vpPolygon3D Class Reference

#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 (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 (unsigned int nb)
void	setNearClippingDistance (const double &dist)

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 functionalities like clipping.

Definition at line 56 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 59 of file vpPolygon3D.h.

Constructor & Destructor Documentation

vpPolygon3D() [1/2]

BEGIN_VISP_NAMESPACE vpPolygon3D::vpPolygon3D

(

)

Basic constructor.

Definition at line 55 of file vpPolygon3D.cpp.

vpPolygon3D() [2/2]

vpPolygon3D::vpPolygon3D

(

const vpPolygon3D &

mbtp

)

Definition at line 60 of file vpPolygon3D.cpp.

References nbpt, and p.

~vpPolygon3D()

vpPolygon3D::~vpPolygon3D ( )

virtual

Basic destructor.

Definition at line 92 of file vpPolygon3D.cpp.

References p.

Member Function Documentation

addPoint()

void vpPolygon3D::addPoint	(	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 134 of file vpPolygon3D.cpp.

References p.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), 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 146 of file vpPolygon3D.cpp.

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

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

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 161 of file vpPolygon3D.cpp.

References clippingFlag, distFarClip, distNearClip, DOWN_CLIPPING, FAR_CLIPPING, vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), LEFT_CLIPPING, nbpt, NO_CLIPPING, p, polyClipped, vpPoint::projection(), RIGHT_CLIPPING, and UP_CLIPPING.

Referenced by getClippedPolygon(), vpMbtDistanceLine::getModelForDisplay(), getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), vpMbtPolygon::isVisible(), 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 572 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 116 of file vpPolygon3D.h.

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

getFarClippingDistance()

double vpPolygon3D::getFarClippingDistance ( ) const

inline

Get the far distance for clipping.

Returns

Far clipping value.

Definition at line 123 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 595 of file vpPolygon3D.cpp.

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 535 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 137 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 130 of file vpPolygon3D.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addPolygon(), vpMbEdgeTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromLines(), vpMbTracker::initProjectionErrorFaceFromCorners(), and vpMbTracker::initProjectionErrorFaceFromLines().

getNearClippingDistance()

double vpPolygon3D::getNearClippingDistance ( ) const

inline

Get the near distance for clipping.

Returns

Near clipping value.

Definition at line 146 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 107 of file vpPolygon3D.cpp.

References vpException::dimensionError, nbpt, and p.

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 439 of file vpPolygon3D.cpp.

References polyClipped.

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

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 449 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 388 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 408 of file vpPolygon3D.cpp.

References changeFrame(), and getRoi().

getRoiClipped() [1/4]

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 502 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and polyClipped.

getRoiClipped() [2/4]

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 520 of file vpPolygon3D.cpp.

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

getRoiClipped() [3/4]

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 465 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and polyClipped.

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

getRoiClipped() [4/4]

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 483 of file vpPolygon3D.cpp.

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

operator=()

vpPolygon3D & vpPolygon3D::operator=

(

const vpPolygon3D &

mbtp

)

Definition at line 71 of file vpPolygon3D.cpp.

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

Referenced by 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 636 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 185 of file vpPolygon3D.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), 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 192 of file vpPolygon3D.h.

References FAR_CLIPPING.

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

setNbPoint()

void vpPolygon3D::setNbPoint ( 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 120 of file vpPolygon3D.cpp.

References nbpt, and p.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), 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 205 of file vpPolygon3D.h.

References NEAR_CLIPPING.

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

Member Data Documentation

clippingFlag

unsigned int vpPolygon3D::clippingFlag

Clipping flag.

Definition at line 83 of file vpPolygon3D.h.

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

distFarClip

double vpPolygon3D::distFarClip

Distance for near clipping.

Definition at line 87 of file vpPolygon3D.h.

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

distNearClip

double vpPolygon3D::distNearClip

Distance for near clipping.

Definition at line 85 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 77 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 74 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

corners in the object frame

Definition at line 79 of file vpPolygon3D.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), addPoint(), vpMbEdgeTracker::addPolygon(), vpMbtDistanceLine::buildFrom(), changeFrame(), computePolygonClipped(), getNbCornerInsideImage(), getPoint(), getRoi(), vpMbEdgeTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromLines(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromLines(), vpMbtPolygon::isVisible(), operator=(), setNbPoint(), vpPolygon3D(), and ~vpPolygon3D().

polyClipped

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

Region of interest clipped.

Definition at line 81 of file vpPolygon3D.h.

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