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lsrmContourOperations.h 10.29 KiB
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#ifndef __LSRM_CONTOUR_OPERATIONS_H
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#define __LSRM_CONTOUR_OPERATIONS_H
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#include "lsrmDataStructures.h"
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#include "lsrmNeighborhood.h"
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#include <cstring>
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#include <algorithm>
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namespace lsrm
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{
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	class ContourOperations
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	{
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	public:
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		/* Some convenient typedefs */
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		typedef std::vector<long unsigned int> PixelList;
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		typedef typename PixelList::iterator PixelIterator;
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		typedef typename PixelList::const_iterator PixelConstIterator;
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		/*
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		 * Given two rectangular bounding boxes,
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		 * it returns the bounding box which is
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		 * the union of both bounding boxes.
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		 *
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		 * @params
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		 * const BoundingBox& bb1 : reference to the first bounding box
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		 * const BoundingBox& bb2 : reference to the second bounding box
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		 * @return the union of bb1 and bb2.
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		 */
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		static BoundingBox MergeBoundingBoxes(const BoundingBox& bb1,
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											  const BoundingBox& bb2);
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		/*
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		 * Given the coordinates of the pixel in the current image, the
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		 * bounding box containing it and the width of the image, it returns
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		 * the coordinates of the pixel in the referential of the bounding box.
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		 *
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		 * @params
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		 * const long unsigned int id : coordinates of the pixel in the image
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		 *                              referential.
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		 * const BoundingBox& bb : bounding box containing the pixel
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		 * const unsigned int width : width of the image
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		 * @return the coordinates of the pixel in the bounding box referential.
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		 */
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		static long unsigned int ToBoundingBoxCoordinates(const long unsigned int id,
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												   const BoundingBox& bb,
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												   const unsigned int width);
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		/*
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		 * Given the contour, the first pixel coordinates
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		 * and the width of the current image,
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		 * it returns the list of the border pixels.
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		 *
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		 * @params
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		 * const long unsigned int id : coordinates of the first pixel.
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		 * const Contour& contour : reference to the contour.
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		 * const unsigned int width : width of the current image.
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		 */
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		static PixelList GenerateBorderPixels(long unsigned int id,
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											  const Contour& contour,
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											  const unsigned int width);
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		/*
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		 * Return true if it exists a pixel in the grid at the north
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		 * of the current pixel.
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		 *
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		 * @params
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		 * const long unsigned int idx : coordinates of the current pixel
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		 * const short * grid : grid
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		 * const unsigned int grid_width : width of the grid
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*/ static bool GetCollisionAtNorth(const long unsigned int idx, const short * grid, const unsigned int grid_width); /* * Return true if it exists a pixel in the grid at the north East * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid */ static bool GetCollisionAtNorthEast(const long unsigned int idx, const short * grid, const unsigned int grid_width); /* * Return true if it exists a pixel in the grid at the East * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid */ static bool GetCollisionAtEast(const long unsigned int idx, const short * grid, const unsigned int grid_width); /* * Return true if it exists a pixel in the grid at the South East * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid * const unsigned int grid_height : height of the grid */ static bool GetCollisionAtSouthEast(const long unsigned int idx, const short * grid, const unsigned int grid_width, const unsigned int grid_height); /* * Return true if it exists a pixel in the grid at the South * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid * const unsigned int grid_height : height of the grid */ static bool GetCollisionAtSouth(const long unsigned int idx, const short * grid, const unsigned int grid_width, const unsigned int grid_height); /* * Return true if it exists a pixel in the grid at the South West * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid * const unsigned int grid_height : height of the grid
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*/ static bool GetCollisionAtSouthWest(const long unsigned int idx, const short * grid, const unsigned int grid_width, const unsigned int grid_height); /* * Return true if it exists a pixel in the grid at the West * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid */ static bool GetCollisionAtWest(const long unsigned int idx, const short * grid, const unsigned int grid_width); /* * Return true if it exists a pixel in the grid at the North West * of the current pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid */ static bool GetCollisionAtNorthWest(const long unsigned int idx, const short * grid, const unsigned int grid_width); /* * Return true if the pixel located at the coordinates idx * is an internal pixel, i.e, in each direction there is a pixel. * * @params * const long unsigned int idx : coordinates of the current pixel * const short * grid : grid * const unsigned int grid_width : width of the grid * const unsigned int grid_height : height of the grid */ static bool IsInternalPixel(const long unsigned int idx, const short * grid, const unsigned int grid_width, const unsigned int grid_height); /* * Given the direction of the front, it returns the field of view * * @params * short * sight : former field of view. * const short direction : new front direction. */ static void UpdateSight(short * sight, const short direction); /* * Create a contour element when we move toward the top, right, bottom * or left wrt to the current pixel. * * @params * long unsigned int& curr_mat_id : pixel coordinates * short& direction : toward the direction we look * short& pos : location on the pixel * Contour& curr_contour : new contour to be created * const unsigned int grid_width : width of the grid */ static void EncodeContourForTopPixel(long unsigned int& curr_mat_id, short& direction,
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short& pos, Contour& curr_contour, const unsigned int grid_width); static void EncodeContourForRightPixel(long unsigned int& curr_mat_id, short& direction, short& pos, Contour& curr_contour); static void EncodeContourForBottomPixel(long unsigned int& curr_mat_id, short& direction, short& pos, Contour& curr_contour, const unsigned int grid_width); static void EncodeContourForLeftPixel(long unsigned int& curr_mat_id, short& direction, short& pos, Contour& curr_contour); /* * Given the coordinates of the first pixel, the bounding box, the grid * with the location of the border pixels and the dimension of the referential * image, it returns a new contour * * @params * const long unsigned int idx : coordinates of the current pixel. * const BoundingBox& bbox : reference to the bounding box * const short * grid : grid * const unsigned int width : width of the current image. * cont unsigned int height : height of the current image. */ static Contour CreateContourFromBorderPixels(const long unsigned int id, const BoundingBox& bbox, const short * grid, const unsigned int width); /* * Given two contours, the coordinates of their first pixels * and the bounding box wrapping both contours, it returns the * new contour by merging c1 and c2. * * @params * const long unsigned int start_id1 : coordinates of the first * pixel of the first contour * const long unsigned int start_id2 : coordinates of the first * pixel of the second contour * const Contour& c1 : reference to the first contour * const Contour& c2 : reference to the second contour * const BoundingBox& bb : reference to the bounding box wrapping c1 and c2 * const unsigned int width : width of the current image * const unsigned int height : height of the current image */ static Contour MergeContours(const long unsigned int start_id1, const long unsigned int start_id2, const Contour& c1, const Contour& c2, const BoundingBox& bb, const unsigned int width, const unsigned int height); /* * Given the coordinates of the pixel within its bounding box, it * returns the coordinates of this pixel in the current image. * * @params * const long unsigned int id : coordinates of the pixel within the bounding box * const BoundingBox& bbox : reference to the bounding box * const unsigned int width : width of the image
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* @return the coordinates of the pixel in the image. */ static long unsigned int ToImageCoordinates(const long unsigned int id, const BoundingBox& bbox, const unsigned int width); /* * Given the contour, the first pixel coordinates * and the width of the current image, * it returns the list of the pixels within the area * delineated by the contour. * * @params * const long unsigned int id : coordinates of the first pixel. * const Contour& contour : reference to the contour. * const unsigned int width : width of the current image. */ static PixelList GeneratePixels(long unsigned int id, const Contour& contour, const BoundingBox& bbox, const unsigned int width); }; } // end of namespace lsrm #endif