void PMRoadGenerator::setupTensor(const Polygon2D& targetArea, const std::vector<std::pair<QVector2D, float>>& regular_elements, cv::Mat& tensor) {
BBox bbox = targetArea.envelope();
tensor = cv::Mat(bbox.dy() + 1, bbox.dx() + 1, CV_32F);
for (int r = 0; r < tensor.rows; ++r) {
for (int c = 0; c < tensor.cols; ++c) {
int x = c + bbox.minPt.x();
int y = r + bbox.minPt.y();
double total_angle = 0.0;
double total_weight = 0.0;
for (int k = 0; k < regular_elements.size(); ++k) {
float dist = (QVector2D(x, y) - regular_elements[k].first).length();
double angle = regular_elements[k].second;
double weight = exp(-dist / 10);
total_angle += angle * weight;
total_weight += weight;
}
float avg_angle = total_angle / total_weight;
tensor.at<float>(r, c) = avg_angle;
}
}
}
void VBOPmBlocks::saveBlockImage(RoadGraph& roads, Polygon3D& contour, const char* filename) {
BBox bbox = GraphUtil::getAABoundingBox(roads, true);
cv::Mat img(bbox.dy() + 1, bbox.dx() + 1, CV_8UC3, cv::Scalar(255, 255, 255));
RoadEdgeIter ei, eend;
for (boost::tie(ei, eend) = boost::edges(roads.graph); ei != eend; ++ei) {
if (!roads.graph[*ei]->valid) continue;
for (int pl = 0; pl < roads.graph[*ei]->polyline.size() - 1; ++pl) {
int x1 = roads.graph[*ei]->polyline[pl].x() - bbox.minPt.x();
int y1 = img.rows - (roads.graph[*ei]->polyline[pl].y() - bbox.minPt.y());
int x2 = roads.graph[*ei]->polyline[pl + 1].x() - bbox.minPt.x();
int y2 = img.rows - (roads.graph[*ei]->polyline[pl + 1].y() - bbox.minPt.y());
cv::line(img, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(224, 224, 224), 3);
}
}
for (int i = 0; i < contour.contour.size(); ++i) {
int next = (i + 1) % contour.contour.size();
int x1 = contour.contour[i].x() - bbox.minPt.x();
int y1 = img.rows - (contour.contour[i].y() - bbox.minPt.y());
int x2 = contour.contour[next].x() - bbox.minPt.x();
int y2 = img.rows - (contour.contour[next].y() - bbox.minPt.y());
cv::line(img, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0, 0, 0), 3);
}
cv::imwrite(filename, img);
}
void PMRoadGenerator::saveRoadImage(RoadGraph& roads, const std::string& filename) {
BBox bbox;
RoadVertexIter vi, vend;
for (boost::tie(vi, vend) = boost::vertices(roads.graph); vi != vend; ++vi) {
if (!roads.graph[*vi]->valid) continue;
bbox.addPoint(roads.graph[*vi]->pt);
}
cv::Mat result((int)(bbox.dy() + 1), (int)(bbox.dx() + 1), CV_8UC3, cv::Scalar(255, 255, 255));
RoadEdgeIter ei, eend;
for (boost::tie(ei, eend) = boost::edges(roads.graph); ei != eend; ++ei) {
if (!roads.graph[*ei]->valid) continue;
for (int k = 0; k < roads.graph[*ei]->polyline.size() - 1; ++k) {
int x1 = roads.graph[*ei]->polyline[k].x() - bbox.minPt.x();
int y1 = roads.graph[*ei]->polyline[k].y() - bbox.minPt.y();
int x2 = roads.graph[*ei]->polyline[k + 1].x() - bbox.minPt.x();
int y2 = roads.graph[*ei]->polyline[k + 1].y() - bbox.minPt.y();
cv::line(result, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
}
}
for (boost::tie(vi, vend) = boost::vertices(roads.graph); vi != vend; ++vi) {
if (!roads.graph[*vi]->valid) continue;
int count = 0;
RoadOutEdgeIter oi, oend;
for (boost::tie(oi, oend) = boost::out_edges(*vi, roads.graph); oi != oend; ++oi) {
if (roads.graph[*oi]->valid) count++;
}
if (count == 2) continue;
int x = roads.graph[*vi]->pt.x() - bbox.minPt.x();
int y = roads.graph[*vi]->pt.y() - bbox.minPt.x();
cv::circle(result, cv::Point(x, y), 5, cv::Scalar(255, 0, 0), 1, cv::LINE_AA);
QString text = QString::number(count);
cv::putText(result, text.toUtf8().constData(), cv::Point(x, y), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
}
cv::imwrite(filename.c_str(), result);
}
/**
* KDEベースでの特徴量を抽出する。
*/
void KDEFeatureExtractor::extractFeature(RoadGraph& roads, Polygon2D& area, RoadFeature& roadFeature) {
roadFeature.clear();
KDEFeaturePtr kf = KDEFeaturePtr(new KDEFeature(0));
QVector2D center = area.envelope().midPt();
///////////////////////////////////////////////////////////////////////////////////////////////////////
// Avenueのみを抽出する
RoadGraph temp_roads;
time_t start = clock();
GraphUtil::copyRoads(roads, temp_roads);
time_t end = clock();
std::cout << "Elapsed time for copying the roads: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
if (G::getBool("exactCut")) {
GraphUtil::extractRoads2(temp_roads, area);
}
start = clock();
GraphUtil::extractRoads(temp_roads, RoadEdge::TYPE_AVENUE | RoadEdge::TYPE_BOULEVARD);
end = clock();
std::cout << "Elapsed time for extracting only the avenues: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
start = clock();
GraphUtil::clean(temp_roads);
end = clock();
std::cout << "Elapsed time for cleaning the avenues: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
start = clock();
//GraphUtil::reduce(temp_roads);
end = clock();
std::cout << "Elapsed time for reducing the avenues: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
// roundaboutを削除する
//GraphUtil::removeRoundabout(temp_roads);
// linkを削除する
start = clock();
GraphUtil::removeLinkEdges(temp_roads);
end = clock();
std::cout << "Elapsed time for removing links: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
start = clock();
//GraphUtil::reduce(temp_roads);
end = clock();
std::cout << "Elapsed time for reducing links: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
GraphUtil::removeIsolatedVertices(temp_roads);
start = clock();
GraphUtil::clean(temp_roads);
end = clock();
std::cout << "Elapsed time for cleaning the avenues: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
// 特徴量を抽出
int num_vertices = extractAvenueFeature(temp_roads, area, kf);
if (G::getBool("perturbation")) {
extractAvenueFeature(temp_roads, area, kf, true);
}
BBox bbox = area.envelope();
std::cout << "Area: " << area.area() << std::endl;
std::cout << "BBox: " << bbox.dx() << "," << bbox.dy() << std::endl;
std::cout << "Num avenue vertices: " << num_vertices << std::endl;
kf->setDensity(RoadEdge::TYPE_AVENUE, num_vertices / area.area());
///////////////////////////////////////////////////////////////////////////////////////////////////////
// streetのみを抽出する
start = clock();
GraphUtil::copyRoads(roads, temp_roads);
end = clock();
std::cout << "Elapsed time for copying the roads: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
if (G::getBool("exactCut")) {
GraphUtil::extractRoads2(temp_roads, area);
}
start = clock();
GraphUtil::extractRoads(temp_roads, RoadEdge::TYPE_STREET);
end = clock();
std::cout << "Elapsed time for extracting the streets: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
//GraphUtil::reduce(temp_roads); <- わざとreduceしない
// linkを削除する
start = clock();
GraphUtil::removeLinkEdges(temp_roads);
end = clock();
std::cout << "Elapsed time for removing links: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
GraphUtil::removeIsolatedVertices(temp_roads);
start = clock();
GraphUtil::clean(temp_roads);
end = clock();
std::cout << "Elapsed time for cleaning the streets: " << (double)(end-start)/CLOCKS_PER_SEC << " [sec]" << std::endl;
// 特徴量を抽出
num_vertices = extractStreetFeature(temp_roads, area, kf);
if (G::getBool("perturbation")) {
extractStreetFeature(temp_roads, area, kf, true);
}
kf->setDensity(RoadEdge::TYPE_STREET, num_vertices / area.area());
kf->setWeight(1.0f);
kf->setCenter(center);
// 領域を少しだけ大きくする。これにより、抽出された道路網の交差点が、確実に領域内と判定されるはず。
for (int i = 0; i < area.size(); ++i) {
area[i] = (area[i] - center) * 1.02f + center;
}
kf->setArea(area);
roadFeature.addFeature(kf);
}