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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccInnerRect2DFinder.h"
//qCC_db
#include <ccLog.h>
//system
#include <assert.h>
ccInnerRect2DFinder::ccInnerRect2DFinder()
: m_maxArea(0)
, m_cloud(0)
, m_X(0)
, m_Y(1)
{}
ccBox* ccInnerRect2DFinder::process( ccGenericPointCloud* cloud, unsigned char zDim/*=2*/ )
{
if (!init(cloud,zDim))
return 0;
//Find the 'biggest' rectangle
m_maxRect = Rect();
m_maxArea = 0;
findBiggestRect(m_boundingRect,0);
ccBox* resultBox = 0;
if (m_maxArea > 0)
{
ccBBox bbox = cloud->getOwnBB();
assert(bbox.isValid());
//box size
CCVector3 boxDim = bbox.getDiagVec();
boxDim.u[m_X] = static_cast<PointCoordinateType>(m_maxRect.width());
boxDim.u[m_Y] = static_cast<PointCoordinateType>(m_maxRect.height());
CCVector3 boxCenter = bbox.getCenter();
boxCenter.u[m_X] = static_cast<PointCoordinateType>((m_maxRect.x0 + m_maxRect.x1)/2);
boxCenter.u[m_Y] = static_cast<PointCoordinateType>((m_maxRect.y0 + m_maxRect.y1)/2);
ccGLMatrix shiftMat;
shiftMat.setTranslation(boxCenter);
resultBox = new ccBox(boxDim,&shiftMat,"Biggest rect");
}
return resultBox;
}
bool ccInnerRect2DFinder::init(ccGenericPointCloud* cloud, unsigned char zDim)
{
if (!cloud || cloud->size() == 0)
{
ccLog::Error("[ccInnerRect2DFinder] Invalid input cloud");
return false;
}
ccBBox bbox = cloud->getOwnBB();
if (!bbox.isValid())
{
ccLog::Error("[ccInnerRect2DFinder] Invalid input cloud");
return false;
}
if (zDim > 2)
{
ccLog::Error("[ccInnerRect2DFinder] Invalid input parameter (zDim)");
return false;
}
unsigned char Z = zDim;
unsigned char X = ((Z+1) % 3);
unsigned char Y = ((X+1) % 3);
m_cloud = cloud;
m_X = X;
m_Y = Y;
//init bounding rectangle
{
const CCVector3* P0 = m_cloud->getPoint(0);
m_boundingRect = Rect(P0->u[m_X],P0->u[m_Y],P0->u[m_X],P0->u[m_Y]);
unsigned pointCloud = m_cloud->size();
for (unsigned i=1; i<pointCloud; ++i)
{
const CCVector3* P = m_cloud->getPoint(i);
if (P->u[m_X] < m_boundingRect.x0)
m_boundingRect.x0 = P->u[m_X];
else if (P->u[m_X] > m_boundingRect.x1)
m_boundingRect.x1 = P->u[m_X];
if (P->u[m_Y] < m_boundingRect.y0)
m_boundingRect.y0 = P->u[m_Y];
else if (P->u[m_Y] > m_boundingRect.y1)
m_boundingRect.y1 = P->u[m_Y];
}
}
return true;
}
void ccInnerRect2DFinder::findBiggestRect(const Rect& rect, unsigned startIndex)
{
assert(m_cloud);
//test if at least one point falls inside the input rectangle
const CCVector3* Pinside = 0;
{
unsigned pointCount = m_cloud->size();
double minSquareDistToCenter = -1.0;
double xc = (rect.x0+rect.x1)/2;
double yc = (rect.y0+rect.y1)/2;
for (unsigned i=startIndex; i<pointCount; ++i)
{
const CCVector3* P = m_cloud->getPoint(i);
if ( P->u[m_X] > rect.x0 && P->u[m_X] < rect.x1 //strict inequalities!
&& P->u[m_Y] > rect.y0 && P->u[m_Y] < rect.y1 )
{
double dist2 = (xc - P->u[m_X])*(xc - P->u[m_X]) + (yc - P->u[m_Y])*(yc - P->u[m_Y]);
if (minSquareDistToCenter < 0)
{
Pinside = P;
minSquareDistToCenter = dist2;
startIndex = i;
}
else if (dist2 < minSquareDistToCenter)
{
Pinside = P;
minSquareDistToCenter = dist2;
}
//break;
}
}
}
//do we have an empty rectangle?
if (!Pinside)
{
//we remember it only if its size is bigger
double surf = rect.area();
if (surf > m_maxArea)
{
m_maxArea = surf;
m_maxRect = rect;
}
}
else //otherwise we test the 4 sub-rectangles
{
//left sub-rectangle
Rect r(rect.x0,rect.y0,Pinside->u[m_X],rect.y1);
if (r.area() > m_maxArea)
findBiggestRect(r,startIndex);
//right sub-rectangle
r = Rect(Pinside->u[m_X],rect.y0,rect.x1,rect.y1);
if (r.area() > m_maxArea)
findBiggestRect(r,startIndex);
//upper sub-rectangle
r = Rect(rect.x0,rect.y0,rect.x1,Pinside->u[m_Y]);
if (r.area() > m_maxArea)
findBiggestRect(r,startIndex);
//lower sub-rectangle
r = Rect(rect.x0,Pinside->u[m_Y],rect.x1,rect.y1);
if (r.area() > m_maxArea)
findBiggestRect(r,startIndex);
}
}
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