | * 106 | */ 107 | struct VoriGraphVertex { 108 | VoriGraphVertex() : groupId( 0 ), roomId( -1 ), obstacleDist( 0. ), roomVertex( false ), borderVertex( false ), 109 | roomCenter( false ),passageVertex(false) {} 110 | 111 | bool operator==(const VoriGraphVertex &other) { 112 | return this == &other; 113 | } 114 | 115 | /// the coordinate of this vertex 116 | topo_geometry::point point; //the position of this vertex 117 | 118 | std::list edgesConnected; // the VoriGraphHalfEdge list connected to this vertex 119 | unsigned int groupId; 120 | 121 | double obstacleDist; // distance to the closes obstacle 122 | // added from yutianyan 123 | //bool for room vertex(at the cut) 124 | bool roomVertex; 125 | // added from yutianyan 126 | //bool for border (deadend and the cut) 127 | bool borderVertex; 128 | // added from yutianyan 129 | //bool for room center 130 | bool roomCenter; 131 | // added from yutianyan 132 | // a room id assigned to this vertex - -1 means not in any polygons 133 | int roomId; 134 | //added by jiawei: label the passage vertex 135 | bool passageVertex; 136 | 137 | // added from yutianyan 138 | //set and get function of roomId 139 | void setRoomId(unsigned int i) { roomId = i; }; 140 | // added from yutianyan 141 | int getRoomId() { return roomId; }; 142 | 143 | bool removeHalfEdge(VoriGraphHalfEdge *edge); //remove a VoriGraphHalfEdge from the list edgesConnected 144 | void markTwins(); //find the twin for each VoriGraphHalfEdge 145 | // added from yutianyan 146 | //mark room vertex (at the cut) 147 | void markRoomVertex() { 148 | roomVertex = true; 149 | borderVertex = true; 150 | }; 151 | // added from yutianyan 152 | //mark border vertex (at the cut and dead end within a room) 153 | void markBorderVertex() { borderVertex = true; }; 154 | // added from yutianyan 155 | //mark room center 156 | void markRoomCenter() { roomCenter = true; }; 157 | // added from yutianyan 158 | bool isRoomVertex() { return roomVertex; }; 159 | // added from yutianyan 160 | bool isBorderVertex() { return borderVertex; }; 161 | // added from yutianyan 162 | bool isRoomCenter() { return roomCenter; }; 163 | // added from yutianyan 164 | bool isPassageVertex() { return passageVertex; }; 165 | }; 166 | 167 | /** 168 | * A group of connected elements (vertices and edges) in the graph 169 | */ 170 | 171 | 172 | 173 | struct VoriGroup { 174 | /// pointer to some edge in the group 175 | VoriGraphHalfEdge *edge; 176 | /// the id of this group 177 | unsigned int groupId; 178 | /// the total sum of distances (length) of the paths of the edges in this group 179 | double distance; 180 | }; 181 | //add by jiawei 2017.10.31 182 | struct VoriGraphArea { 183 | VoriGraphArea() : roomId( -1 ){} 184 | bool operator==(const VoriGraphArea &other) { 185 | return this == &other; 186 | } 187 | 188 | int roomId; 189 | std::map connecttedAreas; 190 | std::map includedPolygons; 191 | std::list polygonPoints; 192 | }; 193 | 194 | /** 195 | * A vori graph is the first, basic, topological structure (generated from a voronoi diagram) 196 | * 197 | */ 198 | struct VoriGraph { 199 | 200 | typedef CGAL::Exact_predicates_inexact_constructions_kernel K; 201 | typedef CGAL::Point_2 Point; 202 | typedef CGAL::Polygon_2 Polygon_2; 203 | VoriGraph() {}; 204 | 205 | typedef std::map VertexMap; //按照节点位置排序（x小在前，y小在前），由节点坐标索引VoriGraphVertex 206 | VertexMap vertices; //包含所有节点的哈希表 207 | std::list halfEdges; 208 | std::list pathFaces; 209 | std::list groups; 210 | std::list areas; 211 | 212 | 213 | std::list::iterator removeHalfEdge(std::list::iterator &remove); 214 | 215 | // added from yutianyan 216 | std::list::iterator removeHalfEdge_tianyan(std::list::iterator &remove, 217 | bool deleteEmpty = true, bool deleteRoomBorder = true); 218 | //从VoriGraphHalfEdge列表里删掉 remove这条 VoriGraphHalfEdge 219 | std::list::iterator removeHalfEdge_jiawei(std::list::iterator &remove); 220 | 221 | std::list::iterator removeHalfEdge_roomPolygon(std::list::iterator &remove, 222 | bool deleteEmpty = true, bool deleteRoomBorder = true); 223 | void removeHalfEdge_roomPolygon(VoriGraphHalfEdge *remove, bool deleteEmpty = true, bool deleteRoomBorder = true); 224 | void joinHalfEdges(); 225 | void joinHalfEdges_jiawei(); 226 | void joinHalfEdges_tianyan(); 227 | 228 | void joinHalfEdges(VoriGraphHalfEdge *, VoriGraphHalfEdge *); 229 | void joinHalfEdges_jiawei(VoriGraphHalfEdge *, VoriGraphHalfEdge *, bool = false); //把pFirst和pSecond两条路径连接起来 230 | //add from yutianyan 231 | void joinHalfEdges_tianyan(VoriGraphHalfEdge *, VoriGraphHalfEdge *, bool = false);// added from yutianyan 232 | 233 | void markDeadEnds_isRoomVertex(); 234 | void markDeadEnds(); 235 | 236 | // added from yutianyan 237 | bool cutHalfEdgeAtDistance_Polygon(double cutlength, VoriGraphHalfEdge *pHalfEdge, VoriGraphVertex &pPoint, unsigned int = 0); 238 | bool cutHalfEdgeAtDistance_Polygonbk(double cutlength, VoriGraphHalfEdge *pHalfEdge, VoriGraphVertex &pPoint, unsigned int = 0); 239 | bool cutHalfEdgeAtDistance(double cutlength, VoriGraphHalfEdge *pHalfEdge, VoriGraphVertex &pPoint, unsigned int = 0); 240 | }; 241 | 242 | 243 | void coutpoint(topo_geometry::point p); 244 | 245 | void printGraphStatistics(VoriGraph &voriGraph, std::string= ""); 246 | 247 | 248 | void gernerateGroupId(VoriGraph &voriGraph); 249 | 250 | void removeGroupId(VoriGraph &voriGraph); 251 | 252 | void keepBiggestGroup(VoriGraph &voriGraph); 253 | 254 | 255 | void removeRays(VoriGraph &voriGraph); 256 | 257 | 258 | void removeDeadEnds_addFacetoPolygon(VoriGraph &voriGraph, double maxDist); 259 | 260 | void removeDeadEnds(VoriGraph &voriGraph, double maxDist); 261 | 262 | /// for debugging... 263 | void checkConnectedEdgesForError(VoriGraph &voriGraph); 264 | 265 | VoriGraphHalfEdge * 266 | pathToEdge(VoriGraph &voriGraph, double x, double y, double &Pmindist, topo_geometry::point &closestP); 267 | 268 | #endif 269 | -------------------------------------------------------------------------------- /include/cgal/AlphaShape.h: -------------------------------------------------------------------------------- 1 | #ifndef ALPHA_SHAPE_MAPTOOL_H 2 | #define ALPHA_SHAPE_MAPTOOL_H 3 | 4 | #include 5 | 6 | 7 | #include 8 | 9 | 10 | #include 11 | 12 | #include 13 | 14 | #include 15 | 16 | 17 | #include 18 | #include 19 | 20 | #include 21 | 22 | #include 23 | 24 | 25 | class QImage; 26 | 27 | 28 | class AlphaShapePolygon{ 29 | public: 30 | 31 | typedef CGAL::Exact_predicates_inexact_constructions_kernel K; 32 | 33 | typedef CGAL::Alpha_shape_vertex_base_2 Avb; 34 | typedef CGAL::Triangulation_hierarchy_vertex_base_2 Av; 35 | 36 | typedef CGAL::Triangulation_face_base_2 Tf; 37 | typedef CGAL::Alpha_shape_face_base_2 Af; 38 | 39 | typedef CGAL::Triangulation_default_data_structure_2 Tds; 40 | typedef CGAL::Delaunay_triangulation_2 Dt; 41 | typedef CGAL::Triangulation_hierarchy_2
Ht; 42 | typedef CGAL::Alpha_shape_2 Alpha_shape_2; 43 | 44 | typedef Alpha_shape_2::Alpha_shape_edges_iterator Edge_iterator; 45 | 46 | typedef CGAL::Polygon_2 Polygon_2; 47 | typedef CGAL::Point_2 Point; 48 | typedef Polygon_2::Vertex_iterator VertexIterator; 49 | typedef Polygon_2::Edge_const_iterator EdgeIterator; 50 | typedef K::Segment_2 Segment; 51 | 52 | 53 | class SegmentSearchy{ 54 | public: 55 | SegmentSearchy(std::list > &pSegments); 56 | 57 | typedef std::list >::iterator CellEntry; 58 | typedef std::list CellEntries; 59 | CellEntries findSegments(AlphaShapePolygon::K::Point_2 &p); 60 | protected: 61 | void fill(); 62 | 63 | std::list > & aSegments; 64 | std::map > segmentSourceMap; 65 | }; 66 | 67 | Polygon_2 *performAlpha(QImage &pImg, double squared_size_is_alpha, bool deleteSmallPolygon = true); 68 | Polygon_2 *performAlpha_biggestArea(QImage &pImg, double squared_size_is_alpha, bool deleteSmallPolygon = true); 69 | 70 | void getPoints(QImage &pImg, std::vector &points); 71 | 72 | void generatePolygons(std::vector &points, double squared_size_is_alpha, std::list &polygons); 73 | void generateBBoxesForPolygons(std::list &polygons, std::list &bboxes); 74 | 75 | static bool isOutside(const K::Point_2 &p, Polygon_2 &poly, CGAL::Bbox_2 &box); 76 | 77 | static double calculatePolygonLength(Polygon_2 &polygon); 78 | 79 | //add 80 | Polygon_2 & getPolygon(unsigned int i); 81 | 82 | unsigned int sizeOfPolygons(); 83 | 84 | void drawPolygonByIndex(QImage &pImg, unsigned int index); 85 | 86 | void drawPolygon(QImage &pImg, Polygon_2 * poly); 87 | 88 | protected: 89 | std::list polygons; 90 | 91 | // void growPolygon(std::list &segments, Polygon_2 &polygon, K::Point_2 front, K::Point_2 back); 92 | void growPolygon(SegmentSearchy &searchy, Polygon_2 &polygon, K::Point_2 front, K::Point_2 back); 93 | }; 94 | 95 | #endif 96 | 97 | -------------------------------------------------------------------------------- /include/cgal/AlphaShapeRemoval.h: -------------------------------------------------------------------------------- 1 | #ifndef ALPHA_SHAPE_REMOVAL_H 2 | #define ALPHA_SHAPE_REMOVAL_H 3 | 4 | #define MAX_PLEN_REMOVAL 80 //380 for f101 5 | class QImage; 6 | // class AlphaShapeRemoval: public AlphaShapePolygon{ 7 | void performAlphaRemoval(QImage &pImg, double pAlphaShapeSquaredDist, double pMaxPolygonLength); 8 | // }; 9 | #endif 10 | -------------------------------------------------------------------------------- /include/cgal/CgalVoronoi.h: -------------------------------------------------------------------------------- 1 | #ifndef _CGAL_VORONOI_H 2 | #define _CGAL_VORONOI_H 3 | 4 | 5 | 6 | #include 7 | 8 | 9 | 10 | #include 11 | 12 | // includes for defining the Voronoi diagram adaptor 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | 19 | namespace CgalVoronoi{ 20 | 21 | // typedefs for defining the adaptor 22 | typedef CGAL::Exact_predicates_inexact_constructions_kernel K; 23 | typedef CGAL::Delaunay_triangulation_2 DT; 24 | typedef CGAL::Delaunay_triangulation_adaptation_traits_2
AT; 25 | typedef CGAL::Delaunay_triangulation_caching_degeneracy_removal_policy_2
AP; 26 | typedef CGAL::Voronoi_diagram_2 VD; 27 | 28 | // typedef for the result type of the point location 29 | typedef AT::Site_2 Site_2; 30 | typedef AT::Point_2 Point_2; 31 | 32 | typedef VD::Locate_result Locate_result; 33 | typedef VD::Vertex_handle Vertex_handle; 34 | typedef VD::Face_handle Face_handle; 35 | typedef VD::Halfedge_handle Halfedge_handle; 36 | typedef VD::Ccb_halfedge_circulator Ccb_halfedge_circulator; 37 | 38 | } 39 | 40 | #include "VoriGraph.h" 41 | 42 | /// create a vori graph using a number of occupied points 43 | bool createVoriGraph(const std::vector &sites, VoriGraph &voriGraph, VoriConfig *sConfig); 44 | 45 | 46 | /// remove all vertices and edges outsite a given polygon. Edges cut by the polygon are turned into rays. Typically used with a polygon generated by an alpha shape algorithm. 47 | void removeOutsidePolygon(VoriGraph &voriGraph, CGAL::Polygon_2 &polygon); 48 | 49 | void paintVoronoi(QImage &image, CgalVoronoi::VD & vd); 50 | 51 | 52 | #endif 53 | -------------------------------------------------------------------------------- /include/passageSearch.h: -------------------------------------------------------------------------------- 1 | /*passageSearch: 2 | * 3 | * Author: Yijun Yuan 4 | * date: Jan.21.2018 5 | * 6 | * Here the passageSearch will attempt to build passage to passage graph 7 | * on top of previous roomGraph. 8 | */ 9 | 10 | #ifndef PASSAGESEARCH_H__ 11 | #define PASSAGESEARCH_h__ 12 | 13 | #include "VoriGraph.h" 14 | #include "TopoGeometry.h" 15 | 16 | namespace PS{ 17 | //1. struct PPEdge(passage1, passage2, cost, path) 18 | struct Vertex{ 19 | Vertex(VoriGraphVertex* VoriVptr, double h, double g):VoriVptr(VoriVptr),h(h){this->g=1000000;this->f=0;}; 20 | VoriGraphVertex* VoriVptr; 21 | double h; 22 | double g; 23 | double f; 24 | }; 25 | //2. general unit to form a flexible graph 26 | class PPEdge{ 27 | public: 28 | VoriGraphVertex* psg1;//from psg1 to psg2 29 | VoriGraphVertex* psg2; 30 | double cost; 31 | std::list* path; 32 | public: 33 | PPEdge(VoriGraphVertex* psg1, VoriGraphVertex* psg2, double cost, std::list* path); 34 | }; 35 | 36 | 37 | 38 | } 39 | #endif 40 | -------------------------------------------------------------------------------- /include/qt/QImageVoronoi.h: -------------------------------------------------------------------------------- 1 | #ifndef QIMAGE_VORONOI_H 2 | #define QIMAGE_VORONOI_H 3 | 4 | 5 | #include 6 | 7 | #include 8 | #include 9 | #include 10 | 11 | //#include "TopoGeometry.h" 12 | #include "TopoGraph.h" 13 | 14 | 15 | 16 | enum TripleValue{OCCUPIED=0, UNKNOWN=127, FREE=255}; 17 | 18 | void analyseImage(QImage &pImg, bool &pIsTriple); 19 | 20 | bool getSites(QImage &pImg, std::vector &sites); 21 | 22 | void paintVori(QImage &image, VoriGraph &voriGraph); 23 | void paintVori_Area(QImage &image, VoriGraph &voriGraph); 24 | void paintVori_vertex(QImage &image, VoriGraph &voriGraph); 25 | void paintVori_AreaRoom(QImage &image, VoriGraph &voriGraph); 26 | 27 | void qRGB2Gray(QImage &image); 28 | void paintVori_onlyArea(QImage &image, VoriGraph &voriGraph); 29 | void paintVori_randomcolor(QImage &image, VoriGraph &voriGraph); 30 | 31 | void paintVori_pathFace(QImage &image, VoriGraph &voriGraph); 32 | void paintVori_pathFace_withsites(QImage &image, VoriGraph &voriGraph); 33 | 34 | 35 | void paintTopoPaths(TopoGraph &graph, QImage &image); 36 | 37 | 38 | 39 | #endif 40 | -------------------------------------------------------------------------------- /include/roomGraph.h: -------------------------------------------------------------------------------- 1 | /*roomGraph: 2 | * 3 | * Author: Yijun Yuan 4 | * date: Nov.2.2017 5 | * 6 | * The main task of this roomGraph is to build a line graph 7 | * and then merge those edges with same roomId into one 8 | * roomVertex 9 | */ 10 | 11 | #ifndef ROOMGRAPH_H__ 12 | #define ROOMGRAPH_H__ 13 | 14 | 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | #include 23 | 24 | #include "VoriGraph.h" 25 | #include "TopoGeometry.h" 26 | #include "passageSearch.h" 27 | 28 | 29 | #include "CGAL/Polygon_2.h" 30 | #include "cgal/CgalVoronoi.h" 31 | 32 | 33 | namespace RMG{ 34 | class roomVertex; 35 | class passageEdge; 36 | 37 | class AreaGraph { 38 | public: 39 | //TODO: try to change originSet from vector to list, because we need to delete roomVertex in mergeRoomCell 40 | std::vector originSet;//here we use vector not set because it only insert while new a node. 41 | // std::vector graph; 42 | 43 | std::set passageV_set; 44 | // std::vector passageEList; //mainly used in buildAreaGraph_bk() 45 | std::list passageEList; 46 | public: 47 | // roomGraph(VoriGraph &voriGraph); //by Yijun 48 | void mergeRoomCell(); 49 | void prunning(); 50 | void arrangeRoomId(); 51 | void show(); 52 | void draw(QImage& image); 53 | void mergeRoomPolygons(); 54 | 55 | //Jiawei: For using passages as edges 56 | AreaGraph(VoriGraph &voriGraph); 57 | void buildAreaGraph(VoriGraph &voriGraph); 58 | void mergeAreas(); 59 | public: 60 | /* 61 | * created at 1/22/2018 for passage based search 62 | */ 63 | //0. generate_areaInnerPPGraph for each roomVertex 64 | // void roomV_generate_areaInnerPPGraph(VoriGraph &voriGraph); 65 | 66 | //1. for a random point provide the path in its room 67 | 68 | //2. integrate the whole graph by collect all the PPEdges 69 | 70 | //3. visualize 71 | //4. visualize the high level graph 72 | }; 73 | 74 | class roomVertex{ 75 | public: 76 | int roomId; 77 | topo_geometry::point center; 78 | topo_geometry::point st;//edge start (only used at roomGraph init, because at very beginning, each roomVertex is a half edge 79 | topo_geometry::point ed;//edge end (only used at roomGraph init 80 | std::vector polygons; 81 | std::set neighbours; 82 | 83 | roomVertex* parentV;//if not null, it is a sub-cell 84 | 85 | std::vector passages; 86 | public: 87 | roomVertex(int roomId, topo_geometry::point loc, topo_geometry::point st, topo_geometry::point ed); 88 | 89 | //merge polygon 90 | std::list polygon; 91 | void mergePolygons(); 92 | 93 | 94 | public: 95 | /* 96 | * created at 1/21/2018 for passage based search 97 | */ 98 | //local passage stuff 99 | std::list areaInnerPathes;//record the path () 100 | std::list areaInnerPPGraph;//the vertex to vertex graph in this room 101 | std::list areaInnerP2PGraph;//the passage to passage graph 102 | std::set voriV_set; 103 | //transform from areaInnerPathes to areaInnerPPGraph 104 | void init_areaInnerPPGraph(); 105 | //from areaInnerPPGraph to areaInnerP2PGraph(Passage to Passage graph) 106 | 107 | }; 108 | 109 | class passageLine{ 110 | public: 111 | std::list cwline; //line in clockwise 112 | std::list ccwline; //line in counterclockwise 113 | double length; 114 | 115 | public: 116 | double get_len(){ 117 | std::list::iterator last_pit=cwline.begin(); 118 | std::list::iterator pit=last_pit; 119 | double len=0; 120 | for(pit++;pit!=cwline.end();pit++){ 121 | len+=boost::geometry::distance(*last_pit,*pit); 122 | last_pit=pit; 123 | } 124 | length=len; 125 | return len; 126 | } 127 | }; 128 | class passageEdge{ 129 | public: 130 | topo_geometry::point position; 131 | std::vector connectedAreas; 132 | bool junction; 133 | passageLine line; 134 | 135 | passageEdge(topo_geometry::point p, bool j):position(p), junction(j){}; 136 | }; 137 | 138 | 139 | void connectRoomVertexes(std::vector &originSet); 140 | 141 | } 142 | #endif 143 | -------------------------------------------------------------------------------- /src/AreaGenerate.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by houjiawei on 18-1-24. 3 | // 4 | 5 | // #include 6 | #include "AreaGenerate.h" 7 | 8 | #define occupied_thresh 0.75 9 | #define neighbors 8 10 | #define percentage 0 11 | 12 | void generateAreas(const char *input_name, const char *output_name, VoriConfig *sConfig, VoriGraph &voriGraph) { 13 | 14 | int black_threshold; 15 | black_threshold = round(255 * occupied_thresh); 16 | bool de = DenoiseImg(input_name, "clean.png", black_threshold, neighbors, percentage); 17 | if (de) 18 | cout << "Denoise run successed!!" << endl; 19 | 20 | QImage test; 21 | test.load("clean.png"); 22 | bool isTriple; 23 | analyseImage(test, isTriple); 24 | cout << " is triple?: " << isTriple << endl; 25 | 26 | 27 | std::vector sites; 28 | bool ret = getSites(test, sites); 29 | 30 | // create the voronoi graph and vori graph 31 | ret = createVoriGraph(sites, voriGraph, sConfig); 32 | // printGraphStatistics(voriGraph); 33 | 34 | QImage alpha = test; 35 | AlphaShapePolygon alphaSP; 36 | AlphaShapePolygon::Polygon_2 *poly = alphaSP.performAlpha(alpha, sConfig->alphaShapeRemovalSquaredSize(), false); 37 | 38 | cout << "size of Polygons: " << alphaSP.sizeOfPolygons() << endl; 39 | if (poly) { 40 | cout << "Removing vertices outside of polygon" << endl; 41 | removeOutsidePolygon(voriGraph, *poly); //Remove vertices outside of polygon 42 | // paintVori(alpha, voriGraph); 43 | } 44 | voriGraph.joinHalfEdges_jiawei(); 45 | // alpha.save("alpha.png"); 46 | 47 | std::list::iterator> zeroHalfEdge; 48 | 49 | for (std::list::iterator pathEdgeItr = voriGraph.halfEdges.begin(); 50 | pathEdgeItr != voriGraph.halfEdges.end(); pathEdgeItr++) { 51 | if (pathEdgeItr->distance <= EPSINON) { 52 | zeroHalfEdge.push_back(pathEdgeItr); 53 | } 54 | } 55 | for (std::list::iterator>::iterator zeroHalfEdgeItr = zeroHalfEdge.begin(); 56 | zeroHalfEdgeItr != zeroHalfEdge.end(); zeroHalfEdgeItr++) { 57 | voriGraph.removeHalfEdge_jiawei(*zeroHalfEdgeItr); 58 | } 59 | 60 | if (sConfig->firstDeadEndRemovalDistance() > 0.) { 61 | voriGraph.markDeadEnds(); 62 | removeDeadEnds_addFacetoPolygon(voriGraph, sConfig->firstDeadEndRemovalDistance()); 63 | voriGraph.joinHalfEdges_jiawei(); 64 | // printGraphStatistics(voriGraph, "First dead ends"); 65 | } 66 | // QImage filter = test; 67 | // paintVori_Area(filter, voriGraph); 68 | // filter.save("filter.png"); 69 | 70 | if (sConfig->secondDeadEndRemovalDistance() > 0.) { 71 | voriGraph.markDeadEnds(); 72 | removeDeadEnds_addFacetoPolygon(voriGraph, sConfig->secondDeadEndRemovalDistance()); 73 | voriGraph.joinHalfEdges_jiawei(); 74 | } 75 | // QImage filter2 = test; 76 | // paintVori_Area(filter2, voriGraph); 77 | // filter.save("filter2.png"); 78 | 79 | gernerateGroupId(voriGraph); 80 | keepBiggestGroup(voriGraph); 81 | 82 | removeRays(voriGraph); 83 | voriGraph.joinHalfEdges_jiawei(); 84 | 85 | if (sConfig->thirdDeadEndRemovalDistance() > 0.) { 86 | voriGraph.markDeadEnds(); 87 | removeDeadEnds_addFacetoPolygon(voriGraph, sConfig->thirdDeadEndRemovalDistance()); 88 | voriGraph.joinHalfEdges_jiawei(); 89 | } 90 | if (sConfig->fourthDeadEndRemovalDistance() > 0.) { 91 | voriGraph.markDeadEnds(); 92 | removeDeadEnds_addFacetoPolygon(voriGraph, sConfig->fourthDeadEndRemovalDistance()); 93 | voriGraph.joinHalfEdges_jiawei(); 94 | } 95 | 96 | // QImage lastVori = test; 97 | // paintVori_Area(lastVori, voriGraph); 98 | // lastVori.save("lastVori.png"); 99 | 100 | 101 | RoomDect roomtest; 102 | roomtest.forRoomDect(alphaSP, voriGraph, poly); 103 | 104 | // QImage after = test; 105 | // paintVori_pathFace(after, voriGraph); 106 | // after.save("after.png"); 107 | 108 | QImage dectRoom = test; 109 | paintVori_AreaRoom(dectRoom, voriGraph); 110 | dectRoom.save(output_name); 111 | 112 | std::cout << "end generateAreas..." << std::endl; 113 | } 114 | 115 | 116 | void generateRMG(RMG::AreaGraph &RMGraph) { 117 | std::cout << "enter generateRMG" << std::endl; 118 | 119 | RMGraph.mergeAreas(); 120 | RMGraph.arrangeRoomId(); 121 | // RMGraph.show(); 122 | 123 | RMGraph.mergeRoomPolygons(); 124 | } 125 | 126 | -------------------------------------------------------------------------------- /src/Denoise.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by houjiawei on 18-1-23. 3 | // 4 | 5 | #include "Denoise.h" 6 | 7 | QImage paintPoints(const char *file_name, const vector &points, int width, int height) { 8 | 9 | QImage img(width, height, QImage::Format_RGB888); 10 | img.fill(QColor(255, 255, 255)); 11 | for (vector::const_iterator itr = points.begin(); itr != points.end(); ++itr) { 12 | img.setPixel(itr->x(), itr->y(), 0); 13 | } 14 | img.save(QString::fromStdString(file_name)); 15 | return img; 16 | } 17 | 18 | bool isBlack(uchar *pixel, int black_threshold) { 19 | return *pixel + *(pixel + 1) + *(pixel + 2) <= black_threshold; 20 | } 21 | 22 | int pixel_value(uchar* pixel){ 23 | return *pixel + *(pixel+1) + *(pixel+2); 24 | } 25 | 26 | void getPoints_bk(QImage &img, int &black_threshold, vector &points) { 27 | for (unsigned int y = 0; y < img.height(); y++) { 28 | uchar *pointer = img.scanLine(y); 29 | uchar *endP = pointer + img.width() * 3; 30 | for (unsigned int x = 0; pointer < endP; pointer += 3, x++) { 31 | if (isBlack(pointer, black_threshold)) { 32 | points.push_back(Point(x, y, 0.)); 33 | } 34 | } 35 | } 36 | } 37 | void getPoints(QImage &img, int &black_threshold, vector &points) { 38 | unsigned int iy=9; 39 | uchar* pointer = img.scanLine(iy); 40 | unsigned int ix=9*3; 41 | pointer+=ix; 42 | black_threshold=pixel_value(pointer)-1; 43 | cout<<"black_threshold = "<0.3*img.height()*img.width()){ 57 | black_threshold=black_ave/(points.size()+1); 58 | points.clear(); 59 | for (unsigned int y = 0; y < img.height(); y++) { 60 | uchar *pointer = img.scanLine(y); 61 | uchar *endP = pointer + img.width() * 3; 62 | for (unsigned int x = 0; pointer < endP; pointer += 3, x++) { 63 | int tem_v=pixel_value(pointer); 64 | if (tem_v<= black_threshold) { 65 | points.push_back(Point(x, y, 0.)); 66 | } 67 | } 68 | } 69 | } 70 | } 71 | 72 | void usage() { 73 | cout << "Denoises a map by removing a percentage of black pixels " << endl; 74 | } 75 | 76 | 77 | bool 78 | DenoiseImg(const char *input_name, const char *output_name, int &black_threshold, int neighbors, double percentage) { 79 | QImage img; 80 | img.load(input_name); 81 | if (img.isNull()) { 82 | cerr << "Error loading image " << input_name << endl; 83 | return false; 84 | } 85 | black_threshold *= 3; 86 | QImage rgb = img.convertToFormat(QImage::Format_RGB888); 87 | if (rgb.isNull()) { 88 | cerr << "Error convertig image to RGB" << endl; 89 | return false; 90 | } 91 | 92 | vector points; 93 | getPoints(rgb, black_threshold, points); 94 | 95 | // Removes outliers using erase-remove idiom. 96 | // The Dereference_property_map property map can be omitted here as it is the default value. 97 | int sec_percent=percentage>=1?1:0; 98 | 99 | // We have to use Identity_property_map for CGAL 4.7 (ubuntu 16) 100 | #if CGAL_VERSION_NR > 1040201000 101 | points.erase(CGAL::remove_outliers(points.begin(), points.end(), 102 | CGAL::Identity_property_map(), 103 | neighbors, percentage), 104 | points.end()); 105 | points.erase(CGAL::remove_outliers(points.begin(), points.end(), 106 | CGAL::Identity_property_map(), 107 | neighbors, sec_percent), 108 | points.end()); 109 | #else 110 | points.erase(CGAL::remove_outliers(points.begin(), points.end(), 111 | CGAL::Dereference_property_map(), 112 | neighbors, percentage), 113 | points.end()); 114 | points.erase(CGAL::remove_outliers(points.begin(), points.end(), 115 | CGAL::Dereference_property_map(), 116 | neighbors, sec_percent), 117 | points.end()); 118 | #endif 119 | // points.erase(CGAL::remove_outliers(points.begin(), points.end(), 120 | // CGAL::Dereference_property_map(), 121 | // neighbors, percentage), 122 | // points.end()); 123 | 124 | // Optional: after erase(), use Scott Meyer's "swap trick" to trim excess capacity 125 | std::vector(points).swap(points); 126 | 127 | paintPoints(output_name, points, rgb.width(), rgb.height()); 128 | return true; 129 | } -------------------------------------------------------------------------------- /src/TopoGraph.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "TopoGraph.h" 3 | 4 | // #include "VoronoiPlugin.h" 5 | 6 | // #include 7 | 8 | using namespace std; 9 | 10 | 11 | TopoGraph::TopoGraph(VoriGraph &pVoriGraph) : aVoriGraph(pVoriGraph) { 12 | } 13 | 14 | 15 | void findCloseVertices(VoriGraphVertex *start, map &add) { 16 | // if this is an end point of a dead end we are not interested in joining... 17 | if (start->edgesConnected.size() < 3) return; 18 | std::list::iterator itrConnectedEdges; 19 | for (itrConnectedEdges = start->edgesConnected.begin(); 20 | itrConnectedEdges != start->edgesConnected.end(); ++itrConnectedEdges) { 21 | cout.flush(); 22 | if ((*itrConnectedEdges)->isRay()) continue; 23 | // we are only interested in those edges which have this vertex as source... (e.g. ignore the twins) 24 | if ((*itrConnectedEdges)->source != start) continue; 25 | // cout<<&(*itrConnectedEdges)<<" dist: "<<(*itrConnectedEdges)->distance<<" twin dist "<<(*itrConnectedEdges)->twin->distance<distance <= sConfig->topoGraphDistanceToJoinVertices()) { 27 | //first check if the vertex has already been taken care of (should not happen!?) 28 | if ((*itrConnectedEdges)->target->groupId != 0) { 29 | cout << "Vertex to be joined but already taken care of :( " << (*itrConnectedEdges)->target; 30 | continue; 31 | } 32 | // ok we found a short one - first check if this one is already in the list! 33 | map::iterator found = add.find((*itrConnectedEdges)->target); 34 | if (found == add.end()) { 35 | // if this is an end point of a dead end we are not interested in joining... 36 | if ((*itrConnectedEdges)->target->edgesConnected.size() < 3) continue; 37 | 38 | //this is a new one - mark to be joined! 39 | add[(*itrConnectedEdges)->target] = (*itrConnectedEdges)->distance; 40 | // also mark the joined away edges... 41 | (*itrConnectedEdges)->groupId = 1; 42 | (*itrConnectedEdges)->twin->groupId = 1; 43 | // and recursively also check this one 44 | findCloseVertices((*itrConnectedEdges)->target, add); 45 | } 46 | } 47 | } 48 | 49 | } 50 | 51 | void TopoGraph::createFromVoriGraph() { 52 | aExits.clear(); 53 | aVertices.clear(); 54 | aHalfEdges.clear(); 55 | 56 | // groupId 1 will be set for all entries which has been taken care of 57 | removeGroupId(aVoriGraph); //遍历voriGraph.halfEdges和voriGraph.vertices把它们的groupId置为0 58 | 59 | // create a translation entry from voriVertices to TopoVertices 60 | map mapVoriTopoVertex; 61 | 62 | VoriGraph::VertexMap::iterator itrVertices; 63 | for (itrVertices = aVoriGraph.vertices.begin(); itrVertices != aVoriGraph.vertices.end(); ++itrVertices) { 64 | cout.flush(); 65 | // check if this vertex was already taken care of (due to joining) 66 | if (itrVertices->second.groupId != 0) { 67 | continue; 68 | } 69 | // the second double is the distance of said vertice 70 | map verticesToJoin; 71 | // add this one of course: 72 | verticesToJoin[&itrVertices->second] = 0.; 73 | // first check the distances 74 | findCloseVertices(&itrVertices->second, verticesToJoin); 75 | // now we know which VoriGraph vertices to used to create the TopoVertex - do it (most often its just one vertex) 76 | 77 | //add the vertex 78 | { 79 | TopoVertex newVertex; 80 | aVertices.push_back(newVertex); 81 | } 82 | TopoVertex &vertex = *aVertices.rbegin(); 83 | 84 | vertex.averageDistanceToObstacles = 0.; 85 | double averageX = 0.; 86 | double averageY = 0.; 87 | vertex.distanceOfJoinedVertices = 0.; 88 | map::iterator itrToJoin; 89 | for (itrToJoin = verticesToJoin.begin(); itrToJoin != verticesToJoin.end(); ++itrToJoin) { 90 | vertex.averageDistanceToObstacles += itrToJoin->first->obstacleDist; 91 | averageX += topo_geometry::getX(itrToJoin->first->point); 92 | // averageY += itrToJoin->first->vertex->point().y(); 93 | averageY += topo_geometry::getY(itrToJoin->first->point); 94 | vertex.aVoriVertices.push_back(itrToJoin->first); 95 | vertex.distanceOfJoinedVertices += itrToJoin->second; 96 | // mark as already taken care of 97 | itrToJoin->first->groupId = 1; 98 | mapVoriTopoVertex[itrToJoin->first] = &vertex; 99 | } 100 | vertex.averageDistanceToObstacles /= verticesToJoin.size(); 101 | averageX /= verticesToJoin.size(); 102 | averageY /= verticesToJoin.size(); 103 | vertex.point = topo_geometry::point(averageX, averageY); 104 | } 105 | 106 | // now we have all the vertices - next create the HalfEdges 107 | 108 | list::iterator itrHalfEdges; 109 | for (itrHalfEdges = aVoriGraph.halfEdges.begin(); itrHalfEdges != aVoriGraph.halfEdges.end(); ++itrHalfEdges) { 110 | // if this edge was joined away ignore it... 111 | if (itrHalfEdges->groupId != 0) continue; 112 | aHalfEdges.push_back(TopoHalfEdge()); 113 | TopoHalfEdge &edge = *aHalfEdges.rbegin(); 114 | if (itrHalfEdges->source) edge.sourceVertex = mapVoriTopoVertex[itrHalfEdges->source]; 115 | if (itrHalfEdges->target) edge.targetVertex = mapVoriTopoVertex[itrHalfEdges->target]; 116 | // for now there is only one half edge... 117 | edge.distance = itrHalfEdges->distance; 118 | edge.voriHalfEdges.push_back(&*itrHalfEdges); 119 | } 120 | 121 | // now create the exits (could theoretically be done in the above step - but this way it is cleaner) 122 | list::iterator itrTopoHalfEdges; 123 | for (itrTopoHalfEdges = aHalfEdges.begin(); itrTopoHalfEdges != aHalfEdges.end(); ++itrTopoHalfEdges) { 124 | // take care of rays ;) 125 | if (itrTopoHalfEdges->sourceVertex == 0) continue; 126 | aExits.push_back(TopoExit()); 127 | TopoExit &exit = *aExits.rbegin(); 128 | exit.exitEdge = &*itrTopoHalfEdges; 129 | itrTopoHalfEdges->sourceVertex->aExits.push_back(&exit); 130 | // calculate the distance... 131 | //TODO: get the distance boost::geometry::distance 132 | // exit.vertexEdgeDistance = sqrt(squared_distance( exit.exitEdge->getFirst()->source->vertex->point(), exit.source()->point )); 133 | exit.vertexEdgeDistance = boost::geometry::distance(exit.exitEdge->getFirst()->source->point, 134 | exit.source()->point); 135 | 136 | } 137 | // now that all exits have proper vertex distances we can calculate the new edge distances (with vertex distances on both ends!) 138 | for (list::iterator itrExits = aExits.begin(); itrExits != aExits.end(); ++itrExits) { 139 | itrExits->totalDistance = itrExits->vertexEdgeDistance + itrExits->exitEdge->distance; 140 | if (itrExits->exitEdge->sourceExit) itrExits->totalDistance += itrExits->exitEdge->sourceExit->vertexEdgeDistance; 141 | } 142 | 143 | 144 | // now that all exits are there we can create the twin entries in the halfEdges 145 | for (itrTopoHalfEdges = aHalfEdges.begin(); itrTopoHalfEdges != aHalfEdges.end(); ++itrTopoHalfEdges) { 146 | // take care of rays... 147 | if (itrTopoHalfEdges->targetVertex == 0) continue; 148 | // search for the exit in the target which has the source as source 149 | list::iterator itrExits; 150 | for (itrExits = itrTopoHalfEdges->targetVertex->aExits.begin(); 151 | itrExits != itrTopoHalfEdges->targetVertex->aExits.end(); ++itrExits) { 152 | if ((*itrExits)->target() == itrTopoHalfEdges->sourceVertex) { 153 | // this is the correct one... 154 | (*itrExits)->exitEdge->twin = &*itrTopoHalfEdges; 155 | // also other way around - make most of them double but otherwise we would miss some of the rays! 156 | itrTopoHalfEdges->twin = (*itrExits)->exitEdge; 157 | // we can also mark our twin 158 | break; 159 | } 160 | } 161 | } 162 | cout << "now we have " << aVertices.size() << " vertices, " << aHalfEdges.size() << " halfEdges and " 163 | << aExits.size() << " exits." << endl; 164 | 165 | // remove strange empty vertices from rays and calculate the angles... 166 | list::iterator itrTopoVertices; 167 | for (itrTopoVertices = aVertices.begin(); itrTopoVertices != aVertices.end();) { 168 | if (itrTopoVertices->aExits.empty()) { 169 | itrTopoVertices = aVertices.erase(itrTopoVertices); 170 | } else { 171 | itrTopoVertices->calculateAngles(); 172 | ++itrTopoVertices; 173 | } 174 | } 175 | 176 | calcAllDistances(); 177 | 178 | } 179 | 180 | 181 | bool compareVertexPositions(const TopoVertex *first, const TopoVertex *second) { 182 | if (first->point.x() == second->point.x()) return first->point.y() < second->point.y(); 183 | return first->point.x() < second->point.x(); 184 | } 185 | 186 | void TopoGraph::assignVertexIds() { 187 | 188 | list vertices; 189 | for (list::iterator itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 190 | vertices.push_back(&*itrVertices); 191 | } 192 | vertices.sort(compareVertexPositions); 193 | unsigned int counter = 1; 194 | for (list::iterator itr = vertices.begin(); itr != vertices.end(); ++itr) { 195 | (*itr)->id = counter++; 196 | } 197 | } 198 | 199 | 200 | double clockWiseAngleRad(double start, double end) { 201 | if (start < 0.) start += 2 * M_PI; 202 | if (start >= 2 * M_PI) start -= 2 * M_PI; 203 | if (end < 0.) end += 2 * M_PI; 204 | if (end >= 2 * M_PI) end -= 2 * M_PI; 205 | if (start < end) { 206 | return 2 * M_PI - end + start; 207 | } else { 208 | return start - end; 209 | } 210 | } 211 | 212 | bool smallerThan(pair &first, pair &second) { 213 | return first.first < second.first; 214 | } 215 | 216 | void TopoVertex::calculateAngles() { 217 | // special case with just one exits first... 218 | if (aExits.size() < 2) { 219 | biggestExitAngleRad = 2 * M_PI; 220 | smallestExitAngleRad = 2 * M_PI; 221 | (*aExits.begin())->nextTopoExit = *aExits.begin(); 222 | return; 223 | } 224 | // calculate the global angles ... 225 | list > globalAnglesRad; 226 | for (list::iterator itrExits = aExits.begin(); itrExits != aExits.end(); ++itrExits) { 227 | topo_geometry::point otherPoint; 228 | double startDistance = sConfig->topoGraphAngleCalcStartDistance() - (*itrExits)->vertexEdgeDistance; 229 | if (startDistance < 0.) startDistance = 0.; 230 | double endDistance = sConfig->topoGraphAngleCalcEndDistance() - (*itrExits)->vertexEdgeDistance; 231 | if (endDistance < 0.) endDistance = 0.; 232 | list angles; // between 0 and 2*M_PI 233 | for (double di = endDistance; di >= startDistance; di -= sConfig->topoGraphAngleCalcStepSize()) { 234 | if ((*itrExits)->exitEdge->getPointForDistance(di, otherPoint)) { 235 | double ang = atan2(point.y() - topo_geometry::getY(otherPoint), 236 | point.x() - topo_geometry::getX(otherPoint)); 237 | if (ang < 0.) ang += 2 * M_PI; 238 | angles.push_back(ang); 239 | } 240 | } 241 | if (angles.empty()) { 242 | cerr << "Cannot calculate angle of edge - check your configuration!!" << endl; 243 | return; 244 | } 245 | list::iterator itrAngles = angles.begin(); 246 | double startAngle = *itrAngles; 247 | ++itrAngles; 248 | double error = 0.; 249 | unsigned int count = 1; 250 | for (; itrAngles != angles.end(); ++itrAngles, ++count) { 251 | error += min((2 * M_PI) - fabs(*itrAngles - startAngle), fabs(*itrAngles - startAngle)); 252 | } 253 | startAngle = startAngle + error / count; 254 | if (startAngle < 0.) startAngle += 2 * M_PI; 255 | if (startAngle >= 2 * M_PI) startAngle -= 2 * M_PI; 256 | globalAnglesRad.push_back(pair(startAngle, *itrExits)); 257 | } 258 | // now we have the global angles - sort and put in... 259 | globalAnglesRad.sort(smallerThan); 260 | list >::iterator itrAngles = globalAnglesRad.begin(); 261 | TopoExit *currentExit = itrAngles->second; 262 | double currentAngle = itrAngles->first; 263 | ++itrAngles; 264 | 265 | for (; itrAngles != globalAnglesRad.end(); ++itrAngles) { 266 | currentExit->nextTopoExit = itrAngles->second; 267 | currentExit->angleToNextTopoExitRad = clockWiseAngleRad(itrAngles->first, currentAngle); 268 | if (currentExit->angleToNextTopoExitRad < 0.) currentExit->angleToNextTopoExitRad += 2 * M_PI; 269 | if (currentExit->angleToNextTopoExitRad >= 2 * M_PI) currentExit->angleToNextTopoExitRad -= 2 * M_PI; 270 | currentExit = itrAngles->second; 271 | currentAngle = itrAngles->first; 272 | } 273 | // the last one has to point to the first one... 274 | currentExit->nextTopoExit = globalAnglesRad.begin()->second; 275 | currentExit->angleToNextTopoExitRad = clockWiseAngleRad(globalAnglesRad.begin()->first, currentAngle); 276 | if (currentExit->angleToNextTopoExitRad < 0.) currentExit->angleToNextTopoExitRad += 2 * M_PI; 277 | if (currentExit->angleToNextTopoExitRad >= 2 * M_PI) currentExit->angleToNextTopoExitRad -= 2 * M_PI; 278 | 279 | // now mark the biggest and the smallest angles in the vertex 280 | biggestExitAngleRad = 0.; 281 | smallestExitAngleRad = 2 * M_PI; 282 | for (list::iterator itrExits = aExits.begin(); itrExits != aExits.end(); ++itrExits) { 283 | if ((*itrExits)->angleToNextTopoExitRad > biggestExitAngleRad) 284 | biggestExitAngleRad = (*itrExits)->angleToNextTopoExitRad; 285 | if ((*itrExits)->angleToNextTopoExitRad < smallestExitAngleRad) 286 | smallestExitAngleRad = (*itrExits)->angleToNextTopoExitRad; 287 | } 288 | } 289 | 290 | bool TopoHalfEdge::getPointForDistance(double distance, topo_geometry::point &pPoint) { 291 | if (voriHalfEdges.size() != 1) { 292 | cerr << "not yet implemented!" << endl; 293 | assert(0); 294 | } 295 | return (*voriHalfEdges.begin())->getPointForDistance(distance, pPoint); 296 | } 297 | 298 | 299 | // 300 | // checks everything that exits from the first vertex 301 | void TopoGraph::checkFirstVertexInList(map &workList) { 302 | if (workList.empty()) return; // should never happen 303 | TopoVertex *curr = workList.begin()->first; 304 | // remove this one from the list 305 | workList.erase(workList.begin()); 306 | // first the easy case - this is the end of a dead end: 307 | if (curr->aExits.size() == 1) { 308 | unsigned int flags = TopoHalfEdge::DEAD_END | TopoHalfEdge::DEAD_ENDISH; 309 | // check the length 310 | if ((*curr->aExits.begin())->exitEdge->distance <= sConfig->topoGraphMarkAsFeatureEdgeLength()) { 311 | flags = flags | TopoHalfEdge::FEATURE_END; 312 | } 313 | // now set the properties and add the target to the work list 314 | (*curr->aExits.begin())->twinEdge()->edgeFlags = flags; 315 | // in the very unlikely event that this is a ray... 316 | if ((*curr->aExits.begin())->exitEdge->targetVertex) { 317 | workList[(*curr->aExits.begin())->exitEdge->targetVertex] = true; 318 | } 319 | } else { 320 | // more complicated case of multiple exits - first check what is coming in 321 | // find out what is coming on on all the exits 322 | unsigned int numIncomingDeadEndish = 0; 323 | unsigned int numIncomingOutsideisch = 0; 324 | unsigned int numIncomingEmpties = 0; 325 | // check every exit 326 | for (list::iterator itrExits = curr->aExits.begin(); itrExits != curr->aExits.end(); ++itrExits) { 327 | TopoExit *topoExit = *itrExits; 328 | // first check if this is a ray 329 | if (topoExit->exitEdge->isRay()) { 330 | ++numIncomingOutsideisch; 331 | // set the ray properties 332 | topoExit->exitEdge->edgeFlags = TopoHalfEdge::OUTSIDE | TopoHalfEdge::OUTSIDEISH; 333 | continue; 334 | } 335 | if (topoExit->exitEdge->edgeFlags & TopoHalfEdge::DEAD_ENDISH) ++numIncomingDeadEndish; 336 | if (topoExit->exitEdge->edgeFlags & TopoHalfEdge::OUTSIDEISH) ++numIncomingOutsideisch; 337 | if ((topoExit->exitEdge->edgeFlags & TopoHalfEdge::OUTSIDEISH) == 0 && 338 | (topoExit->exitEdge->edgeFlags & TopoHalfEdge::DEAD_ENDISH) == 0) { 339 | ++numIncomingEmpties; 340 | } 341 | } 342 | // now lets see if we can do stuff 343 | if (numIncomingEmpties < 2) { 344 | // we have one or no empty exits - "send" the information to all exits 345 | for (list::iterator itrExits = curr->aExits.begin(); 346 | itrExits != curr->aExits.end(); ++itrExits) { 347 | TopoExit *topoExit = *itrExits; 348 | if (topoExit->exitEdge->isRay()) continue; 349 | unsigned int flags = 0; 350 | unsigned int isDeadEndish = topoExit->twinEdge()->edgeFlags & TopoHalfEdge::DEAD_ENDISH; 351 | unsigned int isOutsideish = topoExit->twinEdge()->edgeFlags & TopoHalfEdge::OUTSIDEISH; 352 | if (numIncomingDeadEndish - isDeadEndish) { 353 | flags = flags | TopoHalfEdge::DEAD_ENDISH; 354 | } 355 | if (numIncomingOutsideisch - isOutsideish) { 356 | flags = flags | TopoHalfEdge::OUTSIDEISH; 357 | } 358 | // check if the flag we want to set differs! 359 | if ((topoExit->twinEdge()->edgeFlags & flags) != flags) { 360 | // we have to set and add to work list 361 | topoExit->twinEdge()->edgeFlags = topoExit->twinEdge()->edgeFlags | flags; 362 | workList[topoExit->target()] = true; 363 | } 364 | } 365 | } 366 | } 367 | } 368 | 369 | void TopoGraph::markGraph() { 370 | map workList; 371 | // fill the work list with all dead ends 372 | list::iterator itrVertices; 373 | for (itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 374 | if (itrVertices->aExits.size() < 2) { 375 | // this is a dead end - add to the list 376 | workList[&*itrVertices] = true; 377 | } 378 | } 379 | // now work on the list.... 380 | while (!workList.empty()) { 381 | checkFirstVertexInList(workList); 382 | } 383 | // mark the vertices, too 384 | for (itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 385 | unsigned int countNonFeatureExits = 0; 386 | for (list::iterator itrExits = itrVertices->aExits.begin(); 387 | itrExits != itrVertices->aExits.end(); ++itrExits) { 388 | if (!((*itrExits)->exitEdge->edgeFlags & TopoHalfEdge::FEATURE_END)) ++countNonFeatureExits; 389 | } 390 | itrVertices->isFeatureVertex = (countNonFeatureExits == 2); 391 | } 392 | } 393 | 394 | 395 | void TopoGraph::printInfo() { 396 | for (list::iterator itrTopoHalfEdges = aHalfEdges.begin(); 397 | itrTopoHalfEdges != aHalfEdges.end(); ++itrTopoHalfEdges) { 398 | cout << " edge: "; 399 | if (itrTopoHalfEdges->sourceVertex) cout << topo_geometry::print(itrTopoHalfEdges->sourceVertex->point); 400 | else 401 | cout << "INF"; 402 | cout << " to "; 403 | if (itrTopoHalfEdges->targetVertex) cout << topo_geometry::print(itrTopoHalfEdges->targetVertex->point); 404 | else 405 | cout << "INF"; 406 | cout << " : "; 407 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::DEAD_END) cout << "deadEnd "; 408 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::DEAD_ENDISH) cout << "deadEndish "; 409 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::FEATURE_END) cout << "feature "; 410 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::OUTSIDE) cout << "outside "; 411 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::OUTSIDEISH) cout << "outsideish "; 412 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::LOOP) cout << "loop "; 413 | if (itrTopoHalfEdges->edgeFlags & TopoHalfEdge::LOOP_BACK) cout << "loopBack "; 414 | cout << endl; 415 | } 416 | } 417 | 418 | void DistanceCalcHelper::clear() { 419 | distance = -1.; 420 | hops = 0; 421 | majorHops = 0; 422 | } 423 | 424 | 425 | void TopoGraph::removeDistanceMarks() { 426 | for (list::iterator itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 427 | itrVertices->distanceCalcHelper.clear(); 428 | } 429 | } 430 | 431 | void TopoGraph::calcAllDistances() { 432 | markGraph(); 433 | for (list::iterator itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 434 | for (list::iterator itrExits = itrVertices->aExits.begin(); 435 | itrExits != itrVertices->aExits.end(); ++itrExits) { 436 | calcDistancesFor(*itrExits); 437 | } 438 | } 439 | } 440 | 441 | void TopoGraph::setInconsistencyMarks(bool set) { 442 | for (list::iterator itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 443 | itrVertices->inconsistent = set; 444 | } 445 | } 446 | 447 | void TopoGraph::addTargetToWorkList(TopoExit *currExit, set &workList, TopoVertex *startVertex) { 448 | //first check if the target is not the start vertex 449 | if (currExit->target() == startVertex) return; 450 | // add all exits on the target to the work list - except the twin of currExit... 451 | for (list::iterator itrExits = currExit->target()->aExits.begin(); 452 | itrExits != currExit->target()->aExits.end(); ++itrExits) { 453 | if ((*itrExits)->target() == currExit->source()) continue; 454 | workList.insert(*itrExits); 455 | } 456 | } 457 | 458 | TopoExit *TopoVertex::findDirectExitTo(TopoVertex *vertex) { 459 | for (list::iterator itr = aExits.begin(); itr != aExits.end(); ++itr) { 460 | if ((*itr)->target() == vertex) return *itr; 461 | } 462 | return 0; 463 | } 464 | 465 | TopoExit *TopoVertex::findExitTo(TopoVertex *vertex, bool *wasMajor) { 466 | for (list::iterator itr = aExits.begin(); itr != aExits.end(); ++itr) { 467 | if ((*itr)->target() == vertex) { 468 | if (wasMajor) *wasMajor = false; 469 | return *itr; 470 | } 471 | if ((*itr)->nextMajorVertex == vertex) { 472 | if (wasMajor) *wasMajor = true; 473 | return *itr; 474 | } 475 | } 476 | return 0; 477 | } 478 | 479 | void TopoGraph::calcDistancesFor(TopoExit *startExit) { 480 | 481 | removeDistanceMarks(); 482 | 483 | TopoVertex *startVertex = startExit->source(); 484 | bool thereIsALoop = false; 485 | 486 | map loopingInVia; 487 | 488 | startVertex->distanceCalcHelper.distance = 0.; 489 | 490 | set workList; 491 | workList.insert(startExit); 492 | 493 | while (!workList.empty()) { 494 | TopoExit *currExit = *workList.begin(); 495 | workList.erase(workList.begin()); 496 | 497 | if (currExit->exitEdge->isRay()) continue; 498 | 499 | DistanceCalcHelper distCalc = currExit->source()->distanceCalcHelper; 500 | distCalc.distance += currExit->distance(); 501 | distCalc.hops++; 502 | //check if this is a major hop 503 | if (!startVertex->isFeatureVertex) ++distCalc.majorHops; 504 | 505 | // check if a loop occured 506 | if (currExit->target()->distanceCalcHelper.distance != -1) thereIsALoop = true; 507 | 508 | // check if the goal is unset or has a longer distance... 509 | if (currExit->target()->distanceCalcHelper.distance == -1 || 510 | currExit->target()->distanceCalcHelper.distance > distCalc.distance) { 511 | // we update the target and add the exits there to the work list 512 | currExit->target()->distanceCalcHelper = distCalc; 513 | addTargetToWorkList(currExit, workList, startVertex); 514 | } 515 | // if this is the startVertex again we want to save from where we came: 516 | if (currExit->target() == startVertex) { 517 | if (loopingInVia[currExit->source()].distance == -1 || 518 | loopingInVia[currExit->source()].distance > distCalc.distance) { 519 | loopingInVia[currExit->source()] = distCalc; 520 | } 521 | } 522 | } // while 523 | // add the loop info we gathered to the edge 524 | if (thereIsALoop) { 525 | startExit->exitEdge->edgeFlags = startExit->exitEdge->edgeFlags | TopoHalfEdge::LOOP; 526 | } 527 | if (!loopingInVia.empty()) { 528 | startExit->exitEdge->edgeFlags = startExit->exitEdge->edgeFlags | TopoHalfEdge::LOOP_BACK; 529 | } 530 | // add the loop info to the vertex 531 | if (!loopingInVia.empty()) { 532 | for (map::iterator itr = loopingInVia.begin(); 533 | itr != loopingInVia.end(); ++itr) { 534 | // find the exit in that direction: 535 | TopoExit *first = startVertex->findDirectExitTo(itr->first); 536 | TopoExit *second = startExit; 537 | if (second < first) { 538 | second = first; 539 | first = startExit; 540 | } 541 | if (first == second) { 542 | // cout<<"Grosse schweinerei! "<second.distance<<" "<second.hops<loops[pair(first, second)] = itr->second; 546 | } 547 | } 548 | } 549 | 550 | double nextMajorVertexDist = -1.; 551 | TopoVertex *nextMajorVertex = 0; 552 | //add the distnace info to the exit 553 | for (list::iterator itrVertices = aVertices.begin(); itrVertices != aVertices.end(); ++itrVertices) { 554 | if ((itrVertices->distanceCalcHelper.distance != -1.) && (&*itrVertices != startVertex)) { 555 | startExit->distances[&*itrVertices] = itrVertices->distanceCalcHelper; 556 | // also find the shortest distance to the next major node... 557 | if (!itrVertices->isFeatureVertex && itrVertices->aExits.size() > 1) { 558 | // this is a major node 559 | if (nextMajorVertexDist == -1. || itrVertices->distanceCalcHelper.distance < nextMajorVertexDist) { 560 | nextMajorVertexDist = itrVertices->distanceCalcHelper.distance; 561 | nextMajorVertex = &*itrVertices; 562 | } 563 | } 564 | } 565 | } 566 | if (nextMajorVertexDist > 0.) { 567 | startExit->distanceToNextMajorVertex = nextMajorVertexDist; 568 | startExit->nextMajorVertex = nextMajorVertex; 569 | } 570 | } 571 | 572 | 573 | -------------------------------------------------------------------------------- /src/VoriConfig.cpp: -------------------------------------------------------------------------------- 1 | #include "VoriConfig.h" 2 | 3 | 4 | #include 5 | #include 6 | 7 | using namespace std; 8 | 9 | 10 | #define DOUBLE_VAR_METHOD(name) \ 11 | double VoriConfig::name(){ \ 12 | map::iterator found = doubleConfigVars.find(#name); \ 13 | if(found == doubleConfigVars.end()){ \ 14 | cerr<<"Did not find config var "<<#name<<"!"<second; \ 18 | } 19 | 20 | DOUBLE_VAR_METHOD(voronoiMinimumDistanceToObstacle); 21 | 22 | DOUBLE_VAR_METHOD(topoGraphDistanceToJoinVertices); 23 | DOUBLE_VAR_METHOD(topoGraphAngleCalcStartDistance); 24 | DOUBLE_VAR_METHOD(topoGraphAngleCalcEndDistance); 25 | DOUBLE_VAR_METHOD(topoGraphAngleCalcStepSize); 26 | DOUBLE_VAR_METHOD(topoGraphMarkAsFeatureEdgeLength); 27 | 28 | DOUBLE_VAR_METHOD(alphaShapeRemovalSquaredSize); 29 | 30 | DOUBLE_VAR_METHOD(simiVerNumberOfExitsOffset); 31 | DOUBLE_VAR_METHOD(simiVerNumberOfExitsMax); 32 | DOUBLE_VAR_METHOD(simiVerExitAngleRadOffset); 33 | DOUBLE_VAR_METHOD(simiVerExitAngleRadMax); 34 | 35 | DOUBLE_VAR_METHOD(simiVerDistanceToObstaclesOffset); 36 | DOUBLE_VAR_METHOD(simiVerDistanceToObstaclesMax); 37 | 38 | DOUBLE_VAR_METHOD(simiVerDistanceBetweenJoinedVerticesOffset); 39 | DOUBLE_VAR_METHOD(simiVerDistanceBetweenJoinedVerticesMax); 40 | 41 | DOUBLE_VAR_METHOD(simiExitVertexDistanceOffset); 42 | DOUBLE_VAR_METHOD(simiExitVertexDistanceMax); 43 | 44 | DOUBLE_VAR_METHOD(simiExitDistanceToObstaclesOffset); 45 | DOUBLE_VAR_METHOD(simiExitDistanceToObstaclesMax); 46 | 47 | DOUBLE_VAR_METHOD(simiConsistencyEdgeDistanceFactor); 48 | DOUBLE_VAR_METHOD(simiConsistencyEdgeDistanceMinAllowance); 49 | 50 | DOUBLE_VAR_METHOD(simiIsomorphismMinNumberOfVertices); 51 | 52 | DOUBLE_VAR_METHOD(simiNeighbourDistanceOffset); 53 | DOUBLE_VAR_METHOD(simiNeighbourDistanceFactor); 54 | DOUBLE_VAR_METHOD(simiNeighbourMaxHopDifference); 55 | DOUBLE_VAR_METHOD(simiNeighbourMaxMajorHopDifference); 56 | 57 | DOUBLE_VAR_METHOD(simiNeighbourMinProb); 58 | DOUBLE_VAR_METHOD(simiNeighbourGoodProb); 59 | 60 | DOUBLE_VAR_METHOD(firstDeadEndRemovalDistance); 61 | DOUBLE_VAR_METHOD(secondDeadEndRemovalDistance); 62 | DOUBLE_VAR_METHOD(thirdDeadEndRemovalDistance); 63 | DOUBLE_VAR_METHOD(fourthDeadEndRemovalDistance); 64 | 65 | -------------------------------------------------------------------------------- /src/cgal/AlphaShape.cpp: -------------------------------------------------------------------------------- 1 | #include "cgal/AlphaShape.h" 2 | 3 | 4 | #include 5 | 6 | #include 7 | 8 | #include 9 | 10 | using namespace std; 11 | 12 | 13 | void AlphaShapePolygon::getPoints(QImage &pImg, std::vector &points) { 14 | 15 | unsigned int height = pImg.height(); 16 | if (pImg.format() == QImage::Format_RGB32 || pImg.format() == QImage::Format_ARGB32) { 17 | qDebug() << "32 bit change color"; 18 | // mark color here 19 | for (unsigned int y = 0; y < height; y++) { 20 | QRgb *pointer = (QRgb *) pImg.scanLine( y ); 21 | QRgb *endP = pointer + pImg.width(); 22 | for (unsigned int x = 0; pointer < endP; ++pointer, ++x) { 23 | if (qRed( *pointer ) < 2) { 24 | points.push_back( K::Point_2( x + 0.25, y + 0.25 )); 25 | points.push_back( K::Point_2( x + 0.25, y - 0.25 )); 26 | points.push_back( K::Point_2( x - 0.25, y + 0.25 )); 27 | points.push_back( K::Point_2( x - 0.25, y - 0.25 )); 28 | } 29 | } 30 | } 31 | } else if (pImg.format() == QImage::Format_RGB888) { 32 | qDebug() << "24 bit change color"; 33 | for (unsigned int y = 0; y < height; y++) { 34 | // do the stuff... 35 | uchar *pointer = pImg.scanLine( y ); 36 | uchar *endP = pointer + (pImg.width() * 3); 37 | for (unsigned int x = 0; pointer < endP; pointer += 3, x++) { 38 | if ((*pointer) < 2) { 39 | points.push_back( K::Point_2( x + 0.25, y + 0.25 )); 40 | points.push_back( K::Point_2( x + 0.25, y - 0.25 )); 41 | points.push_back( K::Point_2( x - 0.25, y + 0.25 )); 42 | points.push_back( K::Point_2( x - 0.25, y - 0.25 )); 43 | 44 | } 45 | } 46 | } 47 | } 48 | } 49 | 50 | AlphaShapePolygon::SegmentSearchy::SegmentSearchy(std::list > &pSegments) 51 | : aSegments( pSegments ) { 52 | fill(); 53 | } 54 | 55 | void AlphaShapePolygon::SegmentSearchy::fill() { 56 | segmentSourceMap.clear(); 57 | for (list >::iterator itr = aSegments.begin(); 58 | itr != aSegments.end(); ++itr) { 59 | itr->second = true; 60 | segmentSourceMap[static_cast(itr->first.source().x())][static_cast(itr->first.source().y())].push_back( 61 | itr ); 62 | } 63 | } 64 | 65 | AlphaShapePolygon::SegmentSearchy::CellEntries 66 | AlphaShapePolygon::SegmentSearchy::findSegments(AlphaShapePolygon::K::Point_2 &p) { 67 | CellEntries rtn; 68 | map >::iterator found1 = segmentSourceMap.find( static_cast(p.x())); 69 | if (found1 == segmentSourceMap.end()) return rtn; 70 | map::iterator found2 = found1->second.find( static_cast(p.y())); 71 | if (found2 == found1->second.end()) return rtn; 72 | for (CellEntries::iterator itr = found2->second.begin(); itr != found2->second.end(); ++itr) { 73 | if ((*itr)->second && (*itr)->first.source() == p) rtn.push_back( *itr ); 74 | } 75 | return rtn; 76 | } 77 | 78 | 79 | void AlphaShapePolygon::growPolygon(SegmentSearchy &searchy, Polygon_2 &polygon, K::Point_2 front, K::Point_2 back) { 80 | while (front != back) { 81 | SegmentSearchy::CellEntries found = searchy.findSegments( back ); 82 | Segment currSegment; 83 | if (found.empty()) { 84 | cerr << "did not find contiuation for polygon!" << endl; 85 | return; 86 | } 87 | if (found.size() > 1) { 88 | cerr << "found " << found.size() << " continuations for polygon - randomly choosing..." << endl; 89 | } 90 | currSegment = (*found.begin())->first; 91 | // remove this segement... 92 | (*found.begin())->second = false; 93 | 94 | if (currSegment.source() == back) { 95 | back = currSegment.target(); 96 | if (back != front) { ; 97 | polygon.push_back( currSegment.target()); 98 | } 99 | } else { 100 | cerr << "not successfull :(" << endl; 101 | } 102 | } 103 | } 104 | 105 | // void AlphaShapePolygon::growPolygon(std::list &segments, Polygon_2 &polygon, K::Point_2 front, K::Point_2 back){ 106 | // list::iterator itr = segments.begin(); 107 | // while(front != back){ 108 | // Segment &currSegment = *itr; 109 | // if(currSegment.target() == front){ 110 | // front = currSegment.source(); 111 | // if(back != front){ 112 | // polygon.insert(polygon.vertices_begin(), currSegment.source()); 113 | // } 114 | // list::iterator del = itr; 115 | // ++itr; 116 | // segments.erase(del); 117 | // }else if(currSegment.source() == back){ 118 | // back = currSegment.target(); 119 | // if(back != front) {; 120 | // polygon.push_back(currSegment.target()); 121 | // } 122 | // list::iterator del = itr; 123 | // ++itr; 124 | // segments.erase(del); 125 | // }else{ 126 | // ++itr; 127 | // } 128 | // // continue search 129 | // if(itr == segments.end()) itr = segments.begin(); 130 | // } 131 | // } 132 | 133 | bool AlphaShapePolygon::isOutside(const K::Point_2 &p, Polygon_2 &poly, CGAL::Bbox_2 &box) { 134 | return p.x() >= box.xmin() && p.x() <= box.xmax() && p.y() >= box.ymin() && p.y() <= box.ymax() && 135 | poly.is_simple() && !poly.has_on_unbounded_side( p ); 136 | } 137 | 138 | void AlphaShapePolygon::generateBBoxesForPolygons(list &polygons, list &bboxes) { 139 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 140 | bboxes.push_back( itr->bbox()); 141 | } 142 | } 143 | 144 | double AlphaShapePolygon::calculatePolygonLength(Polygon_2 &polygon) { 145 | double length = 0.; 146 | for (Polygon_2::Edge_const_iterator edgeItr = polygon.edges_begin(); edgeItr != polygon.edges_end(); ++edgeItr) { 147 | length += sqrt( edgeItr->squared_length()); 148 | } 149 | return length; 150 | } 151 | 152 | void AlphaShapePolygon::generatePolygons(std::vector &points, double squared_size_is_alpha, 153 | list &polygons) { 154 | 155 | Alpha_shape_2 alpha( points.begin(), points.end()); 156 | alpha.set_alpha( squared_size_is_alpha ); 157 | alpha.set_mode( Alpha_shape_2::REGULARIZED ); 158 | cout << "calculated alpha - number " << alpha.number_of_solid_components() << endl; 159 | 160 | if (alpha.alpha_shape_edges_begin() == alpha.alpha_shape_edges_end()) return; 161 | 162 | std::list > segments; 163 | 164 | for (Edge_iterator itr = alpha.alpha_shape_edges_begin(); itr != alpha.alpha_shape_edges_end(); ++itr) { 165 | segments.push_back( pair( alpha.segment( *itr ), true )); 166 | // cout<<"segment added"<first< >::iterator itr = segments.begin(); itr != segments.end(); ++itr) { 175 | if (itr->second) { 176 | itr->second = false; 177 | // search for all connected parts 178 | polygons.push_back( Polygon_2()); 179 | Polygon_2 &currPoly = *polygons.rbegin(); 180 | currPoly.push_back( itr->first.source()); 181 | currPoly.push_back( itr->first.target()); 182 | growPolygon( segmentSearchy, currPoly, itr->first.source(), itr->first.target()); 183 | } 184 | } 185 | } 186 | 187 | // AlphaShapePolygon::Polygon_2 * 188 | // AlphaShapePolygon::performAlpha(QImage &pImg, double squared_size_is_alpha, bool deleteSmallPolygon) { 189 | // 190 | // std::vector points; 191 | // getPoints( pImg, points ); 192 | // 193 | // generatePolygons( points, squared_size_is_alpha, polygons ); 194 | // 195 | // pImg = pImg.convertToFormat( QImage::Format_ARGB32 ); 196 | // // pImg.fill(qRgba(255, 255, 255, 0)); 197 | // 198 | // QPainter painty( &pImg ); 199 | // painty.setPen( Qt::red ); 200 | // 201 | // cout << "number of polygons: " << polygons.size() << endl; 202 | // for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 203 | // for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr) { 204 | // Segment s = *edgeItr; 205 | // painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 206 | // round( s.target().y())); 207 | // } 208 | // } 209 | // 210 | // list bboxes; 211 | // generateBBoxesForPolygons( polygons, bboxes ); 212 | // 213 | // if (deleteSmallPolygon) { 214 | // for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 215 | // // delete polygons inside this one: 216 | // list::iterator itrBBox = bboxes.begin(); 217 | // for (list::iterator itr2 = polygons.begin(); itr2 != polygons.end();) { 218 | // 219 | // if (itr != itr2 && isOutside( itr2->edges_begin()->source(), *itr, *itrBBox )) { 220 | // // this is an inside polygon 221 | // itr2 = polygons.erase( itr2 ); 222 | // itrBBox = bboxes.erase( itrBBox ); 223 | // } else { 224 | // ++itr2; 225 | // ++itrBBox; 226 | // } 227 | // } 228 | // } 229 | // 230 | // cout << "After inside removal: number of polygons: " << polygons.size() << endl; 231 | // 232 | // for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 233 | // for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr) { 234 | // Segment s = *edgeItr; 235 | // painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 236 | // round( s.target().y())); 237 | // } 238 | // } 239 | // } 240 | // 241 | // // Polygon_2 &biggest = *polygons.begin(); 242 | // // double maxLength = -1.; 243 | // // for(list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr){ 244 | // // double length = calculatePolygonLength(*itr); 245 | // // if(length > maxLength){ 246 | // // maxLength = length; 247 | // // biggest = *itr; 248 | // // } 249 | // // } 250 | // 251 | // 252 | // int biggest = 0; 253 | // int counter = 0; 254 | // double maxLength = -1.; 255 | // for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr, ++counter) { 256 | // double length = calculatePolygonLength( *itr ); 257 | // cout << " test " << counter << " length " << length << endl; 258 | // if (length > maxLength) { 259 | // maxLength = length; 260 | // biggest = counter; 261 | // cout << " biggest " << biggest << " length " << length << endl; 262 | // } 263 | // } 264 | // 265 | // painty.setPen( qRgb(255,200,0) ); 266 | // cout << "Length of biggest polygon: " << maxLength << endl; 267 | // for (Polygon_2::Edge_const_iterator edgeItr = getPolygon( biggest ).edges_begin(); 268 | // edgeItr != getPolygon( biggest ).edges_end(); ++edgeItr) { 269 | // Segment s = *edgeItr; 270 | // painty.drawLine( round( s.source().x()), round( s.source().y()), 271 | // round( s.target().x()), round( s.target().y())); 272 | // } 273 | // 274 | // return &getPolygon( biggest ); 275 | // 276 | // } 277 | 278 | AlphaShapePolygon::Polygon_2 * 279 | AlphaShapePolygon::performAlpha(QImage &pImg, double squared_size_is_alpha, bool deleteSmallPolygon) { 280 | //biggest alpha shape: longest length 281 | std::vector points; 282 | getPoints( pImg, points ); 283 | 284 | generatePolygons( points, squared_size_is_alpha, polygons ); 285 | 286 | pImg = pImg.convertToFormat( QImage::Format_ARGB32 ); 287 | // pImg.fill(qRgba(255, 255, 255, 0)); 288 | 289 | QPainter painty( &pImg ); 290 | painty.setPen( Qt::red ); 291 | 292 | 293 | QBrush brush; 294 | QColor color = QColor( qRgba(250,0,0,80) ); 295 | brush.setColor( color ); 296 | brush.setStyle( Qt::Dense7Pattern ); 297 | QPainter painter(&pImg); 298 | painty.setBrush( brush ); 299 | painty.setPen( color ); 300 | cout << "number of polygons: " << polygons.size() << endl; 301 | int cnt=0; 302 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 303 | QPolygon poly; 304 | for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr) { 305 | Segment s = *edgeItr; 306 | painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 307 | round( s.target().y())); 308 | poly << QPoint( round( s.target().x()), round( s.target().y())); 309 | } 310 | if (cnt!=0) 311 | painty.drawPolygon( poly ); 312 | cnt++; 313 | } 314 | 315 | list bboxes; 316 | generateBBoxesForPolygons( polygons, bboxes ); 317 | 318 | if (deleteSmallPolygon) { 319 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 320 | // delete polygons inside this one: 321 | list::iterator itrBBox = bboxes.begin(); 322 | for (list::iterator itr2 = polygons.begin(); itr2 != polygons.end();) { 323 | 324 | if (itr != itr2 && isOutside( itr2->edges_begin()->source(), *itr, *itrBBox )) { 325 | // this is an inside polygon 326 | itr2 = polygons.erase( itr2 ); 327 | itrBBox = bboxes.erase( itrBBox ); 328 | } else { 329 | ++itr2; 330 | ++itrBBox; 331 | } 332 | } 333 | } 334 | 335 | // cout << "After inside removal: number of polygons: " << polygons.size() << endl; 336 | 337 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 338 | for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr) { 339 | Segment s = *edgeItr; 340 | painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 341 | round( s.target().y())); 342 | } 343 | } 344 | } 345 | 346 | // Polygon_2 &biggest = *polygons.begin(); 347 | // double maxLength = -1.; 348 | // for(list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr){ 349 | // double length = calculatePolygonLength(*itr); 350 | // if(length > maxLength){ 351 | // maxLength = length; 352 | // biggest = *itr; 353 | // } 354 | // } 355 | 356 | 357 | int biggest = 0; 358 | int counter = 0; 359 | double maxLength = -1.; 360 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr, ++counter) { 361 | double length = calculatePolygonLength( *itr ); 362 | // cout << " test " << counter << " length " << length << endl; 363 | if (length > maxLength) { 364 | maxLength = length; 365 | biggest = counter; 366 | // cout << " biggest " << biggest << " length " << length << endl; 367 | } 368 | } 369 | 370 | painty.setPen( qRgb(0,250,0) ); 371 | cout << "Length of biggest polygon: " << maxLength << endl; 372 | for (Polygon_2::Edge_const_iterator edgeItr = getPolygon( biggest ).edges_begin(); 373 | edgeItr != getPolygon( biggest ).edges_end(); ++edgeItr) { 374 | Segment s = *edgeItr; 375 | painty.drawLine( round( s.source().x()), round( s.source().y()), 376 | round( s.target().x()), round( s.target().y())); 377 | } 378 | 379 | return &getPolygon( biggest ); 380 | 381 | } 382 | AlphaShapePolygon::Polygon_2 * 383 | AlphaShapePolygon::performAlpha_biggestArea(QImage &pImg, double squared_size_is_alpha, bool deleteSmallPolygon) { 384 | // function: returen biggest alpha polygon, and save all generated alpha polygons in this->polygons (protected member) 385 | 386 | std::vector points; 387 | getPoints( pImg, points ); 388 | 389 | // polygons: a list of alpha shape polygons 390 | generatePolygons( points, squared_size_is_alpha, polygons ); 391 | 392 | pImg = pImg.convertToFormat( QImage::Format_ARGB32 ); 393 | 394 | QPainter painty( &pImg ); 395 | painty.setPen( Qt::red ); 396 | 397 | 398 | QBrush brush; 399 | QColor color = QColor( qRgba(250,0,0,80) ); 400 | brush.setColor( color ); 401 | brush.setStyle( Qt::Dense7Pattern ); 402 | // QPainter painter(&pImg); 403 | painty.setBrush( brush ); 404 | painty.setPen( color ); 405 | cout << "number of polygons: " << polygons.size() << endl; 406 | if(!deleteSmallPolygon) { 407 | int cnt = 0; 408 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 409 | QPolygon poly; 410 | for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr) { 411 | Segment s = *edgeItr; 412 | painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 413 | round( s.target().y())); 414 | poly << QPoint( round( s.target().x()), round( s.target().y())); 415 | } 416 | if (cnt != 0) 417 | painty.drawPolygon( poly ); 418 | cnt++; 419 | } 420 | } 421 | 422 | list bboxes; 423 | generateBBoxesForPolygons( polygons, bboxes ); 424 | 425 | if (deleteSmallPolygon) { 426 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 427 | // delete polygons inside this one: 428 | list::iterator itrBBox = bboxes.begin(); 429 | for (list::iterator itr2 = polygons.begin(); itr2 != polygons.end();) { 430 | 431 | if (itr != itr2 && isOutside( itr2->edges_begin()->source(), *itr, *itrBBox )) { 432 | // this is an inside polygon 433 | itr2 = polygons.erase( itr2 ); 434 | itrBBox = bboxes.erase( itrBBox ); 435 | } else { 436 | ++itr2; 437 | ++itrBBox; 438 | } 439 | } 440 | } 441 | 442 | if(!deleteSmallPolygon) { 443 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr) { 444 | for (Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); 445 | edgeItr != itr->edges_end(); ++edgeItr) { 446 | Segment s = *edgeItr; 447 | painty.drawLine( round( s.source().x()), round( s.source().y()), round( s.target().x()), 448 | round( s.target().y())); 449 | } 450 | } 451 | } 452 | } 453 | int biggest = 0; 454 | int counter = 0; 455 | double maxArea = -1.; 456 | for (list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr, ++counter) { 457 | double tem_area= fabs(itr->area()); 458 | // cout << " test " << counter << " area " << tem_area << endl; 459 | if (tem_area > maxArea) { 460 | maxArea = tem_area; 461 | biggest = counter; 462 | } 463 | } 464 | 465 | painty.setPen( qRgb(0,0,0) ); 466 | if(!deleteSmallPolygon) 467 | painty.setPen( qRgb(0,0,250) ); 468 | cout << "Area of biggest polygon: " << maxArea << endl; 469 | for (Polygon_2::Edge_const_iterator edgeItr = getPolygon( biggest ).edges_begin(); 470 | edgeItr != getPolygon( biggest ).edges_end(); ++edgeItr) { 471 | Segment s = *edgeItr; 472 | painty.drawLine( round( s.source().x()), round( s.source().y()), 473 | round( s.target().x()), round( s.target().y())); 474 | } 475 | 476 | return &getPolygon( biggest ); 477 | 478 | } 479 | 480 | //add 481 | AlphaShapePolygon::Polygon_2 &AlphaShapePolygon::getPolygon(unsigned int i) { 482 | std::list::iterator itr = polygons.begin(); 483 | unsigned int index; 484 | for (index = 0; index < i && itr != polygons.end(); index++, itr++); 485 | if (index == i) { 486 | return *itr; 487 | } else { 488 | return polygons.back(); 489 | } 490 | } 491 | 492 | unsigned int AlphaShapePolygon::sizeOfPolygons() { 493 | return polygons.size(); 494 | } 495 | 496 | void AlphaShapePolygon::drawPolygonByIndex(QImage &pImg, unsigned int index) { 497 | QPainter painty( &pImg ); 498 | unsigned int i = 0; 499 | QPainterPath polygonPath; 500 | 501 | for (Polygon_2::Edge_const_iterator edgeItr = getPolygon( index ).edges_begin(); 502 | edgeItr != getPolygon( index ).edges_end(); ++edgeItr) { 503 | Segment s = *edgeItr; 504 | if (i == 0) { 505 | polygonPath.moveTo( round( s.source().x()), round( s.source().y())); 506 | } else { 507 | polygonPath.lineTo( round( s.source().x()), round( s.source().y())); 508 | } 509 | i++; 510 | //painty.drawLine(round(s.source().x()), round(s.source().y()), round( s.target().x()), round(s.target().y())); 511 | } 512 | polygonPath.closeSubpath(); 513 | 514 | painty.setPen( Qt::red ); 515 | painty.fillPath( polygonPath, QBrush( QColor( 255, 255, (255 / (sizeOfPolygons())) * index ), Qt::SolidPattern )); 516 | painty.drawPath( polygonPath ); 517 | 518 | /*painty.setPen(Qt::red); 519 | if(index < sizeOfPolygons()) 520 | { 521 | for(Polygon_2::Edge_const_iterator edgeItr = getPolygon(index).edges_begin(); edgeItr != getPolygon(index).edges_end(); ++edgeItr){ 522 | Segment s = *edgeItr; 523 | painty.drawLine(round(s.source().x()), round(s.source().y()), round( s.target().x()), round(s.target().y())); 524 | } 525 | }*/ 526 | } 527 | 528 | void AlphaShapePolygon::drawPolygon(QImage &pImg, Polygon_2 *poly) { 529 | QPainter painty( &pImg ); 530 | for (int index = 0; index < sizeOfPolygons(); index++) { 531 | unsigned int i = 0; 532 | QPainterPath polygonPath; 533 | 534 | for (Polygon_2::Edge_const_iterator edgeItr = getPolygon( index ).edges_begin(); 535 | edgeItr != getPolygon( index ).edges_end(); ++edgeItr) { 536 | Segment s = *edgeItr; 537 | if (i == 0) { 538 | polygonPath.moveTo( round( s.source().x()), round( s.source().y())); 539 | } else { 540 | polygonPath.lineTo( round( s.source().x()), round( s.source().y())); 541 | } 542 | i++; 543 | } 544 | polygonPath.closeSubpath(); 545 | 546 | if (getPolygon( index ) != *poly) { 547 | painty.setPen( Qt::red ); 548 | painty.fillPath( polygonPath, 549 | QBrush( QColor( 255, 255, (255 / (sizeOfPolygons())) * index ), Qt::SolidPattern )); 550 | } else { 551 | painty.setPen( Qt::blue ); 552 | } 553 | 554 | painty.drawPath( polygonPath ); 555 | } 556 | } -------------------------------------------------------------------------------- /src/cgal/AlphaShapeRemoval.cpp: -------------------------------------------------------------------------------- 1 | #include "cgal/AlphaShapeRemoval.h" 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include "cgal/AlphaShape.h" 8 | 9 | using namespace std; 10 | 11 | void performAlphaRemoval(QImage &pImg, double pAlphaShapeSquaredDist, double pMaxPolygonLength){ 12 | AlphaShapePolygon alphaShapePolygon; 13 | 14 | vector points; 15 | alphaShapePolygon.getPoints(pImg, points); 16 | 17 | list polygons; 18 | alphaShapePolygon.generatePolygons(points, pAlphaShapeSquaredDist, polygons); 19 | 20 | QImage image = pImg.convertToFormat(QImage::Format_ARGB32); 21 | image.fill(qRgba(255, 255, 255, 0)); 22 | QPainter painty(&image); 23 | painty.setPen(Qt::blue); 24 | for(list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr){ 25 | for(AlphaShapePolygon::Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr){ 26 | AlphaShapePolygon::Segment s = *edgeItr; 27 | painty.drawLine(round(s.source().x()), round(s.source().y()), round( s.target().x()), round(s.target().y())); 28 | } 29 | } 30 | 31 | 32 | for(list::iterator itr = polygons.begin(); itr != polygons.end();){ 33 | if(alphaShapePolygon.calculatePolygonLength(*itr) > pMaxPolygonLength){ 34 | itr = polygons.erase(itr); 35 | }else{ 36 | ++itr; 37 | } 38 | } 39 | 40 | painty.setPen(Qt::red); 41 | for(list::iterator itr = polygons.begin(); itr != polygons.end(); ++itr){ 42 | for(AlphaShapePolygon::Polygon_2::Edge_const_iterator edgeItr = itr->edges_begin(); edgeItr != itr->edges_end(); ++edgeItr){ 43 | AlphaShapePolygon::Segment s = *edgeItr; 44 | painty.drawLine(round(s.source().x()), round(s.source().y()), round( s.target().x()), round(s.target().y())); 45 | } 46 | } 47 | painty.end(); 48 | // image.save("detectAlphaRemoval.png"); 49 | 50 | list bboxes; 51 | alphaShapePolygon.generateBBoxesForPolygons(polygons, bboxes); 52 | 53 | cout<<"Removing the points for "<::iterator itrPoints = points.begin(); itrPoints != points.end(); ++itrPoints){ 55 | bool remove = false; 56 | list::iterator itrBBoxes= bboxes.begin(); 57 | for(list::iterator itrPolygons = polygons.begin(); itrPolygons != polygons.end(); ++itrPolygons, ++itrBBoxes){ 58 | if(AlphaShapePolygon::isOutside(*itrPoints, *itrPolygons, *itrBBoxes) ){ 59 | remove = true; 60 | break; 61 | } 62 | } 63 | if(remove){ 64 | pImg.setPixel(round(itrPoints->x()), round(itrPoints->y()), qRgba(255, 255, 255, 255) ); 65 | } 66 | } 67 | 68 | } 69 | 70 | 71 | 72 | -------------------------------------------------------------------------------- /src/passageSearch.cpp: -------------------------------------------------------------------------------- 1 | #include "passageSearch.h" 2 | 3 | PS::Vertex *removeMiniF(std::list &alst); 4 | 5 | /* 6 | * feature function 7 | * 8 | */ 9 | PS::PPEdge::PPEdge(VoriGraphVertex *psg1, VoriGraphVertex *psg2, double cost, std::list *path) 10 | : psg1(psg1), psg2(psg2), cost(cost), path(path) {}; 11 | 12 | 13 | 14 | /* 15 | *tools for this cpp only 16 | */ 17 | PS::Vertex *removeMiniF(std::list &alst) { 18 | std::list::iterator mini_it = alst.begin(); 19 | for (std::list::iterator it = ++(alst.begin()); it != alst.end(); it++) { 20 | if ((*it)->f < (*mini_it)->f) { 21 | mini_it = it; 22 | } 23 | } 24 | PS::Vertex *mini_ptr = (*mini_it); 25 | alst.erase(mini_it); 26 | return mini_ptr; 27 | } 28 | -------------------------------------------------------------------------------- /src/roomGraph.cpp: -------------------------------------------------------------------------------- 1 | #include "roomGraph.h" 2 | #include "RoomDect.h" 3 | // 4 | //void coutpoint(topo_geometry::point p) { 5 | // double x, y; 6 | // x = topo_geometry::getX(p); 7 | // y = topo_geometry::getY(p); 8 | // std::cout << "(" << x << ", " << y << ") "; 9 | //} 10 | 11 | /* 12 | * class init 13 | */ 14 | RMG::AreaGraph::AreaGraph(VoriGraph &voriGraph) { 15 | //1. achieve those roomVertexes 16 | this->buildAreaGraph(voriGraph); 17 | //2. build a lineGraph 18 | // RMG::connectRoomVertexes(originSet); 19 | } 20 | 21 | /* 22 | * By Yijun 23 | * 24 | RMG::roomGraph::roomGraph(VoriGraph &voriGraph){ 25 | //1. achieve those roomVertexes 26 | RMG::build_oriSet(voriGraph, originSet); 27 | //2. build a lineGraph 28 | RMG::connectRoomVertexes(originSet); 29 | }*/ 30 | 31 | RMG::roomVertex::roomVertex(int roomId, topo_geometry::point loc, topo_geometry::point st, topo_geometry::point ed) 32 | : roomId(roomId), center(loc), st(st), ed(ed) { 33 | parentV = NULL; 34 | } 35 | 36 | /* 37 | * roomVertex class function 38 | */ 39 | void RMG::roomVertex::init_areaInnerPPGraph() { 40 | for (std::list::iterator it = this->areaInnerPathes.begin(); 41 | it != this->areaInnerPathes.end(); it++) { 42 | PS::PPEdge *tmp_ppe = new PS::PPEdge((*it)->source, (*it)->target, 43 | (*it)->distance, &((*it)->pathEdges)); 44 | this->areaInnerPPGraph.push_back(tmp_ppe); 45 | } 46 | } 47 | 48 | 49 | 50 | 51 | void RMG::AreaGraph::mergeAreas() { 52 | //1. traverse each roomVertex, find other points with the same roomId to put into roomToMerge, 53 | // where build a new roomVertex as merged room to put at begin of roomToMerge 54 | // 55 | //Attention: the merged points will have roomId = -2 to indicate they are removed 56 | // And also the new node don't have a in degree, will be build in the 57 | // prunning step 58 | std::vector newNodeSet;//temporally store the new node 59 | std::map > roomToMerge; 60 | 61 | for (std::vector::iterator it = originSet.begin(); it != originSet.end(); it++) { 62 | 63 | int groupRoomId = (*it)->roomId; 64 | //1.1 check 65 | if (groupRoomId == -1 or groupRoomId == -2) 66 | continue; //because it is not belong to a roomCell or has already been chosed. 67 | 68 | // (*it)->roomId = -2; 69 | roomVertex *biggerRoom; 70 | std::map >::iterator rM = roomToMerge.find(groupRoomId); 71 | if (rM == roomToMerge.end()) { //a new roomId, we need to create a new roomVertex for a new big room 72 | roomVertex *tmp_bigroom(new roomVertex(groupRoomId, (*it)->center, (*it)->st, (*it)->ed)); 73 | biggerRoom = tmp_bigroom; 74 | std::vector tmpVec; // store the vertexes with the same roomId 75 | tmpVec.push_back(biggerRoom); 76 | roomToMerge[groupRoomId] = tmpVec; 77 | } else { 78 | biggerRoom = *roomToMerge[groupRoomId].begin(); 79 | } 80 | roomToMerge[groupRoomId].push_back(*it); 81 | for (std::list::iterator inrm_ps_it = (*it)->areaInnerPathes.begin(); 82 | inrm_ps_it != (*it)->areaInnerPathes.end(); inrm_ps_it++) { 83 | biggerRoom->areaInnerPathes.push_back(*inrm_ps_it); 84 | // to instead "biggerRoom->init_areaInnerPPGraph()": convert the halfedge into PPEdge 85 | PS::PPEdge *tmp_ppe(new PS::PPEdge((*inrm_ps_it)->source, (*inrm_ps_it)->target, 86 | (*inrm_ps_it)->distance, &((*inrm_ps_it)->pathEdges))); 87 | biggerRoom->areaInnerPPGraph.push_back(tmp_ppe); 88 | } 89 | // (*it)->parentV = biggerRoom; 90 | 91 | biggerRoom->polygons.insert(biggerRoom->polygons.end(), (*it)->polygons.begin(), (*it)->polygons.end()); 92 | 93 | //2. check: if the passage is inside the big room, then it is not a passage of the big room, and delete the passage from roomGraph.passageEList; 94 | // otherwise, delete the small area from passage.connectedAreas and add big room instead 95 | for (std::vector::iterator sitr = (*it)->passages.begin(); 96 | sitr != (*it)->passages.end(); sitr++) { 97 | 98 | std::vector::iterator ritr; 99 | int rcnt = 0; 100 | bool innerpassage = true; 101 | for (std::vector::iterator vitr = (*sitr)->connectedAreas.begin(); 102 | vitr != (*sitr)->connectedAreas.end(); vitr++) { 103 | if (groupRoomId != (*vitr)->roomId) { 104 | innerpassage = false; 105 | } 106 | rcnt++; 107 | ritr = vitr; 108 | } 109 | if (innerpassage == false) { //not an inner passage 110 | if (rcnt > 1) { 111 | bool first = true; 112 | for (std::vector::iterator vitr = (*sitr)->connectedAreas.begin(); 113 | vitr != (*sitr)->connectedAreas.end();) { 114 | if (groupRoomId == (*vitr)->roomId) { 115 | if (first) { 116 | first = false; 117 | (*vitr) = biggerRoom; 118 | vitr++; 119 | } else { 120 | (*sitr)->connectedAreas.erase(vitr); 121 | } 122 | } else { 123 | vitr++; 124 | } 125 | } 126 | } else { //Replace the original room with the bigger room 127 | (*ritr) = biggerRoom; 128 | } 129 | biggerRoom->passages.push_back((*sitr)); 130 | } else { //a inner passage 131 | passageEList.remove(*sitr); 132 | } 133 | } 134 | 135 | } 136 | for (std::map >::iterator mitr = roomToMerge.begin(); 137 | mitr != roomToMerge.end(); mitr++) { 138 | std::vector tmpVec = mitr->second; 139 | 140 | //merge neigbhbours and polygons, point origin node to new node 141 | std::vector::iterator itr = tmpVec.begin(); 142 | roomVertex *biggerRoom = *itr; 143 | itr++; 144 | for (; itr != tmpVec.end(); itr++) { 145 | roomVertex *rp = *itr; 146 | originSet.erase(std::remove(originSet.begin(), originSet.end(), (*itr))); 147 | delete rp; 148 | } 149 | originSet.push_back(biggerRoom); 150 | } 151 | } 152 | 153 | 154 | /* 155 | *roomGraph class function 156 | * 157 | */ 158 | void RMG::AreaGraph::mergeRoomCell() { 159 | //1. traverse each point, find other points with the same roomId 160 | //2. build a new roomGraph and build neighbours and polygons 161 | //Attention: the merged points will have roomId = -2 to indicate they are removed 162 | // And also the new node don't have a in degree, will be build in the 163 | // prunning step 164 | std::vector newNodeSet;//temporally store the new node 165 | 166 | for (std::vector::iterator it = originSet.begin(); 167 | it != originSet.end(); it++) { 168 | 169 | int groupRoomId = (*it)->roomId; 170 | //1.1 check 171 | if (groupRoomId == -1 or groupRoomId == -2) 172 | continue;//because it is not belong to a roomCell or has already been chosed. 173 | 174 | 175 | //1.2 store the same roomId point 176 | std::vector tmpVec; // store the vertexes with the same roomId 177 | tmpVec.push_back((*it)); 178 | (*it)->roomId = -2; 179 | 180 | 181 | std::vector::iterator itj = it; 182 | for (itj++; itj != originSet.end(); itj++) { 183 | //check 184 | if ((*itj)->roomId == -1 or (*itj)->roomId == -2) 185 | continue;//because it is not belong to a roomCell or has already been chosed. 186 | 187 | if ((*itj)->roomId == groupRoomId) { 188 | tmpVec.push_back((*itj)); 189 | (*itj)->roomId = -2; 190 | } 191 | } 192 | 193 | //2 build a new roomV 194 | roomVertex *biggerRoom = new roomVertex(groupRoomId, (*(tmpVec.begin()))->center, (*(tmpVec.begin()))->st, 195 | (*(tmpVec.begin()))->ed); 196 | //append innerpathes into the new innerpathes list then transform to PPEdge list 197 | for (std::vector::iterator inrm_it = tmpVec.begin(); inrm_it != tmpVec.end(); inrm_it++) { 198 | for (std::list::iterator inrm_ps_it = (*inrm_it)->areaInnerPathes.begin(); 199 | inrm_ps_it != (*inrm_it)->areaInnerPathes.end(); inrm_ps_it++) { 200 | biggerRoom->areaInnerPathes.push_back(*inrm_ps_it); 201 | biggerRoom->areaInnerPathes.push_back((*inrm_ps_it)->twin); 202 | } 203 | } 204 | biggerRoom->init_areaInnerPPGraph(); 205 | 206 | //merge neigbhbours and polygons, point origin node to new node 207 | for (std::vector::iterator itr = tmpVec.begin(); itr != tmpVec.end(); itr++) { 208 | //biggerRoom->neighbours.merge((*itr)->neighbours); 209 | //biggerRoom->polygons.merge((*itr)->polygons); 210 | biggerRoom->neighbours.insert((*itr)->neighbours.begin(), (*itr)->neighbours.end()); 211 | biggerRoom->polygons.insert(biggerRoom->polygons.begin(), (*itr)->polygons.begin(), (*itr)->polygons.end()); 212 | (*itr)->parentV = biggerRoom; 213 | } 214 | newNodeSet.push_back(biggerRoom); 215 | } 216 | //merge new node into originSet 217 | originSet.insert(originSet.end(), newNodeSet.begin(), newNodeSet.end()); 218 | } 219 | 220 | void RMG::AreaGraph::prunning() { 221 | //1. search each point to find if its neighbour have -2 roomId, 222 | // if a neighbour is, rm this neighbour and point to its parent 223 | // (the new node) 224 | //2. delete those point with -2 roomId 225 | // (traverse through the originSet and build a delete vector in step one) 226 | std::set removeOriginSet; 227 | //1. 228 | for (std::vector::iterator it = originSet.begin(); it != originSet.end(); it++) { 229 | std::set removeNeibourSet; 230 | std::set insertNeibourSet; 231 | for (std::set::iterator its = (*it)->neighbours.begin(); 232 | its != (*it)->neighbours.end(); its++) { 233 | if ((*its)->roomId == -2) { 234 | insertNeibourSet.insert((*its)->parentV); 235 | removeNeibourSet.insert((*its)); 236 | removeOriginSet.insert((*its)); 237 | } 238 | } 239 | //remove neighbour node 240 | for (std::set::iterator itr = removeNeibourSet.begin(); itr != removeNeibourSet.end(); itr++) { 241 | //(*it)->neighbours.extract((*itr)); 242 | (*it)->neighbours.erase((*itr)); 243 | } 244 | //insert neighbour node 245 | //(*it)->neighbours.merge(insertNeibourSet); 246 | (*it)->neighbours.insert(insertNeibourSet.begin(), insertNeibourSet.end()); 247 | //clean the temporary set 248 | removeNeibourSet.clear(); 249 | insertNeibourSet.clear(); 250 | } 251 | 252 | //2. remove -2 node from originSet 253 | for (std::set::iterator itrmo = removeOriginSet.begin(); itrmo != removeOriginSet.end(); itrmo++) { 254 | originSet.erase(std::remove(originSet.begin(), originSet.end(), (*itrmo)), originSet.end()); 255 | } 256 | } 257 | 258 | void RMG::AreaGraph::arrangeRoomId() { 259 | int roomId = 0; 260 | for (std::vector::iterator it = this->originSet.begin(); it != this->originSet.end(); it++) { 261 | (*it)->roomId = roomId++; 262 | } 263 | } 264 | 265 | 266 | void RMG::AreaGraph::show() { 267 | std::cout << "area number = " << (*this->originSet.rbegin())->roomId + 1 << std::endl; 268 | // for(std::vector::iterator it = this->originSet.begin(); it!=this->originSet.end(); it++){ 269 | // std::cout << (*it)->roomId << " "; 270 | // if((*it)->parentV) 271 | // std::cout << "there is one room should be erased during prunning "; 272 | // std::cout << std::endl; 273 | // } 274 | } 275 | 276 | void RMG::AreaGraph::draw(QImage &image) { 277 | QPainter painter(&image); 278 | for (std::vector::iterator it = this->originSet.begin(); it != this->originSet.end(); it++) { 279 | 280 | //draw current polygons 281 | QBrush brush; 282 | QColor color = QColor(rand() % 255, rand() % 255, rand() % 255); 283 | brush.setColor(color); 284 | brush.setStyle(Qt::SolidPattern); 285 | painter.setBrush(brush); 286 | painter.setPen(color); 287 | 288 | QPolygon poly; 289 | for (std::list::iterator pointitr = (*it)->polygon.begin(); 290 | pointitr != (*it)->polygon.end(); pointitr++) { 291 | int x = round(topo_geometry::getX(*pointitr)); 292 | int y = round(topo_geometry::getY(*pointitr)); 293 | // cout<<" point: "<::iterator itj = (*it)->neighbours.begin(); itj != (*it)->neighbours.end(); itj++) { 299 | painter.setPen(qRgb(rand(), rand(), rand())); 300 | 301 | int x1 = (round(topo_geometry::getX((*itj)->center))); //坐标都取整（四舍五入）再画 302 | int y1 = (round(topo_geometry::getY((*itj)->center))); 303 | int x2 = (round(topo_geometry::getX((*it)->center))); 304 | int y2 = (round(topo_geometry::getY((*it)->center))); 305 | // painter.drawLine(x1, y1, x2, y2); 306 | } 307 | } 308 | } 309 | 310 | //passage searching stuff 311 | 312 | 313 | 314 | 315 | /* 316 | * AreaGraph namespace functions 317 | */ 318 | static bool equalLineVertex(const topo_geometry::point &a, const topo_geometry::point &b); 319 | 320 | void RMG::connectRoomVertexes(std::vector &originSet) { 321 | for (std::vector::iterator it = originSet.begin(); 322 | it != originSet.end(); it++) { 323 | topo_geometry::point st = (*it)->st; 324 | topo_geometry::point ed = (*it)->ed; 325 | std::vector::iterator tmpIt = it;//shoud double check (it should be a copy of it) 326 | for (std::vector::iterator itj = tmpIt; 327 | itj != originSet.end(); itj++) { 328 | if (equalLineVertex(st, (*itj)->st) || 329 | equalLineVertex(st, (*itj)->ed) || 330 | equalLineVertex(ed, (*itj)->st) || 331 | equalLineVertex(ed, (*itj)->ed)) { 332 | 333 | (*it)->neighbours.insert((*itj)); 334 | (*itj)->neighbours.insert((*it)); 335 | } 336 | 337 | } 338 | 339 | 340 | } 341 | } 342 | 343 | 344 | //void RMG::build_oriSet(VoriGraph &voriGraph, std::vector &originSet) { 345 | // //build a line graph 346 | // std::set halfEdgeSet; 347 | // for (std::list::iterator voriHalfEdgeItr = voriGraph.halfEdges.begin(); 348 | // voriHalfEdgeItr != voriGraph.halfEdges.end(); ++voriHalfEdgeItr) { 349 | // if (voriHalfEdgeItr->isRay()) { 350 | // continue; 351 | // } else if (halfEdgeSet.find(&*voriHalfEdgeItr) == halfEdgeSet.end()) { 352 | // halfEdgeSet.insert(&*voriHalfEdgeItr); 353 | // 354 | // VoriGraphPolygon *polygonPtr = voriHalfEdgeItr->pathFace; 355 | // int sumX = 0, sumY = 0; 356 | // if (polygonPtr != 0 /*&& polygonPtr->isRay*/) { 357 | // for (std::list::iterator pointitr = polygonPtr->polygonpoints.begin(); 358 | // pointitr != polygonPtr->polygonpoints.end(); 359 | // pointitr++) { 360 | // sumX += round(topo_geometry::getX(*pointitr)); 361 | // sumY += round(topo_geometry::getY(*pointitr)); 362 | // } 363 | // 364 | // VoriGraphHalfEdge *twinHalfedge = voriHalfEdgeItr->twin; 365 | // if (twinHalfedge) { 366 | // halfEdgeSet.insert(twinHalfedge); 367 | // VoriGraphPolygon *twinpolygonPtr = twinHalfedge->pathFace; 368 | // if (twinpolygonPtr != 0) { 369 | // QPolygon twin_poly; 370 | // for (std::list::iterator pointitr = twinpolygonPtr->polygonpoints.begin(); 371 | // pointitr != twinpolygonPtr->polygonpoints.end(); 372 | // pointitr++) { 373 | // sumX += round(topo_geometry::getX(*pointitr)); 374 | // sumY += round(topo_geometry::getY(*pointitr)); 375 | // } 376 | // } 377 | // } 378 | // sumX /= (polygonPtr->polygonpoints.size() + twinHalfedge->pathFace->polygonpoints.size()); 379 | // sumY /= (polygonPtr->polygonpoints.size() + twinHalfedge->pathFace->polygonpoints.size()); 380 | // }//if(polygonPtr != 0) 381 | // if ((sumX) * (sumY) < 0.00000001) { 382 | // std::cout << "This shouldn't happen, right"; 383 | // } 384 | // 385 | // 386 | // 387 | // //build a roomVertex for each edge 388 | // roomVertex *tmp_rv = new roomVertex(voriHalfEdgeItr->roomId, topo_geometry::point(sumX, sumY), 389 | // voriHalfEdgeItr->source->point, voriHalfEdgeItr->target->point); 390 | // //append edge into pathes list then transform to PPEdge 391 | // tmp_rv->areaInnerPathes.push_back(&*voriHalfEdgeItr); 392 | // tmp_rv->areaInnerPathes.push_back(voriHalfEdgeItr->twin); 393 | // tmp_rv->init_areaInnerPPGraph(); 394 | // 395 | // 396 | // if (polygonPtr) 397 | // tmp_rv->polygons.push_back(polygonPtr); 398 | // if (voriHalfEdgeItr->twin->pathFace) 399 | // tmp_rv->polygons.push_back(voriHalfEdgeItr->twin->pathFace); 400 | // //insert roomVertex into the originSet 401 | // originSet.push_back(tmp_rv); 402 | // 403 | // }//end else 404 | // }//end for 405 | //} 406 | 407 | 408 | void RMG::AreaGraph::buildAreaGraph(VoriGraph &voriGraph) { 409 | VoriGraph::VertexMap::iterator vertexItr; 410 | 411 | std::set halfEdgeSet; 412 | std::map hE2rV; 413 | for (vertexItr = voriGraph.vertices.begin(); vertexItr != voriGraph.vertices.end(); vertexItr++) { 414 | int conCnt = vertexItr->second.edgesConnected.size(); 415 | passageEdge *curr_passage; 416 | if (conCnt >= 4) { 417 | if (conCnt == 4) { 418 | // curr_passage = new passageEdge(vertexItr->first, false); 419 | passageEdge *tmp_passage(new passageEdge(vertexItr->first, false)); 420 | curr_passage = tmp_passage; 421 | } else if (conCnt > 4) { 422 | // curr_passage = new passageEdge(vertexItr->first, true); 423 | passageEdge *tmp_passage(new passageEdge(vertexItr->first, true)); 424 | curr_passage = tmp_passage; 425 | } 426 | passageEList.push_back(curr_passage); 427 | } else { // if the vertex is a dead end or zero degree 428 | // std::cout<<"conCnt="<first.x()<<" , "<first.y()<<" ) "<::iterator hitr = vertexItr->second.edgesConnected.begin(); 433 | hitr != vertexItr->second.edgesConnected.end(); hitr++) { 434 | if ((*hitr)->isRay()) { 435 | conCnt--; 436 | continue; 437 | } 438 | 439 | std::set::iterator hfound = halfEdgeSet.find( 440 | *hitr); //WARNING: This check may cause the vertex not being recorded as a passage of this roomVertex 441 | if (hfound == halfEdgeSet.end()) { 442 | halfEdgeSet.insert(*hitr); 443 | VoriGraphPolygon *polygonPtr = (*hitr)->pathFace; 444 | if (polygonPtr) { 445 | VoriGraphHalfEdge *twinHalfedge = (*hitr)->twin; 446 | if (twinHalfedge) { 447 | halfEdgeSet.insert(twinHalfedge); 448 | VoriGraphPolygon *twpolygonPtr = twinHalfedge->pathFace; 449 | if (twpolygonPtr) { 450 | // CHANGE: just create this halfedge as a roomVertex when both its twin(must has) and it have and path face 451 | double cx = (*hitr)->source->point.x() + (*hitr)->target->point.x(); 452 | cx /= 2.0; 453 | double cy = (*hitr)->source->point.y() + (*hitr)->target->point.y(); 454 | cy /= 2.0; 455 | topo_geometry::point c(cx, cy); 456 | // std::cout<<"creating roomVertex: roomId="<<(*hitr)->roomId<<", center="; 457 | // coutpoint(c); std::cout<roomId, c, 459 | (*hitr)->source->point, (*hitr)->target->point)); 460 | curr_rv->areaInnerPathes.push_back(*hitr); 461 | curr_rv->areaInnerPathes.push_back(twinHalfedge); 462 | curr_rv->init_areaInnerPPGraph(); 463 | curr_rv->polygons.push_back(polygonPtr); 464 | curr_rv->polygons.push_back(twpolygonPtr); 465 | originSet.push_back(curr_rv); 466 | 467 | hE2rV[*hitr] = curr_rv; 468 | hE2rV[twinHalfedge] = curr_rv; 469 | 470 | 471 | //push the new roomVertex as the passage's connected areas 472 | curr_passage->connectedAreas.push_back(curr_rv); 473 | // curr_rv->passages.push_back(curr_passage); 474 | curr_rv->passages.push_back(curr_passage); 475 | 476 | } else { 477 | coutpoint(twinHalfedge->source->point); 478 | std::cout << "->"; 479 | coutpoint(twinHalfedge->target->point); 480 | std::cout << "has no path face!" << std::endl; 481 | } 482 | } else { 483 | coutpoint((*hitr)->source->point); 484 | std::cout << "->"; 485 | coutpoint((*hitr)->target->point); 486 | std::cout << "has no twin halfedge!" << std::endl; 487 | } 488 | 489 | } else { 490 | coutpoint((*hitr)->source->point); 491 | std::cout << "->"; 492 | coutpoint((*hitr)->target->point); 493 | std::cout << "has no path face!" << std::endl; 494 | } 495 | 496 | } else { 497 | if (hE2rV.find(*hitr) != hE2rV.end()) { 498 | roomVertex *f_rv = hE2rV[*hitr]; 499 | 500 | std::vector::iterator it = f_rv->passages.begin(); 501 | for (; it != f_rv->passages.end(); it++) { 502 | if (*it == curr_passage) 503 | break; 504 | } 505 | if (it == f_rv->passages.end()) { 506 | curr_passage->connectedAreas.push_back(f_rv); 507 | f_rv->passages.push_back(curr_passage); 508 | } 509 | } 510 | // if ((*hitr)->pathFace && (*hitr)->twin->pathFace) { 511 | // curr_passage->connectedAreas.push_back(hE2rV[*hitr]); 512 | // hE2rV[*hitr]->passages.push_back(curr_passage); 513 | // } 514 | } 515 | } 516 | } 517 | } 518 | 519 | 520 | void RMG::AreaGraph::mergeRoomPolygons() { 521 | for (std::vector::iterator it = this->originSet.begin(); 522 | it != this->originSet.end(); it++) 523 | (*it)->mergePolygons(); 524 | } 525 | 526 | 527 | static void check_redun_pair(std::vector > &edges, 528 | std::pair new_pair); 529 | 530 | static double calc_poly_area(std::list &polygon); 531 | 532 | void RMG::roomVertex::mergePolygons() { 533 | //1. traverse all of the pairs(edge) and insert it into vector, 534 | //if there is a redundent, delete this edge 535 | //(Because considering the redun count can only be 0 or 1) 536 | //2. store those outer vertex in order 537 | if (this->polygons.size() < 2) { 538 | this->polygon = (*(this->polygons.begin()))->polygonpoints; 539 | return; 540 | } 541 | //1. 542 | std::vector > edges;//store all of those vertices 543 | //each polygon 544 | for (std::vector::iterator it = this->polygons.begin(); it != this->polygons.end(); it++) { 545 | if ((*it)->polygonpoints.size() < 2) 546 | continue; 547 | topo_geometry::point firstGeoP = *((*it)->polygonpoints.begin()); 548 | //each polygon vertex 549 | std::list::iterator itj = (*it)->polygonpoints.begin(); 550 | std::list::iterator itj_next = itj; 551 | 552 | for (itj_next++; itj_next != (*it)->polygonpoints.end();) { 553 | 554 | 555 | std::pair new_pair(*itj, *itj_next); 556 | //check redundent 557 | check_redun_pair(edges, new_pair); 558 | itj_next = ++itj; 559 | itj_next++; 560 | } 561 | check_redun_pair(edges, std::pair(firstGeoP, *itj)); 562 | } 563 | //2. 564 | std::pair first_pair = *(edges.rbegin()); 565 | 566 | std::list tmp_polygon; 567 | tmp_polygon.push_back(first_pair.first); 568 | 569 | topo_geometry::point pair_tail = first_pair.second; 570 | double area_max = 0; 571 | while (!edges.empty()) { 572 | std::vector >::iterator itp = edges.begin(); 573 | 574 | for (; itp != edges.end(); itp++) { 575 | if (equalLineVertex(pair_tail, itp->first)) { 576 | tmp_polygon.push_back(pair_tail); 577 | 578 | pair_tail = itp->second; 579 | // this->polygon.push_back(pair_tail); 580 | break; 581 | } 582 | if (equalLineVertex(pair_tail, itp->second)) { 583 | tmp_polygon.push_back(pair_tail); 584 | 585 | pair_tail = itp->first; 586 | // this->polygon.push_back(pair_tail); 587 | break; 588 | } 589 | } 590 | 591 | if (itp != edges.end()) { 592 | 593 | edges.erase(itp); 594 | } else { 595 | tmp_polygon.push_back(pair_tail); 596 | 597 | double tmp_area = calc_poly_area(tmp_polygon); 598 | //std::cout << tmp_area< area_max) { 600 | area_max = tmp_area; 601 | this->polygon = tmp_polygon; 602 | } 603 | tmp_polygon.clear(); 604 | //inner poly or outter poly, new poly 605 | first_pair = *(edges.rbegin()); 606 | //edges.pop_back(); 607 | tmp_polygon.push_back(first_pair.first); 608 | pair_tail = first_pair.second; 609 | } 610 | } 611 | double tmp_area = calc_poly_area(tmp_polygon); 612 | //std::cout << tmp_area< area_max) { 614 | area_max = tmp_area; 615 | this->polygon = tmp_polygon; 616 | } 617 | 618 | } 619 | 620 | /* 621 | *Tools only for this cpp 622 | */ 623 | static double calc_poly_area(std::list &polygon) { 624 | double area = 0; 625 | std::list::iterator itj = polygon.end(); 626 | itj--; 627 | for (std::list::iterator it = polygon.begin(); it != polygon.end(); it++) { 628 | area += ((topo_geometry::getX(*itj) * topo_geometry::getX(*it)) * 629 | (topo_geometry::getY(*itj) - topo_geometry::getY(*it))); 630 | itj = it; 631 | } 632 | return std::abs(area / 2.0); 633 | } 634 | 635 | static void check_redun_pair(std::vector > &edges, 636 | std::pair new_pair) { 637 | //check redundent 638 | std::vector >::iterator itk = edges.begin(); 639 | for (; itk != edges.end(); itk++) { 640 | if ((equalLineVertex(itk->first, new_pair.first) && equalLineVertex(itk->second, new_pair.second)) || 641 | (equalLineVertex(itk->first, new_pair.second) && equalLineVertex(itk->second, new_pair.first))) 642 | break; 643 | } 644 | //if fund redun, erase 645 | if (itk != edges.end()) { 646 | edges.erase(itk); 647 | } 648 | //if not found redun, insert 649 | else { 650 | //check self.connect edge 651 | if (!equalLineVertex(new_pair.first, new_pair.second)) 652 | edges.push_back(new_pair); 653 | } 654 | } 655 | 656 | static bool equalLineVertex(const topo_geometry::point &a, const topo_geometry::point &b) { 657 | if ((topo_geometry::getX(a)) == (topo_geometry::getX(b)) 658 | && 659 | (topo_geometry::getY(a)) == (topo_geometry::getY(b))) { 660 | if ((topo_geometry::getX(a)) == 0 && (topo_geometry::getY(a)) == 0) 661 | /* 662 | if((round(topo_geometry::getX(a))) == (round(topo_geometry::getX(b))) 663 | && 664 | (round(topo_geometry::getY(a))) == (round(topo_geometry::getY(b))) ){ 665 | if((round(topo_geometry::getX(a))) ==0 && (round(topo_geometry::getY(a))) == 0 ) 666 | */ 667 | return false; 668 | //std::cout << "True match: " << round(topo_geometry::getX(a))<<" " < 7 | #include 8 | 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | 16 | #include "VoriGraph.h" 17 | #include "TopoGraph.h" 18 | #include "cgal/CgalVoronoi.h" 19 | #include "cgal/AlphaShape.h" 20 | #include "qt/QImageVoronoi.h" 21 | 22 | #include 23 | #include 24 | #include 25 | 26 | #include 27 | 28 | #include 29 | 30 | #include "RoomDect.h" 31 | 32 | #include "roomGraph.h" 33 | #include "Denoise.h" 34 | #include 35 | #include 36 | 37 | #include "cgal/AlphaShapeRemoval.h" 38 | 39 | using namespace std; 40 | 41 | #include 42 | 43 | template 44 | std::string NumberToString(T Number) { 45 | std::ostringstream ss; 46 | ss << Number; 47 | return ss.str(); 48 | } 49 | 50 | int nearint(double a) { 51 | return ceil( a ) - a < 0.5 ? ceil( a ) : floor( a ); 52 | } 53 | 54 | VoriConfig *sConfig; 55 | 56 | int main(int argc, char *argv[]) { 57 | if (argc < 2) { 58 | cout << "Usage " << argv[0] 59 | << " RGBimage.png " 60 | << endl; 61 | return 255; 62 | } 63 | double door_wide = 1.15, corridor_wide = 2, res = 0.05; 64 | double noise_percent = 1.5; 65 | bool record_time = false; 66 | if (argc > 2) { 67 | res = atof( argv[2] ); 68 | if (argc > 4) { 69 | door_wide = atof( argv[3] ) == -1 ? 1.15 : atof( argv[3] ); 70 | corridor_wide = atof( argv[4] ) == -1 ? 1.35 : atof( argv[4] ); 71 | 72 | if (argc > 5) { 73 | noise_percent = atof( argv[5] ); 74 | if (argc > 6) 75 | record_time = true; 76 | } 77 | } 78 | } 79 | 80 | sConfig = new VoriConfig(); 81 | sConfig->doubleConfigVars["alphaShapeRemovalSquaredSize"] = 625; 82 | sConfig->doubleConfigVars["firstDeadEndRemovalDistance"] = 100000; 83 | sConfig->doubleConfigVars["secondDeadEndRemovalDistance"] = -100000; 84 | sConfig->doubleConfigVars["thirdDeadEndRemovalDistance"] = 0.25 / res; 85 | sConfig->doubleConfigVars["fourthDeadEndRemovalDistance"] = 8; 86 | sConfig->doubleConfigVars["topoGraphAngleCalcEndDistance"] = 10; 87 | sConfig->doubleConfigVars["topoGraphAngleCalcStartDistance"] = 3; 88 | sConfig->doubleConfigVars["topoGraphAngleCalcStepSize"] = 0.1; 89 | sConfig->doubleConfigVars["topoGraphDistanceToJoinVertices"] = 10; 90 | sConfig->doubleConfigVars["topoGraphMarkAsFeatureEdgeLength"] = 16; 91 | sConfig->doubleConfigVars["voronoiMinimumDistanceToObstacle"] = 0.25 / res; 92 | sConfig->doubleConfigVars["topoGraphDistanceToJoinVertices"] = 4; 93 | 94 | 95 | clock_t start; 96 | start = clock(); 97 | 98 | int black_threshold = 210; 99 | bool de = DenoiseImg( argv[1], "clean.png", black_threshold, 18, noise_percent ); 100 | if (de) 101 | cout << "Denoise run successed!!" << endl; 102 | 103 | clock_t afterDenoise = clock(); 104 | QImage test; 105 | test.load( "clean.png" ); 106 | 107 | bool isTriple; 108 | analyseImage( test, isTriple ); 109 | 110 | double AlphaShapeSquaredDist = 111 | (sConfig->voronoiMinimumDistanceToObstacle()) * (sConfig->voronoiMinimumDistanceToObstacle()); 112 | performAlphaRemoval( test, AlphaShapeSquaredDist, MAX_PLEN_REMOVAL ); 113 | test.save( "afterAlphaRemoval.png" ); 114 | 115 | clock_t afterAlphaRemoval = clock(); 116 | std::vector sites; 117 | bool ret = getSites( test, sites ); 118 | 119 | int remove_alpha_value = 3600; 120 | double a = door_wide < corridor_wide ? door_wide + 0.1 : corridor_wide - 0.1; 121 | int alpha_value = ceil( a * a * 0.25 / (res * res)); 122 | sConfig->doubleConfigVars["alphaShapeRemovalSquaredSize"] = alpha_value; 123 | std::cout << "a = " << a << ", where alpha = " << alpha_value << std::endl; 124 | clock_t loop_start = clock(); 125 | // create the voronoi graph and vori graph 126 | VoriGraph voriGraph; 127 | ret = createVoriGraph( sites, voriGraph, sConfig ); 128 | printGraphStatistics( voriGraph ); 129 | 130 | clock_t generatedVG = clock(); 131 | QImage alpha = test; 132 | AlphaShapePolygon alphaSP, tem_alphaSP; 133 | AlphaShapePolygon::Polygon_2 *poly = alphaSP.performAlpha_biggestArea( alpha, remove_alpha_value, true ); 134 | if (poly) { 135 | cout << "Removing vertices outside of polygon" << endl; 136 | removeOutsidePolygon( voriGraph, *poly ); 137 | } 138 | AlphaShapePolygon::Polygon_2 *tem_poly = tem_alphaSP.performAlpha_biggestArea( alpha, 139 | sConfig->alphaShapeRemovalSquaredSize(), 140 | false ); 141 | voriGraph.joinHalfEdges_jiawei(); 142 | cout << "size of Polygons: " << tem_alphaSP.sizeOfPolygons() << endl; 143 | 144 | clock_t rmOut = clock(); 145 | std::list::iterator> zeroHalfEdge; 146 | for (std::list::iterator pathEdgeItr = voriGraph.halfEdges.begin(); 147 | pathEdgeItr != voriGraph.halfEdges.end(); pathEdgeItr++) { 148 | if (pathEdgeItr->distance <= EPSINON) { 149 | zeroHalfEdge.push_back( pathEdgeItr ); 150 | } 151 | } 152 | for (std::list::iterator>::iterator zeroHalfEdgeItr = zeroHalfEdge.begin(); 153 | zeroHalfEdgeItr != zeroHalfEdge.end(); zeroHalfEdgeItr++) { 154 | voriGraph.removeHalfEdge_jiawei( *zeroHalfEdgeItr ); 155 | } 156 | 157 | clock_t zeroHf = clock(); 158 | if (sConfig->firstDeadEndRemovalDistance() > 0.) { 159 | voriGraph.markDeadEnds(); 160 | removeDeadEnds_addFacetoPolygon( voriGraph, 161 | sConfig->firstDeadEndRemovalDistance()); 162 | voriGraph.joinHalfEdges_jiawei(); 163 | } 164 | if (sConfig->secondDeadEndRemovalDistance() > 0.) { 165 | voriGraph.markDeadEnds(); 166 | removeDeadEnds_addFacetoPolygon( voriGraph, sConfig->secondDeadEndRemovalDistance()); 167 | voriGraph.joinHalfEdges_jiawei(); 168 | } 169 | 170 | gernerateGroupId( voriGraph ); 171 | keepBiggestGroup( voriGraph ); 172 | 173 | removeRays( voriGraph ); 174 | voriGraph.joinHalfEdges_jiawei(); 175 | 176 | if (sConfig->thirdDeadEndRemovalDistance() > 0.) { 177 | voriGraph.markDeadEnds(); 178 | removeDeadEnds_addFacetoPolygon( voriGraph, sConfig->thirdDeadEndRemovalDistance()); 179 | voriGraph.joinHalfEdges_jiawei(); 180 | // printGraphStatistics(voriGraph, "Third dead ends"); 181 | } 182 | if (sConfig->fourthDeadEndRemovalDistance() > 0.) { 183 | voriGraph.markDeadEnds(); 184 | removeDeadEnds_addFacetoPolygon( voriGraph, sConfig->fourthDeadEndRemovalDistance()); 185 | voriGraph.joinHalfEdges_jiawei(); 186 | // printGraphStatistics(voriGraph, "Fourth dead ends"); 187 | } 188 | 189 | clock_t DeadEndRemoval = clock(); 190 | 191 | RoomDect roomtest; 192 | roomtest.forRoomDect( tem_alphaSP, voriGraph, tem_poly ); 193 | 194 | clock_t roomDetect = clock(); 195 | 196 | QImage dectRoom = test; 197 | paintVori_onlyArea( dectRoom, voriGraph ); 198 | string tem_s = NumberToString( nearint( a * 100 )) + ".png"; 199 | dectRoom.save( tem_s.c_str()); 200 | 201 | clock_t beforeMerge = clock(); 202 | 203 | RMG::AreaGraph RMGraph( voriGraph ); 204 | RMGraph.mergeAreas(); 205 | RMGraph.mergeRoomCell(); 206 | RMGraph.prunning(); 207 | RMGraph.arrangeRoomId(); 208 | RMGraph.show(); 209 | 210 | clock_t geneAG = clock(); 211 | double t_wholeloop = geneAG - start; 212 | 213 | RMGraph.mergeRoomPolygons(); 214 | std::cout << "Area Graph generation use time (including denoising pre-processiong): " << t_wholeloop / CLOCKS_PER_SEC << std::endl; 215 | std::cout << "Area Graph generation use time: " << (double)(geneAG-afterAlphaRemoval) / CLOCKS_PER_SEC << std::endl; 216 | 217 | // QImage RMGIm = test; 218 | // RMGraph.draw( RMGIm ); 219 | // RMGIm.save( "roomGraph.png" ); 220 | return 0; 221 | } 222 | --------------------------------------------------------------------------------