3dpcp/.svn/pristine/53/5355544dc020e61cbfa35516994a7abbfa2cf24a.svn-base
2012-09-16 14:33:11 +02:00

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/*
* quadtree implementation
*
* Copyright (C) Dorit Borrmann
*
* Released under the GPL version 3.
*
*/
#include "shapes/quadtree.h"
int QuadTree::anz;
double QuadTree::qSize;
double QuadTree::dist = 10.0;
//Plane *QuadTree::basePlane;
/*
QuadTree::QuadTree(double **pts, int n, double _qSize, Plane *_basePlane){
basePlane = _basePlane;
anz = 0;
qSize = _qSize;
double xmin = pts[0][0], xmax = pts[0][0];
double ymin = pts[0][1], ymax = pts[0][1];
for (int i=1; i < n; i++) {
xmin = min(xmin, pts[i][0]);
xmax = max(xmax, pts[i][0]);
ymin = min(ymin, pts[i][1]);
ymax = max(ymax, pts[i][1]);
}
center[0] = 0.5f * (xmin+xmax);
center[1] = 0.5f * (ymin+ymax);
double m = max(0.5f * (xmax-xmin), 0.5f * (ymax-ymin));
int count;
//set up values
child[0] = child[1] = child[2] = child[3] = 0;
leaf = 0;
x_size = m;
y_size = m;
// calculate new buckets
double newcenter[4][2];
double x_sizeNew, y_sizeNew;
x_sizeNew = x_size / 2.0;
y_sizeNew = y_size / 2.0;
newcenter[0][0] = center[0] - x_size / 2.0;
newcenter[0][1] = center[1] - y_size / 2.0;
newcenter[1][0] = center[0] + x_size / 2.0;
newcenter[1][1] = center[1] - y_size / 2.0;
newcenter[2][0] = center[0] - x_size / 2.0;
newcenter[2][1] = center[1] + y_size / 2.0;
newcenter[3][0] = center[0] + x_size / 2.0;
newcenter[3][1] = center[1] + y_size / 2.0;
// if bucket is _not_ approximately (nearly) empty don't build tree further
// -----------------------------------------------------------------------
for (int i = 0; i < 4; i++) {
vector<double*> splitPoints;
count = countPointsAndQueue(pts, n, splitPoints,
newcenter[i], x_sizeNew, y_sizeNew);
if (count > MIN_PTS_IN_BUCKET)
child[i] = new QuadTree(splitPoints,
newcenter[i], x_sizeNew, y_sizeNew);
splitPoints.clear();
}
}*/
bool QuadTree::close(double* p, double *p2) {
double stheta = sin(p[0]) * sin(p2[0]);
double myd2 = acos(
stheta * cos(p[1]) * cos(p2[1])
+ stheta * sin(p[1]) * sin(p2[1])
+ cos(p[0]) * cos(p2[0]));
if (myd2 < dist) {
return true;
}
return false;
/*
double dx = p2[0] - p[0];
double dy = p2[1] - p[1];
if ( sqrt(dx*dx + dy*dy) < dist ) {
return true;
}
return false;*/
}
bool QuadTree::close(double* p, set<double*> &cluster) {
for(set<double*>::iterator it = cluster.begin(); it != cluster.end(); it++) {
if ( close(p, (*it)) ) {
return true;
}
}
return false;
}
/*
bool QuadTree::close(double* p, set<double*> &cluster) {
double dx,dy;
for(set<double*>::iterator it = cluster.begin(); it != cluster.end(); it++) {
dx = (*it)[0] - p[0];
dy = (*it)[1] - p[1];
if ( sqrt(dx*dx + dy*dy) < dist ) {
return true;
}
}
return false;
}*/
int QuadTree::where(double *p1, vector<set<double*> >& clusters) {
for (unsigned int i = 0; i < clusters.size(); i++) {
if (clusters[i].count(p1) > 0) return i;
}
// this shouldnt happen
//cout << "VERY BAD THINGS HAPPENED!" <<endl;
return -1;
}
vector<set<double*> >& QuadTree::clusterCells(vector<set<double*> > &clusters1, set<double*> border1,
vector<set<double*> > &clusters2, set<double*> border2, vector< set<double*> > &clusters) {
if (border1.size() <= 0 || border2.size() <= 0) {
clusters.insert( clusters.end(), clusters1.begin(), clusters1.end());
clusters.insert( clusters.end(), clusters2.begin(), clusters2.end());
return clusters;
}
// some clusters might not have a border connection, remember those?
set<int> non_used_clusters;
for (unsigned int i = 0; i < clusters1.size(); i++) {
non_used_clusters.insert( -1 -i);
}
for (unsigned int i = 0; i < clusters2.size(); i++) {
non_used_clusters.insert( i);
}
// contains the edges of the correspondence graph
// indices of cluster 1 are stored negated
vector<int*> cgraph;
//cout << "bordersizes: " << border1.size() << " " << border2.size() << endl;
for (set<double*>::iterator bit1 = border1.begin(); bit1 != border1.end(); bit1++) {
for (set<double*>::iterator bit2 = border2.begin(); bit2 != border2.end(); bit2++) {
if (close( *bit1, *bit2) ) {
int *edge = new int[3];
int w1,w2;
w1 = where(*bit1, clusters1);
if (w1 == -1) {
continue;
}
w2 = where(*bit2, clusters2);
if (w2 == -1) {
continue;
}
edge[0] = -1 - w1;
edge[1] = w2;
// label the edge
edge[2] = -1;
cgraph.push_back(edge);
// cout << "point to point " << edge[0] << " " << edge[1] << endl;
}
}
}
//cout << "borders connected" << endl;
vector< set<int> > index_clusters;
int nr_cluster = 0;
for (unsigned int i = 0; i < cgraph.size(); i++) {
if (cgraph[i][2] != -1) {continue;}
// unlabeled edge
cgraph[i][2] = nr_cluster;
set<int> index_cluster;
index_cluster.insert(cgraph[i][0]);
index_cluster.insert(cgraph[i][1]);
non_used_clusters.erase(cgraph[i][0]);
non_used_clusters.erase(cgraph[i][1]);
for (unsigned int j = i + 1; j < cgraph.size(); j++) {
// cout << j << " j " << cgraph.size() << endl;
if (cgraph[j][2] != -1) {continue;}
// if either of the nodes is already in my cluster, label edge and add
// nodes
if (index_cluster.count(cgraph[j][0]) > 0
|| index_cluster.count(cgraph[j][1]) > 0 ) {
index_cluster.insert(cgraph[j][0]);
index_cluster.insert(cgraph[j][1]);
non_used_clusters.erase(cgraph[j][0]);
non_used_clusters.erase(cgraph[j][1]);
cgraph[j][2] = nr_cluster;
}
}
//non_used_clusters.erase(index_cluster.begin(), index_cluster.end());
index_clusters.push_back(index_cluster);
nr_cluster++;
}
//cout << "cluster connections resolved" << endl;
for (unsigned int i = 0; i < index_clusters.size(); i++) {
set<double*> cluster;
for (set<int>::iterator it = index_clusters[i].begin();
it != index_clusters[i].end(); it++) {
if (*it < 0 ) {
int index = -1 - (*it);
cluster.insert( clusters1[index].begin(), clusters1[index].end() );
} else {
cluster.insert( clusters2[*it].begin(), clusters2[*it].end() );
}
}
clusters.push_back(cluster);
}
//cout << "clusters joined. add remaining " << non_used_clusters.size() << endl;
for (set<int>::iterator it = non_used_clusters.begin(); it != non_used_clusters.end(); it++) {
set<double*> cluster;
if (*it < 0 ) {
int index = -1 - (*it);
cluster.insert( clusters1[index].begin(), clusters1[index].end() );
} else {
cluster.insert( clusters2[*it].begin(), clusters2[*it].end() );
}
clusters.push_back(cluster);
}
//cout << "done." << endl;
// cleanup
for (unsigned int i = 0; i < cgraph.size(); i++) {
delete[] cgraph[i];
}
cgraph.clear();
//cout << " cleanup done returning" << endl;
return clusters;
// return clusters1;
}
vector<set<double*> >& QuadTree::getClusters() {
// if leaf node
if (leaf == 1) {
if (points.size() <= 0) return clusters;
// cout << "leaf clustering ";
// cout << center[0] << " " << center[1] << " " << points.size() << " " <<endl;
clusters.push_back(set<double*> ());
clusters[0].insert(points[0]);
for (unsigned int j = 1; j < points.size(); j++) {
bool found_cluster = false;
int oldindex = -1;
for (unsigned int i = 0; i < clusters.size(); i++) {
if ( close(points[j], clusters[i]) ) {
if (!found_cluster) {
clusters[i].insert(points[j]);
found_cluster = true;
oldindex = i;
//break;
} else {
// cout << " join cluster " << oldindex << " and " << i << endl;
clusters[oldindex].insert(clusters[i].begin(), clusters[i].end());
clusters.erase(clusters.begin() + i);
i--;
//clusters[i]
}
}
}
if (!found_cluster) { // havent found a cose enough cluster -> new cluster
set<double*> cluster;
cluster.insert(points[j]);
clusters.push_back(cluster);
}
}
// cout << " this many cluster found in leaf " << clusters.size() << endl;
return clusters;
}
//cout << "my leafs: "<< child[0] << " " << child[1] << " " << child[2] << " " << child[3] << endl;
vector< set<double *> > southclusters;
clusterCells(child[0]->getClusters(), child[0]->east,
child[1]->getClusters(), child[1]->west, southclusters);
// cout << "northern cluste: " << endl;
vector< set<double *> > northclusters;
clusterCells(child[2]->getClusters(), child[2]->east,
child[3]->getClusters(), child[3]->west, northclusters);
// cout << "south: " << southclusters.size() << endl;
// cout << "north: " << northclusters.size() << endl;
// join borders
set<double*> nborders01;
nborders01.insert(child[0]->north.begin(), child[0]->north.end());
nborders01.insert(child[1]->north.begin(), child[1]->north.end());
set<double*> sborders23;
sborders23.insert(child[2]->south.begin(), child[2]->south.end());
sborders23.insert(child[3]->south.begin(), child[3]->south.end());
clusters = clusterCells(northclusters, sborders23, southclusters, nborders01, clusters);
if (clusters.size() > 0) {
//cout << "node clustered " << clusters.size() << endl;
//cout << center[0] << " " << center[1] << " " << points.size() << endl;
}
return clusters;
}
QuadTree::QuadTree(double **pts, int n, double _qSize, double min_d){
dist = min_d;
anz = 0;
qSize = _qSize;
double xmin = pts[0][0], xmax = pts[0][0];
double ymin = pts[0][1], ymax = pts[0][1];
for (int i=1; i < n; i++) {
xmin = min(xmin, pts[i][0]);
xmax = max(xmax, pts[i][0]);
ymin = min(ymin, pts[i][1]);
ymax = max(ymax, pts[i][1]);
}
double eps = 0.00001;
xmin -= eps;
ymin -= eps;
xmax += eps;
ymax += eps;
center[0] = 0.5 * (xmin+xmax);
center[1] = 0.5 * (ymin+ymax);
double m = max(0.5 * (xmax-xmin), 0.5 * (ymax-ymin));
int count;
//set up values
child[0] = child[1] = child[2] = child[3] = 0;
leaf = 0;
x_size = m;
y_size = m;
// calculate new buckets
double newcenter[4][2];
double x_sizeNew, y_sizeNew;
x_sizeNew = x_size / 2.0;
y_sizeNew = y_size / 2.0;
newcenter[0][0] = center[0] - x_size / 2.0;
newcenter[0][1] = center[1] - y_size / 2.0;
newcenter[1][0] = center[0] + x_size / 2.0;
newcenter[1][1] = center[1] - y_size / 2.0;
newcenter[2][0] = center[0] - x_size / 2.0;
newcenter[2][1] = center[1] + y_size / 2.0;
newcenter[3][0] = center[0] + x_size / 2.0;
newcenter[3][1] = center[1] + y_size / 2.0;
// if bucket is _not_ approximately (nearly) empty don't build tree further
// -----------------------------------------------------------------------
for (int i = 0; i < 4; i++) {
vector<double*> splitPoints;
set<double *> no,e,s,w;
count = countPointsAndQueue(pts, n, splitPoints,
newcenter[i], x_sizeNew, y_sizeNew,
no, e, s, w);
if (count > MIN_PTS_IN_BUCKET)
child[i] = new QuadTree(splitPoints,
newcenter[i], x_sizeNew, y_sizeNew, no,e,s,w);
splitPoints.clear();
}
}
QuadTree::QuadTree(vector<double*> &splitPoints, double _center[2],
double _x_size, double _y_size, set<double*> &n,
set<double*> &e, set<double*> &s, set<double*> &w) {
int count;
/*
this->north = n;
this->east = e;
this->south = s;
this->west = w;
*/
this->north.insert(n.begin(), n.end());
this->south.insert(s.begin(), s.end());
this->east.insert(e.begin(), e.end());
this->west.insert(w.begin(), w.end());
//set up values
child[0] = child[1] = child[2] = child[3] = 0;
leaf = 0;
center[0] = _center[0];
center[1] = _center[1];
x_size = _x_size;
y_size = _y_size;
// if bucket is too small stop building tree
// -----------------------------------------
if ((y_size <= qSize)) {
// copy points
for (unsigned int i = 0; i < splitPoints.size(); i++) {
points.push_back(splitPoints[i]);
}
leaf = 1;
anz++;
return;
}
// calculate new buckets
double newcenter[4][3];
double x_sizeNew, y_sizeNew;
x_sizeNew = x_size / 2.0;
y_sizeNew = y_size / 2.0;
newcenter[0][0] = center[0] - x_size / 2.0;
newcenter[0][1] = center[1] - y_size / 2.0;
newcenter[1][0] = center[0] + x_size / 2.0;
newcenter[1][1] = center[1] - y_size / 2.0;
newcenter[2][0] = center[0] - x_size / 2.0;
newcenter[2][1] = center[1] + y_size / 2.0;
newcenter[3][0] = center[0] + x_size / 2.0;
newcenter[3][1] = center[1] + y_size / 2.0;
// if bucket is _not_ approximately (nearly) empty don't build tree further
// ------------------------------------------------------------------------
for (int i = 0; i < 4; i++) {
vector<double*> new_splitPoints;
set<double *> n,e,s,w;
count = countPointsAndQueue(splitPoints, new_splitPoints,
newcenter[i], x_sizeNew, y_sizeNew,
n, e, s, w);
if (count > MIN_PTS_IN_BUCKET) {
child[i] = new QuadTree(new_splitPoints,
newcenter[i], x_sizeNew, y_sizeNew, n,e,s,w);
}
new_splitPoints.clear();
}
}
int QuadTree::countPointsAndQueue(const vector<double*> &i_points,
vector<double*> &points,
double center[2],
double x_size, double y_size,
set<double*> &n,
set<double*> &e,
set<double*> &s,
set<double*> &w)
{
int count = 0;
for (unsigned int i = 0; i < i_points.size(); i++) {
if (fabs(i_points[i][0] - center[0]) <= x_size) {
if (fabs(i_points[i][1] - center[1]) <= y_size) {
count++;
points.push_back(i_points[i]);
double top = asin(sin(i_points[i][0]) * sin( fabs( (center[1] + y_size) - i_points[i][1]) ) );
double bottom = asin(sin(i_points[i][0]) * sin( fabs( i_points[i][1] - (center[1] - y_size) ) ) );
if ( fabs( (center[0] + x_size) - i_points[i][0]) < dist ) {
e.insert(i_points[i]);
}
if ( fabs( i_points[i][0] - (center[0] - x_size) ) < dist ) {
w.insert(i_points[i]);
}
if ( top < dist ) {
n.insert(i_points[i]);
}
if ( bottom < dist ) {
s.insert(i_points[i]);
}
}
}
}
return count;
}
int QuadTree::countPointsAndQueue(double **pts, int n,
vector<double*> &points,
double center[2],
double x_size,double y_size,
set<double*> &no,
set<double*> &e,
set<double*> &s,
set<double*> &w)
{
int count = 0;
for (int i=0; i < n; i++) {
if (fabs(pts[i][0] - center[0]) <= x_size) {
if (fabs(pts[i][1] - center[1]) <= y_size) {
count++;
double *p = pts[i];
points.push_back(p);
double top = asin(sin(p[0]) * sin( fabs( (center[1] + y_size) - p[1]) ) );
double bottom = asin(sin(p[0]) * sin( fabs( p[1] - (center[1] - y_size) ) ) );
if ( fabs( (center[0] + x_size) - p[0]) < dist ) {
e.insert(p);
}
if ( fabs( p[0] - (center[0] - x_size) ) < dist ) {
w.insert(p);
}
if ( top < dist ) {
no.insert(p);
}
if ( bottom < dist ) {
s.insert(p);
}
}
}
}
return count;
}
int QuadTree::countPoints(double **pts, int n, double center[2],
double x_size, double y_size)
{
int count = 0;
for (int i=0; i < n; i++) {
if (fabs(pts[i][0] - center[0]) <= x_size) {
if (fabs(pts[i][1] - center[1]) <= y_size) {
count++;
}
}
}
return count;
}
/*
void QuadTree::getQuadTreePoints(vector<double> &quad_x, vector<double> &quad_y, vector<double> &quad_z)
{
double x,y,z;
if (leaf == 1) {
basePlane->projTo3D(center[0] - x_size,
center[1] - y_size,
x, y, z);
quad_x.push_back(x);
quad_y.push_back(y);
quad_z.push_back(z);
basePlane->projTo3D(center[0] + x_size,
center[1] - y_size,
x, y, z);
quad_x.push_back(x);
quad_y.push_back(y);
quad_z.push_back(z);
basePlane->projTo3D(center[0] + x_size,
center[1] + y_size,
x, y, z);
quad_x.push_back(x);
quad_y.push_back(y);
quad_z.push_back(z);
basePlane->projTo3D(center[0] - x_size,
center[1] + y_size,
x, y, z);
quad_x.push_back(x);
quad_y.push_back(y);
quad_z.push_back(z);
} else {
for( int i = 0; i < 4; i++){
if (child[i] != 0) {
child[i]->getQuadTreePoints(quad_x, quad_y, quad_z);
}
}
}
}
*/
/*
void QuadTree::getQuadTreeColor(double &colorR, double &colorG, double &colorB)
{
switch (basePlane->getColor()) {
case 1: colorR = 0.6; colorG = 0.0; colorB = 0.0; break;
case 2: colorR = 0.0; colorG = 0.6; colorB = 0.0; break;
case 3: colorR = 0.0; colorG = 0.0; colorB = 0.6; break;
case 4: colorR = 0.6; colorG = 0.6; colorB = 0.0; break;
case 5: colorR = 0.6; colorG = 0.0; colorB = 0.6; break;
case 6: colorR = 0.0; colorG = 0.6; colorB = 0.6; break;
case 7: colorR = 0.6; colorG = 0.3; colorB = 0.3; break;
case 8: colorR = 0.3; colorG = 0.3; colorB = 0.3; break;
case 9: colorR = 0.3; colorG = 0.3; colorB = 0.6; break;
case 10: colorR = 0.6; colorG = 0.6; colorB = 0.6; break;
case 11: colorR = 0.1; colorG = 0.1; colorB = 0.6; break;
case 12: colorR = 0.1; colorG = 0.1; colorB = 0.1; break;
case 13: colorR = 0.1; colorG = 0.3; colorB = 0.1; break;
case 14: colorR = 0.1; colorG = 0.1; colorB = 0.3; break;
case 15: colorR = 0.3; colorG = 0.6; colorB = 0.3; break;
case 16: colorR = 0.3; colorG = 0.3; colorB = 0.1; break;
default: colorR = 0.3; colorG = 0.1; colorB = 0.1;
}
}
*/
/*
int QuadTree::outputQuad(char *dir)
{
cout << "writing ";
ofstream quadout;
char fname[64];
strcpy(fname,dir);strcat(fname, "/quad.dat");
quadout.open(fname,ios::binary|ios::out|ios::app);
if (!quadout) {
cerr << "*** error: can't create file " << fname << " ***\n";
exit(2);
}
int ret = _OutputQuad(quadout);
quadout.close();
cout << ret << " quads from quadtree." << endl;
return ret;
}
int QuadTree::_OutputQuad(ofstream &bBoxout)
{
int ret = 0;
if (leaf == 1) {
double x,y,z;
// cout << endl;
basePlane->projTo3D(center[0] - x_size,
center[1] - y_size,
x,y,z);
// cout << x << " " << y << " " << z << endl;
bBoxout.write((char*)&x, sizeof(double));
bBoxout.write((char*)&y, sizeof(double));
bBoxout.write((char*)&z, sizeof(double));
basePlane->projTo3D(center[0] - x_size,
center[1] + y_size,
x,y,z);
// cout << x << " " << y << " " << z << endl;
bBoxout.write((char*)&x, sizeof(double));
bBoxout.write((char*)&y, sizeof(double));
bBoxout.write((char*)&z, sizeof(double));
basePlane->projTo3D(center[0] + x_size,
center[1] + y_size,
x,y,z);
// cout << x << " " << y << " " << z << endl;
bBoxout.write((char*)&x, sizeof(double));
bBoxout.write((char*)&y, sizeof(double));
bBoxout.write((char*)&z, sizeof(double));
basePlane->projTo3D(center[0] + x_size,
center[1] - y_size,
x,y,z);
// cout << x << " " << y << " " << z << endl;
bBoxout.write((char*)&x, sizeof(double));
bBoxout.write((char*)&y, sizeof(double));
bBoxout.write((char*)&z, sizeof(double));
// float col = 0.0;
// for (int i = 0; i < points.size(); i++) {
// col = max(col, points[i][2]);
// }
//
// col = col / 3.0;
//
float col = 0; //!!!
double gcolorR, gcolorG, gcolorB;
getQuadTreeColor(gcolorR, gcolorG, gcolorB);
float col_r = col + gcolorR;
float col_g = col + gcolorG;
float col_b = col + gcolorB;
bBoxout.write((char*)&col_r, sizeof(float));
bBoxout.write((char*)&col_g, sizeof(float));
bBoxout.write((char*)&col_b, sizeof(float));
return 1;
}
for( int i = 0; i < 4; i++){
if (child[i] != 0) {
ret += child[i]->_OutputQuad(bBoxout);
}
}
return ret;
}
*/
QuadTree::~QuadTree(){
for(int i = 0; i < 4; i++) {
if (child[i] !=0) {
delete child[i];
child[i] = 0;
}
}
}