void ClipToPositive(const Vec3F& line,
const Vec3F& clip,
Vec3F& start,
Vec3F& end) {
const Vec3F isct = Cross3D(line, clip);
if (PointSign(line, start) == -1) {
start = isct;
}
if (PointSign(line, end) == -1) {
end = isct;
}
}
void ClipLineToPoly(const Vec3F& line,
const vector<Vec3F>& poly,
Vec3F& a,
Vec3F& b) {
a.Fill(0.0);
b.Fill(0.0);
const int n = poly.size();
INDENTED for (int i = 1; i <= n; i++) {
const Vec3F isct = Cross3D(line, poly[i%n]);
const float dp1 = PointSign(isct, poly[ (i-1)%n ]);
const float dp2 = PointSign(isct, poly[ (i+1)%n ]);
if (dp1 >= 0 && dp2 >= 0) {
b = a;
a = isct;
}
}
}
void HehFeatureGen::Compute(const ImageRGB<byte>& imagergb,
const ImageF& image,
const MatI& seg) {
// General notes:
// We must always be careful to deal with normalized image
// coordinates, which range from 0 to 1 in both dimensions. This
// includes pixel locations, vanishing point locations, and line
// intersections.
// Any homogeneous vector can represent a point at infinity, which
// will manifest as an INF if we Project() it. This is fine so
// long as we keep track of which coordinates might potentially be
// INF and only do sensible things with them -- e.g. no sqrt(),
// atan2(), division between two variables that can both be INF,
// etc.
const int w = image.GetWidth();
const int h = image.GetHeight();
const int image_size = w*h;
// Run the filter bank
// TODO: implement LM filters. Here we just use 12 Gabor filters.
vector<shared_ptr<ImageF> > responses;
FilterBank filterbank(1); // *** should be 3 scales
MakeGaborFilters(4, &filterbank.filters);
filterbank.Run(image, &responses);
//
// Find lines and compute vanishing points
//
vpts.Compute(image);
const int num_lines = vpts.lines.segments.size();
const int num_vpts = vpts.vanpts.size();
//
// Pre-process the line segments
//
// Whether each pair of lines is nearly parallel
MatI is_nearly_parallel(num_lines, num_lines);
// Whether the intersection of each pair is right of center
MatI isct_is_right(num_lines, num_lines);
// Whether the intersection of each pair is below center
MatI isct_is_bottom(num_lines, num_lines);
// Histogram bin index for intersection of each pair, or -1 if outside
MatI isct_bin(num_lines, num_lines);
// Compute line intersections
for (int i = 0; i < num_lines; i++) {
const LineSegment& segi = *vpts.lines.segments[i];
is_nearly_parallel[i][i] = 0;
for (int j = 1; j < num_lines; j++) {
const LineSegment& segj = *vpts.lines.segments[j];
// Parallel ?
float dtheta = segi.theta - segj.theta;
dtheta = min(dtheta, M_PI-dtheta);
is_nearly_parallel[i][j] = (dtheta <= kParallelThresh ? 1 : 0);
if (is_nearly_parallel[i][j]) {
// Intersection position relative to center
Vec3 isct = Cross3D(segi.line, segj.line);
isct[0] /= w; // can be +/- INF
isct[1] /= h; // can be +/- INF
const float eucl_x = Project(isct)[0];
const float eucl_y = Project(isct)[1];
isct_is_right[i][j] = eucl_x > 0.5;
isct_is_bottom[i][j] = eucl_y > 0.5;
// Compute distance from centre
// don't take sqrt(radius_sqr) because radius_sqr can be INF
const float radius_sqr = eucl_x*eucl_x + eucl_y*eucl_y;
int rad_bin = -1;
if (radius_sqr > kFarRadius*kFarRadius) {
rad_bin = 1;
} else if (radius_sqr > kNearRadius*kNearRadius) {
rad_bin = 0;
}
// Compute orientation from centre
if (rad_bin == -1) {
isct_bin[i][j] = -1;
} else {
// Must do atan2 with homogeneous coords. It will stay sane in
// the case of points-at-infinity
float phi = atan2(isct[1] - 0.5*isct[2],
isct[0] - 0.5*isct[2]);
int phi_bin = static_cast<int>(phi*M_PI/kNumOrientBins)%kNumOrientBins;
int bin = rad_bin * kNumOrientBins + phi_bin;
isct_bin[i][j] = bin;
}
}
is_nearly_parallel[j][i] = is_nearly_parallel[i][j];
isct_is_right[j][i] = isct_is_right[i][j];
isct_is_bottom[j][i] = isct_is_bottom[i][j];
isct_bin[j][i] = isct_bin[i][j];
}
}
//
// Pre-process vanishing points
//
enum VanPointCla {
kVptNone,
kVptHoriz,
kVptVert
};
const float h_vpt_min = 0.5-kHorizVptThresh;
const float h_vpt_max = 0.5+kHorizVptThresh;
const float v_vpt_low = 0.5-kVertVptThresh;
const float v_vpt_high = 0.5+kVertVptThresh;
int num_hvpts = 0;
float sum_hvpts_y = 0;
vector<VectorFixed<2,float> > norm_vpts; // can contain INF
VecI vanpt_cla(vpts.vanpts.size(), kVptNone);
COUNTED_FOREACH(int i, const VecD& vpt, vpts.vanpts) {
const float eucl_x = Project(vpt)[0] / w; // can be +/-INF
const float eucl_y = Project(vpt)[1] / h; // can be +/-INF
// Classify vanishing point as horizontal, vertical, or none
norm_vpts.push_back(MakeVector<2,float>(eucl_x, eucl_y));
if (eucl_y > h_vpt_min && eucl_y < h_vpt_max) {
vanpt_cla[i] = kVptHoriz;
sum_hvpts_y += eucl_y;
num_hvpts++;
} else if (eucl_y < v_vpt_low || eucl_y > v_vpt_high) {
vanpt_cla[i] = kVptVert;
}
}
// Assume horizon is horizontal with Y coord equal to average of the
// "horizontal" vanishing points
float horizon_y = 0.5;
if (num_hvpts > 0) {
horizon_y = sum_hvpts_y / num_hvpts;
}
// Print vanpt clas
DREPORT(vanpt_cla);
// Initialize features
int num_segments = seg.MaxValue()+1;
features.resize(num_segments);
for (int i = 0; i < features.size(); i++) {
features[i].seen = VecI(num_lines, 0);
}
//
// Compute sums over the image
//
for (int r = 0; r < h; r++) {
const PixelRGB<byte>* imrgbrow = imagergb[r];
const PixelF* imrow = image[r];
const int* segrow = seg[r];
const int* linerow = vpts.lines.segment_map[r];
for (int c = 0; c < w; c++) {
HehFeature& ftr = features[segrow[c]];
// Shape
ftr.xs.push_back(1.0*c/w);
ftr.ys.push_back(1.0*r/h);
// Color
PixelHSV<byte> hsv;
const PixelRGB<byte>& rgb = imrgbrow[c];
ImageConversions::RGB2HSV(rgb.r, rgb.g, rgb.b,
hsv.h, hsv.s, hsv.v);
ftr.r_mean += rgb.r;
ftr.g_mean += rgb.g;
ftr.b_mean += rgb.b;
ftr.h_mean += hsv.h;
ftr.s_mean += hsv.s;
ftr.v_mean += hsv.v;
const int hbin = static_cast<int>(kNumHueBins * hsv.h / 256);
const int sbin = static_cast<int>(kNumSatBins * hsv.s / 256);
ftr.hue_hist[hbin]++;
ftr.sat_hist[sbin]++;
// Texture
ImageRef pyrpos(c, r);
int maxi;
float maxv = -INFINITY;
for (int i = 0; i < responses.size(); i++) {
if (i > 0 && responses[i]->GetWidth() < responses[i-1]->GetWidth()) {
pyrpos /= 2;
}
const float v = (*responses[i])[pyrpos].y;
ftr.filter_means[i] += v;
if (v > maxv) {
maxv = v;
maxi = i;
}
}
ftr.filter_max_hist[maxi]++;
// Lines
const int line = linerow[c];
if (line != -1) {
if (!ftr.seen[line]) {
ftr.seen[line] = 1;
ftr.lines.push_back(line);
}
ftr.num_line_pix++;
const int line_cla = vanpt_cla[vpts.owners[line]];
if (line_cla == kVptVert) {
ftr.pct_vert_vpt++;
ftr.pct_vert_vpt_pix++;
} else if (line_cla == kVptHoriz) {
ftr.pct_horiz_vpt_pix++;
}
}
}
}
//
// Normalize over each segment
//
for (int i = 0; i < features.size(); i++) {
HehFeature& ftr = features[i];
float size = ftr.xs.size();
// Shape
ftr.area = size/image_size;
sort_all(ftr.xs);
sort_all(ftr.ys);
ftr.x_mean = accumulate_all(ftr.xs, 0.0) / size;
ftr.x_10pct = ftr.xs[size/10];
ftr.x_90pct = ftr.xs[size*9/10];
ftr.y_mean = accumulate_all(ftr.ys, 0.0) / size;
ftr.y_10pct = ftr.ys[size/10];
ftr.y_90pct = ftr.ys[size*9/10];
ftr.y_mean_wrt_horizon = ftr.y_mean - horizon_y;
ftr.y_10pct_wrt_horizon = ftr.y_10pct - horizon_y;
ftr.y_90pct_wrt_horizon = ftr.y_90pct - horizon_y;
// Color
ftr.r_mean /= size;
ftr.g_mean /= size;
ftr.b_mean /= size;
ftr.h_mean /= size;
ftr.s_mean /= size;
ftr.v_mean /= size;
ftr.hue_hist /= size;
ftr.sat_hist /= size;
// Texture
ftr.filter_means /= size;
ftr.filter_max_hist /= size;
// Lines
int num_nearly_parallel = 0;
BOOST_FOREACH(int i, ftr.lines) {
BOOST_FOREACH(int j, ftr.lines) {
if (i == j) continue;
if (is_nearly_parallel[i][j]) {
num_nearly_parallel++;
ftr.pct_parallel_lines++;
if (isct_is_right[i][j]) {
ftr.pct_isct_right++;
}
if (isct_is_bottom[i][j]) {
ftr.pct_isct_bottom++;
}
if (isct_bin[i][j] != -1) {
ftr.isct_hist[isct_bin[i][j]]++;
}
}
}
}
const int num_line_pairs = ftr.lines.size() * (ftr.lines.size()-1);
const float sqrt_area = sqrt(size); // don't use normalized area!
ftr.pct_line_pix = ftr.num_line_pix / sqrt_area;
if (num_line_pairs > 0) {
ftr.pct_parallel_lines /= num_line_pairs;
}
if (num_nearly_parallel > 0) {
ftr.isct_hist /= num_nearly_parallel;
ftr.isct_hist_entropy = GetEntropy(ftr.isct_hist);
ftr.pct_isct_right /= num_nearly_parallel;
ftr.pct_isct_bottom /= num_nearly_parallel;
}
// Vanishing points
bool has_horiz_vpt = false;
bool has_vert_vpt = false;
float horiz_vpt_x;
float vert_vpt_y;
for (int i = 0; i < ftr.lines.size(); i++) {
const int owner_vpt = vpts.owners[ftr.lines[i]];
if (vanpt_cla[owner_vpt] == kVptHoriz) {
horiz_vpt_x = Project(norm_vpts[owner_vpt])[0]; // can be +/- INF
has_horiz_vpt = true;
}
if (vanpt_cla[owner_vpt] == kVptHoriz) {
vert_vpt_y = Project(norm_vpts[owner_vpt])[1]; // can be +/- INF
has_vert_vpt = true;
}
}
ftr.pct_vert_vpt_pix /= sqrt_area;
ftr.pct_horiz_vpt_pix /= sqrt_area;
if (ftr.num_line_pix > 0) {
ftr.pct_vert_vpt /= ftr.num_line_pix;
}
if (has_horiz_vpt) {
ftr.x_mean_wrt_hvpt = ftr.x_mean - horiz_vpt_x; // can be +/- INF
ftr.x_10pct_wrt_hvpt = ftr.x_10pct - horiz_vpt_x; // can be +/- INF
ftr.x_90pct_wrt_hvpt = ftr.x_90pct - horiz_vpt_x; // can be +/- INF
} else {
ftr.x_mean_wrt_hvpt = 0;
ftr.x_10pct_wrt_hvpt = 0;
ftr.x_90pct_wrt_hvpt = 0;
}
if (has_vert_vpt) {
ftr.y_mean_wrt_vert_vpt = ftr.y_mean - vert_vpt_y;
} else {
ftr.y_mean_wrt_vert_vpt = 0;
}
}
}
//------------------------------------------------------------------------------
// Purpose : Draws a large crosshair at flCrossDistance from the debug player
// with tick marks
// Input :
// Output :
//------------------------------------------------------------------------------
void NDebugOverlay::DrawPositioningOverlay( float flCrossDistance )
{
CBasePlayer* pPlayer = UTIL_PlayerByIndex(CBaseEntity::m_nDebugPlayer);
if (!pPlayer)
{
return;
}
Vector pRight;
pPlayer->EyeVectors( NULL, &pRight, NULL );
#ifdef _WIN32
Vector topPos = NWCEdit::AirNodePlacementPosition();
#else
Vector pForward;
pPlayer->EyeVectors( &pForward );
Vector floorVec = pForward;
floorVec.z = 0;
VectorNormalize( floorVec );
VectorNormalize( pForward );
float cosAngle = DotProduct(floorVec,pForward);
float lookDist = g_pAINetworkManager->GetEditOps()->m_flAirEditDistance/cosAngle;
Vector topPos = pPlayer->EyePosition()+pForward * lookDist;
#endif
Vector bottomPos = topPos;
bottomPos.z = GetLongFloorZ(bottomPos);
// Make sure we can see the target pos
trace_t tr;
Vector endPos;
UTIL_TraceLine(pPlayer->EyePosition(), topPos, MASK_NPCSOLID_BRUSHONLY, pPlayer, COLLISION_GROUP_NONE, &tr);
if (tr.fraction == 1.0)
{
Vector rightTrace = topPos + pRight*400;
float traceLen = (topPos - rightTrace).Length();
UTIL_TraceLine(topPos, rightTrace, MASK_NPCSOLID_BRUSHONLY, pPlayer, COLLISION_GROUP_NONE, &tr);
endPos = topPos+(pRight*traceLen*tr.fraction);
NDebugOverlay::DrawTickMarkedLine(topPos, endPos, 24.0, 5, 255,0,0,false,0);
Vector leftTrace = topPos - pRight*400;
traceLen = (topPos - leftTrace).Length();
UTIL_TraceLine(topPos, leftTrace, MASK_NPCSOLID_BRUSHONLY, pPlayer, COLLISION_GROUP_NONE, &tr);
endPos = topPos-(pRight*traceLen*tr.fraction);
NDebugOverlay::DrawTickMarkedLine(topPos, endPos, 24.0, 5, 255,0,0,false,0);
Vector upTrace = topPos + Vector(0,0,1)*400;
traceLen = (topPos - upTrace).Length();
UTIL_TraceLine(topPos, upTrace, MASK_NPCSOLID_BRUSHONLY, pPlayer, COLLISION_GROUP_NONE, &tr);
endPos = topPos+(Vector(0,0,1)*traceLen*tr.fraction);
NDebugOverlay::DrawTickMarkedLine(bottomPos, endPos, 24.0, 5, 255,0,0,false,0);
// Draw white cross at center
Cross3D(topPos, Vector(-2,-2,-2), Vector(2,2,2), 255,255,255, true, 0);
}
else
{
// Draw warning cross at center
Cross3D(topPos, Vector(-2,-2,-2), Vector(2,2,2), 255,100,100, true, 0 );
}
/* Don't show distance for now.
char text[25];
Q_snprintf(text,sizeof(text),"%3.0f",flCrossDistance/12.0);
Vector textPos = topPos - pRight*16 + Vector(0,0,10);
NDebugOverlay::Text( textPos, text, true, 0 );
*/
}
