Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpPolygon.h
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30  *
31  * Description:
32  * Defines a generic 2D polygon.
33  *
34  * Author:
35  * Amaury Dame
36  * Nicolas Melchior
37  * Romain Tallonneau
38  *
39  *****************************************************************************/
40 
41 #ifndef vpPolygon_h
42 #define vpPolygon_h
43 
44 #include <list>
45 #include <vector>
46 
47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpColor.h>
49 #include <visp3/core/vpImage.h>
50 #include <visp3/core/vpImagePoint.h>
51 #include <visp3/core/vpPoint.h>
52 #include <visp3/core/vpRect.h>
53 
103 class VISP_EXPORT vpPolygon
104 {
105 protected:
107  std::vector<vpImagePoint> _corners;
112  double _area;
115  bool _goodPoly;
118 
119 public:
122  PnPolyRayCasting
124  };
125 
126  vpPolygon();
127  explicit vpPolygon(const std::vector<vpImagePoint> &corners);
128  explicit vpPolygon(const std::list<vpImagePoint> &corners);
129  vpPolygon(const vpPolygon &poly);
130  virtual ~vpPolygon();
131 
132  vpPolygon &operator=(const vpPolygon &poly);
133 
134  void buildFrom(const std::vector<vpImagePoint> &corners);
135  void buildFrom(const std::list<vpImagePoint> &corners);
136  void buildFrom(const std::vector<vpPoint> &corners, const vpCameraParameters &cam);
137 
138  unsigned int getSize() const;
139  void initClick(const vpImage<unsigned char> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
140  unsigned int thickness = 1);
141  void initClick(const vpImage<vpRGBa> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
142  unsigned int thickness = 1);
143 
144  bool isInside(const vpImagePoint &iP, const PointInPolygonMethod &method = PnPolyRayCasting) const;
145 
146  void display(const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness = 1) const;
147 
153  const std::vector<vpImagePoint> &getCorners() const { return _corners; }
154 
161  inline double getArea() const { return this->_area; }
162 
169  inline vpImagePoint getCenter() const { return this->_center; }
170 
177  inline vpRect getBoundingBox() const { return _bbox; }
178 
179 protected:
180  void init(const std::vector<vpImagePoint> &corners);
181  void init(const std::list<vpImagePoint> &corners);
182  void updateArea();
183  void updateCenter();
184  void updateBoundingBox();
185 
186 private:
187  bool testIntersectionSegments(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpImagePoint &ip3,
188  const vpImagePoint &ip4) const;
189  void precalcValuesPnPoly();
190 
191  std::vector<double> m_PnPolyConstants;
192  std::vector<double> m_PnPolyMultiples;
193 
194  //###################
195  // Static Functions
196  //###################
197 
198 public:
199  static bool isInside(const std::vector<vpImagePoint> &roi, const double &i, const double &j,
200  const PointInPolygonMethod &method = PnPolyRayCasting);
201 };
202 
203 #endif
const std::vector< vpImagePoint > & getCorners() const
Definition: vpPolygon.h:153
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
vpRect _bbox
Bounding box containing the polygon.
Definition: vpPolygon.h:117
vpImagePoint _center
Definition: vpPolygon.h:110
static const vpColor red
Definition: vpColor.h:180
Defines a generic 2D polygon.
Definition: vpPolygon.h:103
vpRect getBoundingBox() const
Definition: vpPolygon.h:177
PointInPolygonMethod
Definition: vpPolygon.h:120
Generic class defining intrinsic camera parameters.
double getArea() const
Definition: vpPolygon.h:161
vpImagePoint getCenter() const
Definition: vpPolygon.h:169
std::vector< vpImagePoint > _corners
Collection of image points containing the corners.
Definition: vpPolygon.h:107
bool _goodPoly
Definition: vpPolygon.h:115
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
double _area
Area of the polygon.
Definition: vpPolygon.h:112