#include <vpMbtPolygon.h>

Inheritance diagram for vpMbtPolygon:

Public Types
enum	vpMbtPolygonClippingType { NO_CLIPPING = 0, NEAR_CLIPPING = 1, FAR_CLIPPING = 2, LEFT_CLIPPING = 4, RIGHT_CLIPPING = 8, UP_CLIPPING = 16, DOWN_CLIPPING = 32, FOV_CLIPPING = 60, ALL_CLIPPING = 63 }

Public Member Functions
	vpMbtPolygon ()

	vpMbtPolygon (const vpMbtPolygon &mbtp)

virtual	~vpMbtPolygon ()

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

void	changeFrame (const vpHomogeneousMatrix &cMo)

void	computeRoiClipped (const vpCameraParameters &cam=vpCameraParameters())

unsigned int	getClipping () const

double	getFarClippingDistance () const

int	getIndex () const

unsigned int	getNbPoint () const

unsigned int	getNbCornerInsidePrevImage () const

unsigned int	getNbCornerInsideImage (const vpImage< unsigned char > &I, const vpCameraParameters &cam)

double	getNearClippingDistance () const

vpPoint &	getPoint (const unsigned int _index)

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

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi, const vpHomogeneousMatrix &cMo)

bool	isAppearing () const

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

bool	isVisible () const

vpMbtPolygon &	operator= (const vpMbtPolygon &mbtp)

void	setClipping (const unsigned int &flags)

void	setFarClippingDistance (const double &dist)

virtual void	setIndex (const int i)

virtual void	setNbPoint (const unsigned int nb)

void	setNearClippingDistance (const double &dist)

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

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

unsigned int	nbCornersInsidePrev

bool	isvisible

bool	isappearing

vpPoint *	p

std::vector< std::pair< vpPoint, unsigned int > >	roiPointsClip

unsigned int	clippingFlag

double	distNearClip

double	distFarClip

Detailed Description

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

Definition at line 67 of file vpMbtPolygon.h.

Member Enumeration Documentation

enum vpMbtPolygon::vpMbtPolygonClippingType

Enumerator
NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

Definition at line 70 of file vpMbtPolygon.h.

Constructor & Destructor Documentation

vpMbtPolygon::vpMbtPolygon ( )

Basic constructor.

Definition at line 58 of file vpMbtPolygon.cpp.

vpMbtPolygon::vpMbtPolygon ( const vpMbtPolygon & mbtp )

Definition at line 65 of file vpMbtPolygon.cpp.

vpMbtPolygon::~vpMbtPolygon ( )

virtual

Basic destructor.

Definition at line 95 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 141 of file vpMbtPolygon.cpp.

References p.

Referenced by vpMbtDistanceLine::buildFrom(), 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 153 of file vpMbtPolygon.cpp.

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

Referenced by getRoi(), getRoiClipped(), and isVisible().

void vpMbtPolygon::computeRoiClipped ( const vpCameraParameters & cam = vpCameraParameters() )

Compute the region of interest in the image according to the used clipping.

Parameters

cam	: camera parameters used to compute the field of view.

Definition at line 252 of file vpMbtPolygon.cpp.

References clippingFlag, vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), nbpt, NO_CLIPPING, p, vpPoint::projection(), and roiPointsClip.

Referenced by vpMbtDistanceLine::display(), getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), vpMbtKltPolygon::updateMask(), and vpMbtDistanceLine::updateMovingEdge().

unsigned int vpMbtPolygon::getClipping ( ) const

inline

Get the clipping used.

See also: vpMbtPolygonClipping

Returns: Clipping flags.

Definition at line 135 of file vpMbtPolygon.h.

Referenced by vpMbtDistanceLine::display(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().

double vpMbtPolygon::getFarClippingDistance ( ) const

inline

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 142 of file vpMbtPolygon.h.

int vpMbtPolygon::getIndex ( ) const

inline

Get the index of the face.

Returns: index : the index of the face.

Definition at line 149 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 594 of file vpMbtPolygon.cpp.

Referenced by vpMbtKltPolygon::updateMask().

unsigned int vpMbtPolygon::getNbCornerInsideImage	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam
	)

Static method to check the number of points of a region defined by the vector of image point that are inside the image.

Parameters

I	: The image used for its size.
cam	: The camera parameters.

Definition at line 572 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), nbCornersInsidePrev, nbpt, and p.

unsigned int vpMbtPolygon::getNbCornerInsidePrevImage ( ) const

inline

Return the number of corners at the previous computation.

Returns: number of corner of the face at the previous computation

Definition at line 163 of file vpMbtPolygon.h.

unsigned int vpMbtPolygon::getNbPoint ( ) const

inline

Return the number of corners.

Returns: number of corner of the face

Definition at line 156 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon().

double vpMbtPolygon::getNearClippingDistance ( ) const

inline

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 172 of file vpMbtPolygon.h.

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 112 of file vpMbtPolygon.cpp.

References vpException::dimensionError, nbpt, and p.

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

Get the region of interest in the image.

Warning: Suppose that changeFrame() has already been called.

Parameters

cam	: camera parameters.

Returns: Image point corresponding to the region of interest.

Definition at line 470 of file vpMbtPolygon.cpp.

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

Referenced by getRoi().

std::vector< vpImagePoint > vpMbtPolygon::getRoi	(	const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest in the image.

Parameters

cam	: camera parameters.
cMo	: pose.

Returns: Image point corresponding to the region of interest.

Definition at line 491 of file vpMbtPolygon.cpp.

References changeFrame(), and getRoi().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi
	)

Get the region of interest clipped in the image.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest.

Definition at line 506 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and roiPointsClip.

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

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest clipped in the image.

Parameters

cam	: camera parameters.
cMo	: pose.
roi	: image point corresponding to the region of interest.

Definition at line 523 of file vpMbtPolygon.cpp.

References changeFrame(), computeRoiClipped(), and getRoiClipped().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi
	)

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.

Definition at line 539 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and roiPointsClip.

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.
cMo	: pose.

Definition at line 556 of file vpMbtPolygon.cpp.

References changeFrame(), computeRoiClipped(), and getRoiClipped().

bool vpMbtPolygon::isAppearing ( ) const

inline

Definition at line 188 of file vpMbtPolygon.h.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const double	alpha,
		const bool &	modulo = `false`
	)

virtual

Check if the polygon is visible in the image and if the angle between the normal to the face and the line vector going from the optical center to the cog of the face is below the given threshold. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
alpha	: Maximum angle to detect if the face is visible (in rad).
modulo	: Indicates if the test should also consider faces that are not oriented counter clockwise. If true, the orientation of the face is without importance.