Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
testPolygon2.cpp

Test vpPolygon class.

/****************************************************************************
*
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* Campus Universitaire de Beaulieu
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*
* Description:
* Test vpPolygon class.
*
* Authors:
* Julien Dufour
*
*****************************************************************************/
#include <visp3/core/vpPolygon.h>
// Core
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRect.h>
#ifdef VISP_HAVE_CATCH2
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
#ifdef VISP_HAVE_OPENCV
TEST_CASE("Check OpenCV-bsed convex hull")
{
SECTION("From vpRect")
{
const vpRect rect{0, 0, 200, 400};
const std::vector<vpImagePoint> rect_corners{rect.getTopLeft(), rect.getTopRight(), rect.getBottomRight(),
rect.getBottomLeft()};
vpPolygon poly{};
poly.buildFrom(rect_corners, true);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_14)
for (const auto &poly_corner : poly.getCorners()) {
REQUIRE(std::find(cbegin(rect_corners), cend(rect_corners), poly_corner) != cend(rect_corners));
}
#elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
for (const auto &poly_corner : poly.getCorners()) {
REQUIRE(std::find(begin(rect_corners), end(rect_corners), poly_corner) != end(rect_corners));
}
#else
for (std::vector<vpImagePoint>::const_iterator it = poly.getCorners().begin(); it != poly.getCorners().end();
++it) {
REQUIRE(std::find(rect_corners.begin(), rect_corners.end(), *it) != rect_corners.end());
}
#endif
}
}
#endif
int main(int argc, char *argv[])
{
Catch::Session session;
session.applyCommandLine(argc, argv);
return session.run();
}
#else
// Fallback to classic tests
bool testConvexHull()
{
#ifdef VISP_HAVE_OPENCV
const vpRect rect(0, 0, 200, 400);
std::vector<vpImagePoint> rect_corners;
rect_corners.push_back(rect.getTopLeft());
rect_corners.push_back(rect.getTopRight());
rect_corners.push_back(rect.getBottomRight());
rect_corners.push_back(rect.getBottomLeft());
vpPolygon poly;
poly.buildFrom(rect_corners, true);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_14)
for (const auto &poly_corner : poly.getCorners()) {
if (std::find(cbegin(rect_corners), cend(rect_corners), poly_corner) == cend(rect_corners)) {
return false;
}
}
#elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
for (const auto &poly_corner : poly.getCorners()) {
if (std::find(begin(rect_corners), end(rect_corners), poly_corner) == end(rect_corners)) {
return false;
}
}
#else
for (std::vector<vpImagePoint>::const_iterator it = poly.getCorners().begin(); it != poly.getCorners().end(); ++it) {
if (std::find(rect_corners.begin(), rect_corners.end(), *it) == rect_corners.end()) {
return false;
}
}
#endif
#endif
return true;
}
int main()
{
if (not testConvexHull()) {
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#endif
Defines a generic 2D polygon.
Definition: vpPolygon.h:106
const std::vector< vpImagePoint > & getCorners() const
Definition: vpPolygon.h:156
void buildFrom(const std::vector< vpImagePoint > &corners, const bool create_convex_hull=false)
Definition: vpPolygon.cpp:198
Defines a rectangle in the plane.
Definition: vpRect.h:80
vpImagePoint getTopLeft() const
Definition: vpRect.h:200