Examples with PointIndex_I32 boofcv.struct.PointIndex_I32 used on opensource projects

Example 6 with PointIndex_I32

use of boofcv.struct.PointIndex_I32 in project narchy by automenta.

the class ShapeSensor method isConvex.

public static boolean isConvex(List<PointIndex_I32> poly) {
    int n = poly.size();
    if (n < 4)
        return true;
    boolean sign = false;
    for (int i = 0; i < n; i++) {
        PointIndex_I32 a = poly.get((i + 2) % n);
        PointIndex_I32 b = poly.get((i + 1) % n);
        double dx1 = a.x - b.x;
        double dy1 = a.y - b.y;
        PointIndex_I32 c = poly.get(i);
        double dx2 = c.x - b.x;
        double dy2 = c.y - b.y;
        double zcrossproduct = dx1 * dy2 - dy1 * dx2;
        if (i == 0)
            sign = zcrossproduct > 0;
        else if (sign != (zcrossproduct > 0))
            return false;
    }
    return true;
}

Example 7 with PointIndex_I32

use of boofcv.struct.PointIndex_I32 in project narchy by automenta.

the class ShapeSensor method inputQuadBlob.

private void inputQuadBlob(int k, List<PointIndex_I32> polygon, float w, float h) {
    Polygon2D_I32 p = new Polygon2D_I32(polygon.size());
    for (PointIndex_I32 v : polygon) p.vertexes.add(v);
    Rectangle2D_I32 quad = new Rectangle2D_I32();
    UtilPolygons2D_I32.bounding(p, quad);
    float cx = ((quad.x0 + quad.x1) / 2f) / w;
    float cy = ((quad.y0 + quad.y1) / 2f) / h;
    float cw = quad.getWidth() / w;
    float ch = quad.getHeight() / h;
    Term pid = $.p(id, $.the(k));
    float conf = nar.confDefault(BELIEF);
    long now = nar.time();
    believe(now, $.inh(pid, $.the("x")), $.t(cx, conf));
    believe(now, $.inh(pid, $.the("y")), $.t(cy, conf));
    believe(now, $.inh(pid, $.the("w")), $.t(cw, conf));
    believe(now, $.inh(pid, $.the("h")), $.t(ch, conf));
}

Example 8 with PointIndex_I32

use of boofcv.struct.PointIndex_I32 in project narchy by automenta.

the class ShapeSensor method run.

@Override
public void run() {
    long last = now;
    now = nar.time();
    if (last == ETERNAL)
        last = now;
    input.update();
    if (img == null || img.width != input.width() || img.height != input.height()) {
        // img = new GrayF32(input.width(), input.height());
        img = new GrayU8(input.width(), input.height());
    }
    int w = img.width;
    int h = img.height;
    for (int x = 0; x < w; x++) {
        for (int y = 0; y < h; y++) {
            img.set(x, y, Math.round(256f * input.brightness(x, y, R, G, B)));
        }
    }
    if (debug) {
        if (polyDebug == null)
            polyDebug = new BufferedImage(img.width, img.height, BufferedImage.TYPE_INT_RGB);
    }
    // the mean pixel value is often a reasonable threshold when creating a binary image
    int mean = (int) ImageStatistics.mean(img);
    // create a binary image by thresholding
    ThresholdImageOps.threshold(img, img, mean, true);
    // reduce noise with some filtering
    GrayU8 filtered = img;
    // for (int i = 0; i < 2; i++) {
    filtered = BinaryImageOps.dilate8(filtered, 1, null);
    filtered = BinaryImageOps.erode8(filtered, 1, null);
    // // Fit a polygon to each shape and draw the results
    if (debug) {
        if (g2 == null) {
            g2 = polyDebug.createGraphics();
        }
        g2.setColor(Color.BLACK);
        g2.clearRect(0, 0, polyDebug.getWidth(), polyDebug.getHeight());
    } else {
        g2 = null;
    }
    List<Contour> contours = BinaryImageOps.contour(filtered, // ConnectRule.EIGHT,
    ConnectRule.FOUR, null);
    Grid g = new Grid(id, 12, 8, w, h) {

        @Override
        public Term line(int ax, int ay, int bx, int by) {
            Term l = super.line(ax, ay, bx, by);
            if (g2 != null) {
                int aax = Math.round(ax * sx);
                int aay = Math.round(ay * sy);
                int bbx = Math.round(bx * sx);
                int bby = Math.round(by * sy);
                g2.setColor(Color.GRAY);
                g2.setStroke(new BasicStroke(1));
                g2.drawLine(Math.round(aax / sx), Math.round(aay / sy), Math.round(bbx / sx), Math.round(bby / sy));
            }
            return l;
        }
    };
    int k = 0;
    for (Contour c : contours) {
        // Fit the polygon to the found external contour.  Note loop = true
        List<PointIndex_I32> outer = ShapeFittingOps.fitPolygon(c.external, true, 100, minimumSideFraction);
        if (debug) {
            g2.setColor(Color.getHSBColor(k / 10f, 0.8f, 0.8f));
            g2.setStroke(new BasicStroke(2));
            drawPolygon(outer, true, g2);
        // System.out.println(c + ": " + polygon);
        }
        g.addPoly(k++, outer, true);
    // // handle internal contours
    // for (List<Point2D_I32> internal : c.internal) {
    // List<PointIndex_I32> inner = ShapeFittingOps.fitPolygon(internal, true, splitFraction, minimumSideFraction, 100);
    // g2.setColor(Color.getHSBColor(c.id / 10f, 0.8f, 0.4f));
    // g2.setStroke(new BasicStroke(2));
    // drawPolygon(inner, true, g2);
    // g.addPoly(pk, inner, false);
    // }
    }
    g.input(in, last, nar);
    if (debug) {
        gui.setImageRepaint(polyDebug);
    }
}

Example 9 with PointIndex_I32

use of boofcv.struct.PointIndex_I32 in project BoofCV by lessthanoptimal.

the class ShapeFittingOps method indexToPointIndex.

/**
 * Converts the list of indexes in a sequence into a list of {@link PointIndex_I32}.
 *
 * @param sequence Sequence of points.
 * @param indexes List of indexes in the sequence.
 * @param output Output list of {@link PointIndex_I32}.
 */
public static void indexToPointIndex(List<Point2D_I32> sequence, DogArray_I32 indexes, DogArray<PointIndex_I32> output) {
    output.reset();
    for (int i = 0; i < indexes.size; i++) {
        int index = indexes.data[i];
        Point2D_I32 p = sequence.get(index);
        PointIndex_I32 o = output.grow();
        o.x = p.x;
        o.y = p.y;
        o.index = index;
    }
}

Example 10 with PointIndex_I32

use of boofcv.struct.PointIndex_I32 in project BoofCV by lessthanoptimal.

the class ExampleFitPolygon method fitBinaryImage.

/**
 * Fits polygons to found contours around binary blobs.
 */
public static void fitBinaryImage(GrayF32 input) {
    GrayU8 binary = new GrayU8(input.width, input.height);
    BufferedImage polygon = new BufferedImage(input.width, input.height, BufferedImage.TYPE_INT_RGB);
    // the mean pixel value is often a reasonable threshold when creating a binary image
    double mean = ImageStatistics.mean(input);
    // create a binary image by thresholding
    ThresholdImageOps.threshold(input, binary, (float) mean, true);
    // reduce noise with some filtering
    GrayU8 filtered = BinaryImageOps.erode8(binary, 1, null);
    filtered = BinaryImageOps.dilate8(filtered, 1, null);
    // Find internal and external contour around each shape
    List<Contour> contours = BinaryImageOps.contour(filtered, ConnectRule.EIGHT, null);
    // Fit a polygon to each shape and draw the results
    Graphics2D g2 = polygon.createGraphics();
    g2.setStroke(new BasicStroke(2));
    for (Contour c : contours) {
        // Fit the polygon to the found external contour. Note loop = true
        List<PointIndex_I32> vertexes = ShapeFittingOps.fitPolygon(c.external, true, minSide, cornerPenalty);
        g2.setColor(Color.RED);
        VisualizeShapes.drawPolygon(vertexes, true, g2);
        // handle internal contours now
        g2.setColor(Color.BLUE);
        for (List<Point2D_I32> internal : c.internal) {
            vertexes = ShapeFittingOps.fitPolygon(internal, true, minSide, cornerPenalty);
            VisualizeShapes.drawPolygon(vertexes, true, g2);
        }
    }
    gui.addImage(polygon, "Binary Blob Contours");
}