GBMOT/util/Grid.cpp

//
// Created by wrede on 06.06.16.
//

#include "Grid.h"

namespace util
{
    Grid::Grid(int width_count, int height_count, double width, double height)
            : Grid(width_count, height_count, 1, width, height, 0.0)
    {
        /* EMPTY */
    }

    Grid::Grid(int width_count, int height_count, int depth_count,
               double width, double height, double depth)
            : width_count_(width_count),
              height_count_(height_count),
              depth_count_(depth_count),
              width_(width),
              height_(height),
              depth_(depth),
              cell_width_(width / width_count),
              cell_height_(height / height_count),
              cell_depth_(depth / depth_count)
    {
        for (int z = 0; z < depth_count; ++z)
        {
            values_.push_back(std::vector<std::vector<core::ObjectDataPtr>>());

            for (int y = 0; y < height_count; ++y)
            {
                values_[z].push_back(std::vector<core::ObjectDataPtr>());

                for (int x = 0; x < width_count; ++x)
                {
                    values_[z][y].push_back(core::ObjectDataPtr());
                }
            }
        }
    }

    void Grid::PositionToIndex(double x, double y, double z,
                               int& xi, int& yi, int& zi) const
    {
        xi = (int) (x / cell_width_);
        yi = (int) (y / cell_height_);

        if (depth_count_ > 1)
        {
            zi = (int) (z / cell_depth_);
        }
        else
        {
            zi = 0;
        }
    }

    void Grid::SetValue(core::ObjectDataPtr value, int x, int y, int z)
    {
        values_[z][y][x] = value;
    }

    void Grid::SetValue(core::ObjectDataPtr value, double x, double y, double z)
    {
        int xi, yi, zi;
        PositionToIndex(x, y, z, xi, yi, zi);
        SetValue(value, xi, yi, zi);
    }

    core::ObjectDataPtr Grid::GetValue(int x, int y, int z) const
    {
        return values_[z][y][x];
    }

    core::ObjectDataPtr Grid::GetValue(double x, double y, double z) const
    {
        int xi, yi, zi;
        PositionToIndex(x, y, z, xi, yi, zi);
        return GetValue(xi, yi, zi);
    }

    int Grid::GetWidthCount() const
    {
        return width_count_;
    }

    int Grid::GetHeightCount() const
    {
        return height_count_;
    }

    int Grid::GetDepthCount() const
    {
        return depth_count_;
    }

    double Grid::GetWidth() const
    {
        return width_;
    }

    double Grid::GetHeight() const
    {
        return height_;
    }

    double Grid::GetDepth() const
    {
        return depth_;
    }

    void Grid::Convolve2D(int vicinity, double* mask, double multiplier)
    {
        // [x,y,z]    position in grid
        // [vx,vy,vz] position in vicinity
        // [nx,ny,nz] position in grid
        // [mx,my,mz] position in mask
        // [mi]       index in mask

        int mask_size = vicinity * 2 + 1;
        for (int z = 0; z < depth_count_; ++z)
        {
            for (int y = 0; y < height_count_; ++y)
            {
                for (int x = 0; x < width_count_; ++x)
                {
                    double score = 0.0;

                    for (int vy = -vicinity; vy <= vicinity; ++vy)
                    {
                        int ny = y + vy;

                        if (ny < 0 || ny >= height_count_) continue;

                        int my = vy + vicinity;

                        for (int vx = -vicinity; vx <= vicinity; ++vx)
                        {
                            int nx = x + vx;

                            if (nx < 0 || nx >= width_count_) continue;

                            int mx = vx + vicinity;
                            int mi = my * mask_size + mx;

                            score += GetValue(nx, ny, z)->GetDetectionScore() * mask[mi];
                        }
                    }

                    GetValue(x, y, z)->SetDetectionScore(score * multiplier);
                }
            }
        }
    }

    void Grid::Convolve3D(int vicinity, double* mask, double multiplier)
    {
        // [x,y,z]    position in grid
        // [vx,vy,vz] position in vicinity
        // [nx,ny,nz] position in grid
        // [mx,my,mz] position in mask
        // [mi]       index in mask

        int mask_size = vicinity * 2 + 1;
        for (int z = 0; z < depth_count_; ++z)
        {
            for (int y = 0; y < height_count_; ++y)
            {
                for (int x = 0; x < width_count_; ++x)
                {
                    double score = 0.0;

                    for (int vz = -vicinity; vz <= vicinity; ++vz)
                    {
                        int nz = z + vz;

                        if (nz < 0 || nz >= depth_count_) continue;

                        int mz = vz + vicinity;

                        for (int vy = -vicinity; vy <= vicinity; ++vy)
                        {
                            int ny = y + vy;

                            if (ny < 0 || ny >= height_count_) continue;

                            int my = vy + vicinity;

                            for (int vx = -vicinity; vx <= vicinity; ++vx)
                            {
                                int nx = x + vx;

                                if (nx < 0 || nx >= width_count_) continue;

                                int mx = vx + vicinity;
                                int mi = mz * mask_size * mask_size + my * mask_size + mx;

                                score += GetValue(nx, ny, nz)->GetDetectionScore() * mask[mi];
                            }
                        }
                    }

                    GetValue(x, y, z)->SetDetectionScore(score * multiplier);
                }
            }
        }
    }
}