#include <vpMbtPolygon.h>

Inheritance diagram for vpMbtPolygon:

Public Member Functions
	vpMbtPolygon ()

virtual	~vpMbtPolygon ()

void	addPoint (const unsigned int n, const vpPoint &P)

void	changeFrame (const vpHomogeneousMatrix &cMo)

int	getIndex () const

unsigned int	getNbPoint () const

vpPoint &	getPoint (const unsigned int _index)

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &_cam)

bool	isAppearing () const

bool	isVisible (const vpHomogeneousMatrix &cMo, const bool &depthTest=false)

virtual bool	isVisible (const vpHomogeneousMatrix &cMo, const double alpha)

bool	isVisible () const

virtual void	setIndex (const int i)

virtual void	setNbPoint (const unsigned int nb)

Static Public Member Functions
static void	getMinMaxRoi (const std::vector< vpImagePoint > &roi, int &i_min, int &i_max, int &j_min, int &j_max)

static bool	roiInsideImage (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &corners)

Public Attributes
int	index

unsigned int	nbpt

bool	isvisible

bool	isappearing

vpPoint *	p

Detailed Description

Implementation of a polygon of the model used by the model-based tracker.

Definition at line 67 of file vpMbtPolygon.h.

Constructor & Destructor Documentation

vpMbtPolygon::vpMbtPolygon ( )

Basic constructor.

Definition at line 58 of file vpMbtPolygon.cpp.

References isappearing, isvisible, nbpt, and p.

vpMbtPolygon::~vpMbtPolygon ( )

virtual

Basic destructor.

Definition at line 69 of file vpMbtPolygon.cpp.

References p.

Member Function Documentation

void vpMbtPolygon::addPoint	(	const unsigned int	n,
		const vpPoint &	P
	)

Add a corner point to the list of polygon's corners.

Parameters

n	: The index of the corner.
P	: The point to add.

Definition at line 115 of file vpMbtPolygon.cpp.

References p.

Referenced by vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

void vpMbtPolygon::changeFrame ( const vpHomogeneousMatrix & cMo )

Project the 3D corner points into the image thanks to the pose of the camera.

Parameters

cMo	: The pose of the camera.

Definition at line 127 of file vpMbtPolygon.cpp.

References vpPoint::changeFrame(), nbpt, p, and vpPoint::projection().

Referenced by isVisible().

int vpMbtPolygon::getIndex ( ) const

inline

Get the index of the face.

Returns: index : the index of the face.

Definition at line 94 of file vpMbtPolygon.h.

void vpMbtPolygon::getMinMaxRoi	(	const std::vector< vpImagePoint > &	roi,
		int &	i_min,
		int &	i_max,
		int &	j_min,
		int &	j_max
	)

static

Definition at line 285 of file vpMbtPolygon.cpp.

Referenced by vpMbtKltPolygon::updateMask().

unsigned int vpMbtPolygon::getNbPoint ( ) const

inline

Return the number of corners.

Returns: number of corner of the face

Definition at line 101 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon().

vpPoint & vpMbtPolygon::getPoint ( const unsigned int _index )

Get a reference to a corner.

Exceptions

vpException::dimensionError if the _index is out of range.

Parameters

_index : the index of the corner

Definition at line 86 of file vpMbtPolygon.cpp.

References vpException::dimensionError, nbpt, and p.

std::vector< vpImagePoint > vpMbtPolygon::getRoi ( const vpCameraParameters & _cam )

Definition at line 269 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), nbpt, and p.

Referenced by vpMbtKltPolygon::init(), and vpMbtKltPolygon::updateMask().

bool vpMbtPolygon::isAppearing ( ) const

inline

Definition at line 107 of file vpMbtPolygon.h.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const bool &	depthTest = `false`
	)

Check if the polygon is visible in the image. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
depthTest	: True if a face has to be entirely visible (in front of the camera). False if it can be partially visible.

Returns: Return true if the polygon is visible.

Definition at line 145 of file vpMbtPolygon.cpp.

References changeFrame(), vpColVector::crossProd(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), isappearing, isvisible, nbpt, and p.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const double	alpha
	)

virtual

Check if the polygon is visible in the image and if the angle between the normal to the face and the normal to the camera plane is below the given threshold. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters