vpMbtPolygon.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Implements a polygon of the model used by the model-based tracker.
 *
 * Authors:
 * Nicolas Melchior
 * Romain Tallonneau
 * Eric Marchand
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbtPolygon_HH
#define vpMbtPolygon_HH

#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpPolygon3D.h>

#include <vector>

class VISP_EXPORT vpMbtPolygon : public vpPolygon3D
{
public:
  int index;
  bool isvisible;
  bool isappearing;
  bool useLod;
  double minLineLengthThresh;
  double minPolygonAreaThresh;
  std::string name;
  bool hasOrientation;

public:
  vpMbtPolygon();
  vpMbtPolygon(const vpMbtPolygon &mbtp);
  virtual ~vpMbtPolygon();

  inline int getIndex() const { return index; }

  inline std::string getName() const { return name; }

  inline bool isAppearing() const { return isappearing; }
  inline bool isPolygonOriented() { return hasOrientation; }
  virtual bool isVisible(const vpHomogeneousMatrix &cMo, const double alpha, const bool &modulo = false,
                         const vpCameraParameters &cam = vpCameraParameters(),
                         const vpImage<unsigned char> &I = vpImage<unsigned char>());
  bool isVisible() const { return isvisible; }

  vpMbtPolygon &operator=(const vpMbtPolygon &mbtp);

  virtual inline void setIndex(const int i) { index = i; }

  // Due to a doxygen warning include the sample code in the doc, we remove
  // the inline and put the doc in the *.cpp file
  void setLod(const bool use_lod);
  inline void setMinLineLengthThresh(const double min_line_length) { this->minLineLengthThresh = min_line_length; }
  inline void setMinPolygonAreaThresh(const double min_polygon_area) { this->minPolygonAreaThresh = min_polygon_area; }

  inline void setName(const std::string &face_name) { this->name = face_name; }

  inline void setIsPolygonOriented(const bool &oriented) { this->hasOrientation = oriented; }
};

#endif