Visual Servoing Platform
version 3.6.1 under development (2024-10-14)
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#include <visp3/core/vpPolygon.h>
Public Types | |
enum | PointInPolygonMethod { PnPolySegmentIntersection , PnPolyRayCasting } |
Public Member Functions | |
vpPolygon () | |
VP_EXPLICIT | vpPolygon (const std::vector< vpImagePoint > &corners) |
VP_EXPLICIT | vpPolygon (const std::list< vpImagePoint > &corners) |
vpPolygon (const vpPolygon &poly) | |
virtual | ~vpPolygon () |
vpPolygon & | operator= (const vpPolygon &poly) |
vpPolygon & | buildFrom (const std::vector< vpImagePoint > &corners, const bool &create_convex_hull=false) |
vpPolygon & | buildFrom (const std::list< vpImagePoint > &corners, const bool &create_convex_hull=false) |
vpPolygon & | buildFrom (const std::vector< vpPoint > &corners, const vpCameraParameters &cam, const bool &create_convex_hull=false) |
unsigned int | getSize () const |
void | initClick (const vpImage< unsigned char > &I, unsigned int size=5, const vpColor &color=vpColor::red, unsigned int thickness=1) |
void | initClick (const vpImage< vpRGBa > &I, unsigned int size=5, const vpColor &color=vpColor::red, unsigned int thickness=1) |
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 |
double | getArea () const |
vpImagePoint | getCenter () const |
vpRect | getBoundingBox () const |
Static Public Member Functions | |
static bool | isInside (const std::vector< vpImagePoint > &roi, const double &i, const double &j, const PointInPolygonMethod &method=PnPolyRayCasting) |
Protected Member Functions | |
void | init (const std::vector< vpImagePoint > &corners) |
void | init (const std::list< vpImagePoint > &corners) |
void | updateArea () |
void | updateCenter () |
void | updateBoundingBox () |
Protected Attributes | |
std::vector< vpImagePoint > | _corners |
vpImagePoint | _center |
double | _area |
bool | _goodPoly |
vpRect | _bbox |
Defines a generic 2D polygon.
A polygon is internally represented by N 2D points.
By default three coordinates in the frame (see vpImagePoint class documentation for more details about the frame) are used , and .
The code bellow shows how to manipulate a polygon.
Definition at line 102 of file vpPolygon.h.
Enumerator | |
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PnPolySegmentIntersection | Legacy Point In Polygon test. |
PnPolyRayCasting | Point In Polygon test using ray casting method (faster). |
Definition at line 105 of file vpPolygon.h.
BEGIN_VISP_NAMESPACE vpPolygon::vpPolygon | ( | ) |
Default constructor that creates an empty polygon.
Definition at line 114 of file vpPolygon.cpp.
vpPolygon::vpPolygon | ( | const std::vector< vpImagePoint > & | corners | ) |
Constructor which initialises the polygon thanks to the given corners.
corners | : The Points defining the corners. |
Definition at line 126 of file vpPolygon.cpp.
vpPolygon::vpPolygon | ( | const std::list< vpImagePoint > & | corners | ) |
Constructor which initialises the polygon thanks to the given corners.
corners | : The Points defining the corners. |
Definition at line 143 of file vpPolygon.cpp.
vpPolygon::vpPolygon | ( | const vpPolygon & | poly | ) |
Copy constructor
poly | : The polygon used for the initialisation. |
Definition at line 157 of file vpPolygon.cpp.
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Basic destructor
Definition at line 165 of file vpPolygon.cpp.
vpPolygon & vpPolygon::buildFrom | ( | const std::list< vpImagePoint > & | corners, |
const bool & | create_convex_hull = false |
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Initialises the polygon thanks to the collection of 2D points (in pixel).
corners | : The corners of the polygon. |
create_convex_hull | Create a convex hull from the given corners. |
Definition at line 217 of file vpPolygon.cpp.
References init(), and vpException::notImplementedError.
vpPolygon & vpPolygon::buildFrom | ( | const std::vector< vpImagePoint > & | corners, |
const bool & | create_convex_hull = false |
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Initialises the triangle thanks to the collection of 2D points (in pixel).
corners | : The corners of the polygon. |
create_convex_hull | Create a convex hull from the given corners. |
Definition at line 193 of file vpPolygon.cpp.
References init(), and vpException::notImplementedError.
Referenced by buildFrom(), and initClick().
vpPolygon & vpPolygon::buildFrom | ( | const std::vector< vpPoint > & | corners, |
const vpCameraParameters & | cam, | ||
const bool & | create_convex_hull = false |
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Initialises the triangle thanks to the collection of 2D points (in meter). The fields x and y are used to compute the corresponding coordinates in pixel thanks to the camera parameters cam.
corners | : The corners of the polygon. |
cam | : The camera parameters used to convert the coordinates from meter to pixel. |
create_convex_hull | Create a convex hull from the given corners. |
Definition at line 244 of file vpPolygon.cpp.
References buildFrom(), and vpMeterPixelConversion::convertPoint().
void vpPolygon::display | ( | const vpImage< unsigned char > & | I, |
const vpColor & | color, | ||
unsigned int | thickness = 1 |
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) | const |
Display the polygon in the image (overlay, so the image is not modified). A call to the flush() method is necessary.
I | : The image where the polygon is displayed. |
color | : The color of the polygon's lines. |
thickness | : The thickness of the polygon's lines. |
Definition at line 610 of file vpPolygon.cpp.
References _corners, and vpDisplay::displayLine().
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inline |
Return the area of the polygon. The area is computed when the polygon is built from the corners.
Definition at line 148 of file vpPolygon.h.
Referenced by vpPose::computePlanarObjectPoseFromRGBD(), and vpMbtPolygon::isVisible().
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Return the bounding box. The bounding box is the smallest rectangle containing all the polygon.
Definition at line 164 of file vpPolygon.h.
Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpPose::computePlanarObjectPoseFromRGBD(), and vpKeyPoint::matchPointAndDetect().
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Return the center of the polygon. The center is computed when the polygon is built from the corners.
Definition at line 156 of file vpPolygon.h.
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Get the corners of the polygon.
Definition at line 140 of file vpPolygon.h.
unsigned int vpPolygon::getSize | ( | ) | const |
Return number of corners belonging to the polygon.
Definition at line 639 of file vpPolygon.cpp.
References _corners.
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Initialises the polygon using the collection of image points. This method computes some internal variables such as center, area, ...
corners | : The corners of the polygon. |
Definition at line 342 of file vpPolygon.cpp.
References _corners, updateArea(), updateBoundingBox(), and updateCenter().
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Initialises the polygon using the collection of image points. This method computes some internal variables such as center, area, ...
corners | : The corners of the polygon. |
Definition at line 322 of file vpPolygon.cpp.
References _corners, updateArea(), updateBoundingBox(), and updateCenter().
Referenced by buildFrom(), and vpPolygon().
void vpPolygon::initClick | ( | const vpImage< unsigned char > & | I, |
unsigned int | size = 5 , |
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const vpColor & | color = vpColor::red , |
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unsigned int | thickness = 1 |
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Initialises the polygon by (left-)clicking to add a corners to the polygon. A right click is used to stop the addition of new corners.
I | : The image where to click to initialise the corners. |
size | : Cross size in terms of number of pixels that is displayed over a polygon corner. |
color | : Color used to display the cross over the polygon corner. |
thickness | : Thickness used to display the cross. |
Definition at line 265 of file vpPolygon.cpp.
References buildFrom(), vpMouseButton::button1, vpDisplay::displayCross(), vpDisplay::flush(), and vpDisplay::getClick().
void vpPolygon::initClick | ( | const vpImage< vpRGBa > & | I, |
unsigned int | size = 5 , |
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const vpColor & | color = vpColor::red , |
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unsigned int | thickness = 1 |
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Initialises the polygon by (left-)clicking to add a corners to the polygon. A right click is used to stop the addition of new corners.
I | : The image where to click to initialise the corners. |
size | : Size of the cross in terms of number of pixels that is displayed over a polygon corner. |
color | : Color used to display the cross over the polygon corner. |
thickness | : Thickness used to display the cross. |
Definition at line 294 of file vpPolygon.cpp.
References buildFrom(), vpMouseButton::button1, vpDisplay::displayCross(), vpDisplay::flush(), and vpDisplay::getClick().
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Test if an image point is inside a 2D polygon.
roi | : List of the polygon corners. |
i | : i-coordinate of the image point to test. |
j | : j-coordinate of the image point to test. |
method | : Method to use for Point In Polygon test. |
Definition at line 629 of file vpPolygon.cpp.
References isInside().
bool vpPolygon::isInside | ( | const vpImagePoint & | ip, |
const PointInPolygonMethod & | method = PnPolyRayCasting |
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) | const |
Check if the 2D point is inside the polygon.
ip | : The point which have to be tested. |
method | : Method to use for Point In Polygon test. |
Definition at line 400 of file vpPolygon.cpp.
References _corners, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImagePoint::get_u(), vpImagePoint::get_v(), PnPolySegmentIntersection, vpImagePoint::set_i(), and vpImagePoint::set_j().
Referenced by vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpPose::computePlanarObjectPoseFromRGBD(), and isInside().
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Update bounding box of the polygon.
Definition at line 572 of file vpPolygon.cpp.
References _bbox, _corners, _goodPoly, vpRect::setBottomRight(), and vpRect::setTopLeft().
Referenced by init().
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Update the _center
attribute of the polygon using the corners.
The i coordinate is computed using:
The computation of the j coordinate is similar.
Definition at line 537 of file vpPolygon.cpp.
References _area, _center, _corners, _goodPoly, vpImagePoint::set_i(), and vpImagePoint::set_j().
Referenced by init().
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Area of the polygon.
Definition at line 186 of file vpPolygon.h.
Referenced by operator=(), updateArea(), and updateCenter().
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Bounding box containing the polygon.
Definition at line 191 of file vpPolygon.h.
Referenced by operator=(), and updateBoundingBox().
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Center of the polygon. It is automatically computed when the corners are set.
Definition at line 184 of file vpPolygon.h.
Referenced by operator=(), and updateCenter().
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Collection of image points containing the corners.
Definition at line 181 of file vpPolygon.h.
Referenced by display(), getSize(), init(), isInside(), operator=(), updateArea(), updateBoundingBox(), and updateCenter().
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Flag set to true when the polygon is a good polygon (ie. it has more than two corners) or false otherwise.
Definition at line 189 of file vpPolygon.h.
Referenced by operator=(), updateArea(), updateBoundingBox(), updateCenter(), and vpPolygon().