//to compute wcv, give differenct weights to the radius of cones.
void CVT::Display_vorCone(cv::Mat & img, int numOfsites)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPointSize(3);
double max_radius=std::max(img.size().height, img.size().width);
for (int i = 0; i<numOfsites; i++)
{
cells[i].coverage.clear();
float x = cells[i].site.y;
float y = img.size().height-0.5- cells[i].site.x;
cv::Point pix((int)cells[i].site.x, (int)cells[i].site.y);
float d= color2dist(img, pix);//검정일때 d=1.
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(x, y, 0);
//integer 연산이라 i=270일때 (0,1,14)가 나온다.
//the brighter one should have larger radius.
glColor3ub(i / (256 * 256), (i / 256)%256 , i%256 );
glutSolidCone(max_radius*((2 - d)+0.5f*(1+d)), 1, 16, 1);
//draw each sites.(i.e. center of a cone)
//glColor3ub(0, 0, 0);
//glBegin(GL_POINTS);
//glVertex3d(0, 0, 1);
//glEnd();
}
glFinish();//double buffering하면 안된다?
}
//buil the VOR once(weighted vor diagram?)
void CVT::vor(cv::Mat & img)
{
cv::Mat dist(img.size(), CV_32F, cv::Scalar::all(FLT_MAX)); //an image with infinity distance
cv::Mat root(img.size(), CV_16U, cv::Scalar::all(USHRT_MAX)); //an image of root index
cv::Mat visited(img.size(), CV_8U, cv::Scalar::all(0)); //all unvisited
//init
std::vector< std::pair<float, cv::Point> > open;
ushort site_id = 0;
for (auto& c : this->cells)
{
if (debug)
{
if (c.site.x<0 || c.site.x>img.size().height)
std::cout << "! Warning: c.site.x=" << c.site.x << std::endl;
if (c.site.y<0 || c.site.y>img.size().width)
std::cout << "! Warning: c.site.y=" << c.site.y << std::endl;
}
cv::Point pix((int)c.site.x, (int)c.site.y);
float d = color2dist(img, pix);
//dist에 2D에서의 color value저장. dist 가 크다 <-> 흰색에 가깝다.
dist.at<float>(pix.x, pix.y) = d;
root.at<ushort>(pix.x, pix.y) = site_id++;
open.push_back( std::make_pair(d, pix) );//push
c.coverage.clear();
}
std::make_heap(open.begin(), open.end(), compareCell);
//propagate
while (open.empty() == false)
{
//
std::pop_heap(open.begin(), open.end(), compareCell);//pop, 저장된 color value와 point pair를 꺼낸다.
auto cell = open.back();
auto& cpos = cell.second;
open.pop_back();
//check if the distance from this cell is already updated
if (cell.first > dist.at<float>(cpos.x, cpos.y)) continue;
if (visited.at<uchar>(cpos.x, cpos.y) > 0) continue; //visited
visited.at<uchar>(cpos.x, cpos.y) = 1;
//check the neighbors
for (int dx =-1; dx <= 1; dx++) //x is row
{
int x = cpos.x + dx;
if (x < 0 || x >= img.size().height) continue;
for (int dy = -1; dy <= 1; dy++) //y is column
{
if (dx == 0 && dy == 0) continue; //itself...
int y = cpos.y + dy;
if (y < 0 || y >= img.size().width) continue;
float newd = dist.at<float>(cpos.x, cpos.y) + color2dist(img, cv::Point(x, y));
float oldd = dist.at<float>(x, y);
if (newd < oldd)
{
dist.at<float>(x, y)=newd;
root.at<ushort>(x, y) = root.at<ushort>(cpos.x, cpos.y);
open.push_back(std::make_pair(newd, cv::Point(x, y)));
std::push_heap(open.begin(), open.end(), compareCell);
}
}//end for dy
}//end for dx
}//end while
//collect cells
for (int x = 0; x < img.size().height; x++)
{
for (int y = 0; y < img.size().width; y++)
{
ushort rootid = root.at<ushort>(x, y);
this->cells[rootid].coverage.push_back(cv::Point(x,y));
}//end y
}//end x
//remove empty cells...CVT할때를 위해
int cvt_size = this->cells.size();
for (int i = 0; i < cvt_size; i++)
{
if (this->cells[i].coverage.empty())
{
this->cells[i] = this->cells.back();
this->cells.pop_back();
i--;
cvt_size--;
}
}//end for i
if (debug)
{
//this shows the progress...
double min;
double max;
cv::minMaxIdx(dist, &min, &max);
cv::Mat adjMap;
cv::convertScaleAbs(dist, adjMap, 255 / max);
//cv::applyColorMap(adjMap, adjMap, cv::COLORMAP_JET);
for (auto& c : this->cells)
{
cv::circle(adjMap, cv::Point(c.site.y, c.site.x), 2, CV_RGB(0, 0, 255), -1);
}
cv::imshow("CVT", adjMap);
cv::waitKey(5);
}
}
//build the VOR once
void CVT::vor(cv::Mat & img)
{
cv::Mat dist(img.size(), CV_32F, cv::Scalar::all(FLT_MAX)); //an image with infinity distance
cv::Mat root(img.size(), CV_16U, cv::Scalar::all(USHRT_MAX)); //an image of root index
cv::Mat visited(img.size(), CV_8U, cv::Scalar::all(0)); //all unvisited
//init
std::vector< std::pair<float, cv::Point> > open; //YH open is a vector(float, cvPoint)
ushort site_id = 0;
for (auto& c : this->cells)
{
if (debug)
{
if (c.site.x<0 || c.site.x>img.size().height)
std::cout << "! Warning: c.site.x=" << c.site.x << std::endl;
if (c.site.y<0 || c.site.y>img.size().width)
std::cout << "! Warning: c.site.y=" << c.site.y << std::endl;
}
cv::Point pix((int)c.site.x, (int)c.site.y); //YH a VOR site, pix(x,y)
float d = color2dist(img, pix); //YH d is distance, color2dist convert a color intensity to distance between 0~1
dist.at<float>(pix.x, pix.y) = d;
root.at<ushort>(pix.x, pix.y) = site_id++;
open.push_back( std::make_pair(d, pix) );
c.coverage.clear();
}
std::make_heap(open.begin(), open.end(), compareCell); // YH make min heap using the begining vector(pair) and the ending vector(pair)
//propagate
// YH do "while" for all cell and find the smallest distance as checking neighbors
while (open.empty() == false)
{
std::pop_heap(open.begin(), open.end(), compareCell); //move the smallest element to the end
auto cell = open.back(); //YH from hightest node, which has the smallest value, set cell
auto& cpos = cell.second; //YH cell position
open.pop_back(); // remove it
//if(cell.first != dist.at<float>(cpos.x, cpos.y) )("first %f \t, dist %f \n", cell.first, dist.at<float>(cpos.x, cpos.y));
//check if the distance from this cell is already updated
if (cell.first > dist.at<float>(cpos.x, cpos.y)) continue; //YH first = distance(intensity)
if (visited.at<uchar>(cpos.x, cpos.y) > 0) continue; //visited //YH the if cpos already visited, skip this time and do next cell
visited.at<uchar>(cpos.x, cpos.y) = 1;
//check the neighbors
for (int dx =-1; dx <= 1; dx++) //x is row
{
int x = cpos.x + dx;
if (x < 0 || x >= img.size().height) continue; //YH check the x is inside an image
for (int dy = -1; dy <= 1; dy++) //y is column
{
if (dx == 0 && dy == 0) continue; //itself...
int y = cpos.y + dy;
if (y < 0 || y >= img.size().width) continue; //YH check the y is inside an image
float newd = dist.at<float>(cpos.x, cpos.y) + color2dist(img, cv::Point(x, y)); //YH new distance
float oldd = dist.at<float>(x, y); //YH old distance
//if((newd<oldd)&&oldd<100) printf("tot %.6f \t // old %.6f \n", newd, oldd);// color2dist(img, cv::Point(x, y)), dist.at<float>(cpos.x, cpos.y));
//cv::waitKey(1000);
if (newd < oldd) //YH check new one has the smallest value and push it in the heap
{
dist.at<float>(x, y)=newd;
root.at<ushort>(x, y) = root.at<ushort>(cpos.x, cpos.y);
open.push_back(std::make_pair(newd, cv::Point(x, y))); // add the element at the next end of list container
std::push_heap(open.begin(), open.end(), compareCell);
}
}//end for dy
}//end for dx
}//end while
//collect cells
for (int x = 0; x < img.size().height; x++)
{
for (int y = 0; y < img.size().width; y++)
{
ushort rootid = root.at<ushort>(x, y);
this->cells[rootid].coverage.push_back(cv::Point(x,y)); // YH make coverage
}//end y
}//end x
//remove empty cells...
int cvt_size = this->cells.size();
for (int i = 0; i < cvt_size; i++)
{
if (this->cells[i].coverage.empty())
{
this->cells[i] = this->cells.back();
this->cells.pop_back();
i--;
cvt_size--;
}
}//end for i
if (debug)
{
//this shows the progress...
double min;
double max;
cv::minMaxIdx(dist, &min, &max); //YH finds global minimum and maximum array elements and returns their values and their locations
cv::Mat adjMap;
cv::convertScaleAbs(dist, adjMap, 255 / max); //YH scales array elements, computes absolute values and converts the results to 8-bit unsigned integers: dst(i)=saturate_cast<uchar>abs(src(i)*alpha+beta)
//cv::applyColorMap(adjMap, adjMap, cv::COLORMAP_JET);
for (auto& c : this->cells)
{
cv::circle(adjMap, cv::Point(c.site.y, c.site.x), 2, CV_RGB(0, 0, 255), -1);
}
//cv::imshow("CVT", adjMap);
//cv::waitKey(5);
}
}
