Examples with Point2D_F32 georegression.struct.point.Point2D_F32 used on opensource projects

Example 31 with Point2D_F32

use of georegression.struct.point.Point2D_F32 in project BoofCV by lessthanoptimal.

the class ConnectLinesGrid method connectTry.

/**
 * See if there is a line that matches in this adjacent region.
 *
 * @param target Line being connected.
 * @param x x-coordinate of adjacent region.
 * @param y y-coordinate of adjacent region.
 * @return true if a connection was made.
 */
private boolean connectTry(LineSegment2D_F32 target, int x, int y) {
    if (!grid.isInBounds(x, y))
        return false;
    List<LineSegment2D_F32> lines = grid.get(x, y);
    int index = findBestCompatible(target, lines, 0);
    if (index == -1)
        return false;
    LineSegment2D_F32 b = lines.remove(index);
    // join the two lines by connecting the farthest points from each other
    Point2D_F32 pt0 = farthestIndex < 2 ? target.a : target.b;
    Point2D_F32 pt1 = (farthestIndex % 2) == 0 ? b.a : b.b;
    target.a.set(pt0);
    target.b.set(pt1);
    // adding the merged one back in allows it to be merged with other lines down
    // the line.  It will be compared against others in 'target's grid though
    lines.add(target);
    return true;
}

Example 32 with Point2D_F32

use of georegression.struct.point.Point2D_F32 in project BoofCV by lessthanoptimal.

the class ConnectLinesGrid method findBestCompatible.

/**
 * Searches for a line in the list which the target is compatible with and can
 * be connected to.
 *
 * @param target Line being connected to.
 * @param candidates List of candidate lines.
 * @param start First index in the candidate list it should start searching at.
 * @return Index of the candidate it can connect to.  -1 if there is no match.
 */
private int findBestCompatible(LineSegment2D_F32 target, List<LineSegment2D_F32> candidates, int start) {
    int bestIndex = -1;
    double bestDistance = Double.MAX_VALUE;
    int bestFarthest = 0;
    float targetAngle = UtilAngle.atanSafe(target.slopeY(), target.slopeX());
    float cos = (float) Math.cos(targetAngle);
    float sin = (float) Math.sin(targetAngle);
    for (int i = start; i < candidates.size(); i++) {
        LineSegment2D_F32 c = candidates.get(i);
        float angle = UtilAngle.atanSafe(c.slopeY(), c.slopeX());
        // see if the two lines have the same slope
        if (UtilAngle.distHalf(targetAngle, angle) > lineSlopeAngleTol)
            continue;
        // see the distance the two lines are apart and if it could be the best line
        closestFarthestPoints(target, c);
        // two closest end points
        Point2D_F32 pt0 = closestIndex < 2 ? target.a : target.b;
        Point2D_F32 pt1 = (closestIndex % 2) == 0 ? c.a : c.b;
        float xx = pt1.x - pt0.x;
        float yy = pt1.y - pt0.y;
        float distX = Math.abs(cos * xx - sin * yy);
        float distY = Math.abs(cos * yy + sin * xx);
        if (distX >= bestDistance || distX > parallelTol || distY > tangentTol)
            continue;
        // check the angle of the combined line
        pt0 = farthestIndex < 2 ? target.a : target.b;
        pt1 = (farthestIndex % 2) == 0 ? c.a : c.b;
        float angleCombined = UtilAngle.atanSafe(pt1.y - pt0.y, pt1.x - pt0.x);
        if (UtilAngle.distHalf(targetAngle, angleCombined) <= lineSlopeAngleTol) {
            bestDistance = distX;
            bestIndex = i;
            bestFarthest = farthestIndex;
        }
    }
    if (bestDistance < parallelTol) {
        farthestIndex = bestFarthest;
        return bestIndex;
    }
    return -1;
}

Example 33 with Point2D_F32

use of georegression.struct.point.Point2D_F32 in project BoofCV by lessthanoptimal.

the class GridRansacLineDetector method convertToLineSegment.

/**
 * Lines are found in polar form and this coverts them into line segments by finding
 * the extreme points of points on the line.
 *
 * @param matchSet Set of points belonging to the line.
 * @param model Detected line.
 * @return Line segement.
 */
private LineSegment2D_F32 convertToLineSegment(List<Edgel> matchSet, LinePolar2D_F32 model) {
    float minT = Float.MAX_VALUE;
    float maxT = -Float.MAX_VALUE;
    LineParametric2D_F32 line = UtilLine2D_F32.convert(model, (LineParametric2D_F32) null);
    Point2D_F32 p = new Point2D_F32();
    for (Edgel e : matchSet) {
        p.set(e.x, e.y);
        float t = ClosestPoint2D_F32.closestPointT(line, e);
        if (minT > t)
            minT = t;
        if (maxT < t)
            maxT = t;
    }
    LineSegment2D_F32 segment = new LineSegment2D_F32();
    segment.a.x = line.p.x + line.slope.x * minT;
    segment.a.y = line.p.y + line.slope.y * minT;
    segment.b.x = line.p.x + line.slope.x * maxT;
    segment.b.y = line.p.y + line.slope.y * maxT;
    return segment;
}

Example 34 with Point2D_F32

use of georegression.struct.point.Point2D_F32 in project BoofCV by lessthanoptimal.

the class ImageLinePruneMerge method pruneSimilar.

public void pruneSimilar(float toleranceAngle, float toleranceDist, int imgWidth, int imgHeight) {
    sortByIntensity();
    float[] theta = new float[lines.size()];
    List<LineSegment2D_F32> segments = new ArrayList<>(lines.size());
    for (int i = 0; i < lines.size(); i++) {
        Data d = lines.get(i);
        LineParametric2D_F32 l = d.line;
        theta[i] = UtilAngle.atanSafe(l.getSlopeY(), l.getSlopeX());
        segments.add(LineImageOps.convert(l, imgWidth, imgHeight));
    }
    for (int i = 0; i < segments.size(); i++) {
        LineSegment2D_F32 a = segments.get(i);
        if (a == null)
            continue;
        for (int j = i + 1; j < segments.size(); j++) {
            LineSegment2D_F32 b = segments.get(j);
            if (b == null)
                continue;
            // see if they are nearly parallel
            if (UtilAngle.distHalf(theta[i], theta[j]) > toleranceAngle)
                continue;
            Point2D_F32 p = Intersection2D_F32.intersection(a, b, null);
            // see if it is nearly parallel and intersects inside the image
            if (p != null && p.x >= 0 && p.y >= 0 && p.x < imgWidth && p.y < imgHeight) {
                segments.set(j, null);
            } else {
                // now just see if they are very close
                float distA = Distance2D_F32.distance(a, b.a);
                float distB = Distance2D_F32.distance(a, b.b);
                if (distA <= toleranceDist || distB < toleranceDist) {
                    segments.set(j, null);
                }
            }
        }
    }
    List<Data> filtered = new ArrayList<>();
    for (int i = 0; i < segments.size(); i++) {
        if (segments.get(i) != null) {
            filtered.add(lines.get(i));
        }
    }
    lines = filtered;
}

Example 35 with Point2D_F32

use of georegression.struct.point.Point2D_F32 in project BoofCV by lessthanoptimal.

the class LineImageOps method mergeIntoA.

private static void mergeIntoA(LineSegment2D_F32 a, LineSegment2D_F32 b) {
    LineParametric2D_F32 paraA = UtilLine2D_F32.convert(a, (LineParametric2D_F32) null);
    Point2D_F32[] pts = new Point2D_F32[4];
    float[] t = new float[4];
    pts[0] = a.a;
    pts[1] = a.b;
    pts[2] = b.a;
    pts[3] = b.b;
    for (int i = 0; i < 4; i++) t[i] = ClosestPoint2D_F32.closestPointT(paraA, pts[i]);
    float min = t[0];
    float max = min;
    int indexMin = 0;
    int indexMax = 0;
    for (int i = 1; i < 4; i++) {
        float v = t[i];
        if (v < min) {
            min = v;
            indexMin = i;
        }
        if (v > max) {
            max = v;
            indexMax = i;
        }
    }
    // set the first line to the extreme points on each line
    a.a.set(pts[indexMin]);
    a.b.set(pts[indexMax]);
}