void face_merge(
std::vector<std::vector<cv::KeyPoint>>& dst,
std::vector<std::vector<cv::KeyPoint>>& src
)
{
while(src.size() != 0)
{
std::vector<cv::KeyPoint> group;
if(src[0].size() == 3)
{
for(size_t i=1; i<src.size(); ++i)
{
if(src[i].size() == 3)
{
const line_segment<> line_base(src[0].front().pt, src[0].back().pt);
const line_segment<> line_other(src[i].front().pt, src[i].back().pt);
const float distance1 = calc_distance(src[0].front().pt, src[i].front().pt);
const float distance2 = calc_distance(src[0].back().pt , src[i].back().pt );
const float averadius = (src[0].front().size + src[0].back().size + src[i].front().size + src[i].back().size) / 4.0;
if(
line_base.is_parallel(line_other) &&
/*(averadius*3.0<distance1) && */(distance1<averadius*7.0) &&
/*(averadius*3.0<distance2) && */(distance2<averadius*7.0)
)
{
group.insert(group.end(), src[0].begin(), src[0].end());
group.insert(group.end(), src[i].begin(), src[i].end());
src.erase(src.begin() + i);
src.erase(src.begin());
break;
}
}
//else if(src[i].size() == 2)
//{
// const line_segment<> line_one(src[0].front().pt, src[i].front().pt);
// const line_segment<> line_two(src[0].back().pt , src[i].back().pt );
// const cv::Point2f center((src[i].front().pt + src[i].back().pt)*0.50);
// if(calc_distance(center, src[0][1].pt) < src[0].at(1).size && line_one.is_parallel(line_two))
// {
// group.insert(group.end(), src[0].begin(), src[0].end());
// group.insert(group.end(), src[i].begin(), src[i].end());
// src.erase(src.begin() + i);
// src.erase(src.begin());
// break;
// }
//}
}
}
else if(src[0].size() == 2)
{
for(size_t i=1; i<src.size(); ++i)
{
if(src[i].size() != 2) continue;
const line_segment<> line_base(src[0].front().pt, src[0].back().pt);
const line_segment<> line_other(src[i].front().pt, src[i].back().pt);
const float distance1 = calc_distance(src[0].front().pt, src[i].front().pt);
const float distance2 = calc_distance(src[0].back().pt , src[i].back().pt );
const float averadius = (src[0].front().size + src[0].back().size + src[i].front().size + src[i].back().size) / 4.0;
if(
line_base.is_parallel(line_other) &&
/*(averadius*3.0<distance1) && */(distance1<averadius*7.0) &&
/*(averadius*3.0<distance2) && */(distance2<averadius*7.0)
)
{
group.insert(group.end(), src[0].begin(), src[0].end());
group.insert(group.end(), src[i].begin(), src[i].end());
src.erase(src.begin() + i);
src.erase(src.begin());
for(size_t j=0; j<src.size(); ++j)
{
if(src[j].size() != 2) continue;
const line_segment<> line_third(src[j].front().pt, src[j].back().pt);
//並行*3
{
const float distance3 = calc_distance(group[2].pt, src[j].front().pt);
const float distance4 = calc_distance(group[3].pt, src[j].back().pt);
if(
line_third.is_parallel(line_other) &&
(averadius*3.0<distance3) && (distance3<averadius*7.0) &&
(averadius*3.0<distance4) && (distance4<averadius*7.0)
)
{
group.insert(group.end(), src[j].begin(), src[j].end());
src.erase(src.begin() + j);
if(j < i) --i;
break;
}
}
//1つ直交
{
const line_segment<> line_02(group[0].pt, group[2].pt);
const float distance3 = calc_distance(group[0].pt, src[j].front().pt);
const float distance4 = calc_distance(group[2].pt, src[j].back().pt);
if(
line_02.is_parallel(line_third) &&
(averadius*3.0<distance3) && (distance3<averadius*7.0) &&
(averadius*3.0<distance4) && (distance4<averadius*7.0)
)
{
group.insert(group.end(), src[j].begin(), src[j].end());
src.erase(src.begin() + j);
if(j < i) --i;
break;
}
const line_segment<> line_13(group[1].pt, group[3].pt);
const float distance5 = calc_distance(group[1].pt, src[j].front().pt);
const float distance6 = calc_distance(group[3].pt, src[j].back().pt);
if(
line_13.is_parallel(line_third) &&
(averadius*3.0<distance5) && (distance5<averadius*7.0) &&
(averadius*3.0<distance6) && (distance6<averadius*7.0)
)
{
group.insert(group.end(), src[j].begin(), src[j].end());
src.erase(src.begin() + j);
if(j < i) --i;
break;
}
}
}
break;
}
}
}
if(group.size() == 0)
{
group.insert(group.end(), src[0].begin(), src[0].end());
src.erase(src.begin());
}
dst.push_back(std::move(group));
}
return;
}
void face_group(
std::vector<std::vector<cv::KeyPoint>>& dst,
std::vector<cv::KeyPoint>& src,
float error = 0.0f
)
{
for(size_t i=0; i<src.size(); ++i)
{
//距離全探索，短い順にソート
std::vector<std::pair<size_t,double>> distances;
for(size_t j=i+1; j<src.size(); ++j) distances.push_back(std::make_pair(j,calc_distance(src[i].pt, src[j].pt)));
std::sort(
distances.begin(), distances.end(),
[](const std::pair<size_t,double>& lhs, const std::pair<size_t,double>& rhs)
{
return lhs.second < rhs.second;
}
);
//近すぎもなく遠過ぎもないところをイテレータにのこす
auto it = distances.cbegin();
while(it != distances.cend())
{
const auto sum_size = src[i].size + src[it->first].size;
if(sum_size < it->second && it->second < sum_size*(2.0+error)) break;
else ++it;
}
if(it == distances.cend()) continue; //該当がなければスルー
//2つの特徴点を詰める
std::vector<cv::KeyPoint> group;
group.push_back(src[i]);
group.push_back(src[it->first]);
src.erase(src.begin() + it->first);
src.erase(src.begin() + i);
//3つ目があるか探してみる
const auto externally_point = get_externally_point(group.front().pt, group.back().pt);
for(size_t j=0; j<src.size(); ++j)
{
const auto distance = calc_distance(externally_point, src[j].pt);
const auto radius = src[j].size;
if(distance <= radius)
{
group.push_back(src[j]);
src.erase(src.begin() + j);
if(j < i) --i;
//3つが見つかったんで5つ
for(size_t k=0; k<src.size() && group.size()!=5; ++k)
{
const auto distance_k_center = calc_distance(group[1].pt, src[k].pt);
const auto rabius_k_center = group[1].size + src[k].size;
if(distance_k_center < rabius_k_center*2.5) continue;
const line_segment<> k_zero_line(src[k].pt, group[0].pt);
for(size_t l=k+1; l<src.size() && group.size()!=5; ++l)
{
const line_segment<> l_two_line(src[l].pt, group[2].pt);
if(k_zero_line.is_parallel(l_two_line))
{
group.push_back(src[k]);
group.push_back(src[l]);
src.erase(src.begin() + l);
src.erase(src.begin() + k);
if(k < i) --i;
if(l < i) --i;
}
}
}
break;
}
}
dst.push_back(std::move(group));
--i;
}
std::cout << "Remain: " << src.size() << std::endl;
if(error < 3.0) face_group(dst,src,error+0.5f);
return;
}
bool is_disjoint(const line_segment& l, const line_segment& m) {
if (l == m) {
return false;
}
//std::cerr << l.direction() << ", " << m.direction() << std::endl;
if (l.direction() == m.direction() || l.opposite().direction() == m.direction()) {
//std::cerr << l.has_on(m.source()) << l.has_on(m.target());
if (l.has_on(m.source())) {
if (l.source() != m.source() && l.target() != m.source()) {
return false;
}
} else if (l.has_on(m.target())) {
if (l.source() != m.target() && l.target() != m.target()) {
return false;
}
}
} else {
return true;
}
return true;
}
line_segment<double,3> Sector::sector_to_clas(const line_segment<double,3>& l) const
{
return line_segment<double,3>{
this->sector_to_clas(l.point()),
this->sector_to_clas(l.direction()) };
}
std::string line_segment_to_string(const line_segment& l) {
std::stringstream s;
s << point_to_string(l.source()) << " " << point_to_string(l.target());
return s.str();
}
