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more work on seperation, still not finished
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| package de.htwdd.robotics.wienert; | ||
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| import java.util.ArrayList; | ||
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| import de.htwdd.robotics.map.UniversalGridMap; | ||
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| public interface GridApproximatable { | ||
| ArrayList<GridLine> lines = new ArrayList<GridLine>(); | ||
| public ArrayList<GridLine> approximate(UniversalGridMap<SkeletonCell> thinnedMap); | ||
| } |
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src/de/htwdd/robotics/wienert/GridApproximatorRecursive.java
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| @@ -0,0 +1,171 @@ | ||
| package de.htwdd.robotics.wienert; | ||
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| import java.awt.Point; | ||
| import java.util.ArrayList; | ||
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| import de.htwdd.robotics.datagrid.PreservingUniversalGridCellOperation; | ||
| import de.htwdd.robotics.map.UniversalGridMap; | ||
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| public class GridApproximatorRecursive implements GridApproximatable { | ||
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| private Thinner helper; // using the connectivity methods etc. | ||
| private UniversalGridMap<SkeletonCell> map; | ||
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| @Override | ||
| public ArrayList<GridLine> approximate( | ||
| UniversalGridMap<SkeletonCell> thinnedMap) { | ||
| map = thinnedMap; | ||
| helper = new ThinnerLuWang(); | ||
| helper.map = map; | ||
| Point point = findStartPoint(); | ||
| logPoint(point.x, point.y); | ||
| System.out.println("StartPunkt: " + point.x + ":" + point.y); | ||
| collectPoints(point, null); | ||
| System.out.println("Found " + lines.size() + " Lines"); | ||
| return lines; | ||
| } | ||
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| private void collectPoints(Point point, Point includePoint ) { | ||
| GridLine currentLine = new GridLine(); | ||
| if (includePoint != null) { | ||
| currentLine.points.add(includePoint); | ||
| } | ||
| Point currentPoint = point; | ||
| while (true) { | ||
| System.out.println("Current: " + currentPoint); | ||
| currentLine.points.add(currentPoint); | ||
| setVisted(currentPoint); | ||
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| ArrayList<Point> neighbors = findNeighborsFor(point); | ||
| int c = connectivity(currentPoint); | ||
| if (neighbors.size() == 0 ) { | ||
| lines.add(currentLine); | ||
| return; | ||
| } | ||
| if (c == 2) { | ||
| currentPoint = getNextPoint(neighbors,currentPoint); | ||
| } else if (c > 2) { | ||
| if (currentLine.points.size() > 1) { | ||
| lines.add(currentLine); | ||
| } | ||
| for (int i=0; i< neighbors.size(); i++) { | ||
| collectPoints(neighbors.get(i), currentPoint); | ||
| } | ||
| return; | ||
| } else { | ||
| System.out.println("ERROR connectivity < 2?? sollte eigentlich geloescht sein"); | ||
| return; | ||
| } | ||
| } | ||
| } | ||
| /** | ||
| * Returning the directly orthogonal adjacent neighbors first from neighborhood. Otherwise anyone (diagonal) | ||
| * @param neighbors | ||
| * @param p | ||
| * @return | ||
| */ | ||
| private Point getNextPoint(ArrayList<Point> neighbors, Point p) { | ||
| for (Point neighbor : neighbors) { | ||
| if (neighbor.x == p.x || neighbor.y == p.y) { | ||
| return neighbor; | ||
| } | ||
| } | ||
| return neighbors.get(0); | ||
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| } | ||
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| private void setVisted(Point currentPoint) { | ||
| SkeletonCell cell = map.get(currentPoint.x, currentPoint.y); | ||
| cell.visited = true; | ||
| map.set(currentPoint.x, currentPoint.y, cell); | ||
| } | ||
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| /** | ||
| * Find all neighbors of point, that are occupied and not visited | ||
| * | ||
| * @param point | ||
| * @return list of neighbors or empty List | ||
| */ | ||
| private ArrayList<Point> findNeighborsFor(Point point) { | ||
| ArrayList<Point> neighborhood = new ArrayList<Point>(); | ||
| for (int row = -1; row < 2; row++) { | ||
| for (int col = -1; col < 2; col++) { | ||
| if (row == 0 && col == 0) { | ||
| continue; // Dont take the current point | ||
| } | ||
| int x = row + point.x; | ||
| int y = col + point.y; | ||
| SkeletonCell cell = map.get(x, y); | ||
| // System.out.println(x + ":" + y + "-" + cell.status + "/" | ||
| // +cell.visited); | ||
| if (!cell.visited && cell.status == SkeletonCell.STATE_OCCUPIED) { | ||
| neighborhood.add(new Point(x, y)); | ||
| } | ||
| } | ||
| } | ||
| return neighborhood; | ||
| } | ||
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| private Point startPoint; | ||
| private Point alternateStartPoint; | ||
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| private int connectivity(Point p) { | ||
| int[] n = helper.transformToArray(helper.collectNeighborsFor(p.x, p.y)); | ||
| return helper.numberOfChanges(n); | ||
| } | ||
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| /** | ||
| * Iterate over the map and find a valid startingpoint that is a end Point | ||
| * of a line Otherwise find the first point that is a crossroad TODO | ||
| * Termination? | ||
| * TODO Finding no starting Point for small maps (no intersection) | ||
| * @return | ||
| */ | ||
| private Point findStartPoint() { | ||
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| map.traverse(new PreservingUniversalGridCellOperation<SkeletonCell>() { | ||
| @Override | ||
| public void process(int row, int col, SkeletonCell cell) { | ||
| if (cell.status != SkeletonCell.STATE_OCCUPIED) { | ||
| return; | ||
| } | ||
| if (row == 0 || col == 0 || row == map.getLastRow() - 1 | ||
| || col == map.getLastColumn() - 1) { | ||
| return; | ||
| } | ||
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| // ArrayList<Point> neighbors = findNeighborsFor(new Point(row,col)); | ||
| int c = connectivity(new Point(row, col)); | ||
| if (c == 3) { | ||
| System.out.println("StartPoint? " + row + "," + col); | ||
| startPoint = new Point(row, col); | ||
| } | ||
| // if (neighbors.size() >= 3) { | ||
| // alternateStartPoint = new Point(row, col); | ||
| // } | ||
| } | ||
| }); | ||
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| return startPoint; | ||
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| } | ||
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| public void logPoint(int x, int y) { | ||
| int radius = 5; | ||
| SkeletonCell cell = map.get(x,y); | ||
| System.out.println("Logging: " + x + ":" + y + " - S:" + cell.status); | ||
| String buf = "\n"; | ||
| for (int i = -radius; i < radius+1; i++) { | ||
| buf += (y - i) + ": "; | ||
| for (int j = -radius; j < radius+1; j++) { | ||
| buf += map.get( x + j , y - i ).status + " "; | ||
| } | ||
| buf += "\n"; | ||
| } | ||
| System.out.println(buf); | ||
| ArrayList<Point> neighbors = findNeighborsFor(new Point(496, | ||
| 143)); | ||
| } | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| package de.htwdd.robotics.wienert; | ||
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| import java.awt.Point; | ||
| import java.util.ArrayList; | ||
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| public class GridLine { | ||
| public ArrayList<Point> points = new ArrayList<Point>(); | ||
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| public void addPoint(int x,int y) { | ||
| points.add(new Point(x, y)); | ||
| } | ||
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| } |
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