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buildgraph: improve point placement and use isolated areas for faster building

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This commit is contained in:
Laura Klünder 2016-12-10 14:58:53 +01:00
parent 61f7ad0ee8
commit f2563db8bf
4 changed files with 109 additions and 47 deletions
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50
src/c3nav/routing/area.py Normal file
View file

@ -0,0 +1,50 @@
from itertools import combinations
import numpy as np
from matplotlib.path import Path
from c3nav.routing.utils.coords import coord_angle
class GraphArea():
def __init__(self, room, mpl_clear, mpl_stairs):
self.room = room
self.graph = room.graph
self.mpl_clear = mpl_clear
self.mpl_stairs = mpl_stairs
self.points = []
def build_connections(self):
for point1, point2 in combinations(self.points, 2):
path = Path(np.vstack((point1.xy, point2.xy)))
# lies within room
if self.mpl_clear.intersects_path(path):
continue
# stair checker
angle = coord_angle(point1.xy, point2.xy)
valid = True
for stair_path, stair_angle in self.mpl_stairs:
if not path.intersects_path(stair_path):
continue
angle_diff = ((stair_angle - angle + 180) % 360) - 180
up = angle_diff < 0 # noqa
if not (50 < abs(angle_diff) < 130):
valid = False
break
if not valid:
continue
self.graph.add_connection(point1, point2)
self.graph.add_connection(point2, point1)
def add_point(self, point):
if not self.mpl_clear.contains_point(point.xy):
return False
self.points.append(point)
return True

5
src/c3nav/routing/level.py
View file

@ -28,6 +28,7 @@ class GraphLevel():
print('%d rooms' % len(self.rooms))
for room in self.rooms:
room.build_areas()
room.build_points()
self.create_doors()
@ -67,7 +68,7 @@ class GraphLevel():
for subpolygon in assert_multipolygon(polygon.intersection(room.geometry)):
connected_rooms.add(room)
nearest_point = get_nearest_point(room.clear_geometry, subpolygon.centroid)
point = GraphPoint(nearest_point.x, nearest_point.y, room)
point, = room.add_point(nearest_point.coords[0])
room.points.append(point)
points.append(point)
@ -96,7 +97,7 @@ class GraphLevel():
point = subpolygon.centroid
if not point.within(room.clear_geometry):
point = get_nearest_point(room.clear_geometry, point)
point = GraphPoint(point.x, point.y, room)
point, = room.add_point(point.coords[0])
room.points.append(point)
self.graph.add_levelconnector_point(levelconnector, point)

76
src/c3nav/routing/room.py
View file

@ -1,10 +1,9 @@
from itertools import combinations
import numpy as np
from matplotlib.path import Path
from shapely.geometry import CAP_STYLE, JOIN_STYLE, LineString
from c3nav.mapdata.utils.geometry import assert_multilinestring, assert_multipolygon
from c3nav.routing.area import GraphArea
from c3nav.routing.point import GraphPoint
from c3nav.routing.router import Router
from c3nav.routing.utils.coords import coord_angle, get_coords_angles
@ -19,6 +18,7 @@ class GraphRoom():
self.geometry = geometry
self.mpl_clear = mpl_clear
self.areas = []
self.points = []
# Building the Graph
@ -33,8 +33,25 @@ class GraphRoom():
for stair_line in assert_multilinestring(self.level.level.geometries.stairs):
coords = tuple(stair_line.coords)
self.mpl_stairs += tuple((Path(part), coord_angle(*part)) for part in zip(coords[:-1], coords[1:]))
self.isolated_areas = []
return True
def build_areas(self):
stairs_areas = self.level.level.geometries.stairs
stairs_areas = stairs_areas.buffer(0.3, join_style=JOIN_STYLE.mitre, cap_style=CAP_STYLE.flat)
stairs_areas = stairs_areas.intersection(self.geometry)
self.stairs_areas = assert_multipolygon(stairs_areas)
isolated_areas = tuple(assert_multipolygon(stairs_areas.intersection(self.clear_geometry)))
isolated_areas += tuple(assert_multipolygon(self.clear_geometry.difference(stairs_areas)))
for isolated_area in isolated_areas:
mpl_clear = shapely_to_mpl(isolated_area.buffer(0.01, join_style=JOIN_STYLE.mitre))
mpl_stairs = tuple((stair, angle) for stair, angle in self.mpl_stairs
if mpl_clear.intersects_path(stair, filled=True))
self.areas.append(GraphArea(self, mpl_clear, mpl_stairs))
def build_points(self):
original_geometry = self.geometry
geometry = original_geometry.buffer(-0.6, join_style=JOIN_STYLE.mitre)
@ -72,20 +89,29 @@ class GraphRoom():
points += self._add_ring(interior, want_left=True)
# points around steps
stairs_areas = self.level.level.geometries.stairs
stairs_areas = stairs_areas.buffer(0.3, join_style=JOIN_STYLE.mitre, cap_style=CAP_STYLE.flat)
stairs_areas = assert_multipolygon(stairs_areas.intersection(self.geometry))
for polygon in stairs_areas:
for polygon in self.stairs_areas:
for ring in (polygon.exterior, )+tuple(polygon.interiors):
for linestring in assert_multilinestring(ring.intersection(self.clear_geometry)):
coords = tuple(linestring.coords)
start = 1
if len(coords) == 2:
path = Path(coords)
length = abs(np.linalg.norm(path.vertices[0] - path.vertices[1]))
for coord in tuple(path.interpolated(int(length / 1.0 + 1)).vertices):
self.add_point(coord)
continue
start = 0
for segment in zip(coords[:-1], coords[1:]):
path = Path(segment)
length = abs(np.linalg.norm(path.vertices[0] - path.vertices[1]))
for coord in tuple(path.interpolated(max(int(length / 1.0), 2)).vertices)[start:-1]:
if length < 1.0:
coords = (path.vertices[1 if start == 0 else 0], )
else:
coords = tuple(path.interpolated(int(length / 1.0 + 0.5)).vertices)[start:]
for coord in coords:
self.add_point(coord)
start = 0
start = 1
# break
def _add_ring(self, geom, want_left):
"""
@ -126,37 +152,13 @@ class GraphRoom():
return []
point = GraphPoint(coord[0], coord[1], self)
self.points.append(point)
for area in self.areas:
area.add_point(point)
return [point]
def build_connections(self):
i = 0
own_points = [point for point in self.points if point not in self.level.room_transfer_points]
for point1, point2 in combinations(own_points, 2):
path = Path(np.vstack((point1.xy, point2.xy)))
# lies within room
if self.mpl_clear.intersects_path(path):
continue
# stair checker
angle = coord_angle(point1.xy, point2.xy)
valid = True
for stair_path, stair_angle in self.mpl_stairs:
if not path.intersects_path(stair_path):
continue
angle_diff = ((stair_angle - angle + 180) % 360) - 180
up = angle_diff < 0 # noqa
if not (70 < abs(angle_diff) < 110):
valid = False
break
if not valid:
continue
self.graph.add_connection(point1, point2)
self.graph.add_connection(point2, point1)
i += 1
for area in self.areas:
area.build_connections()
# Routing
def build_router(self):

25
src/c3nav/routing/utils/mpl.py
View file

@ -20,9 +20,9 @@ class MplMultipolygonPath(MplPathProxy):
def __init__(self, polygon):
self.polygons = [MplPolygonPath(polygon) for polygon in assert_multipolygon(polygon)]
def intersects_path(self, path):
def intersects_path(self, path, filled=False):
for polygon in self.polygons:
if polygon.intersects_path(path):
if polygon.intersects_path(path, filled=filled):
return True
return False
@ -38,14 +38,23 @@ class MplPolygonPath(MplPathProxy):
self.exterior = linearring_to_mpl_path(polygon.exterior)
self.interiors = [linearring_to_mpl_path(interior) for interior in polygon.interiors]
def intersects_path(self, path):
if self.exterior.intersects_path(path, filled=False):
return True
def intersects_path(self, path, filled=False):
if filled:
if not self.exterior.intersects_path(path, filled=True):
return False
for interior in self.interiors:
if interior.intersects_path(path, filled=False):
for interior in self.interiors:
if interior.contains_path(path):
return False
return True
else:
if self.exterior.intersects_path(path, filled=False):
return True
return False
for interior in self.interiors:
if interior.intersects_path(path, filled=False):
return True
return False
def contains_point(self, point):
if not self.exterior.contains_point(point):