vpPolygon.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Defines a generic 2D polygon.
 *
 * Author:
 * Amaury Dame
 * Nicolas Melchior
 * Romain Tallonneau
 *
 *****************************************************************************/

#ifndef vpPolygon_h
#define vpPolygon_h

#include <vector>
#include <list>

#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpRect.h>
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpCameraParameters.h>

class VISP_EXPORT vpPolygon
{
  protected:
    std::vector<vpImagePoint> _corners;
    vpImagePoint _center;
    double _area;
    bool _goodPoly;
    vpRect _bbox;
    
  public:
    enum PointInPolygonMethod {
      PnPolySegmentIntersection,  
      PnPolyRayCasting            
    };

    vpPolygon();
    vpPolygon(const std::vector<vpImagePoint>& corners);
    vpPolygon(const std::list<vpImagePoint>& corners);
    vpPolygon(const vpPolygon &poly);
    virtual ~vpPolygon();
    
    vpPolygon &operator=(const vpPolygon& poly);
    
    void buildFrom(const std::vector<vpImagePoint>& corners);
    void buildFrom(const std::list<vpImagePoint>& corners);
    void buildFrom(const std::vector<vpPoint>& corners, const vpCameraParameters& cam);

    unsigned int getSize() const;
    void initClick(const vpImage<unsigned char>& I);
    
    bool isInside(const vpImagePoint &iP, const PointInPolygonMethod &method=PnPolyRayCasting) const;

    void display(const vpImage<unsigned char>& I, const vpColor& color, unsigned int thickness=1) const;
    
    const std::vector<vpImagePoint>& getCorners() const {
      return _corners;
    }
      
      
    inline double getArea() const{
      return this->_area;
    }

    inline vpImagePoint getCenter() const{
      return this->_center;
    }

    inline vpRect getBoundingBox() const {
      return _bbox;
    }

  protected:
    void init(const std::vector<vpImagePoint>& corners);
    void init(const std::list<vpImagePoint>& corners);
    void updateArea();
    void updateCenter();
    void updateBoundingBox();
    
  private:
    bool testIntersectionSegments(const vpImagePoint& ip1, const vpImagePoint& ip2, const vpImagePoint& ip3, const vpImagePoint& ip4) const;
    void precalcValuesPnPoly();

    std::vector<double> m_PnPolyConstants;
    std::vector<double> m_PnPolyMultiples;

  //###################
  // Static Functions
  //###################

  public:
    static bool isInside(const std::vector<vpImagePoint>& roi, const double &i, const double  &j, const PointInPolygonMethod &method=PnPolyRayCasting);
  private:
    static bool intersect(const vpImagePoint& p1, const vpImagePoint& p2, const double  &i, const double  &j, const double  &i_test, const double  &j_test);
};

#endif