diff --git a/modules/imgproc/include/opencv2/imgproc/imgproc.hpp b/modules/imgproc/include/opencv2/imgproc/imgproc.hpp index 970b07682..bd79955fb 100644 --- a/modules/imgproc/include/opencv2/imgproc/imgproc.hpp +++ b/modules/imgproc/include/opencv2/imgproc/imgproc.hpp @@ -1017,6 +1017,98 @@ CV_EXPORTS_W void fitLine( InputArray points, OutputArray line, int distType, //! checks if the point is inside the contour. Optionally computes the signed distance from the point to the contour boundary CV_EXPORTS_W double pointPolygonTest( InputArray contour, Point2f pt, bool measureDist ); + +class CV_EXPORTS_W Subdiv2D +{ +public: + enum + { + PTLOC_ERROR = -2, + PTLOC_OUTSIDE_RECT = -1, + PTLOC_INSIDE = 0, + PTLOC_VERTEX = 1, + PTLOC_ON_EDGE = 2 + }; + + enum + { + NEXT_AROUND_ORG = 0x00, + NEXT_AROUND_DST = 0x22, + PREV_AROUND_ORG = 0x11, + PREV_AROUND_DST = 0x33, + NEXT_AROUND_LEFT = 0x13, + NEXT_AROUND_RIGHT = 0x31, + PREV_AROUND_LEFT = 0x20, + PREV_AROUND_RIGHT = 0x02 + }; + + CV_WRAP Subdiv2D(); + CV_WRAP Subdiv2D(Rect rect); + CV_WRAP void initDelaunay(Rect rect); + + CV_WRAP int insert(Point2f pt); + CV_WRAP void insert(const vector& ptvec); + CV_WRAP int locate(Point2f pt, CV_OUT int& edge, CV_OUT int& vertex); + + CV_WRAP int findNearest(Point2f pt, CV_OUT Point2f* nearestPt=0); + CV_WRAP void getEdgeList(CV_OUT vector& edgeList) const; + CV_WRAP void getTriangleList(CV_OUT vector& triangleList) const; + CV_WRAP void getVoronoiFacetList(const vector& idx, CV_OUT vector >& facetList, + CV_OUT vector& facetCenters); + + CV_WRAP Point2f getVertex(int vertex, CV_OUT int* firstEdge=0) const; + + CV_WRAP int getEdge( int edge, int nextEdgeType ) const; + CV_WRAP int nextEdge(int edge) const; + CV_WRAP int rotateEdge(int edge, int rotate) const; + CV_WRAP int symEdge(int edge) const; + CV_WRAP int edgeOrg(int edge, CV_OUT Point2f* orgpt=0) const; + CV_WRAP int edgeDst(int edge, CV_OUT Point2f* dstpt=0) const; + +protected: + int newEdge(); + void deleteEdge(int edge); + int newPoint(Point2f pt, bool isvirtual, int firstEdge=0); + void deletePoint(int vtx); + void setEdgePoints( int edge, int orgPt, int dstPt ); + void splice( int edgeA, int edgeB ); + int connectEdges( int edgeA, int edgeB ); + void swapEdges( int edge ); + int isRightOf(Point2f pt, int edge) const; + void calcVoronoi(); + void clearVoronoi(); + void check() const; + + struct CV_EXPORTS Vertex + { + Vertex(); + Vertex(Point2f pt, bool _isvirtual, int _firstEdge=0); + bool isvirtual() const; + bool isfree() const; + int firstEdge; + int type; + Point2f pt; + }; + struct CV_EXPORTS QuadEdge + { + QuadEdge(); + QuadEdge(int edgeidx); + bool isfree() const; + int next[4]; + int pt[4]; + }; + + vector vtx; + vector qedges; + int freeQEdge; + int freePoint; + bool validGeometry; + + int recentEdge; + Point2f topLeft; + Point2f bottomRight; +}; + } // 2009-01-12, Xavier Delacour diff --git a/modules/imgproc/src/subdivision2d.cpp b/modules/imgproc/src/subdivision2d.cpp index 8034b7b4d..43df79c9a 100644 --- a/modules/imgproc/src/subdivision2d.cpp +++ b/modules/imgproc/src/subdivision2d.cpp @@ -710,4 +710,785 @@ cvFindNearestPoint2D( CvSubdiv2D* subdiv, CvPoint2D32f pt ) return point; } + +namespace cv +{ + +int Subdiv2D::nextEdge(int edge) const +{ + CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); + return qedges[edge >> 2].next[edge & 3]; +} + +int Subdiv2D::rotateEdge(int edge, int rotate) const +{ + return (edge & ~3) + ((edge + rotate) & 3); +} + +int Subdiv2D::symEdge(int edge) const +{ + return edge ^ 2; +} + +int Subdiv2D::getEdge(int edge, int nextEdgeType) const +{ + CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); + edge = qedges[edge >> 2].next[(edge + nextEdgeType) & 3]; + return (edge & ~3) + ((edge + (nextEdgeType >> 4)) & 3); +} + +int Subdiv2D::edgeOrg(int edge, CV_OUT Point2f* orgpt) const +{ + CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); + int vidx = qedges[edge >> 2].pt[edge & 3]; + if( orgpt ) + { + CV_DbgAssert((size_t)vidx < vtx.size()); + *orgpt = vtx[vidx].pt; + } + return vidx; +} + +int Subdiv2D::edgeDst(int edge, CV_OUT Point2f* dstpt) const +{ + CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); + int vidx = qedges[edge >> 2].pt[(edge + 2) & 3]; + if( dstpt ) + { + CV_DbgAssert((size_t)vidx < vtx.size()); + *dstpt = vtx[vidx].pt; + } + return vidx; +} + + +Point2f Subdiv2D::getVertex(int vertex, CV_OUT int* firstEdge) const +{ + CV_DbgAssert((size_t)vertex < vtx.size()); + if( firstEdge ) + *firstEdge = vtx[vertex].firstEdge; + return vtx[vertex].pt; +} + + +Subdiv2D::Subdiv2D() +{ + validGeometry = false; + freeQEdge = 0; + freePoint = 0; + recentEdge = 0; +} + +Subdiv2D::Subdiv2D(Rect rect) +{ + validGeometry = false; + freeQEdge = 0; + freePoint = 0; + recentEdge = 0; + + initDelaunay(rect); +} + + +Subdiv2D::QuadEdge::QuadEdge() +{ + next[0] = next[1] = next[2] = next[3] = 0; + pt[0] = pt[1] = pt[2] = pt[3] = 0; +} + +Subdiv2D::QuadEdge::QuadEdge(int edgeidx) +{ + CV_DbgAssert((edgeidx & 3) == 0); + next[0] = edgeidx; + next[1] = edgeidx+3; + next[2] = edgeidx+2; + next[3] = edgeidx+1; + + pt[0] = pt[1] = pt[2] = pt[3] = 0; +} + +bool Subdiv2D::QuadEdge::isfree() const +{ + return next[0] <= 0; +} + +Subdiv2D::Vertex::Vertex() +{ + firstEdge = 0; + type = -1; +} + +Subdiv2D::Vertex::Vertex(Point2f _pt, bool _isvirtual, int _firstEdge) +{ + firstEdge = _firstEdge; + type = (int)_isvirtual; + pt = _pt; +} + +bool Subdiv2D::Vertex::isvirtual() const +{ + return type > 0; +} + +bool Subdiv2D::Vertex::isfree() const +{ + return type < 0; +} + +void Subdiv2D::splice( int edgeA, int edgeB ) +{ + int& a_next = qedges[edgeA >> 2].next[edgeA & 3]; + int& b_next = qedges[edgeB >> 2].next[edgeB & 3]; + int a_rot = rotateEdge(a_next, 1); + int b_rot = rotateEdge(b_next, 1); + int& a_rot_next = qedges[a_rot >> 2].next[a_rot & 3]; + int& b_rot_next = qedges[b_rot >> 2].next[b_rot & 3]; + std::swap(a_next, b_next); + std::swap(a_rot_next, b_rot_next); +} + +void Subdiv2D::setEdgePoints(int edge, int orgPt, int dstPt) +{ + qedges[edge >> 2].pt[edge & 3] = orgPt; + qedges[edge >> 2].pt[(edge + 2) & 3] = dstPt; + vtx[orgPt].firstEdge = edge; + vtx[dstPt].firstEdge = edge ^ 2; +} + +int Subdiv2D::connectEdges( int edgeA, int edgeB ) +{ + int edge = newEdge(); + + splice(edge, getEdge(edgeA, NEXT_AROUND_LEFT)); + splice(symEdge(edge), edgeB); + + setEdgePoints(edge, edgeDst(edgeA), edgeOrg(edgeB)); + return edge; +} + +void Subdiv2D::swapEdges( int edge ) +{ + int sedge = symEdge(edge); + int a = getEdge(edge, PREV_AROUND_ORG); + int b = getEdge(sedge, PREV_AROUND_ORG); + + splice(edge, a); + splice(sedge, b); + + setEdgePoints(edge, edgeDst(a), edgeDst(b)); + + splice(edge, getEdge(a, NEXT_AROUND_LEFT)); + splice(sedge, getEdge(b, NEXT_AROUND_LEFT)); +} + +int Subdiv2D::isRightOf(Point2f pt, int edge) const +{ + Point2f org, dst; + edgeOrg(edge, &org); + edgeDst(edge, &dst); + double cw_area = cvTriangleArea( pt, dst, org ); + + return (cw_area > 0) - (cw_area < 0); +} + + +int Subdiv2D::newEdge() +{ + if( freeQEdge <= 0 ) + { + qedges.push_back(QuadEdge()); + freeQEdge = (int)(qedges.size()-1); + } + int edge = freeQEdge*4; + freeQEdge = qedges[edge >> 2].next[1]; + qedges[edge >> 2] = QuadEdge(edge); + return edge; +} + +void Subdiv2D::deleteEdge(int edge) +{ + CV_DbgAssert((size_t)(edge >> 2) < (size_t)qedges.size()); + splice( edge, getEdge(edge, PREV_AROUND_ORG) ); + int sedge = symEdge(edge); + splice(sedge, getEdge(sedge, PREV_AROUND_ORG) ); + + edge >>= 2; + qedges[edge].next[0] = 0; + qedges[edge].next[1] = freeQEdge; + freeQEdge = edge; +} + +int Subdiv2D::newPoint(Point2f pt, bool isvirtual, int firstEdge) +{ + if( freePoint == 0 ) + { + vtx.push_back(Vertex()); + freePoint = (int)(vtx.size()-1); + } + int vidx = freePoint; + freePoint = vtx[vidx].firstEdge; + vtx[vidx] = Vertex(pt, isvirtual, firstEdge); + + return vidx; +} + +void Subdiv2D::deletePoint(int vidx) +{ + CV_DbgAssert( (size_t)vidx < vtx.size() ); + vtx[vidx].firstEdge = freePoint; + vtx[vidx].type = -1; + freePoint = vidx; +} + +int Subdiv2D::locate(Point2f pt, int& _edge, int& _vertex) +{ + int vertex = 0; + + int i, maxEdges = (int)(qedges.size() * 4); + + if( qedges.size() < (size_t)4 ) + CV_Error( CV_StsError, "Subdivision is empty" ); + + if( pt.x < topLeft.x || pt.y < topLeft.y || pt.x >= bottomRight.x || pt.y >= bottomRight.y ) + CV_Error( CV_StsOutOfRange, "" ); + + int edge = recentEdge; + CV_Assert(edge > 0); + + int location = PTLOC_ERROR; + + int right_of_curr = isRightOf(pt, edge); + if( right_of_curr > 0 ) + { + edge = symEdge(edge); + right_of_curr = -right_of_curr; + } + + for( i = 0; i < maxEdges; i++ ) + { + int onext_edge = nextEdge( edge ); + int dprev_edge = getEdge( edge, PREV_AROUND_DST ); + + int right_of_onext = isRightOf( pt, onext_edge ); + int right_of_dprev = isRightOf( pt, dprev_edge ); + + if( right_of_dprev > 0 ) + { + if( right_of_onext > 0 || (right_of_onext == 0 && right_of_curr == 0) ) + { + location = PTLOC_INSIDE; + break; + } + else + { + right_of_curr = right_of_onext; + edge = onext_edge; + } + } + else + { + if( right_of_onext > 0 ) + { + if( right_of_dprev == 0 && right_of_curr == 0 ) + { + location = PTLOC_INSIDE; + break; + } + else + { + right_of_curr = right_of_dprev; + edge = dprev_edge; + } + } + else if( right_of_curr == 0 && + isRightOf( vtx[edgeDst(onext_edge)].pt, edge ) >= 0 ) + { + edge = symEdge( edge ); + } + else + { + right_of_curr = right_of_onext; + edge = onext_edge; + } + } + } + + recentEdge = edge; + + if( location == PTLOC_INSIDE ) + { + Point2f org_pt, dst_pt; + edgeOrg(edge, &org_pt); + edgeDst(edge, &dst_pt); + + double t1 = fabs( pt.x - org_pt.x ); + t1 += fabs( pt.y - org_pt.y ); + double t2 = fabs( pt.x - dst_pt.x ); + t2 += fabs( pt.y - dst_pt.y ); + double t3 = fabs( org_pt.x - dst_pt.x ); + t3 += fabs( org_pt.y - dst_pt.y ); + + if( t1 < FLT_EPSILON ) + { + location = PTLOC_VERTEX; + vertex = edgeOrg( edge ); + edge = 0; + } + else if( t2 < FLT_EPSILON ) + { + location = PTLOC_VERTEX; + vertex = edgeDst( edge ); + edge = 0; + } + else if( (t1 < t3 || t2 < t3) && + fabs( cvTriangleArea( pt, org_pt, dst_pt )) < FLT_EPSILON ) + { + location = PTLOC_ON_EDGE; + vertex = 0; + } + } + + if( location == PTLOC_ERROR ) + { + edge = 0; + vertex = 0; + } + + _edge = edge; + _vertex = vertex; + + return location; +} + + +inline int +isPtInCircle3( Point2f pt, Point2f a, Point2f b, Point2f c) +{ + const double eps = FLT_EPSILON*0.125; + double val = ((double)a.x * a.x + (double)a.y * a.y) * cvTriangleArea( b, c, pt ); + val -= ((double)b.x * b.x + (double)b.y * b.y) * cvTriangleArea( a, c, pt ); + val += ((double)c.x * c.x + (double)c.y * c.y) * cvTriangleArea( a, b, pt ); + val -= ((double)pt.x * pt.x + (double)pt.y * pt.y) * cvTriangleArea( a, b, c ); + + return val > eps ? 1 : val < -eps ? -1 : 0; +} + + +int Subdiv2D::insert(Point2f pt) +{ + int curr_point = 0, curr_edge = 0, deleted_edge = 0; + int location = locate( pt, curr_edge, curr_point ); + + if( location == PTLOC_ERROR ) + CV_Error( CV_StsBadSize, "" ); + + if( location == PTLOC_OUTSIDE_RECT ) + CV_Error( CV_StsOutOfRange, "" ); + + if( location == PTLOC_VERTEX ) + return curr_point; + + if( location == PTLOC_ON_EDGE ) + { + deleted_edge = curr_edge; + recentEdge = curr_edge = getEdge( curr_edge, PREV_AROUND_ORG ); + deleteEdge(deleted_edge); + } + else if( location == PTLOC_INSIDE ) + ; + else + CV_Error_(CV_StsError, ("Subdiv2D::locate returned invalid location = %d", location) ); + + assert( curr_edge != 0 ); + validGeometry = false; + + curr_point = newPoint(pt, false); + int base_edge = newEdge(); + int first_point = edgeOrg(curr_edge); + setEdgePoints(base_edge, first_point, curr_point); + splice(base_edge, curr_edge); + + do + { + base_edge = connectEdges( curr_edge, symEdge(base_edge) ); + curr_edge = getEdge(base_edge, PREV_AROUND_ORG); + } + while( edgeDst(curr_edge) != first_point ); + + curr_edge = getEdge( base_edge, PREV_AROUND_ORG ); + + int i, max_edges = (int)(qedges.size()*4); + + for( i = 0; i < max_edges; i++ ) + { + int temp_dst = 0, curr_org = 0, curr_dst = 0; + int temp_edge = getEdge( curr_edge, PREV_AROUND_ORG ); + + temp_dst = edgeDst( temp_edge ); + curr_org = edgeOrg( curr_edge ); + curr_dst = edgeDst( curr_edge ); + + if( isRightOf( vtx[temp_dst].pt, curr_edge ) > 0 && + isPtInCircle3( vtx[curr_org].pt, vtx[temp_dst].pt, + vtx[curr_dst].pt, vtx[curr_point].pt ) < 0 ) + { + swapEdges( curr_edge ); + curr_edge = getEdge( curr_edge, PREV_AROUND_ORG ); + } + else if( curr_org == first_point ) + break; + else + curr_edge = getEdge( nextEdge( curr_edge ), PREV_AROUND_LEFT ); + } + + return curr_point; +} + +void Subdiv2D::insert(const vector& ptvec) +{ + for( size_t i = 0; i < ptvec.size(); i++ ) + insert(ptvec[i]); +} + +void Subdiv2D::initDelaunay( Rect rect ) +{ + float big_coord = 3.f * MAX( rect.width, rect.height ); + float rx = (float)rect.x; + float ry = (float)rect.y; + + vtx.clear(); + qedges.clear(); + + recentEdge = 0; + validGeometry = false; + + topLeft = Point2f( rx, ry ); + bottomRight = Point2f( rx + rect.width, ry + rect.height ); + + Point2f ppA( rx + big_coord, ry ); + Point2f ppB( rx, ry + big_coord ); + Point2f ppC( rx - big_coord, ry - big_coord ); + + vtx.push_back(Vertex()); + qedges.push_back(QuadEdge()); + + freeQEdge = 0; + freePoint = 0; + + int pA = newPoint(ppA, false); + int pB = newPoint(ppB, false); + int pC = newPoint(ppC, false); + + int edge_AB = newEdge(); + int edge_BC = newEdge(); + int edge_CA = newEdge(); + + setEdgePoints( edge_AB, pA, pB ); + setEdgePoints( edge_BC, pB, pC ); + setEdgePoints( edge_CA, pC, pA ); + + splice( edge_AB, symEdge( edge_CA )); + splice( edge_BC, symEdge( edge_AB )); + splice( edge_CA, symEdge( edge_BC )); + + recentEdge = edge_AB; +} + + +void Subdiv2D::clearVoronoi() +{ + size_t i, total = qedges.size(); + + for( i = 0; i < total; i++ ) + qedges[i].pt[1] = qedges[i].pt[3] = 0; + + total = vtx.size(); + for( i = 0; i < total; i++ ) + { + if( vtx[i].isvirtual() ) + deletePoint((int)i); + } + + validGeometry = false; +} + + +static Point2f computeVoronoiPoint(Point2f org0, Point2f dst0, Point2f org1, Point2f dst1) +{ + double a0 = dst0.x - org0.x; + double b0 = dst0.y - org0.y; + double c0 = -0.5*(a0 * (dst0.x + org0.x) + b0 * (dst0.y + org0.y)); + + double a1 = dst1.x - org1.x; + double b1 = dst1.y - org1.y; + double c1 = -0.5*(a1 * (dst1.x + org1.x) + b1 * (dst1.y + org1.y)); + + double det = a0 * b1 - a1 * b0; + + if( det != 0 ) + { + det = 1. / det; + return Point2f((float) ((b0 * c1 - b1 * c0) * det), + (float) ((a1 * c0 - a0 * c1) * det)); + } + + return Point2f(FLT_MAX, FLT_MAX); +} + + +void Subdiv2D::calcVoronoi() +{ + // check if it is already calculated + if( validGeometry ) + return; + + clearVoronoi(); + int i, total = (int)qedges.size(); + + // loop through all quad-edges, except for the first 3 (#1, #2, #3 - 0 is reserved for "NULL" pointer) + for( i = 4; i < total; i++ ) + { + QuadEdge& quadedge = qedges[i]; + + if( quadedge.isfree() ) + continue; + + int edge0 = (int)(i*4); + Point2f org0, dst0, org1, dst1; + + if( !quadedge.pt[3] ) + { + int edge1 = getEdge( edge0, NEXT_AROUND_LEFT ); + int edge2 = getEdge( edge1, NEXT_AROUND_LEFT ); + + edgeOrg(edge0, &org0); + edgeDst(edge0, &dst0); + edgeOrg(edge1, &org1); + edgeDst(edge1, &dst1); + + Point2f virt_point = computeVoronoiPoint(org0, dst0, org1, dst1); + + if( fabs( virt_point.x ) < FLT_MAX * 0.5 && + fabs( virt_point.y ) < FLT_MAX * 0.5 ) + { + quadedge.pt[3] = qedges[edge1 >> 2].pt[3 - (edge1 & 2)] = + qedges[edge2 >> 2].pt[3 - (edge2 & 2)] = newPoint(virt_point, true); + } + } + + if( !quadedge.pt[1] ) + { + int edge1 = getEdge( edge0, NEXT_AROUND_RIGHT ); + int edge2 = getEdge( edge1, NEXT_AROUND_RIGHT ); + + edgeOrg(edge0, &org0); + edgeDst(edge0, &dst0); + edgeOrg(edge1, &org1); + edgeDst(edge1, &dst1); + + Point2f virt_point = computeVoronoiPoint(org0, dst0, org1, dst1); + + if( fabs( virt_point.x ) < FLT_MAX * 0.5 && + fabs( virt_point.y ) < FLT_MAX * 0.5 ) + { + quadedge.pt[1] = qedges[edge1 >> 2].pt[1 + (edge1 & 2)] = + qedges[edge2 >> 2].pt[1 + (edge2 & 2)] = newPoint(virt_point, true); + } + } + } + + validGeometry = true; +} + + +static int +isRightOf2( const Point2f& pt, const Point2f& org, const Point2f& diff ) +{ + double cw_area = ((double)org.x - pt.x)*diff.y - ((double)org.y - pt.y)*diff.x; + return (cw_area > 0) - (cw_area < 0); +} + + +int Subdiv2D::findNearest(Point2f pt, Point2f* nearestPt) +{ + if( !validGeometry ) + calcVoronoi(); + + int vertex = 0, edge = 0; + int loc = locate( pt, edge, vertex ); + + if( loc != PTLOC_ON_EDGE && loc != PTLOC_INSIDE ) + return vertex; + + vertex = 0; + + Point2f start; + edgeOrg(edge, &start); + Point2f diff = pt - start; + + edge = rotateEdge(edge, 1); + + int i, total = (int)vtx.size(); + + for( i = 0; i < total; i++ ) + { + Point2f t; + + for(;;) + { + CV_Assert( edgeDst(edge, &t) > 0 ); + if( isRightOf2( t, start, diff ) >= 0 ) + break; + + edge = getEdge( edge, NEXT_AROUND_LEFT ); + } + + for(;;) + { + CV_Assert( edgeOrg( edge, &t ) > 0 ); + + if( isRightOf2( t, start, diff ) < 0 ) + break; + + edge = getEdge( edge, PREV_AROUND_LEFT ); + } + + Point2f tempDiff; + edgeDst(edge, &tempDiff); + edgeOrg(edge, &t); + tempDiff -= t; + + if( isRightOf2( pt, t, tempDiff ) >= 0 ) + { + vertex = edgeOrg(rotateEdge( edge, 3 )); + break; + } + + edge = symEdge( edge ); + } + + if( nearestPt && vertex > 0 ) + *nearestPt = vtx[vertex].pt; + + return vertex; +} + +void Subdiv2D::getEdgeList(vector& edgeList) const +{ + edgeList.clear(); + + for( size_t i = 4; i < qedges.size(); i++ ) + { + if( qedges[i].isfree() ) + continue; + if( qedges[i].pt[0] > 0 && qedges[i].pt[2] > 0 ) + { + Point2f org = vtx[qedges[i].pt[0]].pt; + Point2f dst = vtx[qedges[i].pt[2]].pt; + edgeList.push_back(Vec4f(org.x, org.y, dst.x, dst.y)); + } + } +} + +void Subdiv2D::getTriangleList(vector& triangleList) const +{ + triangleList.clear(); + int i, total = (int)(qedges.size()*4); + vector edgemask(total, false); + + for( i = 4; i < total; i += 2 ) + { + if( edgemask[i] ) + continue; + Point2f a, b, c; + int edge = i; + edgeOrg(edge, &a); + edgemask[edge] = true; + edge = getEdge(edge, NEXT_AROUND_LEFT); + edgeOrg(edge, &b); + edgemask[edge] = true; + edge = getEdge(edge, NEXT_AROUND_LEFT); + edgeOrg(edge, &c); + edgemask[edge] = true; + triangleList.push_back(Vec6f(a.x, a.y, b.x, b.y, c.x, c.y)); + } +} + +void Subdiv2D::getVoronoiFacetList(const vector& idx, + CV_OUT vector >& facetList, + CV_OUT vector& facetCenters) +{ + calcVoronoi(); + facetList.clear(); + facetCenters.clear(); + + vector buf; + + size_t i, total; + if( idx.empty() ) + i = 4, total = vtx.size(); + else + i = 0, total = idx.size(); + + for( ; i < total; i++ ) + { + int k = idx.empty() ? (int)i : idx[i]; + + if( vtx[k].isfree() || vtx[k].isvirtual() ) + continue; + int edge = rotateEdge(vtx[k].firstEdge, 1), t = edge; + + // gather points + buf.clear(); + do + { + buf.push_back(vtx[edgeOrg(t)].pt); + t = getEdge( t, NEXT_AROUND_LEFT ); + } + while( t != edge ); + + facetList.push_back(buf); + facetCenters.push_back(vtx[k].pt); + } +} + + +void Subdiv2D::check() const +{ + int i, j, total = (int)qedges.size(); + + for( i = 0; i < total; i++ ) + { + const QuadEdge& qe = qedges[i]; + + if( qe.isfree() ) + continue; + + for( j = 0; j < 4; j++ ) + { + int e = (int)(i*4 + j); + int o_next = nextEdge(e); + int o_prev = getEdge(e, PREV_AROUND_ORG ); + int d_prev = getEdge(e, PREV_AROUND_DST ); + int d_next = getEdge(e, NEXT_AROUND_DST ); + + // check points + CV_Assert( edgeOrg(e) == edgeOrg(o_next)); + CV_Assert( edgeOrg(e) == edgeOrg(o_prev)); + CV_Assert( edgeDst(e) == edgeDst(d_next)); + CV_Assert( edgeDst(e) == edgeDst(d_prev)); + + if( j % 2 == 0 ) + { + CV_Assert( edgeDst(o_next) == edgeOrg(d_prev)); + CV_Assert( edgeDst(o_prev) == edgeOrg(d_next)); + CV_Assert( getEdge(getEdge(getEdge(e,NEXT_AROUND_LEFT),NEXT_AROUND_LEFT),NEXT_AROUND_LEFT) == e ); + CV_Assert( getEdge(getEdge(getEdge(e,NEXT_AROUND_RIGHT),NEXT_AROUND_RIGHT),NEXT_AROUND_RIGHT) == e); + } + } + } +} + +} + /* End of file. */ diff --git a/modules/python/src2/cv2.cpp b/modules/python/src2/cv2.cpp index 065ee1ace..54f7e38dd 100644 --- a/modules/python/src2/cv2.cpp +++ b/modules/python/src2/cv2.cpp @@ -58,6 +58,8 @@ typedef vector vector_Point; typedef vector vector_Point2f; typedef vector vector_Vec2f; typedef vector vector_Vec3f; +typedef vector vector_Vec4f; +typedef vector vector_Vec6f; typedef vector vector_Vec4i; typedef vector vector_Rect; typedef vector vector_KeyPoint; diff --git a/modules/python/src2/gen2.py b/modules/python/src2/gen2.py index 42574603b..a236ac8e5 100644 --- a/modules/python/src2/gen2.py +++ b/modules/python/src2/gen2.py @@ -566,7 +566,7 @@ class FuncInfo(object): amapping = simple_argtype_mapping.get(tp, (tp, "O", "0")) all_cargs.append(amapping) - if v.args: + if v.args and v.py_arglist: # form the format spec for PyArg_ParseTupleAndKeywords fmtspec = "".join([all_cargs[argno][0][1] for aname, argno in v.py_arglist]) if v.py_noptargs > 0: diff --git a/samples/cpp/delaunay2.cpp b/samples/cpp/delaunay2.cpp index 4bf9f341a..87bc5ebd9 100644 --- a/samples/cpp/delaunay2.cpp +++ b/samples/cpp/delaunay2.cpp @@ -1,828 +1,7 @@ -#include +#include +#include #include -namespace cv -{ - -class CV_EXPORTS_W Subdiv2D -{ -public: - - enum - { - PTLOC_ERROR = -2, - PTLOC_OUTSIDE_RECT = -1, - PTLOC_INSIDE = 0, - PTLOC_VERTEX = 1, - PTLOC_ON_EDGE = 2 - }; - - enum - { - NEXT_AROUND_ORG = 0x00, - NEXT_AROUND_DST = 0x22, - PREV_AROUND_ORG = 0x11, - PREV_AROUND_DST = 0x33, - NEXT_AROUND_LEFT = 0x13, - NEXT_AROUND_RIGHT = 0x31, - PREV_AROUND_LEFT = 0x20, - PREV_AROUND_RIGHT = 0x02 - }; - - CV_WRAP Subdiv2D(); - CV_WRAP Subdiv2D(Rect rect); - CV_WRAP void initDelaunay(Rect rect); - - CV_WRAP int insert(Point2f pt); - CV_WRAP void insert(const vector& ptvec); - CV_WRAP int locate(Point2f pt, CV_OUT int& edge, CV_OUT int& vertex); - - CV_WRAP int findNearest(Point2f pt, CV_OUT Point2f* nearestPt=0); - CV_WRAP void getTriangleList(CV_OUT vector& triangleList); - CV_WRAP void getVoronoiFacetList(const vector& idx, CV_OUT vector >& facetList); - - CV_WRAP Point2f getVertex(int vertex, CV_OUT int* firstEdge=0) const; - - CV_WRAP int getEdge( int edge, int nextEdgeType ) const; - CV_WRAP int nextEdge(int edge) const; - CV_WRAP int rotateEdge(int edge, int rotate) const; - CV_WRAP int symEdge(int edge) const; - CV_WRAP int edgeOrg(int edge, CV_OUT Point2f* orgpt=0) const; - CV_WRAP int edgeDst(int edge, CV_OUT Point2f* dstpt=0) const; - -protected: - int newEdge(); - void deleteEdge(int edge); - int newPoint(Point2f pt, bool isvirtual, int firstEdge=0); - void deletePoint(int vtx); - void setEdgePoints( int edge, int orgPt, int dstPt ); - void splice( int edgeA, int edgeB ); - int connectEdges( int edgeA, int edgeB ); - void swapEdges( int edge ); - int isRightOf(Point2f pt, int edge) const; - void calcVoronoi(); - void clearVoronoi(); - - struct CV_EXPORTS Vertex - { - Vertex(); - Vertex(Point2f pt, bool _isvirtual, int _firstEdge=0); - bool isvirtual() const; - bool isfree() const; - int firstEdge; - int type; - Point2f pt; - }; - struct CV_EXPORTS QuadEdge - { - QuadEdge(); - QuadEdge(int edgeidx); - bool isfree() const; - int next[4]; - int pt[4]; - }; - - vector vtx; - vector qedges; - int freeQEdge; - int freePoint; - bool validGeometry; - - int recentEdge; - Point2f topLeft; - Point2f bottomRight; -}; - - -int Subdiv2D::nextEdge(int edge) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - return qedges[edge >> 2].next[edge & 3]; -} - -int Subdiv2D::rotateEdge(int edge, int rotate) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - return (edge & ~3) + ((edge + rotate) & 3); -} - -int Subdiv2D::symEdge(int edge) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - return edge ^ 2; -} - -int Subdiv2D::getEdge(int edge, int nextEdgeType) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - edge = qedges[edge >> 2].next[(edge + nextEdgeType) & 3]; - return (edge & ~3) + ((edge + (nextEdgeType >> 4)) & 3); -} - -int Subdiv2D::edgeOrg(int edge, CV_OUT Point2f* orgpt) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - int vidx = qedges[edge >> 2].pt[edge & 3]; - if( orgpt ) - { - CV_DbgAssert((size_t)vidx < vtx.size()); - *orgpt = vtx[vidx].pt; - } - return vidx; -} - -int Subdiv2D::edgeDst(int edge, CV_OUT Point2f* dstpt) const -{ - CV_DbgAssert((size_t)(edge >> 2) < qedges.size()); - int vidx = qedges[edge >> 2].pt[(edge + 2) & 3]; - if( dstpt ) - { - CV_DbgAssert((size_t)vidx < vtx.size()); - *dstpt = vtx[vidx].pt; - } - return vidx; -} - - -Point2f Subdiv2D::getVertex(int vertex, CV_OUT int* firstEdge) const -{ - CV_DbgAssert((size_t)vertex < vtx.size()); - if( firstEdge ) - *firstEdge = vtx[vertex].firstEdge; - return vtx[vertex].pt; -} - - -Subdiv2D::Subdiv2D() -{ - validGeometry = false; - freeQEdge = 0; - freePoint = 0; - recentEdge = 0; -} - -Subdiv2D::Subdiv2D(Rect rect) -{ - validGeometry = false; - freeQEdge = 0; - freePoint = 0; - recentEdge = 0; - - initDelaunay(rect); -} - - -Subdiv2D::QuadEdge::QuadEdge() -{ - next[0] = next[1] = next[2] = next[3] = 0; - pt[0] = pt[1] = pt[2] = pt[3] = 0; -} - -Subdiv2D::QuadEdge::QuadEdge(int edgeidx) -{ - next[0] = edgeidx; - next[1] = edgeidx+3; - next[2] = edgeidx+2; - next[3] = edgeidx+1; - - pt[0] = pt[1] = pt[2] = pt[3] = 0; -} - -bool Subdiv2D::QuadEdge::isfree() const -{ - return next[0] <= 0; -} - -Subdiv2D::Vertex::Vertex() -{ - firstEdge = 0; - type = -1; -} - -Subdiv2D::Vertex::Vertex(Point2f _pt, bool _isvirtual, int _firstEdge) -{ - firstEdge = _firstEdge; - type = (int)_isvirtual; - pt = _pt; -} - -bool Subdiv2D::Vertex::isvirtual() const -{ - return type > 0; -} - -bool Subdiv2D::Vertex::isfree() const -{ - return firstEdge <= 0; -} - -void Subdiv2D::splice( int edgeA, int edgeB ) -{ - int& a_next = qedges[edgeA >> 2].next[edgeA & 3]; - int& b_next = qedges[edgeB >> 2].next[edgeB & 3]; - int a_rot = rotateEdge(a_next, 1); - int b_rot = rotateEdge(b_next, 1); - int& a_rot_next = qedges[a_rot >> 2].next[a_rot & 3]; - int& b_rot_next = qedges[b_rot >> 2].next[b_rot & 3]; - std::swap(a_next, b_next); - std::swap(a_rot_next, b_rot_next); -} - -void Subdiv2D::setEdgePoints(int edge, int orgPt, int dstPt) -{ - qedges[edge >> 2].pt[edge & 3] = orgPt; - qedges[edge >> 2].pt[(edge + 2) & 3] = dstPt; -} - -int Subdiv2D::connectEdges( int edgeA, int edgeB ) -{ - int edge = newEdge(); - - splice(edge, getEdge(edgeA, NEXT_AROUND_LEFT)); - splice(symEdge(edge), edgeB); - - setEdgePoints(edge, edgeDst(edgeA), edgeOrg(edgeB)); - return edge; -} - -void Subdiv2D::swapEdges( int edge ) -{ - int sedge = symEdge(edge); - int a = getEdge(edge, PREV_AROUND_ORG); - int b = getEdge(sedge, PREV_AROUND_ORG); - - splice(edge, a); - splice(sedge, b); - - setEdgePoints(edge, edgeDst(a), edgeDst(b)); - - splice(edge, getEdge(a, NEXT_AROUND_LEFT)); - splice(sedge, getEdge(b, NEXT_AROUND_LEFT)); -} - -int Subdiv2D::isRightOf(Point2f pt, int edge) const -{ - Point2f org, dst; - edgeOrg(edge, &org); - edgeDst(edge, &dst); - double cw_area = cvTriangleArea( pt, dst, org ); - - return (cw_area > 0) - (cw_area < 0); -} - - -int Subdiv2D::newEdge() -{ - if( freeQEdge == 0 ) - { - qedges.push_back(QuadEdge()); - freeQEdge = (int)(qedges.size()-1); - } - int edge = freeQEdge*4; - freeQEdge = qedges[edge >> 2].next[1]; - qedges[edge >> 2] = QuadEdge(edge); - return edge; -} - -void Subdiv2D::deleteEdge(int edge) -{ - CV_DbgAssert((size_t)(edge >> 2) < (size_t)qedges.size()); - splice( edge, getEdge(edge, PREV_AROUND_ORG) ); - int sedge = symEdge(edge); - splice(sedge, getEdge(sedge, PREV_AROUND_ORG) ); - - edge >>= 2; - qedges[edge].next[0] = -1; - qedges[edge].next[1] = freeQEdge; - freeQEdge = edge; -} - -int Subdiv2D::newPoint(Point2f pt, bool isvirtual, int firstEdge) -{ - if( freePoint == 0 ) - { - vtx.push_back(Vertex()); - freePoint = (int)(vtx.size()-1); - vtx[freePoint].type = -1; - vtx[freePoint].firstEdge = 0; - } - int vidx = freePoint; - freePoint = vtx[vidx].firstEdge; - vtx[vidx] = Vertex(pt, isvirtual, firstEdge); - - return vidx; -} - -void Subdiv2D::deletePoint(int vidx) -{ - CV_DbgAssert( (size_t)vidx < vtx.size() ); - vtx[vidx].firstEdge = freePoint; - vtx[vidx].type = -1; - freePoint = vidx; -} - -int Subdiv2D::locate(Point2f pt, int& _edge, int& _vertex) -{ - int vertex = 0; - - int i, maxEdges = (int)(qedges.size() * 4); - int edge = recentEdge; - - CV_Assert(edge > 0); - - if( pt.x < topLeft.x || pt.y < topLeft.y || pt.x >= bottomRight.x || pt.y >= bottomRight.y ) - CV_Error( CV_StsOutOfRange, "" ); - - int location = PTLOC_ERROR; - - int right_of_curr = isRightOf(pt, edge); - if( right_of_curr > 0 ) - { - edge = symEdge(edge); - right_of_curr = -right_of_curr; - } - - for( i = 0; i < maxEdges; i++ ) - { - int onext_edge = nextEdge( edge ); - int dprev_edge = getEdge( edge, PREV_AROUND_DST ); - - int right_of_onext = isRightOf( pt, onext_edge ); - int right_of_dprev = isRightOf( pt, dprev_edge ); - - if( right_of_dprev > 0 ) - { - if( right_of_onext > 0 || (right_of_onext == 0 && right_of_curr == 0) ) - { - location = PTLOC_INSIDE; - break; - } - else - { - right_of_curr = right_of_onext; - edge = onext_edge; - } - } - else - { - if( right_of_onext > 0 ) - { - if( right_of_dprev == 0 && right_of_curr == 0 ) - { - location = PTLOC_INSIDE; - break; - } - else - { - right_of_curr = right_of_dprev; - edge = dprev_edge; - } - } - else if( right_of_curr == 0 && - isRightOf( vtx[edgeDst(onext_edge)].pt, edge ) >= 0 ) - { - edge = symEdge( edge ); - } - else - { - right_of_curr = right_of_onext; - edge = onext_edge; - } - } - } - - recentEdge = edge; - - if( location == PTLOC_INSIDE ) - { - Point2f org_pt, dst_pt; - edgeOrg(edge, &org_pt); - edgeDst(edge, &dst_pt); - - double t1 = fabs( pt.x - org_pt.x ); - t1 += fabs( pt.y - org_pt.y ); - double t2 = fabs( pt.x - dst_pt.x ); - t2 += fabs( pt.y - dst_pt.y ); - double t3 = fabs( org_pt.x - dst_pt.x ); - t3 += fabs( org_pt.y - dst_pt.y ); - - if( t1 < FLT_EPSILON ) - { - location = PTLOC_VERTEX; - vertex = edgeOrg( edge ); - edge = 0; - } - else if( t2 < FLT_EPSILON ) - { - location = PTLOC_VERTEX; - vertex = edgeDst( edge ); - edge = 0; - } - else if( (t1 < t3 || t2 < t3) && - fabs( cvTriangleArea( pt, org_pt, dst_pt )) < FLT_EPSILON ) - { - location = PTLOC_ON_EDGE; - vertex = 0; - } - } - - if( location == PTLOC_ERROR ) - { - edge = 0; - vertex = 0; - } - - _edge = edge; - _vertex = vertex; - - return location; -} - - -inline bool -isPtInCircle3( Point2f pt, Point2f a, Point2f b, Point2f c) -{ - const double eps = FLT_EPSILON*0.125; - double val = ((double)a.x * a.x + (double)a.y * a.y) * cvTriangleArea( b, c, pt ); - val -= ((double)b.x * b.x + (double)b.y * b.y) * cvTriangleArea( a, c, pt ); - val += ((double)c.x * c.x + (double)c.y * c.y) * cvTriangleArea( a, b, pt ); - val -= ((double)pt.x * pt.x + (double)pt.y * pt.y) * cvTriangleArea( a, b, c ); - - return val > eps ? 1 : val < -eps ? -1 : 0; -} - - -int Subdiv2D::insert(Point2f pt) -{ - int curr_point = 0, curr_edge = 0, deleted_edge = 0; - int location = locate( pt, curr_edge, curr_point ); - - if( location == PTLOC_ERROR ) - CV_Error( CV_StsBadSize, "" ); - - if( location == PTLOC_OUTSIDE_RECT ) - CV_Error( CV_StsOutOfRange, "" ); - - if( location == PTLOC_VERTEX ) - return curr_point; - - if( location == PTLOC_ON_EDGE ) - { - deleted_edge = curr_edge; - recentEdge = curr_edge = getEdge( curr_edge, PREV_AROUND_ORG ); - deleteEdge(deleted_edge); - } - else if( location == PTLOC_INSIDE ) - ; - else - CV_Error_(CV_StsError, ("Subdiv2D::locate returned invalid location = %d", location) ); - - assert( curr_edge != 0 ); - validGeometry = false; - - curr_point = newPoint(pt, false); - int base_edge = newEdge(); - int first_point = edgeOrg(curr_edge); - setEdgePoints(base_edge, first_point, curr_point); - splice(base_edge, curr_edge); - - do - { - base_edge = connectEdges( curr_edge, symEdge(base_edge) ); - curr_edge = getEdge(base_edge, PREV_AROUND_ORG); - } - while( edgeDst(curr_edge) != first_point ); - - curr_edge = getEdge( base_edge, PREV_AROUND_ORG ); - - int i, max_edges = qedges.size()*4; - - for( i = 0; i < max_edges; i++ ) - { - int temp_dst = 0, curr_org = 0, curr_dst = 0; - int temp_edge = getEdge( curr_edge, PREV_AROUND_ORG ); - - temp_dst = edgeDst( temp_edge ); - curr_org = edgeOrg( curr_edge ); - curr_dst = edgeDst( curr_edge ); - - if( isRightOf( vtx[temp_dst].pt, curr_edge ) > 0 && - isPtInCircle3( vtx[curr_org].pt, vtx[temp_dst].pt, - vtx[curr_dst].pt, vtx[curr_point].pt ) < 0 ) - { - swapEdges( curr_edge ); - curr_edge = getEdge( curr_edge, PREV_AROUND_ORG ); - } - else if( curr_org == first_point ) - break; - else - curr_edge = getEdge( nextEdge( curr_edge ), PREV_AROUND_LEFT ); - } - - return curr_point; -} - -void Subdiv2D::insert(const vector& ptvec) -{ - for( size_t i = 0; i < ptvec.size(); i++ ) - insert(ptvec[i]); -} - -void Subdiv2D::initDelaunay( Rect rect ) -{ - float big_coord = 3.f * MAX( rect.width, rect.height ); - float rx = (float)rect.x; - float ry = (float)rect.y; - - vtx.clear(); - qedges.clear(); - - recentEdge = 0; - validGeometry = false; - - topLeft = Point2f( rx, ry ); - bottomRight = Point2f( rx + rect.width, ry + rect.height ); - - Point2f ppA( rx + big_coord, ry ); - Point2f ppB( rx, ry + big_coord ); - Point2f ppC( rx - big_coord, ry - big_coord ); - - vtx.push_back(Vertex()); - qedges.push_back(QuadEdge()); - - freeQEdge = 0; - freePoint = 0; - - int pA = newPoint(ppA, false); - int pB = newPoint(ppB, false); - int pC = newPoint(ppC, false); - - int edge_AB = newEdge(); - int edge_BC = newEdge(); - int edge_CA = newEdge(); - - setEdgePoints( edge_AB, pA, pB ); - setEdgePoints( edge_BC, pB, pC ); - setEdgePoints( edge_CA, pC, pA ); - - splice( edge_AB, symEdge( edge_CA )); - splice( edge_BC, symEdge( edge_AB )); - splice( edge_CA, symEdge( edge_BC )); - - recentEdge = edge_AB; -} - - -void Subdiv2D::clearVoronoi() -{ - size_t i, total = qedges.size(); - - for( i = 0; i < total; i++ ) - qedges[i].pt[1] = qedges[i].pt[3] = 0; - - total = vtx.size(); - for( i = 0; i < total; i++ ) - { - if( vtx[i].isvirtual() ) - deletePoint((int)i); - } - - validGeometry = false; -} - - -static Point2f computeVoronoiPoint(Point2f org0, Point2f dst0, Point2f org1, Point2f dst1) -{ - double a0 = dst0.x - org0.x; - double b0 = dst0.y - org0.y; - double c0 = -0.5*(a0 * (dst0.x + org0.x) + b0 * (dst0.y + org0.y)); - - double a1 = dst1.x - org1.x; - double b1 = dst1.y - org1.y; - double c1 = -0.5*(a1 * (dst1.x + org1.x) + b1 * (dst1.y + org1.y)); - - double det = a0 * b1 - a1 * b0; - - if( det != 0 ) - { - det = 1. / det; - return Point2f((float) ((b0 * c1 - b1 * c0) * det), - (float) ((a1 * c0 - a0 * c1) * det)); - } - - return Point2f(FLT_MAX, FLT_MAX); -} - - -void Subdiv2D::calcVoronoi() -{ - // check if it is already calculated - if( validGeometry ) - return; - - clearVoronoi(); - int i, total = (int)qedges.size(); - - // loop through all quad-edges, except for the first 3 (#1, #2, #3 - 0 is reserved for "NULL" pointer) - for( i = 4; i < total; i++ ) - { - QuadEdge& quadedge = qedges[i]; - - if( quadedge.isfree() ) - continue; - - int edge0 = (int)(i*4); - Point2f org0, dst0, org1, dst1; - - if( !quadedge.pt[3] ) - { - int edge1 = getEdge( edge0, NEXT_AROUND_LEFT ); - int edge2 = getEdge( edge1, NEXT_AROUND_LEFT ); - - edgeOrg(edge0, &org0); - edgeDst(edge0, &dst0); - edgeOrg(edge1, &org1); - edgeDst(edge1, &dst1); - - Point2f virt_point = computeVoronoiPoint(org0, dst0, org1, dst1); - - if( fabs( virt_point.x ) < FLT_MAX * 0.5 && - fabs( virt_point.y ) < FLT_MAX * 0.5 ) - { - quadedge.pt[3] = qedges[edge1 >> 2].pt[3 - (edge1 & 2)] = - qedges[edge2 >> 2].pt[3 - (edge2 & 2)] = newPoint(virt_point, true); - } - } - - if( !quadedge.pt[1] ) - { - int edge1 = getEdge( edge0, NEXT_AROUND_RIGHT ); - int edge2 = getEdge( edge1, NEXT_AROUND_RIGHT ); - - edgeOrg(edge0, &org0); - edgeDst(edge0, &dst0); - edgeOrg(edge1, &org1); - edgeDst(edge1, &dst1); - - Point2f virt_point = computeVoronoiPoint(org0, dst0, org1, dst1); - - if( fabs( virt_point.x ) < FLT_MAX * 0.5 && - fabs( virt_point.y ) < FLT_MAX * 0.5 ) - { - quadedge.pt[1] = qedges[edge1 >> 2].pt[1 + (edge1 & 2)] = - qedges[edge2 >> 2].pt[1 + (edge2 & 2)] = newPoint(virt_point, true); - } - } - } - - validGeometry = true; -} - - -static int -isRightOf2( const Point2f& pt, const Point2f& org, const Point2f& diff ) -{ - double cw_area = ((double)org.x - pt.x)*diff.y - ((double)org.y - pt.y)*diff.x; - return (cw_area > 0) - (cw_area < 0); -} - - -int Subdiv2D::findNearest(Point2f pt, Point2f* nearestPt) -{ - if( !validGeometry ) - calcVoronoi(); - - int vertex = 0, edge = 0; - int loc = locate( pt, edge, vertex ); - - if( loc != PTLOC_ON_EDGE && loc != PTLOC_INSIDE ) - return vertex; - - vertex = 0; - - Point2f start; - edgeOrg(edge, &start); - Point2f diff = pt - start; - - edge = rotateEdge(edge, 1); - - int i, total = (int)vtx.size(); - - for( i = 0; i < total; i++ ) - { - Point2f t; - - for(;;) - { - CV_Assert( edgeDst(edge, &t) > 0 ); - if( isRightOf2( t, start, diff ) >= 0 ) - break; - - edge = getEdge( edge, NEXT_AROUND_LEFT ); - } - - for(;;) - { - CV_Assert( edgeOrg( edge, &t ) > 0 ); - - if( isRightOf2( t, start, diff ) < 0 ) - break; - - edge = getEdge( edge, PREV_AROUND_LEFT ); - } - - Point2f tempDiff; - edgeDst(edge, &tempDiff); - edgeOrg(edge, &t); - tempDiff -= t; - - if( isRightOf2( pt, t, tempDiff ) >= 0 ) - { - vertex = edgeOrg(rotateEdge( edge, 3 )); - break; - } - - edge = symEdge( edge ); - } - - if( nearestPt && vertex > 0 ) - *nearestPt = vtx[vertex].pt; - - return vertex; -} - -void Subdiv2D::getTriangleList(vector& triangleList) -{ - vector processed(vtx.size(), false); - processed[0] = true; - - calcVoronoi(); - triangleList.clear(); - - for( size_t i = 4; i < qedges.size(); i++ ) - { - if( qedges[i].isfree() ) - continue; - int e0 = (int)(i*4), e1 = rotateEdge(e0, 1), e; - int vidx0 = edgeOrg(e1), vidx1 = edgeDst(e1); - Point2f a, b, c; - if( !processed[vidx0] ) - { - edgeOrg(e0, &a); - edgeDst(e0, &b); - e = getEdge(e0, NEXT_AROUND_LEFT); - edgeDst(e, &c); - triangleList.push_back(Vec6f(a.x, a.y, b.x, b.y, c.x, c.y)); - processed[vidx0] = true; - } - if( !processed[vidx1] ) - { - edgeDst(e0, &a); - edgeOrg(e0, &b); - e = getEdge(e0, PREV_AROUND_RIGHT); - edgeOrg(e, &c); - triangleList.push_back(Vec6f(a.x, a.y, b.x, b.y, c.x, c.y)); - processed[vidx1] = true; - } - } -} - -void Subdiv2D::getVoronoiFacetList(const vector& idx, CV_OUT vector >& facetList) -{ - calcVoronoi(); - facetList.clear(); - - vector buf; - - size_t i, total; - if( idx.empty() ) - i = 4, total = vtx.size(); - else - i = 0, total = idx.size(); - - for( ; i < total; i++ ) - { - int k = idx.empty() ? (int)i : idx[i]; - - if( vtx[k].isvirtual() ) - continue; - int edge = rotateEdge(vtx[k].firstEdge, 1), t = edge; - - // gather points - buf.clear(); - do - { - buf.push_back(vtx[edgeOrg(t)].pt); - t = getEdge( t, NEXT_AROUND_LEFT ); - } - while( t != edge ); - - facetList.push_back(buf); - } -} - -} - using namespace cv; using namespace std; @@ -837,7 +16,6 @@ static void help() "hitting any key.\n"; } - static void draw_subdiv_point( Mat& img, Point2f fp, Scalar color ) { circle( img, fp, 3, color, CV_FILLED, 8, 0 ); @@ -845,6 +23,7 @@ static void draw_subdiv_point( Mat& img, Point2f fp, Scalar color ) static void draw_subdiv( Mat& img, Subdiv2D& subdiv, Scalar delaunay_color ) { +#if 1 vector triangleList; subdiv.getTriangleList(triangleList); vector pt(3); @@ -859,12 +38,25 @@ static void draw_subdiv( Mat& img, Subdiv2D& subdiv, Scalar delaunay_color ) line(img, pt[1], pt[2], delaunay_color, 1, CV_AA, 0); line(img, pt[2], pt[0], delaunay_color, 1, CV_AA, 0); } +#else + vector edgeList; + subdiv.getEdgeList(edgeList); + for( size_t i = 0; i < edgeList.size(); i++ ) + { + Vec4f e = edgeList[i]; + Point pt0 = Point(cvRound(e[0]), cvRound(e[1])); + Point pt1 = Point(cvRound(e[2]), cvRound(e[3])); + line(img, pt0, pt1, delaunay_color, 1, CV_AA, 0); + } +#endif } static void locate_point( Mat& img, Subdiv2D& subdiv, Point2f fp, Scalar active_color ) { int e0=0, vertex=0; + CvSubdiv2DEdge e00; + subdiv.locate(fp, e0, vertex); if( e0 > 0 ) @@ -888,7 +80,8 @@ static void locate_point( Mat& img, Subdiv2D& subdiv, Point2f fp, Scalar active_ void paint_voronoi( Mat& img, Subdiv2D& subdiv ) { vector > facets; - subdiv.getVoronoiFacetList(vector(), facets); + vector centers; + subdiv.getVoronoiFacetList(vector(), facets, centers); vector ifacet; vector > ifacets(1); @@ -900,13 +93,14 @@ void paint_voronoi( Mat& img, Subdiv2D& subdiv ) ifacet[j] = facets[i][j]; Scalar color; - color[0] = rand() & 256; - color[1] = rand() & 256; - color[2] = rand() & 256; + color[0] = rand() & 255; + color[1] = rand() & 255; + color[2] = rand() & 255; fillConvexPoly(img, ifacet, color, 8, 0); ifacets[0] = ifacet; polylines(img, ifacets, true, Scalar(), 1, CV_AA, 0); + circle(img, centers[i], 3, Scalar(), -1, CV_AA, 0); } } @@ -937,6 +131,7 @@ int main( int, char** ) break; subdiv.insert(fp); + img = Scalar::all(0); draw_subdiv( img, subdiv, delaunay_color ); imshow( win, img );