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[Survey transects generation] towards concave polygons

QGC4.4
Thomas Gubler 7 years ago committed by Thomas Gubler
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059578e628
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9ae5cc7e15
2 changed files with 142 additions and 28 deletions
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  1. 165
      src/MissionManager/SurveyComplexItem.cc
  2. 5
      src/MissionManager/SurveyComplexItem.h

165
src/MissionManager/SurveyComplexItem.cc
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@ -20,6 +20,7 @@ @@ -20,6 +20,7 @@
#include <QPolygonF>
QGC_LOGGING_CATEGORY(SurveyComplexItemLog, "SurveyComplexItemLog")
QGC_LOGGING_CATEGORY(PolygonDecomposeLog, "PolygonDecomposeLog")
const char* SurveyComplexItem::jsonComplexItemTypeValue = "survey";
const char* SurveyComplexItem::jsonV3ComplexItemTypeValue = "survey";
@ -1116,78 +1117,132 @@ void SurveyComplexItem::_rebuildTransectsPhase1Worker(bool refly) @@ -1116,78 +1117,132 @@ void SurveyComplexItem::_rebuildTransectsPhase1Worker(bool refly)
// Create list of separate polygons
QList<QPolygonF> polygons{};
qCDebug(PolygonDecomposeLog) << "*********_PolygonDecomposeConvex begin of recursion**************";
_PolygonDecomposeConvex(polygon, polygons);
qCDebug(PolygonDecomposeLog) << "polygons.size() " << polygons.size() ;
// iterate over polygons
for (auto& p : polygons) {
for (auto p = polygons.begin(); p != polygons.end(); ++p) {
QPointF* vMatch = nullptr;
// find matching vertex in previous polygon
if (p != polygons.begin()) {
auto pLast = p - 1;
for (auto& i : *p) {
for (auto& j : *pLast) {
if (i == j) {
vMatch = &i;
break;
}
if (vMatch) break;
}
}
if (nullptr == vMatch) qCDebug(PolygonDecomposeLog) << "no match found";
}
// close polygon
p << p.front();
*p << p->front();
// build transects for this polygon
// TODO figure out tangent origin
qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
_rebuildTranscetsFromPolygon(refly, p, tangentOrigin);
// TODO improve selection of entry points
// qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
_rebuildTranscetsFromPolygon(refly, *p, tangentOrigin, vMatch);
}
}
void SurveyComplexItem::_PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons)
{
qCDebug(SurveyComplexItemLog) << "_PolygonDecomposeConvex polygon.size() " << polygon.size();
// qCDebug(SurveyComplexItemLog) << "_PolygonDecomposeConvex polygon.size() " << polygon.size();
int decompSize = std::numeric_limits<int>::max();
if (polygon.size() < 3) return;
if (polygon.size() == 3) {
decomposedPolygons << polygon;
// qCDebug(PolygonDecomposeLog) << polygon << " polygon of 3";
return;
}
int decompSize = std::numeric_limits<int>::max();
QList<QPolygonF> decomposedPolygonsMin{};
for (auto vertex = polygon.begin(); vertex != polygon.end(); ++vertex)
{
// is vertex reflex?
auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
auto vertexAfter = vertex == polygon.end() -1 ? polygon.begin() : vertex + 1;
auto area = (((vertex->x() - vertexBefore->x())*(vertexAfter->y() - vertexBefore->y()))-((vertexAfter->x() - vertexBefore->x())*(vertex->y() - vertexBefore->y())));
bool vertexIsReflex = area > 0;
qCDebug(SurveyComplexItemLog) << "area " << area << " vertexIsReflex " << vertexIsReflex;
bool vertexIsReflex = _VertexIsReflex(polygon, vertex);
// qCDebug(SurveyComplexItemLog) << "area " << area << " vertexIsReflex " << vertexIsReflex;
if (!vertexIsReflex) continue;
for (auto vertexOther = polygon.begin(); vertexOther != polygon.end(); ++vertexOther)
{
auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
if (vertexOther == vertex) continue;
if (vertexAfter == vertexOther) continue;
if (vertexBefore == vertexOther) continue;
bool canSee = _VertexCanSeeOther(polygon, vertex, vertexOther);
// qCDebug(SurveyComplexItemLog) << "canSee " << canSee;
if (!canSee) continue;
QPolygonF polyLeft;
auto v = vertex;
auto polyLeftContainsReflex = false;
while ( v != vertexOther) {
if (v != vertex && _VertexIsReflex(polygon, v)) {
polyLeftContainsReflex = true;
}
polyLeft << *v;
++v;
if (v == polygon.end()) v = polygon.begin();
}
polyLeft << *vertexOther;
qCDebug(SurveyComplexItemLog) << "polyLeft.size() " << polyLeft.size();
auto polyLeftValid = !(polyLeftContainsReflex && polyLeft.size() == 3);
QPolygonF polyRight;
v = vertexOther;
auto polyRightContainsReflex = false;
while ( v != vertex) {
if (v != vertex && _VertexIsReflex(polygon, v)) {
polyRightContainsReflex = true;
}
polyRight << *v;
++v;
if (v == polygon.end()) v = polygon.begin();
}
polyRight << *vertex;
qCDebug(SurveyComplexItemLog) << "polyRight.size() " << polyRight.size();
auto polyRightValid = !(polyRightContainsReflex && polyRight.size() == 3);
if (!polyLeftValid || ! polyRightValid) {
// decompSize = std::numeric_limits<int>::max();
continue;
}
// recursion
QList<QPolygonF> polyLeftDecomposed{};
// qCDebug(PolygonDecomposeLog) << " polyLeft "<< polyLeft;
_PolygonDecomposeConvex(polyLeft, polyLeftDecomposed);
QList<QPolygonF> polyRightDecomposed{};
// qCDebug(PolygonDecomposeLog) << " polyRight "<< polyRight;
_PolygonDecomposeConvex(polyRight, polyRightDecomposed);
// compositon
if (polyLeftDecomposed.size() + polyRightDecomposed.size() < decompSize) {
decompSize = polyLeftDecomposed.size() + polyRightDecomposed.size();
auto subSize = polyLeftDecomposed.size() + polyRightDecomposed.size();
if ((polyLeftContainsReflex && polyLeftDecomposed.size() == 1)
|| (polyRightContainsReflex && polyRightDecomposed.size() == 1))
{
// don't accept polygons that contian reflex vertices and were not split
subSize = std::numeric_limits<int>::max();
}
if (subSize < decompSize) {
decompSize = subSize;
decomposedPolygonsMin = polyLeftDecomposed + polyRightDecomposed;
qCDebug(SurveyComplexItemLog) << "changing decomposedPolygonsMin";
// qCDebug(PolygonDecomposeLog) << "_PolygonDecomposeConvex polygon " << polygon;
// qCDebug(PolygonDecomposeLog) << "polyLeft.size() " << polyLeft.size() << " polyRight.size() " << polyRight.size() << " out of " << polygon.size();
// qCDebug(PolygonDecomposeLog) << "vertex " << *vertex << " vertexOther " << *vertexOther << " vertexAfter " << *vertexAfter << " vertexBefore " << *vertexBefore;
// qCDebug(SurveyComplexItemLog) << "changing decomposedPolygonsMin";
}
else {
qCDebug(SurveyComplexItemLog) << "NOT changing decomposedPolygonsMin";
// qCDebug(SurveyComplexItemLog) << "NOT changing decomposedPolygonsMin";
}
}
@ -1195,23 +1250,71 @@ void SurveyComplexItem::_PolygonDecomposeConvex(const QPolygonF& polygon, QList< @@ -1195,23 +1250,71 @@ void SurveyComplexItem::_PolygonDecomposeConvex(const QPolygonF& polygon, QList<
// assemble output
if (decomposedPolygonsMin.size() > 0) {
qCDebug(SurveyComplexItemLog) << "use decomposed polygon, decomposedPolygonsMin.size() " << decomposedPolygonsMin.size();
// qCDebug(SurveyComplexItemLog) << "use decomposed polygon, decomposedPolygonsMin.size() " << decomposedPolygonsMin.size();
decomposedPolygons << decomposedPolygonsMin;
// qCDebug(PolygonDecomposeLog) << decomposedPolygonsMin;
} else {
qCDebug(SurveyComplexItemLog) << "use default polygon";
// qCDebug(SurveyComplexItemLog) << "use default polygon";
decomposedPolygons << polygon;
// qCDebug(PolygonDecomposeLog) << polygon << " empty polygon";
}
return;
}
bool SurveyComplexItem::_VertexCanSeeOther(const QPolygonF& polygon, const QPointF* VertexA, const QPointF* VertexB) {
if (VertexA == VertexB) return false;
if (VertexA + 1 == VertexB) return false;
if (VertexA - 1 == VertexB) return false;
bool SurveyComplexItem::_VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB) {
if (vertexA == vertexB) return false;
auto vertexAAfter = vertexA + 1 == polygon.end() ? polygon.begin() : vertexA + 1;
auto vertexABefore = vertexA == polygon.begin() ? polygon.end() - 1 : vertexA - 1;
if (vertexAAfter == vertexB) return false;
if (vertexABefore == vertexB) return false;
// qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther false after first checks ";
bool visible = true;
// auto diff = *vertexA - *vertexB;
QLineF lineAB{*vertexA, *vertexB};
auto distanceAB = lineAB.length();//sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
// qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther distanceAB " << distanceAB;
for (auto vertexC = polygon.begin(); vertexC != polygon.end(); ++vertexC)
{
if (vertexC == vertexA) continue;
if (vertexC == vertexB) continue;
auto vertexD = vertexC + 1 == polygon.end() ? polygon.begin() : vertexC + 1;
if (vertexD == vertexA) continue;
if (vertexD == vertexB) continue;
QLineF lineCD(*vertexC, *vertexD);
QPointF intersection{};
auto intersects = lineAB.intersect(lineCD, &intersection);
if (intersects == QLineF::IntersectType::BoundedIntersection) {
// auto diffIntersection = *vertexA - intersection;
// auto distanceIntersection = sqrtf(diffIntersection.x() * diffIntersection.x() + diffIntersection.y()*diffIntersection.y());
// qCDebug(SurveyComplexItemLog) << "*vertexA " << *vertexA << "*vertexB " << *vertexB << " intersection " << intersection;
QLineF lineIntersection{*vertexA, intersection};
auto distanceIntersection = lineIntersection.length();//sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther distanceIntersection " << distanceIntersection;
if (distanceIntersection < distanceAB) {
visible = false;
break;
}
}
return true;
}
return visible;
}
void SurveyComplexItem::_rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin)
bool SurveyComplexItem::_VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex) {
auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
auto area = (((vertex->x() - vertexBefore->x())*(vertexAfter->y() - vertexBefore->y()))-((vertexAfter->x() - vertexBefore->x())*(vertex->y() - vertexBefore->y())));
return area > 0;
}
void SurveyComplexItem::_rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint)
{
// Generate transects
@ -1282,9 +1385,19 @@ void SurveyComplexItem::_rebuildTranscetsFromPolygon(bool refly, const QPolygonF @@ -1282,9 +1385,19 @@ void SurveyComplexItem::_rebuildTranscetsFromPolygon(bool refly, const QPolygonF
// Convert from NED to Geo
QList<QList<QGeoCoordinate>> transects;
for (const QLineF& line: resultLines) {
if (transitionPoint != nullptr) {
QList<QGeoCoordinate> transect;
QGeoCoordinate coord;
convertNedToGeo(transitionPoint->y(), transitionPoint->x(), 0, tangentOrigin, &coord);
transect.append(coord);
transect.append(coord); //TODO
transects.append(transect);
}
for (const QLineF& line: resultLines) {
QList<QGeoCoordinate> transect;
QGeoCoordinate coord;
convertNedToGeo(line.p1().y(), line.p1().x(), 0, tangentOrigin, &coord);
transect.append(coord);

5
src/MissionManager/SurveyComplexItem.h
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@ -112,11 +112,12 @@ private: @@ -112,11 +112,12 @@ private:
bool _loadV4(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
void _rebuildTransectsPhase1Worker(bool refly);
/// Adds to the _transects array from one polygon
void _rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin);
void _rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
// Decompose polygon into list of convex sub polygons
void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
// return true if vertex a can see vertex b
bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* VertexA, const QPointF* VertexB);
bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
QMap<QString, FactMetaData*> _metaDataMap;

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