求直线经过的栅格之布雷森汉姆直线算法

理论分析

1. 当黑线的交点在二分之上，则y+1
2. 关于给定两个点求中间的点的方式布雷森汉姆直线算法
3. 模拟实现地图如下
   

实现流程

关系判断

1. x1 > x0
   1. x1 = 1
   2. x2= 1
2. y1 > y0
   1. y1= 1;
   2. y2= 1;
3. dx = x1 - x0 dy = y1 - y0
4. dx > dy
   x1 = 0 y1 = 1 向上平移
   x2 = 1 y2 = 0 向右平移

模拟上面的图形 dx > dy

1. 因为需要判断交点在格子的中点的上方还是下方 所以需要对比dy/dx 与 1/2之间的关系
2. dx/2 + dy >= dx ===> dy/dx >= 1/2  不满足 对应代码块

   num_ += numadd_;             
    if( num_ >= den_ )       

3. 则向右移动到达1号点 并且 dx/2 +dy + dy >= dx 满足条件 向上平移一格，同时也向右移动一格到达点2 
4. 又得到 dx/2 +dy + dy - dy >= dx 不满足 得到3 
5. 不断重复上面的过程直到终点 如上图所示
6.   说明:
	  den_ 对应 dx;
	  num_ 对应 dx/ 2;
	  numadd_ 对应 dy;
7.   

6. 说明
   xinc1_ 对应 x1 xinc2_ 对应x2 ;
   xinc2_ = 对应x2 yinc2_ 对应y2;

代码解释

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */
#ifndef LINE_ITERATOR_H
#define LINE_ITERATOR_H

#include <stdlib.h>

namespace base_local_planner
{

/** An iterator implementing Bresenham Ray-Tracing. */
class LineIterator
{
public:
  LineIterator( int x0, int y0, int x1, int y1 )
    : x0_( x0 )
    , y0_( y0 )
    , x1_( x1 )
    , y1_( y1 )
    , x_( x0 ) // X and Y start of at first endpoint.
    , y_( y0 )
    , deltax_( abs( x1 - x0 ))
    , deltay_( abs( y1 - y0 ))
    , curpixel_( 0 )
  {
    if( x1_ >= x0_ )                 // The x-values are increasing
    {
      xinc1_ = 1;
      xinc2_ = 1;
    }
    else                          // The x-values are decreasing
    {
      xinc1_ = -1;
      xinc2_ = -1;
    }

    if( y1_ >= y0_)                 // The y-values are increasing
    {
      yinc1_ = 1;
      yinc2_ = 1;
    }
    else                          // The y-values are decreasing
    {
      yinc1_ = -1;
      yinc2_ = -1;
    }

    if( deltax_ >= deltay_ )         // There is at least one x-value for every y-value
    {
      xinc1_ = 0;                  // Don't change the x when numerator >= denominator
      yinc2_ = 0;                  // Don't change the y for every iteration
      den_ = deltax_;
      num_ = deltax_ / 2;
      numadd_ = deltay_;
      numpixels_ = deltax_;         // There are more x-values than y-values
    }
    else                          // There is at least one y-value for every x-value
    {
      xinc2_ = 0;                  // Don't change the x for every iteration
      yinc1_ = 0;                  // Don't change the y when numerator >= denominator
      den_ = deltay_;
      num_ = deltay_ / 2;
      numadd_ = deltax_;
      numpixels_ = deltay_;         // There are more y-values than x-values
    }
  }
    
  bool isValid() const
  {
    return curpixel_ <= numpixels_;
  }

  void advance()
  {
    // dx/2 + dy > dx ===> dy/dx > 1/2 
    //则y + 1 
    num_ += numadd_;              // Increase the numerator by the top of the fraction
    if( num_ >= den_ )            // Check if numerator >= denominator
    {
      //向上 x1= 0 y1 = 1
      num_ -= den_;               // Calculate the new numerator value
      x_ += xinc1_;               // Change the x as appropriate
      y_ += yinc1_;               // Change the y as appropriate
    }
    //向右x2 =0 y2 =1 
    x_ += xinc2_;                 // Change the x as appropriate
    y_ += yinc2_;                 // Change the y as appropriate

    curpixel_++;
  }
  
  int getX() const { return x_; }
  int getY() const { return y_; }

  int getX0() const { return x0_; }
  int getY0() const { return y0_; }

  int getX1() const { return x1_; }
  int getY1() const { return y1_; }

private:
  int x0_; ///< X coordinate of first end point.
  int y0_; ///< Y coordinate of first end point.
  int x1_; ///< X coordinate of second end point.
  int y1_; ///< Y coordinate of second end point.

  int x_; ///< X coordinate of current point.
  int y_; ///< Y coordinate of current point.

  int deltax_; ///< Difference between Xs of endpoints.
  int deltay_; ///< Difference between Ys of endpoints.

  int curpixel_; ///< index of current point in line loop.

  int xinc1_, xinc2_, yinc1_, yinc2_;
  int den_, num_, numadd_, numpixels_;
};

} // end namespace base_local_planner

#endif // LINE_ITERATOR_H

参考链接

参考链接