/*------------------------------------------------------------------+
Take the calculated distances and eliminate those distances
which are not local maximums, and hence not part of the
medial axis.
+------------------------------------------------------------------*/
void CalcAxis( unsigned char* in, unsigned char* out, int w, int h )
{
int i, j;
unsigned char u, b, l, r, c;
for( i=0; i<h; i++ ){
for( j=0; j<w; j++ ){
// get the four corners
c = in[i*w+j];
if( c!=0 ){
u = ( i>0 ? in[(i-1)*w+j] : 0 );
b = ( i+1<h ? in[(i+1)*w+j] : 0 );
l = ( j>0 ? in[i*w+j-1] : 0 );
r = ( j+1<w ? in[i*w+j+1] : 0 );
out[i*w+j] = ( ( c<u || c<b || c<l || c<r ) ? 0 : c );
}// if
} // for j
} // for i
/*
NOTE: as of right now, this does not account for objects of even pixels
widths. Hence, the medial axis could be two pixels thick!!
*/
ThinData( out, w, h );
}
void AATDistance::AddPoint(double longitude, double latitude,
int taskwaypoint) {
if (taskwaypoint<0) return;
bool was_entered = has_entered[taskwaypoint];
has_entered[taskwaypoint] = true;
if (!AATEnabled || DoOptimizeRoute()) return; // nothing else to do for non-AAT tasks
LockTaskData();
// should only add ONE point to start.
// If restart, need to reset
if (num_points[taskwaypoint]<MAXNUM_AATDISTANCE) {
int n = num_points[taskwaypoint];
bool new_point= false;
if (n>1) {
double dist;
DistanceBearing(lat_points[taskwaypoint][n-2],
lon_points[taskwaypoint][n-2],
latitude,
longitude, &dist, NULL);
if (dist>distancethreshold[taskwaypoint]) {
new_point = true;
}
} else {
// first point in sector
new_point = true;
if ((!was_entered) && (taskwaypoint>0) &&
!Task[taskwaypoint].AATTargetLocked) {
double qdist, bearing0, bearing1;
DistanceBearing(Task[taskwaypoint-1].AATTargetLat,
Task[taskwaypoint-1].AATTargetLon,
latitude,
longitude,
&qdist, &bearing0);
DistanceBearing(Task[taskwaypoint-1].AATTargetLat,
Task[taskwaypoint-1].AATTargetLon,
Task[taskwaypoint].AATTargetLat,
Task[taskwaypoint].AATTargetLon,
&qdist, &bearing1);
// JMWAAT
Task[taskwaypoint].AATTargetOffsetRadial = 0.0;
// 20080615 JMW
// was AngleLimit180(bearing1-bearing0);
// now project along track line
// target will be moved by ShiftTargetFromBehind
}
}
if (taskwaypoint==0) {
// force updating of start point
new_point = true;
}
if (new_point) {
if (taskwaypoint>0) {
num_points[taskwaypoint]++;
if (num_points[taskwaypoint]==MAXNUM_AATDISTANCE) {
ThinData(taskwaypoint);
}
} else {
// just replace current start
num_points[taskwaypoint]= 1;
}
}
// always replace last point
lat_points[taskwaypoint][max(0,num_points[taskwaypoint]-1)]= latitude;
lon_points[taskwaypoint][max(0,num_points[taskwaypoint]-1)]= longitude;
// update max search for this and future waypoints
if (taskwaypoint>0) {
for (int i= taskwaypoint; i<MAXTASKPOINTS-1; i++) {
UpdateSearch(i);
}
if (taskwaypoint == ActiveTaskPoint) {
DistanceCovered_internal(longitude, latitude, true);
}
}
}
UnlockTaskData();
}