#include <visp3/core/vpPolygon3D.h>

Inheritance diagram for vpPolygon3D:

Public Types
enum	vpPolygon3DClippingType { 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
	vpPolygon3D ()

	vpPolygon3D (const vpPolygon3D &mbtp)

virtual	~vpPolygon3D ()

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

void	changeFrame (const vpHomogeneousMatrix &cMo)

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

unsigned int	getClipping () const

double	getFarClippingDistance () 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)

void	getPolygonClipped (std::vector< std::pair< vpPoint, unsigned int > > &poly)

void	getPolygonClipped (std::vector< vpPoint > &poly)

vpPolygon3D &	operator= (const vpPolygon3D &mbtp)

void	setClipping (const unsigned int &flags)

void	setFarClippingDistance (const double &dist)

virtual void	setNbPoint (const unsigned int nb)

void	setNearClippingDistance (const double &dist)

Deprecated functions
vp_deprecated void	getRoiClipped (std::vector< vpPoint > &points)

Static Public Member Functions
static void	getClippedPolygon (const std::vector< vpPoint > &ptIn, std::vector< vpPoint > &ptOut, const vpHomogeneousMatrix &cMo, const unsigned int &clippingFlags, const vpCameraParameters &cam=vpCameraParameters(), const double &znear=0.001, const double &zfar=100)

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
unsigned int	nbpt

unsigned int	nbCornersInsidePrev

vpPoint *	p

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

unsigned int	clippingFlag

double	distNearClip

double	distFarClip

Detailed Description

Implements a 3D polygon with render functionnalities like clipping.

Definition at line 59 of file vpPolygon3D.h.

Member Enumeration Documentation

◆ vpPolygon3DClippingType

enum vpPolygon3D::vpPolygon3DClippingType

Enumerator
NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

Definition at line 62 of file vpPolygon3D.h.

Constructor & Destructor Documentation

◆ vpPolygon3D() [1/2]

vpPolygon3D::vpPolygon3D ( )

Basic constructor.

Definition at line 53 of file vpPolygon3D.cpp.

◆ vpPolygon3D() [2/2]

vpPolygon3D::vpPolygon3D ( const vpPolygon3D & mbtp )

Definition at line 59 of file vpPolygon3D.cpp.

References nbpt, and p.

◆ ~vpPolygon3D()

vpPolygon3D::~vpPolygon3D ( )

virtual

Basic destructor.

Definition at line 91 of file vpPolygon3D.cpp.

References p.

Member Function Documentation

◆ addPoint()

void vpPolygon3D::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 133 of file vpPolygon3D.cpp.

References p.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceLine::buildFrom(), and getClippedPolygon().

◆ changeFrame()

void vpPolygon3D::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 145 of file vpPolygon3D.cpp.

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

Referenced by getClippedPolygon(), getRoi(), getRoiClipped(), vpMbtPolygon::isVisible(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().

◆ computePolygonClipped()

void vpPolygon3D::computePolygonClipped ( const vpCameraParameters & cam = vpCameraParameters() )

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

Warning: If the FOV clipping is used, camera normals have to be precomputed.

Parameters

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

Definition at line 160 of file vpPolygon3D.cpp.

References clippingFlag, distFarClip, distNearClip, DOWN_CLIPPING, FAR_CLIPPING, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), LEFT_CLIPPING, nbpt, NEAR_CLIPPING, NO_CLIPPING, vpRowVector::normalize(), p, polyClipped, vpPoint::projection(), RIGHT_CLIPPING, vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and UP_CLIPPING.

Referenced by vpMbtDistanceLine::display(), getClippedPolygon(), getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), vpMbtPolygon::isVisible(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbtDistanceLine::updateMovingEdge().

◆ getClippedPolygon()

void vpPolygon3D::getClippedPolygon	(	const std::vector< vpPoint > &	ptIn,
		std::vector< vpPoint > &	ptOut,
		const vpHomogeneousMatrix &	cMo,
		const unsigned int &	clippingFlags,
		const vpCameraParameters &	cam = `vpCameraParameters()`,
		const double &	znear = `0.001`,
		const double &	zfar = `100`
	)

static

Static method to compute the clipped points from a set of initial points.

Warning: When using FOV clipping and personnal camera parameters, camera normals have to be computed before (see vpCameraParameters::computeFov())

Parameters

ptIn	: Input points
ptOut	: Output points (result of the clipping).
cMo	: Pose considered for the clipping.
clippingFlags	Clipping flag (see vpPolygon3D::vpPolygon3DClippingType).
cam	: Camera parameters (Only used if clipping flags contain FOV clipping).
znear	: Near clipping distance value (Only used if clipping flags contain Near clipping).
zfar	: Far clipping distance value (Only used if clipping flags contain Far clipping).

Definition at line 569 of file vpPolygon3D.cpp.

References addPoint(), changeFrame(), computePolygonClipped(), FAR_CLIPPING, getPolygonClipped(), NEAR_CLIPPING, setClipping(), setFarClippingDistance(), setNbPoint(), and setNearClippingDistance().

Referenced by vpImageSimulator::setCameraPosition().

◆ getClipping()

unsigned int vpPolygon3D::getClipping ( ) const

inline

Get the clipping used.

See also: vpPolygon3DClipping

Returns: Clipping flags.

Definition at line 118 of file vpPolygon3D.h.

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

◆ getFarClippingDistance()

double vpPolygon3D::getFarClippingDistance ( ) const

inline

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 125 of file vpPolygon3D.h.

◆ getMinMaxRoi()

void vpPolygon3D::getMinMaxRoi	(	const std::vector< vpImagePoint > &	roi,
		int &	i_min,
		int &	i_max,
		int &	j_min,
		int &	j_max
	)

static

Definition at line 592 of file vpPolygon3D.cpp.

Referenced by vpMbtDistanceKltCylinder::updateMask(), and vpMbtDistanceKltPoints::updateMask().

◆ getNbCornerInsideImage()

unsigned int vpPolygon3D::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 532 of file vpPolygon3D.cpp.

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

◆ getNbCornerInsidePrevImage()

unsigned int vpPolygon3D::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 139 of file vpPolygon3D.h.

◆ getNbPoint()

unsigned int vpPolygon3D::getNbPoint ( ) const

inline

Return the number of corners.

Returns: number of corner of the face

Definition at line 132 of file vpPolygon3D.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addPolygon(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromLines(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbKltTracker::testTracking().

◆ getNearClippingDistance()

double vpPolygon3D::getNearClippingDistance ( ) const

inline

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 148 of file vpPolygon3D.h.

◆ getPoint()

vpPoint & vpPolygon3D::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 106 of file vpPolygon3D.cpp.

References vpException::dimensionError, nbpt, and p.

Referenced by vpMbtDistanceKltPoints::init().

◆ getPolygonClipped() [1/2]

void vpPolygon3D::getPolygonClipped ( std::vector< std::pair< vpPoint, unsigned int > > & poly )

Get the 3D clipped points and their clipping information.

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

Parameters

poly	: resulting points plus clipping information.

Definition at line 436 of file vpPolygon3D.cpp.

References polyClipped.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtDistanceKltPoints::display(), and getClippedPolygon().

◆ getPolygonClipped() [2/2]

void vpPolygon3D::getPolygonClipped ( std::vector< vpPoint > & poly )

Get the 3D clipped points.

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

Parameters

poly	: resulting points.

Definition at line 446 of file vpPolygon3D.cpp.

References polyClipped.

◆ getRoi() [1/2]

std::vector< vpImagePoint > vpPolygon3D::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 385 of file vpPolygon3D.cpp.

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

Referenced by getRoi().

◆ getRoi() [2/2]

std::vector< vpImagePoint > vpPolygon3D::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 405 of file vpPolygon3D.cpp.

References changeFrame(), and getRoi().

◆ getRoiClipped() [1/5]

void vpPolygon3D::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi
	)

Get the region of interest clipped in the image.

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

Parameters

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

Definition at line 462 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and polyClipped.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::computeROI(), getRoiClipped(), vpMbtDistanceKltPoints::init(), vpMbtPolygon::isVisible(), and vpMbtDistanceKltPoints::updateMask().

◆ getRoiClipped() [2/5]

void vpPolygon3D::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 480 of file vpPolygon3D.cpp.

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

◆ getRoiClipped() [3/5]

void vpPolygon3D::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 computePolygonClipped() have already been called.

Parameters

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

Definition at line 499 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and polyClipped.

◆ getRoiClipped() [4/5]

void vpPolygon3D::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 517 of file vpPolygon3D.cpp.

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

◆ getRoiClipped() [5/5]

void vpPolygon3D::getRoiClipped ( std::vector< vpPoint > & points )

Get the 3D points of the clipped region of interest.

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

Parameters

points : resulting points.

Definition at line 420 of file vpPolygon3D.cpp.

References polyClipped.

◆ operator=()

vpPolygon3D & vpPolygon3D::operator= ( const vpPolygon3D & mbtp )

Definition at line 70 of file vpPolygon3D.cpp.

References clippingFlag, distFarClip, distNearClip, nbCornersInsidePrev, nbpt, p, and polyClipped.

Referenced by vpMbtPolygon::isVisible(), and vpMbtPolygon::operator=().

◆ roiInsideImage()

bool vpPolygon3D::roiInsideImage	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	corners
	)

static

Static method to check whether the region defined by the vector of image point is contained entirely in the image.

Parameters

I	: The image used for its size.
corners	: The vector of points defining a region

Definition at line 633 of file vpPolygon3D.cpp.

References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ setClipping()

void vpPolygon3D::setClipping ( const unsigned int & flags )

inline

Specify which clipping to use.

See also: vpPolygon3DClipping

Parameters

flags : New clipping flags.

Definition at line 187 of file vpPolygon3D.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), getClippedPolygon(), and vpMbEdgeTracker::setClipping().

◆ setFarClippingDistance()

void vpPolygon3D::setFarClippingDistance ( const double & dist )

inline

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Definition at line 194 of file vpPolygon3D.h.

References FAR_CLIPPING.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), getClippedPolygon(), and vpMbEdgeTracker::setFarClippingDistance().

◆ setNbPoint()

void vpPolygon3D::setNbPoint ( const unsigned int nb )

virtual

Set the number of points which are the corners of the polygon.

Parameters

nb	: The number of corners.

Definition at line 119 of file vpPolygon3D.cpp.

References nbpt, and p.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceLine::buildFrom(), and getClippedPolygon().

◆ setNearClippingDistance()

void vpPolygon3D::setNearClippingDistance ( const double & dist )

inline

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Definition at line 207 of file vpPolygon3D.h.

References NEAR_CLIPPING.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), getClippedPolygon(), and vpMbEdgeTracker::setNearClippingDistance().

Member Data Documentation

◆ clippingFlag

unsigned int vpPolygon3D::clippingFlag

Clipping flag.

Definition at line 85 of file vpPolygon3D.h.

Referenced by computePolygonClipped(), vpMbtPolygon::isVisible(), and operator=().

◆ distFarClip

double vpPolygon3D::distFarClip

Distance for near clipping.

Definition at line 89 of file vpPolygon3D.h.

Referenced by computePolygonClipped(), and operator=().

◆ distNearClip

double vpPolygon3D::distNearClip

Distance for near clipping.

Definition at line 87 of file vpPolygon3D.h.

Referenced by computePolygonClipped(), and operator=().

◆ nbCornersInsidePrev

unsigned int vpPolygon3D::nbCornersInsidePrev

Number of corners inside the image during the last call to getNbCornerInsideImage

Definition at line 79 of file vpPolygon3D.h.

Referenced by getNbCornerInsideImage(), and operator=().

◆ nbpt

unsigned int vpPolygon3D::nbpt

Number of points used to define the polygon.

Definition at line 76 of file vpPolygon3D.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), changeFrame(), computePolygonClipped(), getNbCornerInsideImage(), getPoint(), getRoi(), vpMbtPolygon::isVisible(), operator=(), setNbPoint(), and vpPolygon3D().

◆ p

vpPoint* vpPolygon3D::p

◆ polyClipped

std::vector<std::pair<vpPoint, unsigned int> > vpPolygon3D::polyClipped

Region of interest clipped.

Definition at line 83 of file vpPolygon3D.h.

Referenced by computePolygonClipped(), vpMbtDistanceLine::display(), getPolygonClipped(), getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), operator=(), and vpMbtDistanceLine::updateMovingEdge().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ vpPolygon3DClippingType

Constructor & Destructor Documentation

◆ vpPolygon3D() [1/2]

◆ vpPolygon3D() [2/2]

◆ ~vpPolygon3D()

Member Function Documentation

◆ addPoint()

◆ changeFrame()

◆ computePolygonClipped()

◆ getClippedPolygon()

◆ getClipping()

◆ getFarClippingDistance()

◆ getMinMaxRoi()

◆ getNbCornerInsideImage()

◆ getNbCornerInsidePrevImage()

◆ getNbPoint()

◆ getNearClippingDistance()

◆ getPoint()

◆ getPolygonClipped() [1/2]

◆ getPolygonClipped() [2/2]

◆ getRoi() [1/2]

◆ getRoi() [2/2]

◆ getRoiClipped() [1/5]

◆ getRoiClipped() [2/5]

◆ getRoiClipped() [3/5]

◆ getRoiClipped() [4/5]

◆ getRoiClipped() [5/5]

◆ operator=()

◆ roiInsideImage()

◆ setClipping()

◆ setFarClippingDistance()

◆ setNbPoint()

◆ setNearClippingDistance()

Member Data Documentation

◆ clippingFlag

◆ distFarClip

◆ distNearClip

◆ nbCornersInsidePrev

◆ nbpt

◆ p

◆ polyClipped