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blobsgrid.m
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blobsgrid.m
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function cm=blobsgrid(c,cartcoord,gridsize)
% cm=blobsgrid(c,cartcoord,gridsize)
%
% BLOBSGRID organises the blobs, starting from the corner
%
% input:
% c = 2*N-matrix containing the blob centroids
% cartcoord = [x0 y0; x1 y1; x2 y2], the coordinates of three
% corner blobs (0 the origin, 1 in x direction, 2 in
% y direction)
% gridsize = [nx ny], nx*ny is the number of blobs
%
% output:
% cm = ny*nx*2-array, coordinates of the blob centroids
% organised into a grid
%
% Copyright (C) 2004 Juho Kannala
%
% This software is distributed under the GNU General Public
% Licence (version 2 or later); please refer to the file
% Licence.txt, included with the software, for details.
N=size(c,2);
nx=gridsize(1); ny=gridsize(2);
cm=zeros(ny,nx,2);
orig=cartcoord(1,:)';
x1=cartcoord(2,:)';
y1=cartcoord(3,:)';
dist=sum((orig*ones(1,N)-c).^2);
[mind,ind]=min(dist);
cco=c(:,ind); c(:,ind)=[];n=N-1;
cm(1,1,:)=cco';
dist=sum((x1*ones(1,n)-c).^2);
[mind,ind]=min(dist);
ccx=c(:,ind); c(:,ind)=[];n=n-1;
cm(1,2,:)=ccx';
dist=sum((y1*ones(1,n)-c).^2);
[mind,ind]=min(dist);
ccy=c(:,ind); c(:,ind)=[];n=n-1;
cm(2,1,:)=ccy';
co=ccx;
v=co-cco;
pairs=[2 3; 1 3; 1 2];
ok=0;
j=1;
for i=2:(nx-1)
ok=0;
disto2=sum((co*ones(1,n)-c).^2);
[disto2,ind]=sort(disto2);
tmpind=[3 4 5 6 7 8]; tmpcount=1;
tmpcountmax=length(tmpind);
while ~ok
cxy=c(:,[ind(1) ind(2) ind(tmpind(tmpcount))]);
vxy=cxy-co*ones(1,3);
vxyabs=[norm(vxy(:,1)) norm(vxy(:,2)) norm(vxy(:,3))];
for k=1:3
cosa(k)=vxy(:,pairs(k,1))'*vxy(:,pairs(k,2))/ ...
(vxyabs(pairs(k,1))*vxyabs(pairs(k,2)));
cosb(k)=v'*vxy(:,k)/(vxyabs(k)*norm(v));
end
[mincosa, minind]=min(cosa);
if minind==3
pair=pairs(minind,:);
indxy=[ind(pair(1)) ind(pair(2))];
else
pair=pairs(minind,:);
indxy=[ind(pair(1)) ind(tmpind(tmpcount))];
end
ok=1;
if (acos(max(cosb))*180/pi)>25
if tmpcount<tmpcountmax
tmpcount=tmpcount+1;
ok=0;
else
fprintf('In blobsgrid: Can not find (%d,%d) candidate!\n', 1,i+1);
end
end
end
cxyo=cxy;
cxy=cxy(:,[pair(1) pair(2)]);
vxy=vxy(:,[pair(1) pair(2)]); vxy=[vxy; 0 0];
vtmp=cross(vxy(:,1),vxy(:,2));
trueminind=pair(1);
if vtmp(3)<0
vxy=fliplr(vxy);
cxy=fliplr(cxy);
indxy=fliplr(indxy);
trueminind=pair(2);
end
[maxcosa,maxind]=max(cosa);
if maxcosa>cos(5/180*pi) & maxind~=trueminind
if (cxy(:,1)-cxyo(:,minind))'*v>0
cxy(:,1)=cxyo(:,minind);
if minind==3
indxy(1)=ind(tmpind(tmpcount));
else
indxy(1)=ind(minind);
end
end
end
cm(j,i+1,:)=cxy(:,1)';
v=cxy(:,1)-co;
co=cxy(:,1);
c(:,indxy(1))=[]; n=n-1;
end
co=ccy;
v=ccy-cco;
i=1;
for j=2:(ny-1)
ok=0;
disto2=sum((co*ones(1,n)-c).^2);
[disto2,ind]=sort(disto2);
tmpind=[3 4 5 6 7 8]; tmpcount=1;
tmpcountmax=length(tmpind);
while ~ok
cxy=c(:,[ind(1) ind(2) ind(tmpind(tmpcount))]);
vxy=cxy-co*ones(1,3);
vxyabs=[norm(vxy(:,1)) norm(vxy(:,2)) norm(vxy(:,3))];
for k=1:3
cosa(k)=vxy(:,pairs(k,1))'*vxy(:,pairs(k,2))/ ...
(vxyabs(pairs(k,1))*vxyabs(pairs(k,2)));
cosb(k)=v'*vxy(:,k)/(vxyabs(k)*norm(v));
end
[mincosa, minind]=min(cosa);
if minind==3
pair=pairs(minind,:);
indxy=[ind(pair(1)) ind(pair(2))];
else
pair=pairs(minind,:);
indxy=[ind(pair(1)) ind(tmpind(tmpcount))];
end
ok=1;
if max(cosb)<cos(30/180*pi)
if tmpcount<tmpcountmax
tmpcount=tmpcount+1;
ok=0;
else
fprintf('In blobsgrid: Can not find (%d,%d) candidate!\n',j+1,1);
end
end
end
cxyo=cxy;
cxy=cxy(:,[pair(1) pair(2)]);
vxy=vxy(:,[pair(1) pair(2)]); vxy=[vxy; 0 0];
vtmp=cross(vxy(:,1),vxy(:,2));
trueminind=pair(1);
if vtmp(3)>0
vxy=fliplr(vxy);
cxy=fliplr(cxy);
indxy=fliplr(indxy);
trueminind=pair(2);
end
[maxcosa,maxind]=max(cosa);
if maxcosa>cos(5/180*pi) & maxind~=trueminind
if (cxy(:,1)-cxyo(:,minind))'*v>0
cxy(:,1)=cxyo(:,minind);
if minind==3
indxy(1)=ind(tmpind(tmpcount));
else
indxy(1)=ind(minind);
end
end
end
cm(j+1,i,:)=cxy(:,1)';
v=cxy(:,1)-co;
co=cxy(:,1);
c(:,indxy(1))=[]; n=n-1;
end
costol=cos(30/180*pi);
for j=2:ny
for i=2:nx
if i==nx & j==ny
cm(j,i,:)=c';
else
da2=sum((c-[cm(j-1,i-1,1) cm(j-1,i-1,2)]'*ones(1,n)).^2);
db2=sum((c-[cm(j-1,i,1) cm(j-1,i,2)]'*ones(1,n)).^2);
dc2=sum((c-[cm(j,i-1,1) cm(j,i-1,2)]'*ones(1,n)).^2);
dtot2=da2+db2+dc2;
[sdtot2,sind]=sort(dtot2);
%cclose=c(:,sind(1:2));
if length(sind)>2
cclose=c(:,sind(1:3));
else
cclose=c(:,sind(1:2));
end
v=[cm(j-1,i,1) cm(j-1,i,2)]'-[cm(j-1,i-1,1) cm(j-1,i-1,2)]';
vs=cclose-[cm(j,i-1,1) cm(j,i-1,2)]'*ones(1,size(cclose,2));
%for k=1:2
for k=1:size(cclose,2)
cosa(k)=v'*vs(:,k)/ ...
(norm(v)*norm(vs(:,k)));
end
%if cosa(1)<cos(30/180*pi) & cosa(1)<cosa(2)
% minind=sind(2);
%else
% minind=sind(1);
%end
[mc,mk]=max(cosa);
if cosa(1)>costol
minind=sind(1);
elseif cosa(1)<costol & cosa(2)>costol
minind=sind(2);
else
minind=sind(mk);
end
cm(j,i,:)=c(:,minind)';
c(:,minind)=[];n=n-1;
%plot(cm(j,i,1),cm(j,i,2),'yx');
%pause(0.5);
end
end
end