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ProposalDesigner.cpp
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#include "ProposalDesigner.h"
#include <iostream>
#include "utils.h"
#include "ConcaveHullFinder.h"
#include "StructureFinder.h"
#include "cv_utils/cv_utils.h"
using namespace std;
using namespace cv;
ProposalDesigner::ProposalDesigner(const Mat &image, const vector<double> &point_cloud, const vector<double> &normals, const vector<double> &camera_parameters, const int num_layers, const RepresenterPenalties penalties, const DataStatistics statistics) : image_(image), point_cloud_(point_cloud), normals_(normals), IMAGE_WIDTH_(image.cols), IMAGE_HEIGHT_(image.rows), CAMERA_PARAMETERS_(camera_parameters), penalties_(penalties), statistics_(statistics), NUM_PIXELS_(image.cols * image.rows), NUM_LAYERS_(num_layers), NUM_ALL_PROPOSAL_ITERATIONS_(3)
{
Mat blurred_image;
GaussianBlur(image_, blurred_image, cv::Size(3, 3), 0, 0);
blurred_image.convertTo(blurred_hsv_image_, CV_32FC3, 1.0 / 255);
cvtColor(blurred_hsv_image_, blurred_hsv_image_, CV_BGR2HSV);
initializeCurrentSolution();
proposal_type_indices_ = vector<int>(7);
for (int c = 0; c < 7; c++)
proposal_type_indices_[c] = c;
proposal_type_index_ptr_ = -1;
all_proposal_iteration_ = 0;
}
ProposalDesigner::~ProposalDesigner()
{
}
void ProposalDesigner::setCurrentSolution(const vector<int> ¤t_solution_labels, const int current_solution_num_surfaces, const std::map<int, Segment> ¤t_solution_segments)
{
map<int, int> surface_id_map;
int new_surface_id = 0;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels[pixel];
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces + 1);
if (surface_id == current_solution_num_surfaces)
continue;
if (surface_id_map.count(surface_id) == 0) {
surface_id_map[surface_id] = new_surface_id;
new_surface_id++;
}
}
if (surface_id_map.size() == current_solution_num_surfaces)
break;
}
surface_id_map[current_solution_num_surfaces] = new_surface_id;
current_solution_segments_.clear();
for (map<int, Segment>::const_iterator segment_it = current_solution_segments.begin(); segment_it != current_solution_segments.end(); segment_it++) {
if (surface_id_map.count(segment_it->first) > 0) {
current_solution_segments_[surface_id_map[segment_it->first]] = segment_it->second;
}
}
vector<int> new_current_solution_labels(NUM_PIXELS_);
int new_current_solution_num_surfaces = new_surface_id;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels[pixel];
if (checkLabelValidity(pixel, current_solution_label, current_solution_num_surfaces, current_solution_segments) == false) {
cout << "invalid current label at pixel: " << pixel << endl;
exit(1);
}
int new_label = 0;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces + 1);
new_label += surface_id_map[surface_id] * pow(new_current_solution_num_surfaces + 1, NUM_LAYERS_ - 1 - layer_index);
}
new_current_solution_labels[pixel] = new_label;
}
current_solution_labels_ = new_current_solution_labels;
current_solution_num_surfaces_ = new_current_solution_num_surfaces;
}
bool ProposalDesigner::getProposal(int &iteration, vector<vector<int> > &proposal_labels, int &proposal_num_surfaces, map<int, Segment> &proposal_segments, string &proposal_type)
{
if (proposal_type_index_ptr_ < 0 || proposal_type_index_ptr_ >= proposal_type_indices_.size()) {
random_shuffle(proposal_type_indices_.begin(), proposal_type_indices_.end());
proposal_type_index_ptr_ = 0;
all_proposal_iteration_++;
if (all_proposal_iteration_ > NUM_ALL_PROPOSAL_ITERATIONS_)
return false;
}
const int NUM_PROPOSAL_TYPES = 7;
bool first_attempt = true;
if (iteration == 0) {
bool generate_success = generateSegmentAddingProposal(0);
assert(generate_success);
} else if (iteration == 1) {
bool generate_success = generateConcaveHullProposal(true);
assert(generate_success);
} else if (iteration == 2) {
bool generate_success = generateSegmentRefittingProposal();
assert(generate_success);
} else {
while (true) {
bool generate_success = false;
if (single_surface_candidate_pixels_.size() > 0) {
generate_success = generateSingleSurfaceExpansionProposal();
} else {
int proposal_type_index = proposal_type_indices_[proposal_type_index_ptr_];
proposal_type_index_ptr_++;
switch (proposal_type_index) {
case 0:
generate_success = generateSegmentRefittingProposal();
break;
case 1:
generate_success = generateConcaveHullProposal(true);
break;
case 2:
generate_success = generateSingleSurfaceExpansionProposal();
break;
case 3:
generate_success = generateLayerSwapProposal();
break;
case 4:
generate_success = generateSegmentAddingProposal();
break;
case 5:
generate_success = generateBackwardMergingProposal();
break;
case 6:
generate_success = generateStructureExpansionProposal();
break;
default:
return false;
}
}
if (generate_success == true)
break;
first_attempt = false;
}
}
proposal_labels = proposal_labels_;
proposal_num_surfaces = proposal_num_surfaces_;
proposal_segments = proposal_segments_;
proposal_type = proposal_type_;
return true;
}
void ProposalDesigner::addIndicatorVariables(const int num_indicator_variables)
{
int num = num_indicator_variables == -1 ? NUM_LAYERS_ * proposal_num_surfaces_ : num_indicator_variables;
vector<int> indicator_labels(2);
indicator_labels[0] = 0;
indicator_labels[1] = 1;
for (int i = 0; i < num; i++)
proposal_labels_.push_back(indicator_labels);
}
bool ProposalDesigner::checkLabelValidity(const int pixel, const int label, const int num_surfaces, const map<int, Segment> &segments)
{
double previous_depth = 0;
bool has_depth_conflict = false;
bool has_same_label = false;
bool empty_background = false;
bool segmentation_inconsistency = false;
bool background_inconsistency = false;
bool has_layer_estimation_conflict = false;
bool sub_region_extended = false;
int foremost_non_empty_surface_id = -1;
vector<bool> used_surface_id_mask(num_surfaces, false);
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = label / static_cast<int>(pow(num_surfaces + 1, NUM_LAYERS_ - 1 - layer_index)) % (num_surfaces + 1);
if (surface_id == num_surfaces) {
if (layer_index == NUM_LAYERS_ - 1)
empty_background = true;
continue;
}
double depth = segments.at(surface_id).getDepth(pixel);
if (used_surface_id_mask[surface_id] == true) {
has_same_label = true;
break;
}
used_surface_id_mask[surface_id] = true;
if (foremost_non_empty_surface_id == -1) {
foremost_non_empty_surface_id = surface_id;
}
if (depth < previous_depth - statistics_.depth_conflict_tolerance) {
has_depth_conflict = true;
break;
}
previous_depth = depth;
}
if (has_depth_conflict == false && has_same_label == false && empty_background == false)
return true;
else
return false;
}
bool ProposalDesigner::generateSegmentRefittingProposal()
{
cout << "generate segment refitting proposal" << endl;
proposal_type_ = "segment_refitting_proposal";
const int SMALL_SEGMENT_NUM_PIXELS_THRESHOLD = 10;
vector<set<int> > layer_surface_ids_vec(NUM_LAYERS_);
map<int, map<int, vector<int> > > segment_layer_visible_pixels;
map<int, map<int, vector<int> > > segment_layer_pixels;
vector<bool> occluded_segment_mask(NUM_LAYERS_, false);
vector<bool> background_segment_mask(NUM_LAYERS_, false);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
bool is_visible = true;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_) {
segment_layer_pixels[surface_id][layer_index].push_back(pixel);
if (is_visible == true) {
segment_layer_visible_pixels[surface_id][layer_index].push_back(pixel);
is_visible = false;
} else
occluded_segment_mask[surface_id] = true;
layer_surface_ids_vec[layer_index].insert(surface_id);
if (layer_index == NUM_LAYERS_ - 1)
background_segment_mask[surface_id] = true;
}
}
}
proposal_segments_ = current_solution_segments_;
int new_proposal_segment_index = current_solution_num_surfaces_;
vector<vector<set<int> > > layer_pixel_segment_indices_map(NUM_LAYERS_, vector<set<int> >(NUM_PIXELS_));
for (map<int, map<int, vector<int> > >::const_iterator segment_it = segment_layer_pixels.begin(); segment_it != segment_layer_pixels.end(); segment_it++) {
for (map<int, vector<int> >::const_iterator layer_it = segment_it->second.begin(); layer_it != segment_it->second.end(); layer_it++)
for (vector<int>::const_iterator pixel_it = layer_it->second.begin(); pixel_it != layer_it->second.end(); pixel_it++)
layer_pixel_segment_indices_map[layer_it->first][*pixel_it].insert(segment_it->first);
}
for (map<int, map<int, vector<int> > >::const_iterator segment_it = segment_layer_visible_pixels.begin(); segment_it != segment_layer_visible_pixels.end(); segment_it++) {
vector<int> visible_pixels;
for (map<int, vector<int> >::const_iterator layer_it = segment_it->second.begin(); layer_it != segment_it->second.end(); layer_it++)
visible_pixels.insert(visible_pixels.end(), layer_it->second.begin(), layer_it->second.end());
if (visible_pixels.size() < SMALL_SEGMENT_NUM_PIXELS_THRESHOLD)
continue;
vector<bool> fitting_pixel_mask(NUM_PIXELS_, false);
for (vector<int>::const_iterator pixel_it = visible_pixels.begin(); pixel_it != visible_pixels.end(); pixel_it++)
fitting_pixel_mask[*pixel_it] = true;
vector<double> depth_plane_1;
{
Segment segment(image_, point_cloud_, normals_, CAMERA_PARAMETERS_, visible_pixels, penalties_, statistics_);
vector<int> fitted_pixels = segment.getSegmentPixels();
if (fitted_pixels.size() >= SMALL_SEGMENT_NUM_PIXELS_THRESHOLD && segment.getType() >= 0) {
for (vector<int>::const_iterator pixel_it = fitted_pixels.begin(); pixel_it != fitted_pixels.end(); pixel_it++)
fitting_pixel_mask[*pixel_it] = false;
for (map<int, vector<int> >::const_iterator layer_it = segment_layer_pixels[segment_it->first].begin(); layer_it != segment_layer_pixels[segment_it->first].end(); layer_it++)
for (vector<int>::const_iterator pixel_it = layer_it->second.begin(); pixel_it != layer_it->second.end(); pixel_it++)
layer_pixel_segment_indices_map[layer_it->first][*pixel_it].insert(new_proposal_segment_index);
proposal_segments_[new_proposal_segment_index] = segment;
new_proposal_segment_index++;
depth_plane_1 = segment.getDepthPlane();
}
}
{
vector<int> fitting_pixels;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (fitting_pixel_mask[pixel] == true)
fitting_pixels.push_back(pixel);
Segment segment(image_, point_cloud_, normals_, CAMERA_PARAMETERS_, fitting_pixels, penalties_, statistics_);
vector<int> fitted_pixels = segment.getSegmentPixels();
if (fitted_pixels.size() >= SMALL_SEGMENT_NUM_PIXELS_THRESHOLD && segment.getType() >= 0) {
vector<double> depth_plane_2 = segment.getDepthPlane();
double cos_value = 0;
for (int c = 0; c < 3; c++)
cos_value += depth_plane_1[c] * depth_plane_2[c];
double angle = acos(min(abs(cos_value), 1.0));
if (angle > statistics_.similar_angle_threshold) {
for (vector<int>::const_iterator pixel_it = fitted_pixels.begin(); pixel_it != fitted_pixels.end(); pixel_it++)
layer_pixel_segment_indices_map[segment_it->second.begin()->first][*pixel_it].insert(new_proposal_segment_index);
proposal_segments_[new_proposal_segment_index] = segment;
new_proposal_segment_index++;
}
}
}
if (background_segment_mask[segment_it->first] == false) {
if (visible_pixels.size() <= statistics_.bspline_surface_num_pixels_threshold) {
Segment segment(image_, point_cloud_, normals_, CAMERA_PARAMETERS_, visible_pixels, penalties_, statistics_, 2);
vector<int> fitted_pixels = segment.getSegmentPixels();
if (fitted_pixels.size() >= SMALL_SEGMENT_NUM_PIXELS_THRESHOLD && segment.getType() >= 0) {
for (map<int, vector<int> >::const_iterator layer_it = segment_layer_pixels[segment_it->first].begin(); layer_it != segment_layer_pixels[segment_it->first].end(); layer_it++)
for (vector<int>::const_iterator pixel_it = layer_it->second.begin(); pixel_it != layer_it->second.end(); pixel_it++)
layer_pixel_segment_indices_map[layer_it->first][*pixel_it].insert(new_proposal_segment_index);
proposal_segments_[new_proposal_segment_index] = segment;
new_proposal_segment_index++;
}
}
}
}
const int NUM_DILATION_ITERATIONS = 2;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
vector<set<int> > pixel_segment_indices_map = layer_pixel_segment_indices_map[layer_index];
while (true) {
bool has_change = false;
vector<set<int> > dilated_pixel_segment_indices_map = pixel_segment_indices_map;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
vector<int> neighbor_pixels;
int x = pixel % IMAGE_WIDTH_;
int y = pixel / IMAGE_WIDTH_;
if (x > 0)
neighbor_pixels.push_back(pixel - 1);
if (x < IMAGE_WIDTH_ - 1)
neighbor_pixels.push_back(pixel + 1);
if (y > 0)
neighbor_pixels.push_back(pixel - IMAGE_WIDTH_);
if (y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + IMAGE_WIDTH_);
if (x > 0 && y > 0)
neighbor_pixels.push_back(pixel - 1 - IMAGE_WIDTH_);
if (x > 0 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel - 1 + IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y > 0)
neighbor_pixels.push_back(pixel + 1 - IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + 1 + IMAGE_WIDTH_);
for (vector<int>::const_iterator neighbor_pixel_it = neighbor_pixels.begin(); neighbor_pixel_it != neighbor_pixels.end(); neighbor_pixel_it++) {
for (set<int>::const_iterator segment_it = pixel_segment_indices_map[pixel].begin(); segment_it != pixel_segment_indices_map[pixel].end(); segment_it++) {
if (proposal_segments_[*segment_it].checkPixelFitting(blurred_hsv_image_, point_cloud_, normals_, *neighbor_pixel_it) && dilated_pixel_segment_indices_map[*neighbor_pixel_it].count(*segment_it) == 0) {
dilated_pixel_segment_indices_map[*neighbor_pixel_it].insert(*segment_it);
has_change = true;
}
}
}
}
if (has_change == false)
break;
pixel_segment_indices_map = dilated_pixel_segment_indices_map;
}
for (int iteration = 0; iteration < NUM_DILATION_ITERATIONS; iteration++) {
vector<set<int> > dilated_pixel_segment_indices_map = pixel_segment_indices_map;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
vector<int> neighbor_pixels;
int x = pixel % IMAGE_WIDTH_;
int y = pixel / IMAGE_WIDTH_;
if (x > 0)
neighbor_pixels.push_back(pixel - 1);
if (x < IMAGE_WIDTH_ - 1)
neighbor_pixels.push_back(pixel + 1);
if (y > 0)
neighbor_pixels.push_back(pixel - IMAGE_WIDTH_);
if (y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + IMAGE_WIDTH_);
if (x > 0 && y > 0)
neighbor_pixels.push_back(pixel - 1 - IMAGE_WIDTH_);
if (x > 0 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel - 1 + IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y > 0)
neighbor_pixels.push_back(pixel + 1 - IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + 1 + IMAGE_WIDTH_);
for (vector<int>::const_iterator neighbor_pixel_it = neighbor_pixels.begin(); neighbor_pixel_it != neighbor_pixels.end(); neighbor_pixel_it++) {
for (set<int>::const_iterator segment_it = pixel_segment_indices_map[pixel].begin(); segment_it != pixel_segment_indices_map[pixel].end(); segment_it++) {
if (dilated_pixel_segment_indices_map[*neighbor_pixel_it].count(*segment_it) > 0)
continue;
if (proposal_segments_[*segment_it].getDepth(*neighbor_pixel_it) > 0)
dilated_pixel_segment_indices_map[*neighbor_pixel_it].insert(*segment_it);
}
}
}
pixel_segment_indices_map = dilated_pixel_segment_indices_map;
}
layer_pixel_segment_indices_map[layer_index] = pixel_segment_indices_map;
}
// {
// Mat new_segment_image = Mat::zeros(IMAGE_HEIGHT_, IMAGE_WIDTH_, CV_8UC3);
// map<int, Vec3b> color_table;
// for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
// int layer_index = 0;
// int segment_index = 1;
// for (set<int>::const_iterator segment_it = layer_pixel_segment_indices_map[layer_index][pixel].begin(); segment_it != layer_pixel_segment_indices_map[layer_index][pixel].end(); segment_it++)
// if (*segment_it >= current_solution_num_surfaces_)
// segment_index *= (*segment_it + 1);
// segment_index = layer_pixel_segment_indices_map[1][pixel].count(8) > 0 ? 1 : 0;
// if (color_table.count(segment_index) == 0) {
// Vec3b color;
// for (int c = 0; c < 3; c++)
// color[c] = rand() % 256;
// color_table[segment_index] = color;
// }
// new_segment_image.at<Vec3b>(pixel / IMAGE_WIDTH_, pixel % IMAGE_WIDTH_) = color_table[segment_index];
// }
// imwrite("Test/refitted_segment_image.bmp", new_segment_image);
// }
proposal_num_surfaces_ = proposal_segments_.size();
proposal_labels_.assign(NUM_PIXELS_, vector<int>());
current_solution_indices_.assign(NUM_PIXELS_, 0);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
map<int, set<int> > pixel_layer_surfaces_map;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_) {
pixel_layer_surfaces_map[layer_index].insert(surface_id);
} else {
pixel_layer_surfaces_map[layer_index].insert(proposal_num_surfaces_);
}
}
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++)
pixel_layer_surfaces_map[layer_index].insert(layer_pixel_segment_indices_map[layer_index][pixel].begin(), layer_pixel_segment_indices_map[layer_index][pixel].end());
for (int layer_index = 0; layer_index < NUM_LAYERS_ - 1; layer_index++)
pixel_layer_surfaces_map[layer_index].insert(proposal_num_surfaces_);
vector<int> pixel_proposals = calcPixelProposals(proposal_num_surfaces_, pixel_layer_surfaces_map);
vector<int> valid_pixel_proposals;
for (vector<int>::const_iterator label_it = pixel_proposals.begin(); label_it != pixel_proposals.end(); label_it++)
if (checkLabelValidity(pixel, *label_it, proposal_num_surfaces_, proposal_segments_) == true)
valid_pixel_proposals.push_back(*label_it);
if (valid_pixel_proposals.size() == 0) {
cout << "empty proposal at pixel: " << pixel << endl;
exit(1);
}
proposal_labels_[pixel] = valid_pixel_proposals;
if (current_solution_num_surfaces_ > 0) {
current_solution_indices_[pixel] = find(valid_pixel_proposals.begin(), valid_pixel_proposals.end(), convertToProposalLabel(current_solution_label)) - valid_pixel_proposals.begin();
if (current_solution_indices_[pixel] == valid_pixel_proposals.size()) {
cout << "has no current solution label at pixel: " << pixel << endl;
exit(1);
}
}
}
addIndicatorVariables();
return true;
}
bool ProposalDesigner::generateSingleSurfaceExpansionProposal(const int denoted_expansion_segment_id)
{
cout << "generate single surface expansion proposal" << endl;
proposal_type_ = "single_surface_expansion_proposal";
if (single_surface_candidate_pixels_.size() == 0) {
single_surface_candidate_pixels_.assign(NUM_PIXELS_ * 2, -1);
for (int pixel = 0; pixel < NUM_PIXELS_ * 2; pixel++)
single_surface_candidate_pixels_[pixel] = pixel;
}
int expansion_segment_id = denoted_expansion_segment_id;
int expansion_type = rand() % 2;
if (current_solution_segments_.count(expansion_segment_id) == 0) {
int random_pixel = single_surface_candidate_pixels_[rand() % single_surface_candidate_pixels_.size()];
int current_solution_label = current_solution_labels_[random_pixel % NUM_PIXELS_];
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_) {
expansion_segment_id = surface_id;
break;
}
}
expansion_type = random_pixel / NUM_PIXELS_;
}
map<int, int> expansion_segment_layer_counter;
bool is_occluded = false;
vector<bool> expansion_segment_visible_pixel_mask(NUM_PIXELS_, false);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
bool is_visible = true;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id == expansion_segment_id) {
expansion_segment_layer_counter[layer_index]++;
if (is_visible == false) {
is_occluded = true;
break;
} else
expansion_segment_visible_pixel_mask[pixel] = true;
}
if (surface_id < current_solution_num_surfaces_)
is_visible = false;
}
}
vector<int> new_single_surface_candidate_pixels;
for (vector<int>::const_iterator pixel_it = single_surface_candidate_pixels_.begin(); pixel_it != single_surface_candidate_pixels_.end(); pixel_it++)
if (*pixel_it / NUM_PIXELS_ != expansion_type || expansion_segment_visible_pixel_mask[*pixel_it % NUM_PIXELS_] == false)
new_single_surface_candidate_pixels.push_back(*pixel_it);
single_surface_candidate_pixels_ = new_single_surface_candidate_pixels;
if (expansion_segment_layer_counter.size() > 1 && expansion_type == 1)
return false;
if (is_occluded && expansion_type == 0)
return false;
int expansion_segment_layer_index = -1;
int max_layer_count = 0;
for (map<int, int>::const_iterator layer_it = expansion_segment_layer_counter.begin(); layer_it != expansion_segment_layer_counter.end(); layer_it++) {
if (layer_it->second > max_layer_count) {
expansion_segment_layer_index = layer_it->first;
max_layer_count = layer_it->second;
}
}
if (expansion_segment_layer_index == -1)
return false;
cout << "segment: " << expansion_segment_id << "\texpansion type: " << expansion_type << endl;
proposal_num_surfaces_ = current_solution_num_surfaces_;
proposal_segments_ = current_solution_segments_;
proposal_labels_.assign(NUM_PIXELS_, vector<int>());
current_solution_indices_.assign(NUM_PIXELS_, 0);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
map<int, set<int> > pixel_layer_surfaces_map;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
pixel_layer_surfaces_map[layer_index].insert(surface_id);
}
if (expansion_type == 0) {
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++)
pixel_layer_surfaces_map[layer_index].insert(expansion_segment_id);
for (int layer_index = 0; layer_index < NUM_LAYERS_ - 1; layer_index++)
pixel_layer_surfaces_map[layer_index].insert(proposal_num_surfaces_);
} else {
pixel_layer_surfaces_map[expansion_segment_layer_index].insert(expansion_segment_id);
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - expansion_segment_layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_ && surface_id != expansion_segment_id)
for (int target_layer_index = 0; target_layer_index < expansion_segment_layer_index; target_layer_index++)
pixel_layer_surfaces_map[target_layer_index].insert(surface_id);
for (int target_layer_index = 0; target_layer_index < expansion_segment_layer_index; target_layer_index++)
pixel_layer_surfaces_map[target_layer_index].insert(proposal_num_surfaces_);
}
vector<int> pixel_proposals = calcPixelProposals(proposal_num_surfaces_, pixel_layer_surfaces_map);
vector<int> valid_pixel_proposals;
for (vector<int>::const_iterator label_it = pixel_proposals.begin(); label_it != pixel_proposals.end(); label_it++)
if (checkLabelValidity(pixel, *label_it, proposal_num_surfaces_, proposal_segments_) == true)
valid_pixel_proposals.push_back(*label_it);
if (valid_pixel_proposals.size() == 0) {
cout << "empty proposal at pixel: " << pixel << endl;
exit(1);
}
proposal_labels_[pixel] = valid_pixel_proposals;
if (current_solution_num_surfaces_ > 0) {
current_solution_indices_[pixel] = find(valid_pixel_proposals.begin(), valid_pixel_proposals.end(), convertToProposalLabel(current_solution_label)) - valid_pixel_proposals.begin();
if (current_solution_indices_[pixel] == valid_pixel_proposals.size()) {
cout << "has no current solution label at pixel: " << pixel << endl;
exit(1);
}
}
}
addIndicatorVariables();
return true;
}
bool ProposalDesigner::generateLayerSwapProposal()
{
cout << "generate layer swap proposal" << endl;
proposal_type_ = "layer_swap_proposal";
vector<vector<set<int> > > layer_pixel_segment_indices_map(NUM_LAYERS_, vector<set<int> >(NUM_PIXELS_));
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
for (int layer_index = 0; layer_index < NUM_LAYERS_ - 1; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_)
layer_pixel_segment_indices_map[layer_index][pixel].insert(surface_id);
}
}
const int NUM_DILATION_ITERATIONS = 2;
for (int layer_index = 0; layer_index < NUM_LAYERS_ - 1; layer_index++) {
vector<set<int> > pixel_segment_indices_map = layer_pixel_segment_indices_map[layer_index];
for (int iteration = 0; iteration < NUM_DILATION_ITERATIONS; iteration++) {
vector<set<int> > new_pixel_segment_indices_map = pixel_segment_indices_map;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
vector<int> neighbor_pixels;
int x = pixel % IMAGE_WIDTH_;
int y = pixel / IMAGE_WIDTH_;
if (x > 0)
neighbor_pixels.push_back(pixel - 1);
if (x < IMAGE_WIDTH_ - 1)
neighbor_pixels.push_back(pixel + 1);
if (y > 0)
neighbor_pixels.push_back(pixel - IMAGE_WIDTH_);
if (y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + IMAGE_WIDTH_);
if (x > 0 && y > 0)
neighbor_pixels.push_back(pixel - 1 - IMAGE_WIDTH_);
if (x > 0 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel - 1 + IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y > 0)
neighbor_pixels.push_back(pixel + 1 - IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(pixel + 1 + IMAGE_WIDTH_);
for (vector<int>::const_iterator neighbor_pixel_it = neighbor_pixels.begin(); neighbor_pixel_it != neighbor_pixels.end(); neighbor_pixel_it++) {
for (set<int>::const_iterator segment_it = pixel_segment_indices_map[pixel].begin(); segment_it != pixel_segment_indices_map[pixel].end(); segment_it++) {
if (new_pixel_segment_indices_map[*neighbor_pixel_it].count(*segment_it) > 0)
continue;
if (current_solution_segments_[*segment_it].getDepth(*neighbor_pixel_it) > 0)
new_pixel_segment_indices_map[*neighbor_pixel_it].insert(*segment_it);
}
}
}
pixel_segment_indices_map = new_pixel_segment_indices_map;
}
layer_pixel_segment_indices_map[layer_index] = pixel_segment_indices_map;
}
proposal_num_surfaces_ = current_solution_num_surfaces_;
proposal_segments_ = current_solution_segments_;
proposal_labels_.assign(NUM_PIXELS_, vector<int>());
current_solution_indices_.assign(NUM_PIXELS_, 0);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
map<int, set<int> > pixel_layer_surfaces_map;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
pixel_layer_surfaces_map[layer_index].insert(surface_id);
if (layer_index < NUM_LAYERS_ - 1)
pixel_layer_surfaces_map[layer_index].insert(proposal_num_surfaces_);
}
for (int layer_index = 0; layer_index < NUM_LAYERS_ - 1; layer_index++) {
set<int> segments = layer_pixel_segment_indices_map[layer_index][pixel];
for (int target_layer_index = max(0, layer_index - 1); target_layer_index <= min(NUM_LAYERS_ - 1, layer_index + 1); target_layer_index++)
pixel_layer_surfaces_map[target_layer_index].insert(segments.begin(), segments.end());
}
vector<int> pixel_proposals = calcPixelProposals(proposal_num_surfaces_, pixel_layer_surfaces_map);
vector<int> valid_pixel_proposals;
for (vector<int>::const_iterator label_it = pixel_proposals.begin(); label_it != pixel_proposals.end(); label_it++)
if (checkLabelValidity(pixel, *label_it, proposal_num_surfaces_, proposal_segments_) == true)
valid_pixel_proposals.push_back(*label_it);
if (valid_pixel_proposals.size() == 0) {
cout << "empty proposal at pixel: " << pixel << endl;
exit(1);
}
proposal_labels_[pixel] = valid_pixel_proposals;
if (current_solution_num_surfaces_ > 0) {
current_solution_indices_[pixel] = find(valid_pixel_proposals.begin(), valid_pixel_proposals.end(), convertToProposalLabel(current_solution_label)) - valid_pixel_proposals.begin();
if (current_solution_indices_[pixel] == valid_pixel_proposals.size()) {
cout << "has no current solution label at pixel: " << pixel << endl;
exit(1);
}
}
}
addIndicatorVariables();
return true;
}
bool ProposalDesigner::generateConcaveHullProposal(const bool consider_background)
{
cout << "generate concave hull proposal" << endl;
proposal_type_ = "concave_hull_proposal";
vector<vector<int>> layer_pixel_inpainting_surface_ids(NUM_LAYERS_);
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
vector<int> pixel_inpainting_surface_ids(NUM_PIXELS_, -1);
if (layer_index == 0) {
layer_pixel_inpainting_surface_ids[layer_index] = pixel_inpainting_surface_ids;
continue;
}
vector<int> layer_surface_ids(NUM_PIXELS_);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
layer_surface_ids[pixel] = surface_id;
}
vector<bool> visited_pixel_mask(NUM_PIXELS_, false);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
if (visited_pixel_mask[pixel] == true || layer_surface_ids[pixel] == current_solution_num_surfaces_)
continue;
vector<bool> region_mask(NUM_PIXELS_, false);
vector<int> border_pixels;
border_pixels.push_back(pixel);
visited_pixel_mask[pixel] = true;
while (true) {
vector<int> new_border_pixels;
for (vector<int>::const_iterator border_pixel_it = border_pixels.begin(); border_pixel_it != border_pixels.end(); border_pixel_it++) {
region_mask[*border_pixel_it] = true;
vector<int> neighbor_pixels;
int x = *border_pixel_it % IMAGE_WIDTH_;
int y = *border_pixel_it / IMAGE_WIDTH_;
if (x > 0)
neighbor_pixels.push_back(*border_pixel_it - 1);
if (x < IMAGE_WIDTH_ - 1)
neighbor_pixels.push_back(*border_pixel_it + 1);
if (y > 0)
neighbor_pixels.push_back(*border_pixel_it - IMAGE_WIDTH_);
if (y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(*border_pixel_it + IMAGE_WIDTH_);
if (x > 0 && y > 0)
neighbor_pixels.push_back(*border_pixel_it - 1 - IMAGE_WIDTH_);
if (x > 0 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(*border_pixel_it - 1 + IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y > 0)
neighbor_pixels.push_back(*border_pixel_it + 1 - IMAGE_WIDTH_);
if (x < IMAGE_WIDTH_ - 1 && y < IMAGE_HEIGHT_ - 1)
neighbor_pixels.push_back(*border_pixel_it + 1 + IMAGE_WIDTH_);
for (vector<int>::const_iterator neighbor_pixel_it = neighbor_pixels.begin(); neighbor_pixel_it != neighbor_pixels.end(); neighbor_pixel_it++) {
if (layer_surface_ids[*neighbor_pixel_it] != current_solution_num_surfaces_ && visited_pixel_mask[*neighbor_pixel_it] == false) {
new_border_pixels.push_back(*neighbor_pixel_it);
visited_pixel_mask[*neighbor_pixel_it] = true;
}
}
}
if (new_border_pixels.size() == 0)
break;
border_pixels = new_border_pixels;
}
unique_ptr<ConcaveHullFinder> concave_hull_finder(new ConcaveHullFinder(IMAGE_WIDTH_, IMAGE_HEIGHT_, point_cloud_, layer_surface_ids, current_solution_segments_, region_mask, penalties_, statistics_, consider_background));
vector<int> concave_hull = concave_hull_finder->getConcaveHull();
if (concave_hull.size() == 0)
continue;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (region_mask[pixel] == true)
pixel_inpainting_surface_ids[pixel] = concave_hull[pixel];
}
layer_pixel_inpainting_surface_ids[layer_index] = pixel_inpainting_surface_ids;
}
proposal_num_surfaces_ = current_solution_num_surfaces_;
proposal_segments_ = current_solution_segments_;
proposal_labels_.assign(NUM_PIXELS_, vector<int>());
current_solution_indices_.assign(NUM_PIXELS_, 0);
int max_num_proposals = 0;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
map<int, set<int> > pixel_layer_surfaces_map;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
pixel_layer_surfaces_map[layer_index].insert(surface_id);
if (layer_pixel_inpainting_surface_ids[layer_index][pixel] != -1 && layer_pixel_inpainting_surface_ids[layer_index][pixel] != surface_id) {
pixel_layer_surfaces_map[layer_index].insert(layer_pixel_inpainting_surface_ids[layer_index][pixel]);
for (int target_layer_index = 0; target_layer_index < layer_index; target_layer_index++)
pixel_layer_surfaces_map[target_layer_index].insert(surface_id);
}
}
for (int target_layer_index = 0; target_layer_index < NUM_LAYERS_ - 1; target_layer_index++)
pixel_layer_surfaces_map[target_layer_index].insert(proposal_num_surfaces_);
vector<int> pixel_proposals = calcPixelProposals(proposal_num_surfaces_, pixel_layer_surfaces_map);
vector<int> valid_pixel_proposals;
for (vector<int>::const_iterator label_it = pixel_proposals.begin(); label_it != pixel_proposals.end(); label_it++)
if (checkLabelValidity(pixel, *label_it, proposal_num_surfaces_, proposal_segments_) == true)
valid_pixel_proposals.push_back(*label_it);
if (valid_pixel_proposals.size() == 0) {
cout << "empty proposal at pixel: " << pixel << endl;
exit(1);
}
proposal_labels_[pixel] = valid_pixel_proposals;
if (current_solution_num_surfaces_ > 0) {
current_solution_indices_[pixel] = find(valid_pixel_proposals.begin(), valid_pixel_proposals.end(), convertToProposalLabel(current_solution_label)) - valid_pixel_proposals.begin();
if (current_solution_indices_[pixel] == valid_pixel_proposals.size()) {
cout << "has no current solution label at pixel: " << pixel << endl;
exit(1);
}
}
}
addIndicatorVariables();
return true;
}
bool ProposalDesigner::generateSegmentAddingProposal(const int denoted_segment_adding_type)
{
cout << "generate segment adding proposal" << endl;
proposal_type_ = "segment_adding_proposal";
int segment_adding_type = denoted_segment_adding_type;
if (segment_adding_type == -1)
segment_adding_type = current_solution_num_surfaces_ == 0 ? 0 : rand() % 3 != 0 ? 1 : 1;
segment_adding_type = current_solution_num_surfaces_ == 0 ? 0 : 1;
vector<bool> bad_fitting_pixel_mask(NUM_PIXELS_, true);
if (segment_adding_type != 0) {
Mat bad_fitting_pixel_image = Mat::zeros(IMAGE_HEIGHT_, IMAGE_WIDTH_, CV_8UC1);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_) {
if (current_solution_segments_.at(surface_id).checkPixelFitting(blurred_hsv_image_, point_cloud_, normals_, pixel) == false && (point_cloud_[pixel * 3 + 2] < current_solution_segments_.at(surface_id).getDepth(pixel) + statistics_.depth_conflict_tolerance || layer_index == 0))
bad_fitting_pixel_image.at<uchar>(pixel / IMAGE_WIDTH_, pixel % IMAGE_WIDTH_) = 255;
break;
}
}
}
Mat closed_bad_fitting_pixel_image = bad_fitting_pixel_image.clone();
Mat element = getStructuringElement(MORPH_RECT, Size(3, 3), Point(1, 1));
for (int iteration = 0; iteration < 1; iteration++) {
erode(closed_bad_fitting_pixel_image, closed_bad_fitting_pixel_image, element);
dilate(closed_bad_fitting_pixel_image, closed_bad_fitting_pixel_image, element);
erode(closed_bad_fitting_pixel_image, closed_bad_fitting_pixel_image, element);
dilate(closed_bad_fitting_pixel_image, closed_bad_fitting_pixel_image, element);
}
//imwrite("Test/bad_fitting_pixel_mask_image.bmp", closed_bad_fitting_pixel_image);
bad_fitting_pixel_mask = vector<bool>(NUM_PIXELS_, false);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (closed_bad_fitting_pixel_image.at<uchar>(pixel / IMAGE_WIDTH_, pixel % IMAGE_WIDTH_) > 128)
bad_fitting_pixel_mask[pixel] = true;
}
vector<double> visible_depths(NUM_PIXELS_, -1);
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
bool is_visible = true;
for (int layer_index = 0; layer_index < NUM_LAYERS_; layer_index++) {
int surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (surface_id < current_solution_num_surfaces_) {
double depth = current_solution_segments_[surface_id].getDepth(pixel);
if (is_visible) {
visible_depths[pixel] = depth;
is_visible = false;
}
}
}
}
int foremost_empty_layer_index = NUM_LAYERS_ - 1;
if (segment_adding_type == 1) {
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
int current_solution_label = current_solution_labels_[pixel];
for (int layer_index = 0; layer_index < foremost_empty_layer_index + 1; layer_index++) {
int current_solution_surface_id = current_solution_label / static_cast<int>(pow(current_solution_num_surfaces_ + 1, NUM_LAYERS_ - 1 - layer_index)) % (current_solution_num_surfaces_ + 1);
if (current_solution_surface_id < current_solution_num_surfaces_)
foremost_empty_layer_index = layer_index - 1;
}
if (foremost_empty_layer_index == -1)
break;
}
}
proposal_segments_ = current_solution_segments_;
vector<set<int> > pixel_segment_indices_map(NUM_PIXELS_);
const int SMALL_SEGMENT_NUM_PIXELS_THRESHOLD = 10;
int num_bad_fitting_pixels = 0;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (bad_fitting_pixel_mask[pixel])
num_bad_fitting_pixels++;
const int NUM_FITTED_PIXELS_THRESHOLD = num_bad_fitting_pixels * 0.8;
{
vector<bool> unfitted_pixel_mask = bad_fitting_pixel_mask;
int num_fitted_pixels = 0;
int proposal_segment_index = current_solution_num_surfaces_;
while (true) {
vector<int> visible_pixels;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (unfitted_pixel_mask[pixel] == true)
visible_pixels.push_back(pixel);
if (visible_pixels.size() < SMALL_SEGMENT_NUM_PIXELS_THRESHOLD)
break;
Segment segment(image_, point_cloud_, normals_, CAMERA_PARAMETERS_, visible_pixels, penalties_, statistics_);
vector<int> fitted_pixels = segment.getSegmentPixels();
if (fitted_pixels.size() < SMALL_SEGMENT_NUM_PIXELS_THRESHOLD)
break;
if (segment.getType() < 0)
continue;
num_fitted_pixels += fitted_pixels.size();
proposal_segments_[proposal_segment_index] = segment;
for (vector<int>::const_iterator pixel_it = fitted_pixels.begin(); pixel_it != fitted_pixels.end(); pixel_it++) {
unfitted_pixel_mask[*pixel_it] = false;
pixel_segment_indices_map[*pixel_it].insert(proposal_segment_index);
}
if (num_fitted_pixels > NUM_FITTED_PIXELS_THRESHOLD)
break;
proposal_segment_index++;
}
}
{
if (segment_adding_type != 0) {
vector<bool> unfitted_pixel_mask = bad_fitting_pixel_mask;
int proposal_segment_index = proposal_segments_.size();
int num_new_planes = proposal_segments_.size() - current_solution_num_surfaces_;
for (int i = 0; i < num_new_planes; i++) {
vector<int> visible_pixels;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++)
if (unfitted_pixel_mask[pixel] == true)
visible_pixels.push_back(pixel);
if (visible_pixels.size() < SMALL_SEGMENT_NUM_PIXELS_THRESHOLD)
break;
Segment segment(image_, point_cloud_, normals_, CAMERA_PARAMETERS_, visible_pixels, penalties_, statistics_, 2);
vector<int> fitted_pixels = segment.getSegmentPixels();
if (fitted_pixels.size() < SMALL_SEGMENT_NUM_PIXELS_THRESHOLD)
break;
for (vector<int>::const_iterator pixel_it = fitted_pixels.begin(); pixel_it != fitted_pixels.end(); pixel_it++)
unfitted_pixel_mask[*pixel_it] = false;
if (fitted_pixels.size() > statistics_.bspline_surface_num_pixels_threshold || segment.getType() < 0)
continue;
proposal_segments_[proposal_segment_index] = segment;
for (vector<int>::const_iterator pixel_it = fitted_pixels.begin(); pixel_it != fitted_pixels.end(); pixel_it++)
pixel_segment_indices_map[*pixel_it].insert(proposal_segment_index);
proposal_segment_index++;
}
}
}
const int NUM_DILATION_ITERATIONS = 2;
{
while (true) {
bool has_change = false;
vector<set<int> > dilated_pixel_segment_indices_map = pixel_segment_indices_map;
for (int pixel = 0; pixel < NUM_PIXELS_; pixel++) {
vector<int> neighbor_pixels;
int x = pixel % IMAGE_WIDTH_;
int y = pixel / IMAGE_WIDTH_;
if (x > 0)
neighbor_pixels.push_back(pixel - 1);