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Merge pull request #29175 from asmorkalov:as/geometry2
Geometry module #29175 OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4129 CI changes: https://github.com/opencv/ci-gha-workflow/pull/313 Continues - https://github.com/opencv/opencv/pull/28804 - https://github.com/opencv/opencv/pull/29101 - https://github.com/opencv/opencv/pull/29108 - https://github.com/opencv/opencv/pull/28810 Todo for followup PRs: - [x] Rename doxygen groups - [x] Fix JS modules layout and whitelists - [ ] Sort tutorials code/snippets ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Alexander Smorkalov
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GitHub
GitHub
parent
14a475aa0b
commit
59218f9edd
@@ -0,0 +1,556 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
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// Intel License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
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||||
// * The name of Intel Corporation may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/core/hal/intrin.hpp"
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using namespace cv;
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double cv::pointPolygonTest( InputArray _contour, Point2f pt, bool measureDist )
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{
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CV_INSTRUMENT_REGION();
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double result = 0;
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Mat contour = _contour.getMat();
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int i, total = contour.checkVector(2), counter = 0;
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int depth = contour.depth();
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CV_Assert( total >= 0 && (depth == CV_32S || depth == CV_32F));
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bool is_float = depth == CV_32F;
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double min_dist_num = FLT_MAX, min_dist_denom = 1;
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Point ip(cvRound(pt.x), cvRound(pt.y));
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if( total == 0 )
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return measureDist ? -DBL_MAX : -1;
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const Point* cnt = contour.ptr<Point>();
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const Point2f* cntf = (const Point2f*)cnt;
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if( !is_float && !measureDist && ip.x == pt.x && ip.y == pt.y )
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{
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// the fastest "purely integer" branch
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Point v0, v = cnt[total-1];
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for( i = 0; i < total; i++ )
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{
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v0 = v;
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v = cnt[i];
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if( (v0.y <= ip.y && v.y <= ip.y) ||
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(v0.y > ip.y && v.y > ip.y) ||
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(v0.x < ip.x && v.x < ip.x) )
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{
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if( ip.y == v.y && (ip.x == v.x || (ip.y == v0.y &&
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((v0.x <= ip.x && ip.x <= v.x) || (v.x <= ip.x && ip.x <= v0.x)))) )
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return 0;
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continue;
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}
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int64 dist = static_cast<int64>(ip.y - v0.y)*(v.x - v0.x)
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- static_cast<int64>(ip.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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return 0;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -1 : 1;
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}
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else
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{
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Point2f v0, v;
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if( is_float )
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{
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v = cntf[total-1];
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}
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else
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{
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v = cnt[total-1];
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}
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if( !measureDist )
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{
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for( i = 0; i < total; i++ )
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{
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double dist;
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v0 = v;
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if( is_float )
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v = cntf[i];
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else
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v = cnt[i];
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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{
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if( pt.y == v.y && (pt.x == v.x || (pt.y == v0.y &&
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((v0.x <= pt.x && pt.x <= v.x) || (v.x <= pt.x && pt.x <= v0.x)))) )
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return 0;
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continue;
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}
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dist = (double)(pt.y - v0.y)*(v.x - v0.x) - (double)(pt.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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return 0;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -1 : 1;
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}
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else
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{
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for( i = 0; i < total; i++ )
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{
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double dx, dy, dx1, dy1, dx2, dy2, dist_num, dist_denom = 1;
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v0 = v;
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if( is_float )
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v = cntf[i];
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else
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v = cnt[i];
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dx = v.x - v0.x; dy = v.y - v0.y;
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dx1 = pt.x - v0.x; dy1 = pt.y - v0.y;
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dx2 = pt.x - v.x; dy2 = pt.y - v.y;
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if( dx1*dx + dy1*dy <= 0 )
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dist_num = dx1*dx1 + dy1*dy1;
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else if( dx2*dx + dy2*dy >= 0 )
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dist_num = dx2*dx2 + dy2*dy2;
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else
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{
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dist_num = (dy1*dx - dx1*dy);
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dist_num *= dist_num;
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dist_denom = dx*dx + dy*dy;
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}
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if( dist_num*min_dist_denom < min_dist_num*dist_denom )
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{
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min_dist_num = dist_num;
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min_dist_denom = dist_denom;
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if( min_dist_num == 0 )
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break;
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}
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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continue;
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dist_num = dy1*dx - dx1*dy;
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if( dy < 0 )
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dist_num = -dist_num;
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counter += dist_num > 0;
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}
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result = std::sqrt(min_dist_num/min_dist_denom);
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if( counter % 2 == 0 )
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result = -result;
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}
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}
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return result;
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}
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/*
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This code is described in "Computational Geometry in C" (Second Edition),
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Chapter 7. It is not written to be comprehensible without the
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explanation in that book.
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Written by Joseph O'Rourke.
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Last modified: December 1997
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Questions to orourke@cs.smith.edu.
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--------------------------------------------------------------------
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This code is Copyright 1997 by Joseph O'Rourke. It may be freely
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redistributed in its entirety provided that this copyright notice is
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not removed.
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--------------------------------------------------------------------
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*/
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namespace cv
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{
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typedef enum { Pin, Qin, Unknown } tInFlag;
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static int areaSign( Point2f a, Point2f b, Point2f c )
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{
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static const double eps = 1e-5;
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double area2 = (b.x - a.x) * (double)(c.y - a.y) - (c.x - a.x ) * (double)(b.y - a.y);
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return area2 > eps ? 1 : area2 < -eps ? -1 : 0;
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}
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//---------------------------------------------------------------------
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// Returns true iff point c lies on the closed segment ab.
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// Assumes it is already known that abc are collinear.
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//---------------------------------------------------------------------
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static bool between( Point2f a, Point2f b, Point2f c )
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{
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Point2f ba, ca;
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// If ab not vertical, check betweenness on x; else on y.
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if ( a.x != b.x )
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return ((a.x <= c.x) && (c.x <= b.x)) ||
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((a.x >= c.x) && (c.x >= b.x));
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else
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return ((a.y <= c.y) && (c.y <= b.y)) ||
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((a.y >= c.y) && (c.y >= b.y));
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}
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enum LineSegmentIntersection
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{
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LS_NO_INTERSECTION = 0,
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LS_SINGLE_INTERSECTION = 1,
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LS_OVERLAP = 2,
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LS_ENDPOINT_INTERSECTION = 3
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};
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static LineSegmentIntersection parallelInt( Point2f a, Point2f b, Point2f c, Point2f d, Point2f& p, Point2f& q )
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{
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LineSegmentIntersection code = LS_OVERLAP;
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if( areaSign(a, b, c) != 0 )
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code = LS_NO_INTERSECTION;
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else if( between(a, b, c) && between(a, b, d))
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p = c, q = d;
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else if( between(c, d, a) && between(c, d, b))
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p = a, q = b;
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else if( between(a, b, c) && between(c, d, b))
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p = c, q = b;
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else if( between(a, b, c) && between(c, d, a))
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p = c, q = a;
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else if( between(a, b, d) && between(c, d, b))
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p = d, q = b;
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else if( between(a, b, d) && between(c, d, a))
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p = d, q = a;
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else
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code = LS_NO_INTERSECTION;
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return code;
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}
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// Finds intersection of two line segments: (a, b) and (c, d).
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static LineSegmentIntersection intersectLineSegments( Point2f a, Point2f b, Point2f c,
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Point2f d, Point2f& p, Point2f& q )
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{
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double denom = ((double)a.x - b.x) * ((double)d.y - c.y) - ((double)a.y - b.y) * ((double)d.x - c.x);
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// If denom is zero, then segments are parallel: handle separately.
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if( denom == 0. )
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return parallelInt(a, b, c, d, p, q);
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double num = ((double)d.y - a.y) * ((double)a.x - c.x) + ((double)a.x - d.x) * ((double)a.y - c.y);
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double s = num / denom;
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num = ((double)b.y - a.y) * ((double)a.x - c.x) + ((double)c.y - a.y) * ((double)b.x - a.x);
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double t = num / denom;
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p.x = (float)(a.x + s*((double)b.x - a.x));
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p.y = (float)(a.y + s*((double)b.y - a.y));
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q = p;
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return s < 0. || s > 1. || t < 0. || t > 1. ? LS_NO_INTERSECTION :
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s == 0. || s == 1. || t == 0. || t == 1. ? LS_ENDPOINT_INTERSECTION : LS_SINGLE_INTERSECTION;
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}
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static tInFlag inOut( Point2f p, tInFlag inflag, int aHB, int bHA, Point2f*& result )
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{
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if( p != result[-1] )
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*result++ = p;
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// Update inflag.
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return aHB > 0 ? Pin : bHA > 0 ? Qin : inflag;
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}
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//---------------------------------------------------------------------
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// Advances and prints out an inside vertex if appropriate.
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//---------------------------------------------------------------------
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static int advance( int a, int *aa, int n, bool inside, Point2f v, Point2f*& result )
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{
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if( inside && v != result[-1] )
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*result++ = v;
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(*aa)++;
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return (a+1) % n;
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}
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static void addSharedSeg( Point2f p, Point2f q, Point2f*& result )
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{
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if( p != result[-1] )
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*result++ = p;
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if( q != result[-1] )
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*result++ = q;
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}
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// Note: The function and subroutings use direct pointer arithmetics instead of arrays indexing.
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// Each loop iteration may push to result array up to 3 times.
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// It means that we need +3 spare result elements against result_size
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// to catch agorithmic overflow and prevent actual result array overflow.
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static int intersectConvexConvex_( const Point2f* P, int n, const Point2f* Q, int m,
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Point2f* result, int result_size, float* _area )
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{
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Point2f* result0 = result;
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// P has n vertices, Q has m vertices.
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int a=0, b=0; // indices on P and Q (resp.)
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Point2f Origin(0,0);
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tInFlag inflag=Unknown; // {Pin, Qin, Unknown}: which inside
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int aa=0, ba=0; // # advances on a & b indices (after 1st inter.)
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bool FirstPoint=true;// Is this the first point? (used to initialize).
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Point2f p0; // The first point.
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*result++ = Point2f(FLT_MAX, FLT_MAX);
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do
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{
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// Computations of key variables.
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int a1 = (a + n - 1) % n; // a-1, b-1 (resp.)
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int b1 = (b + m - 1) % m;
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Point2f A = P[a] - P[a1], B = Q[b] - Q[b1]; // directed edges on P and Q (resp.)
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int cross = areaSign( Origin, A, B ); // sign of z-component of A x B
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int aHB = areaSign( Q[b1], Q[b], P[a] ); // a in H(b).
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int bHA = areaSign( P[a1], P[a], Q[b] ); // b in H(A);
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// If A & B intersect, update inflag.
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Point2f p, q;
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LineSegmentIntersection code = intersectLineSegments( P[a1], P[a], Q[b1], Q[b], p, q );
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if( code == LS_SINGLE_INTERSECTION || code == LS_ENDPOINT_INTERSECTION )
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{
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if( inflag == Unknown && FirstPoint )
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{
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aa = ba = 0;
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FirstPoint = false;
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p0 = p;
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*result++ = p;
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}
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inflag = inOut( p, inflag, aHB, bHA, result );
|
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}
|
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|
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//-----Advance rules-----
|
||||
|
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// Special case: A & B overlap and oppositely oriented.
|
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if( code == LS_OVERLAP && A.ddot(B) < 0 )
|
||||
{
|
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addSharedSeg( p, q, result );
|
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return (int)(result - result0);
|
||||
}
|
||||
|
||||
// Special case: A & B parallel and separated.
|
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if( cross == 0 && aHB < 0 && bHA < 0 )
|
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return (int)(result - result0);
|
||||
|
||||
// Special case: A & B collinear.
|
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else if ( cross == 0 && aHB == 0 && bHA == 0 ) {
|
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// Advance but do not output point.
|
||||
if ( inflag == Pin )
|
||||
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
|
||||
else
|
||||
a = advance( a, &aa, n, inflag == Pin, P[a], result );
|
||||
}
|
||||
|
||||
// Generic cases.
|
||||
else if( cross >= 0 )
|
||||
{
|
||||
if( bHA > 0)
|
||||
a = advance( a, &aa, n, inflag == Pin, P[a], result );
|
||||
else
|
||||
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
|
||||
}
|
||||
else
|
||||
{
|
||||
if( aHB > 0)
|
||||
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
|
||||
else
|
||||
a = advance( a, &aa, n, inflag == Pin, P[a], result );
|
||||
}
|
||||
// Quit when both adv. indices have cycled, or one has cycled twice.
|
||||
}
|
||||
while ( ((aa < n) || (ba < m)) && (aa < 2*n) && (ba < 2*m) && ((int)(result - result0) <= result_size) );
|
||||
|
||||
// Deal with special cases: not implemented.
|
||||
if( inflag == Unknown )
|
||||
{
|
||||
// The boundaries of P and Q do not cross.
|
||||
// ...
|
||||
}
|
||||
|
||||
int nr = (int)(result - result0);
|
||||
if (nr > result_size)
|
||||
{
|
||||
*_area = -1.f;
|
||||
return -1;
|
||||
}
|
||||
|
||||
double area = 0;
|
||||
Point2f prev = result0[nr-1];
|
||||
for(int i = 1; i < nr; i++ )
|
||||
{
|
||||
result0[i-1] = result0[i];
|
||||
area += (double)prev.x*result0[i].y - (double)prev.y*result0[i].x;
|
||||
prev = result0[i];
|
||||
}
|
||||
|
||||
*_area = (float)(area*0.5);
|
||||
|
||||
if( result0[nr-2] == result0[0] && nr > 1 )
|
||||
nr--;
|
||||
return nr-1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
float cv::intersectConvexConvex( InputArray _p1, InputArray _p2, OutputArray _p12, bool handleNested )
|
||||
{
|
||||
CV_INSTRUMENT_REGION();
|
||||
|
||||
Mat p1 = _p1.getMat(), p2 = _p2.getMat();
|
||||
CV_Assert( p1.depth() == CV_32S || p1.depth() == CV_32F );
|
||||
CV_Assert( p2.depth() == CV_32S || p2.depth() == CV_32F );
|
||||
|
||||
int n = p1.checkVector(2, p1.depth(), true);
|
||||
int m = p2.checkVector(2, p2.depth(), true);
|
||||
|
||||
CV_Assert( n >= 0 && m >= 0 );
|
||||
|
||||
if( n < 2 || m < 2 )
|
||||
{
|
||||
_p12.release();
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
AutoBuffer<Point2f> _result(n + m + n+m+1+3);
|
||||
Point2f* fp1 = _result.data();
|
||||
Point2f* fp2 = fp1 + n;
|
||||
Point2f* result = fp2 + m;
|
||||
|
||||
int orientation = 0;
|
||||
|
||||
for( int k = 1; k <= 2; k++ )
|
||||
{
|
||||
Mat& p = k == 1 ? p1 : p2;
|
||||
int len = k == 1 ? n : m;
|
||||
Point2f* dst = k == 1 ? fp1 : fp2;
|
||||
|
||||
Mat temp(p.size(), CV_MAKETYPE(CV_32F, p.channels()), dst);
|
||||
p.convertTo(temp, CV_32F);
|
||||
CV_Assert( temp.ptr<Point2f>() == dst );
|
||||
Point2f diff0 = dst[0] - dst[len-1];
|
||||
for( int i = 1; i < len; i++ )
|
||||
{
|
||||
double s = diff0.cross(dst[i] - dst[i-1]);
|
||||
if( s != 0 )
|
||||
{
|
||||
if( s < 0 )
|
||||
{
|
||||
orientation++;
|
||||
flip( temp, temp, temp.rows > 1 ? 0 : 1 );
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float area = 0.f;
|
||||
int nr = intersectConvexConvex_(fp1, n, fp2, m, result, n+m+1, &area);
|
||||
|
||||
if (nr < 0)
|
||||
{
|
||||
// The algorithm did not converge, e.g. some of inputs is not convex
|
||||
_p12.release();
|
||||
return -1.f;
|
||||
}
|
||||
|
||||
if( nr == 0 )
|
||||
{
|
||||
if( !handleNested )
|
||||
{
|
||||
_p12.release();
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
bool intersected = false;
|
||||
|
||||
// check if all of fp2's vertices is inside/on the edge of fp1.
|
||||
int nVertices = 0;
|
||||
for (int i=0; i<m; ++i)
|
||||
nVertices += pointPolygonTest(_InputArray(fp1, n), fp2[i], false) >= 0;
|
||||
|
||||
// if all of fp2's vertices is inside/on the edge of fp1.
|
||||
if (nVertices == m)
|
||||
{
|
||||
intersected = true;
|
||||
result = fp2;
|
||||
nr = m;
|
||||
}
|
||||
else // otherwise check if fp2 is inside fp1.
|
||||
{
|
||||
nVertices = 0;
|
||||
for (int i=0; i<n; ++i)
|
||||
nVertices += pointPolygonTest(_InputArray(fp2, m), fp1[i], false) >= 0;
|
||||
|
||||
// // if all of fp1's vertices is inside/on the edge of fp2.
|
||||
if (nVertices == n)
|
||||
{
|
||||
intersected = true;
|
||||
result = fp1;
|
||||
nr = n;
|
||||
}
|
||||
}
|
||||
|
||||
if (!intersected)
|
||||
{
|
||||
_p12.release();
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
area = (float)contourArea(_InputArray(result, nr), false);
|
||||
}
|
||||
|
||||
if( _p12.needed() )
|
||||
{
|
||||
Mat temp(nr, 1, CV_32FC2, result);
|
||||
// if both input contours were reflected,
|
||||
// let's orient the result as the input vectors
|
||||
if( orientation == 2 )
|
||||
flip(temp, temp, 0);
|
||||
|
||||
temp.copyTo(_p12);
|
||||
}
|
||||
return (float)fabs(area);
|
||||
}
|
||||
Reference in New Issue
Block a user