The below code is supposed to detect an image, create a 2d array containing the pixel values from that image, and determine the path of lowest cost (I used Uniform Cost Search) from a Point A inside the image to a Point B inside the image. When I run my code, I get the following error:
Exception in thread "main" java.lang.ClassCastException: UniformCostSearch$Node
cannot be cast to java.lang.Comparable
at java.util.PriorityQueue.siftUpComparable(Unknown Source)
at java.util.PriorityQueue.siftUp(Unknown Source)
at java.util.PriorityQueue.offer(Unknown Source)
at java.util.PriorityQueue.add(Unknown Source)
at UniformCostSearch.uCostSearch(UniformCostSearch.java:159)
at UniformCostSearch.main(UniformCostSearch.java:216)
Why does this occur, and how can I fix this? I've viewed other solutions, but I believe I have a different issue.
public class UniformCostSearch
{
//------------------------------------
// Node Class
//------------------------------------
public static class Node implements Comparator<Node>
{
public double cost;
Node parent;
public int x;
public int y;
public Node(){}
public Node(double cost, Node parent, int x, int y)
{
this.cost = cost;
this.parent = parent;
this.x = x;
this.y = y;
}
@Override
public int compare(Node node1, Node node2)
{
if(node1.cost < node2.cost)
return -1;
if(node1.cost > node2.cost)
return 1;
return 0;
}
@Override
public boolean equals(Object obj)
{
if(obj instanceof Node)
{
Node node = (Node) obj;
if (this.parent == node.parent)
return true;
}
return false;
}
}
public static void uCostSearch(Node startState, Node endNode,
BufferedImage img){
int adjacencyMatrix[][] = null;
PriorityQueue<Node> pq = new PriorityQueue<Node>();
startState.cost = 0.0;
startState.parent = null;
int inc = 0;
pq.add(startState);
Set<Point> visited = new HashSet<Point>();
Point startPoint = new Point(startState.x, startState.y);
visited.add(startPoint);
byte[] terrain =
((DataBufferByte)img.getRaster().getDataBuffer()).getData();
int width = img.getWidth();
int height = img.getHeight();
final boolean hasAlphaChannel = img.getAlphaRaster() != null;
int channel_count = 4;
int green_channel = 2; // 0=alpha, 1=blue, 2=green, 3=red
int[][] result = new int[height][width];
// Source: http://stackoverflow.com/questions/6524196/java-get-pixel-array-from-image
if (hasAlphaChannel) {
final int pixelLength = 4;
for (int pixel = 0, row = 0, col = 0; pixel < terrain.length; pixel += pixelLength) {
int argb = 0;
argb += (((int) terrain[pixel] & 0xff) << 24); // alpha
argb += ((int) terrain[pixel + 1] & 0xff); // blue
argb += (((int) terrain[pixel + 2] & 0xff) << 8); // green
argb += (((int) terrain[pixel + 3] & 0xff) << 16); // red
result[row][col] = argb;
col++;
if (col == width) {
col = 0;
row++;
}
}
} else {
final int pixelLength = 3;
for (int pixel = 0, row = 0, col = 0; pixel < terrain.length; pixel += pixelLength) {
int argb = 0;
argb += -16777216; // 255 alpha
argb += ((int) terrain[pixel] & 0xff); // blue
argb += (((int) terrain[pixel + 1] & 0xff) << 8); // green
argb += (((int) terrain[pixel + 2] & 0xff) << 16); // red
result[row][col] = argb;
col++;
if (col == width) {
col = 0;
row++;
}
}
}
while(!pq.isEmpty()){
Node s = pq.remove();
if(s == endNode)
return;
else{
if(inc++ % 5000 < 1000){
// set to Green
img.setRGB(s.y, s.x, 0xFF00FF00);
}
ArrayList<Point> directions = new ArrayList<Point>();
directions.add(new Point(s.x, s.y+1));
directions.add(new Point(s.x, s.y-1));
directions.add(new Point(s.x+1, s.y));
directions.add(new Point(s.x-1, s.y));
for(Point step: directions){
int x = step.x;
int y = step.y;
if(0 <= y && y < height && 0 <= x && x < width
&& !(visited.contains(step))){
visited.add(step);
Node temp = new Node(s.cost + channel_count *
(y * width + x) + green_channel, s, x, y);
pq.add(temp);
}
}
}
inc++;
System.out.print(inc);
}
}
public static BufferedImage GetImage(String filename)
{
BufferedImage bImage = null;
try{
bImage = ImageIO.read(new File(filename));
}
catch(Exception e)
{
e.printStackTrace();
}
return bImage;
}
/*
public createPath(Node node, BufferedImage image){
while(node.parent != null){
//set pixel to red;
node = node.parent;
}
}
*/
// main method
public static void main(String[] args)
{
int startX = 0, startY = 0, endX = 0, endY = 0;
BufferedImage bufferedImage = null;
// Get filename and start and end points from command line
try{
String filename = args[0];
startX = Integer.parseInt(args[1]);
startY = Integer.parseInt(args[2]);
endX = Integer.parseInt(args[3]);
endY = Integer.parseInt(args[4]);
bufferedImage = GetImage(filename);
}
catch(Exception e)
{
e.printStackTrace();
System.out.print("Please enter filename start.x start.y" +
" end.x end.y in that order");
}
Node startingPoint = new Node(0.0, null, startX, startY);
Node endingPoint = new Node();
endingPoint.x = endX;
endingPoint.y = endY;
uCostSearch(startingPoint, endingPoint, bufferedImage);
//createPath(endingPoint, bufferedImage)
//saveImage
//PrintCost
//Output Image
}
}
