213 lines
6.9 KiB
Text
213 lines
6.9 KiB
Text
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/*
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* clusterboundingbox implementation
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*
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* Copyright (C) Li Wei, Li Ming
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*
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* Released under the GPL version 3.
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*
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include <math.h>
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#include <algorithm>
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#include "veloslam/debugview.h"
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#include "veloslam/clusterboundingbox.h"
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bool operator<(const BesiegePoint & s1,const BesiegePoint & s2)
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{
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return s1.angle < s2.angle;
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}
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BoundingBox::BoundingBox(void)
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{
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calCandidateBox=false;
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}
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BoundingBox::~BoundingBox(void)
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{
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}
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void BoundingBox::Initial()
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{
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calCandidateBox=false;
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allCandBox.clear();
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minBoundingBox.clear();
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}
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void BoundingBox::CalCoordsAftRotation(double x,double y,double *newX,double *newY,double theta)
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{
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*newY=y*cosf(theta*M_PI/180)-x*sinf(theta*M_PI/180);
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*newX=x*cosf(theta*M_PI/180)+y*sinf(theta*M_PI/180);
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}
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double BoundingBox::CalDirectionTwoPoints(double XPos1,double YPos1,double XPos2,double YPos2)
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{
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double delt_x=XPos2-XPos1;
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double delt_y=YPos2-YPos1;
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double angle;
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double length=sqrt(delt_x*delt_x+delt_y*delt_y*1.0);
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if(delt_x<0)
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angle=360-acos(delt_y/length)*180/M_PI;
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else
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angle=acos(delt_y/length)*180/M_PI;
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return angle;
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}
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void BoundingBox:: CalAllBoundingBox(cluster &gluClusterData)
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{
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int angleInterval=2;
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int minCircumferenceIndex;
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double minCircumference=10000000000;;
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OrientedBoundingBox tempBoundingBox;
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Initial();
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for(int i=0;i<90;i+=angleInterval)
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{
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tempBoundingBox.newMaxXPointX=-1000000;
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tempBoundingBox.newMaxYPointY=-1000000;
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tempBoundingBox.newMinXPointX=1000000;
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tempBoundingBox.newMinYPointY=1000000;
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for (int j = 0; j <gluClusterData.size();j++)
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{
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cell* pcellObj= gluClusterData[j]->pCell;
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for(int k=0;k<pcellObj->size();k++)
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{
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double newX,newY;
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CalCoordsAftRotation((*pcellObj)[k]->x,(*pcellObj)[k]->y,&newX,&newY,i);
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if(tempBoundingBox.newMaxXPointX<newX)
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{
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tempBoundingBox.newMaxXPointX=newX;
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tempBoundingBox.newMaxXPointY=newY;
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tempBoundingBox.boundingPointID[0].cellIndex=j;
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tempBoundingBox.boundingPointID[0].pointIndexInCell=k;
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}
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if(tempBoundingBox.newMinXPointX>newX)
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{
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tempBoundingBox.newMinXPointX=newX;
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tempBoundingBox.newMinXPointY=newY;
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tempBoundingBox.boundingPointID[1].cellIndex=j;
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tempBoundingBox.boundingPointID[1].pointIndexInCell=k;
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}
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if(tempBoundingBox.newMaxYPointY<newY)
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{
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tempBoundingBox.newMaxYPointY=newY;
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tempBoundingBox.newMaxYPointX=newX;
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tempBoundingBox.boundingPointID[2].cellIndex=j;
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tempBoundingBox.boundingPointID[2].pointIndexInCell=k;
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}
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if(tempBoundingBox.newMinYPointY>newY)
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{
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tempBoundingBox.newMinYPointY=newY;
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tempBoundingBox.newMinYPointX=newX;
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tempBoundingBox.boundingPointID[3].cellIndex=j;
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tempBoundingBox.boundingPointID[3].pointIndexInCell=k;
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}
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}
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}
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tempBoundingBox.length=tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX;
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tempBoundingBox.width=tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY;
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tempBoundingBox.area=(tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX)*(tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY);
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tempBoundingBox.circumference=((tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX)+(tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY))*2;
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tempBoundingBox.angle=i;
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/**<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD>ó<EFBFBD><C3B3>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><59><EFBFBD>ϱ<EFBFBD>X<EFBFBD>᳤<EFBFBD><E1B3A4>ͳһΪX<CEAA><58>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>**/
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if(tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX<
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tempBoundingBox.newMaxYPointY- tempBoundingBox.newMinYPointY)
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{
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OrientedBoundingBox temp=tempBoundingBox;
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tempBoundingBox.angle=temp.angle+90;
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tempBoundingBox.newMaxXPointX=temp.newMaxYPointY;
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tempBoundingBox.newMaxXPointY=-temp.newMaxYPointX;
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tempBoundingBox.newMaxYPointX=temp.newMinXPointY;
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tempBoundingBox.newMaxYPointY=-temp.newMinXPointX;
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tempBoundingBox.newMinXPointX=temp.newMinYPointY;
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tempBoundingBox.newMinXPointY=-temp.newMinYPointX;
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tempBoundingBox.newMinYPointX=temp.newMaxXPointY;
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tempBoundingBox.newMinYPointY=-temp.newMaxXPointX;
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}
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allCandBox.push_back(tempBoundingBox);
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}
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}
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void BoundingBox::CalBestRectangleBox(cluster &gluClusterData,clusterFeature &glu)
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{
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int minCircumferenceIndex=0;
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int bestBoxIndex;
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if(!calCandidateBox)
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CalAllBoundingBox(gluClusterData);
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double minCircumference=allCandBox[0].circumference;
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for(int i=0;i<allCandBox.size();i++)
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{
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if(allCandBox[i].circumference<minCircumference)
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{
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minCircumference=allCandBox[i].circumference;
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minCircumferenceIndex=i;
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}
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}
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bestBoxIndex=minCircumferenceIndex;
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double clusterVex[4][2]={allCandBox[bestBoxIndex].newMaxXPointX,allCandBox[bestBoxIndex].newMaxYPointY,
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allCandBox[bestBoxIndex].newMinXPointX,allCandBox[bestBoxIndex].newMaxYPointY,
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allCandBox[bestBoxIndex].newMinXPointX,allCandBox[bestBoxIndex].newMinYPointY,
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allCandBox[bestBoxIndex].newMaxXPointX,allCandBox[bestBoxIndex].newMinYPointY,
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};
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for(int i=0;i<4;i++)
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{
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CalCoordsAftRotation(clusterVex[i][0],clusterVex[i][1],
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&glu.boxVex[i][0],&glu.boxVex[i][1],360-allCandBox[bestBoxIndex].angle);
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}
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glu.length=allCandBox[bestBoxIndex].length;
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glu.width=allCandBox[bestBoxIndex].width;
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glu.boxDirection=allCandBox[bestBoxIndex].angle;
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Draw_Inclined_Cube_GL_RGB(glu.boxVex,glu.min_z,glu.max_z,0.0,0.0,1.0,3);
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}
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void BoundingBox::CalMinBoundingBox(cluster &gluClusterData,clusterFeature &glu)
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{
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if(!calCandidateBox)
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CalAllBoundingBox(gluClusterData);
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double minBisegeAverageX=0;
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double minBisegeAverageY=0;
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for(int i=0;i<allCandBox.size();i++)
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{
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for(int j=0;j<4;j++)
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{
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int cellIndex=allCandBox[i].boundingPointID[j].cellIndex;
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int pointIndexInCell=allCandBox[i].boundingPointID[j].pointIndexInCell;
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cell* pcellObj= gluClusterData[cellIndex]->pCell;
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BesiegePoint tempPoint;
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tempPoint.x=(*pcellObj)[pointIndexInCell]->x;
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tempPoint.y=(*pcellObj)[pointIndexInCell]->y;
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minBisegeAverageX+=tempPoint.x;
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minBisegeAverageY+=tempPoint.y;
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minBoundingBox.push_back(tempPoint);
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}
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}
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minBisegeAverageX/=minBoundingBox.size();
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minBisegeAverageY/=minBoundingBox.size();
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for(int i=0;i<minBoundingBox.size();i++)
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{
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minBoundingBox[i].angle=CalDirectionTwoPoints(minBisegeAverageX,minBisegeAverageY,minBoundingBox[i].x,minBoundingBox[i].y);
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}
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sort(minBoundingBox.begin(),minBoundingBox.end());
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for(int i=0;i<minBoundingBox.size()-1;i++)
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Draw_Line_GL_RGB(minBoundingBox[i].x,minBoundingBox[i].y,-225,minBoundingBox[i+1].x,
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minBoundingBox[i+1].y, -225,1,0,0,3);
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Draw_Line_GL_RGB(minBoundingBox[0].x,minBoundingBox[0].y,-225,
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minBoundingBox[minBoundingBox.size()-1].x,minBoundingBox[minBoundingBox.size()-1].y,-225,1,0,0,3);
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}
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