graph.cpp

Go to the documentation of this file.

#include <yaml-cpp/yaml.h>
#include <fstream>
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <boost/foreach.hpp>

#include <bwi_mapper/graph.h>
#include <bwi_mapper/map_utils.h>
#include <bwi_mapper/point_utils.h>

#include <opencv2/opencv_modules.hpp>
#ifdef HAVE_OPENCV_IMGCODECS
// this is OpenCV 3 and we need extra includes
#include <opencv2/imgcodecs.hpp>
#endif
#ifdef HAVE_OPENCV_IMGPROC
// this is OpenCV 3 and we need extra includes
#include <opencv2/imgproc/imgproc.hpp>
#endif


#ifdef HAVE_NEW_YAMLCPP
namespace YAML {
  // The >> operator disappeared in yaml-cpp 0.5, so this function is
  // added to provide support for code written under the yaml-cpp 0.3 API.
  template<typename T>
  void operator >> (const YAML::Node& node, T& i)
  {
    i = node.as<T>();
  }
}
#endif

namespace bwi_mapper {

  void drawGraph(cv::Mat &image, const Graph& graph,
      uint32_t orig_x, uint32_t orig_y, bool put_text, bool put_all_edges,
      std::vector<std::pair<size_t, size_t> > specific_edges) {

    Graph::vertex_iterator vi, vend;
    size_t count = 0;
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend;
        ++vi, ++count) {
      Point2f location = graph[*vi].location;
      // Draw the edges from this vertex
      std::vector<size_t> adj_vertices;
      getAdjacentNodes(count, graph, adj_vertices);
      BOOST_FOREACH(size_t adj_vtx, adj_vertices) {
        if (adj_vtx > count) {
          bool allow_edge = put_all_edges;
          allow_edge = allow_edge ||
            std::find(specific_edges.begin(), specific_edges.end(),
                std::make_pair(count, adj_vtx)) != specific_edges.end();
          allow_edge = allow_edge ||
            std::find(specific_edges.begin(), specific_edges.end(),
                std::make_pair(adj_vtx, count)) != specific_edges.end();
          if (allow_edge) {
            Point2f location2 = getLocationFromGraphId(adj_vtx, graph);
            cv::Point start_pt =
              cv::Point(orig_x + location.x, orig_y + location.y);
            cv::Point end_pt =
              cv::Point(orig_x + location2.x, orig_y + location2.y);
            float shift_ratio = 15.0f / cv::norm(start_pt - end_pt);
            cv::Point start_shift = start_pt + shift_ratio * (end_pt - start_pt);
            cv::Point end_shift = end_pt + shift_ratio * (start_pt - end_pt);
            cv::line(image, start_shift, end_shift,
                cv::Scalar(160, 160, 255),
                4, CV_AA); // draw an anti aliased line
          }
        }
      }
    }

    count = 0;
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend; ++vi) {
      Point2f location = graph[*vi].location;
      // Draw this vertex
      cv::Point vertex_loc(orig_x + (uint32_t)location.x,
          orig_y + (uint32_t)location.y);
      if (put_text) {
        cv::Point text_loc = vertex_loc + cv::Point(-7,7);
        if (count >= 10) {
          text_loc = text_loc + cv::Point(-7,0);
        }
        cv::putText(image, boost::lexical_cast<std::string>(count), text_loc,
            cv::FONT_HERSHEY_SIMPLEX, 0.7, cvScalar(0,0,255), 2, CV_AA);
      } else {
        size_t vertex_size = 13; // + graph[*vi].pixels / 10;
        cv::circle(image, vertex_loc, vertex_size, cv::Scalar(0,0,255), -1, CV_AA);
      }
      count++;
    }
  }

  void drawArrowOnImage(cv::Mat &image, const cv::Point2f &arrow_center, float orientation,
                        const cv::Scalar &color, int size, int thickness) {

    cv::Point arrow_start = arrow_center +
      cv::Point2f(size * cosf(orientation + M_PI/2),
                  size * sinf(orientation + M_PI/2));
    cv::Point arrow_end = arrow_center -
      cv::Point2f(size * cosf(orientation + M_PI/2),
                  size * sinf(orientation + M_PI/2));

    cv::line(image, arrow_start, arrow_end, color, thickness, CV_AA);

    // http://mlikihazar.blogspot.com/2013/02/draw-arrow-opencv.html
    cv::Point p(arrow_start), q(arrow_end);

    //Draw the first segment
    float angle = atan2f(p.y - q.y, p.x - q.x);
    p.x = (int) (q.x + (size/2 - 1) * cos(angle + M_PI/4));
    p.y = (int) (q.y + (size/2 - 1) * sin(angle + M_PI/4));
    cv::line(image, p, q, color, thickness, CV_AA);

    //Draw the second segment
    p.x = (int) (q.x + (size/2 + 1) * cos(angle - M_PI/4));
    p.y = (int) (q.y + (size/2 + 1) * sin(angle - M_PI/4));
    cv::line(image, p, q, color, thickness, CV_AA);

  }

  void drawArrowOnGraph(cv::Mat &image, const Graph& graph,
      std::pair<size_t, float> arrow, uint32_t map_width, uint32_t map_height,
      cv::Scalar color, uint32_t orig_x, uint32_t orig_y) {

    float orientation = arrow.second;
    Point2f loc = getLocationFromGraphId(arrow.first, graph);
    cv::Point node_loc(loc.x + orig_x, loc.y + orig_y);
    cv::Point map_center(orig_x + map_width / 2, orig_y + map_height / 2);

    cv::Point arrow_center_1 = node_loc +
      cv::Point(25 * cosf(orientation), 25 * sinf(orientation));
    cv::Point arrow_center_2 = node_loc -
      cv::Point(25 * cosf(orientation), 25 * sinf(orientation));
    cv::Point arrow_center = (cv::norm(arrow_center_2 - map_center) <
        cv::norm(arrow_center_1 - map_center)) ? arrow_center_2 :
      arrow_center_1;

    drawArrowOnImage(image, arrow_center, orientation, color, 20, 3);

  }

  void drawCircleOnGraph(cv::Mat &image, const Graph& graph,
      size_t node, cv::Scalar color,
      uint32_t orig_x, uint32_t orig_y) {
    Point2f loc = getLocationFromGraphId(node, graph);
    cv::Point circle_loc(loc.x + orig_x, loc.y + orig_y);
    cv::circle(image, circle_loc, 15, color, 2, CV_AA);
  }

  void drawSquareOnGraph(cv::Mat &image, const Graph& graph,
      size_t node, cv::Scalar color,
      uint32_t orig_x, uint32_t orig_y, int size, int thickness) {
    Point2f loc = getLocationFromGraphId(node, graph);
    cv::Point square_loc(loc.x + orig_x, loc.y + orig_y);
    cv::Rect rect(square_loc.x - size/2, square_loc.y - size/2, size, size);
    cv::rectangle(image, rect, color, thickness, CV_AA);
  }

  void writeGraphToFile(const std::string &filename,
      const Graph& graph, const nav_msgs::MapMetaData& info) {

    std::map<Graph::vertex_descriptor, size_t> vertex_map;
    size_t count = 0;
    Graph::vertex_iterator vi, vend;
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend; ++vi) {
      vertex_map[*vi] = count;
      count++;
    }

    count = 0;
    YAML::Emitter out;
    out << YAML::BeginSeq;
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend; ++vi) {
      out << YAML::BeginMap;
      Point2f pxl_loc = graph[*vi].location;
      Point2f real_loc = toMap(pxl_loc, info);
      out << YAML::Key << "id" << YAML::Value << count;
      out << YAML::Key << "x" << YAML::Value << real_loc.x;
      out << YAML::Key << "y" << YAML::Value << real_loc.y;
      out << YAML::Key << "edges" << YAML::Value << YAML::BeginSeq;
      Graph::adjacency_iterator ai, aend;
      for (boost::tie(ai, aend) = boost::adjacent_vertices(
            (Graph::vertex_descriptor)*vi, graph);
          ai != aend; ++ai) {
        out << vertex_map[*ai];
      }
      out << YAML::EndSeq;
      out << YAML::EndMap;
      count++;
    }
    out << YAML::EndSeq;

    std::ofstream fout(filename.c_str());
    fout << out.c_str();
    fout.close();
  }

  void readGraphFromFile(const std::string &filename,
      const nav_msgs::MapMetaData& info, Graph& graph) {

    std::vector<std::pair<float, float> > vertices;
    std::vector<std::vector<size_t> > edges;

    std::ifstream fin(filename.c_str());
    YAML::Node doc;
#ifdef HAVE_NEW_YAMLCPP
    doc = YAML::Load(fin);
#else
    YAML::Parser parser(fin);
    parser.GetNextDocument(doc);
#endif
    for (size_t i = 0; i < doc.size(); ++i) {
      float x, y;
      doc[i]["x"] >> x;
      doc[i]["y"] >> y;
      vertices.push_back(std::make_pair(x, y));
      std::vector<size_t> v_edges;
      const YAML::Node& edges_node = doc[i]["edges"];
      for (size_t j = 0; j < edges_node.size(); ++j) {
        size_t t;
        edges_node[j] >> t;
        if (t > i) { // Only add edge one way
          v_edges.push_back(t);
          // std::cout << "Add edge: " << i << " -> " << t << std::endl;
        }
      }
      edges.push_back(v_edges);
    }
    fin.close();

    // Construct the graph object
    for (size_t i = 0; i < vertices.size(); ++i) {
      Graph::vertex_descriptor vi = boost::add_vertex(graph);
      Point2f real_loc (vertices[i].first, vertices[i].second);
      Point2f pxl_loc (toGrid(real_loc, info));
      graph[vi].location = pxl_loc;
      graph[vi].pixels = 0; // Not saved to file as of yet
    }

    for (size_t i = 0; i < edges.size(); ++i) {
      for (size_t j = 0; j < edges[i].size(); ++j) {
        Graph::vertex_descriptor vi,vj;
        vi = boost::vertex(i, graph);
        vj = boost::vertex(edges[i][j], graph);
        Graph::edge_descriptor e; bool b;
        boost::tie(e,b) = boost::add_edge(vi, vj, graph);
        graph[e].weight =
          bwi_mapper::getMagnitude(graph[vi].location - graph[vj].location);
      }
    }

    std::cout << "Read graph with " << vertices.size() << " vertices." << std::endl;
  }

  Point2f getLocationFromGraphId(int idx, const Graph& graph) {
    Graph::vertex_descriptor i = boost::vertex(idx, graph);
    return graph[i].location;
  }

  size_t getClosestIdOnGraph(const Point2f &point,
      const Graph &graph, double threshold) {
    Graph::vertex_iterator vi, vend;
    size_t count = 0, min_idx = -1;
    float min_distance = std::numeric_limits<float>::max();
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend; ++vi) {
      Point2f location = graph[*vi].location;
      if (bwi_mapper::getMagnitude(point - location) <= min_distance) {
        min_distance =
          bwi_mapper::getMagnitude(point - location);
        min_idx = count;
      }
      count++;
    }
    if (min_distance < threshold || threshold == 0.0) {
      return min_idx;
    } else {
      return -1;
    }
  }

  size_t getClosestIdOnGraphFromEdge(const Point2f& point,
      const Graph &graph, size_t prev_graph_id) {

    Point2f location = getLocationFromGraphId(prev_graph_id, graph);

    size_t other_graph_id = getClosestEdgeOnGraphGivenId(point, graph, prev_graph_id);
    Point2f other_location = getLocationFromGraphId(other_graph_id, graph);

    if (getMagnitude(point - location) < getMagnitude(point - other_location)) {
      return prev_graph_id;
    } else {
      return other_graph_id;
    }

  }

  size_t getClosestEdgeOnGraphGivenId(const Point2f& point, const Graph &graph, size_t one_graph_id) {

    boost::property_map<Graph, boost::vertex_index_t>::type
        indexmap = boost::get(boost::vertex_index, graph);

    Graph::vertex_descriptor prev_vertex = boost::vertex(one_graph_id, graph);
    Point2f location = graph[prev_vertex].location;

    size_t min_idx = -1;
    float min_distance = std::numeric_limits<float>::max();

    Graph::adjacency_iterator ai, aend;
    for (boost::tie(ai, aend) = boost::adjacent_vertices(prev_vertex, graph);
        ai != aend; ++ai) {
      Point2f location2 = graph[*ai].location;

      float distance = bwi_mapper::minimumDistanceToLineSegment(location, location2, point);
      if (distance < min_distance) {
        min_distance = distance;
        min_idx = indexmap[*ai];
      }
    }

    return min_idx;
  }

  bool isVisible(size_t u, size_t v, const Graph &graph,
      const nav_msgs::OccupancyGrid& map) {
    Point2f loc_u = getLocationFromGraphId(u, graph);
    Point2f loc_v = getLocationFromGraphId(v, graph);
    return locationsInDirectLineOfSight(loc_u, loc_v, map);
  }

  float getNodeAngle(size_t u, size_t v, const Graph & graph) {
    Graph::vertex_descriptor vd_u = boost::vertex(u, graph);
    Graph::vertex_descriptor vd_v = boost::vertex(v, graph);
    return atan2f(graph[vd_v].location.y - graph[vd_u].location.y,
        graph[vd_v].location.x - graph[vd_u].location.x);
  }

  float getEuclideanDistance(size_t u, size_t v, const Graph& graph) {
    Graph::vertex_descriptor vd_u = boost::vertex(u, graph);
    Graph::vertex_descriptor vd_v = boost::vertex(v, graph);
    return getMagnitude(graph[vd_v].location - graph[vd_u].location);
  }

  float getShortestPathWithDistance(size_t start_idx, size_t goal_idx,
      std::vector<size_t> &path_from_goal, const Graph &graph) {

    bwi_mapper::Graph graph_copy(graph);
    // Perform Dijakstra from start_idx
    std::vector<Graph::vertex_descriptor>
      p(boost::num_vertices(graph_copy));
    std::vector<double> d(boost::num_vertices(graph_copy));
    Graph::vertex_descriptor s =
      boost::vertex(start_idx, graph_copy);

    boost::property_map<Graph, boost::vertex_index_t>::type
        indexmap = boost::get(boost::vertex_index, graph_copy);
    boost::property_map<
      Graph,
      double Edge::*
    >::type weightmap = boost::get(&Edge::weight, graph_copy);
    boost::dijkstra_shortest_paths(graph_copy, s, &p[0], &d[0], weightmap,
        indexmap, std::less<double>(), boost::closed_plus<double>(),
        (std::numeric_limits<double>::max)(), 0,
        boost::default_dijkstra_visitor());

    // Look up the parent chain from the goal vertex to the start vertex
    path_from_goal.clear();

    /* std::cout << "path from goal: " << goal_idx << " to start: " << start_idx << std::endl; */
    Graph::vertex_descriptor g = boost::vertex(goal_idx, graph_copy);
    /* float shortest_distance = std::numeric_limits<float>::quiet_NaN(); */
    while (indexmap[p[g]] != start_idx) {
      /* std::cout << " - " << indexmap[p[g]] << "(" << d[g] << ")" << std::endl; */
      path_from_goal.push_back(indexmap[p[g]]);
      g = p[g];
    }
    path_from_goal.push_back(start_idx);
    /* std::cout << " - goal Distance: " << d[goal_idx] << std::endl; */

    return d[goal_idx];

  }

  float getShortestPathDistance(size_t start_idx, size_t goal_idx,
      const Graph &graph) {
    std::vector<size_t> temp_path;
    return getShortestPathWithDistance(start_idx, goal_idx, temp_path, graph);
  }

  void getAdjacentNodes(size_t graph_id, const Graph& graph,
      std::vector<size_t>& adjacent_vertices) {

    adjacent_vertices.clear();

    boost::property_map<Graph, boost::vertex_index_t>::type
        indexmap = boost::get(boost::vertex_index, graph);

    Graph::vertex_descriptor vertex = boost::vertex(graph_id, graph);
    Graph::adjacency_iterator ai, aend;
    for (boost::tie(ai, aend) = boost::adjacent_vertices(vertex, graph);
        ai != aend; ++ai) {
      adjacent_vertices.push_back(indexmap[*ai]);
    }

  }

  void getVisibleNodes(size_t v, const Graph& graph,
      const nav_msgs::OccupancyGrid& grid,
      std::vector<size_t>& visible_vertices, float visibility_range) {

    visible_vertices.clear();

    Point2f loc_v = getLocationFromGraphId(v, graph);
    size_t count = 0;
    Graph::vertex_iterator vi, vend;
    for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend;
        ++vi, ++count) {
      bool is_visible = isVisible(v, count, graph, grid);
      if (is_visible && visibility_range != 0.0f) {
        is_visible = is_visible &&
          (getEuclideanDistance(v, count, graph) < visibility_range);
      }
      if (is_visible) {
        visible_vertices.push_back(count);
      }
    }
  }

} /* bwi_mapper */