refactor c3nav.routing
This commit is contained in:
Laura Klünder
parent
575af6c06e
commit
834d6f0064
13 changed files with 381 additions and 364 deletions
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@ -1,236 +0,0 @@
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import os
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from itertools import combinations, permutations
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import numpy as np
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from django.conf import settings
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from django.utils.functional import cached_property
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from matplotlib.path import Path
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from PIL import Image, ImageDraw
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from shapely.geometry import JOIN_STYLE, LineString, Polygon
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from c3nav.mapdata.models import Level
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from c3nav.routing.utils import assert_multipolygon, get_coords_angles, get_nearest_point, polygon_to_mpl_paths
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class GraphLevel():
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def __init__(self, graph, level):
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self.graph = graph
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self.level = level
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self.rooms = []
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def build(self):
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self.collect_rooms()
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self.create_points()
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def collect_rooms(self):
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accessibles = self.level.geometries.accessible
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accessibles = [accessibles] if isinstance(accessibles, Polygon) else accessibles.geoms
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for geometry in accessibles:
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room = GraphRoom(self, geometry)
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if not room.empty:
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self.rooms.append(room)
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def create_points(self):
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for room in self.rooms:
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room.create_points()
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doors = self.level.geometries.doors
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doors = assert_multipolygon(doors)
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for door in doors:
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polygon = door.buffer(0.01, join_style=JOIN_STYLE.mitre)
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center = door.centroid
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points = []
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for room in self.rooms:
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if polygon.intersects(room.geometry):
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nearest_point = get_nearest_point(room.clear_geometry, center)
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point = GraphPoint(room, *nearest_point.coords[0])
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points.append(point)
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room.points.append(point)
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if len(points) < 2:
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print('door with <2 rooms (%d) detected!' % len(points))
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for from_point, to_point in permutations(points, 2):
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from_point.connect_to(to_point)
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for room in self.rooms:
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room.connect_points()
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def _ellipse_bbox(self, x, y, height):
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x *= settings.RENDER_SCALE
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y *= settings.RENDER_SCALE
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y = height-y
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return ((x - 2, y - 2), (x + 2, y + 2))
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def _line_coords(self, from_point, to_point, height):
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return (from_point.x * settings.RENDER_SCALE, height - (from_point.y * settings.RENDER_SCALE),
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to_point.x * settings.RENDER_SCALE, height - (to_point.y * settings.RENDER_SCALE))
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def draw_png(self):
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filename = os.path.join(settings.RENDER_ROOT, 'level-%s.png' % self.level.name)
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graph_filename = os.path.join(settings.RENDER_ROOT, 'level-%s-graph.png' % self.level.name)
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im = Image.open(filename)
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height = im.size[1]
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draw = ImageDraw.Draw(im)
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i = 0
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for room in self.rooms:
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for point in room.points:
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for otherpoint, connection in point.connections.items():
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draw.line(self._line_coords(point, otherpoint, height), fill=(255, 100, 100))
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for point in room.points:
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i += 1
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draw.ellipse(self._ellipse_bbox(point.x, point.y, height), (200, 0, 0))
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print(i, 'points')
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im.save(graph_filename)
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class GraphRoom():
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def __init__(self, level, geometry):
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self.level = level
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self.geometry = geometry
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self.points = []
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self.clear_geometry = geometry.buffer(-0.3, join_style=JOIN_STYLE.mitre)
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self.empty = self.clear_geometry.is_empty
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if not self.empty:
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self.mpl_paths = polygon_to_mpl_paths(self.clear_geometry.buffer(0.01, join_style=JOIN_STYLE.mitre))
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def create_points(self):
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original_geometry = self.geometry
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geometry = original_geometry.buffer(-0.6, join_style=JOIN_STYLE.mitre)
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if geometry.is_empty:
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return
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# points with 60cm distance to borders
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polygons = assert_multipolygon(geometry)
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for polygon in polygons:
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self._add_ring(polygon.exterior, want_left=False)
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for interior in polygon.interiors:
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self._add_ring(interior, want_left=True)
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# now fill in missing doorways or similar
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missing_geometry = self.clear_geometry.difference(geometry.buffer(0.61, join_style=JOIN_STYLE.mitre))
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polygons = assert_multipolygon(missing_geometry)
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for polygon in polygons:
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overlaps = polygon.buffer(0.62).intersection(geometry)
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if overlaps.is_empty:
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continue
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points = []
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# overlaps to non-missing areas
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overlaps = assert_multipolygon(overlaps)
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for overlap in overlaps:
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points.append(self.add_point(overlap.centroid.coords[0]))
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points += self._add_ring(polygon.exterior, want_left=False)
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for interior in polygon.interiors:
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points += self._add_ring(interior, want_left=True)
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for from_point, to_point in permutations(points, 2):
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from_point.connect_to(to_point)
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def _add_ring(self, geom, want_left):
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"""
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add the points of a ring, but only those that have a specific direction change.
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additionally removes unneeded points if the neighbors can be connected in self.clear_geometry
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:param geom: LinearRing
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:param want_left: True if the direction has to be left, False if it has to be right
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"""
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coords = []
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skipped = False
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can_delete_last = False
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for coord, is_left in get_coords_angles(geom):
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if is_left != want_left:
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skipped = True
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continue
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if not skipped and can_delete_last and len(coords) >= 2:
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if LineString((coords[-2], coord)).within(self.clear_geometry):
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coords[-1] = coord
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continue
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coords.append(coord)
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can_delete_last = not skipped
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skipped = False
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if not skipped and can_delete_last and len(coords) >= 3:
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if LineString((coords[-2], coords[0])).within(self.clear_geometry):
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coords.pop()
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points = []
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for coord in coords:
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points.append(self.add_point(coord))
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return points
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def add_point(self, coord):
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point = GraphPoint(self, *coord)
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self.points.append(point)
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return point
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def connect_points(self):
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room_paths = self.mpl_paths
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for point1, point2 in combinations(self.points, 2):
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path = Path(np.vstack((point1.xy, point2.xy)))
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for room_path in room_paths:
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if room_path.intersects_path(path, False):
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break
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else:
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point1.connect_to(point2)
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point2.connect_to(point1)
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class GraphPoint():
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def __init__(self, room, x, y):
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self.room = room
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self.x = x
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self.y = y
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self.xy = (x, y)
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self.connections = {}
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self.connections_in = {}
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@cached_property
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def ellipse_bbox(self):
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x = self.x * settings.RENDER_SCALE
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y = self.y * settings.RENDER_SCALE
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return ((x-5, y-5), (x+5, y+5))
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def connect_to(self, to_point):
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self.room.level.graph.add_connection(self, to_point)
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class GraphConnection():
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def __init__(self, graph, from_point, to_point):
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self.graph = graph
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if to_point in from_point.connections:
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self.graph.connections.remove(from_point.connections[to_point])
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from_point.connections[to_point] = self
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to_point.connections_in[from_point] = self
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class Graph():
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def __init__(self):
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self.levels = {}
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self.connections = []
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def build(self):
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for level in Level.objects.all():
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self.levels[level.name] = GraphLevel(self, level)
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for level in self.levels.values():
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level.build()
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level.draw_png()
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def add_connection(self, from_point, to_point):
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self.connections.append(GraphConnection(self, from_point, to_point))
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