48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/core/vpException.h>
50 #include <visp3/core/vpMeterPixelConversion.h>
51 #include <visp3/core/vpPolygon.h>
52 #include <visp3/core/vpUniRand.h>
55 #ifdef VISP_HAVE_OPENCV
56 #include <opencv2/imgproc/imgproc.hpp>
63 template <
typename IpContainer> std::vector<vpImagePoint> convexHull(
const IpContainer &ips)
65 if (ips.size() == 0) {
67 "Convex Hull can not be computed as the input does not contain any image point.");
71 std::vector<cv::Point> cv_pts;
72 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_14)
73 std::transform(cbegin(ips), cend(ips), std::back_inserter(cv_pts), [](
const vpImagePoint &ip) {
74 return cv::Point(
static_cast<int>(ip.
get_u()),
static_cast<int>(ip.
get_v()));
76 #elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
77 std::transform(begin(ips), end(ips), std::back_inserter(cv_pts), [](
const vpImagePoint &ip) {
78 return cv::Point(
static_cast<int>(ip.
get_u()),
static_cast<int>(ip.
get_v()));
81 for (
typename IpContainer::const_iterator it = ips.begin(); it != ips.end(); ++it) {
82 cv_pts.push_back(cv::Point(
static_cast<int>(it->get_u()),
static_cast<int>(it->get_v())));
87 std::vector<cv::Point> cv_conv_hull_corners;
88 cv::convexHull(cv_pts, cv_conv_hull_corners);
91 std::vector<vpImagePoint> conv_hull_corners;
92 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_14)
93 std::transform(cbegin(cv_conv_hull_corners), cend(cv_conv_hull_corners), std::back_inserter(conv_hull_corners),
94 [](
const cv::Point &pt) {
95 return vpImagePoint{
static_cast<double>(pt.y),
static_cast<double>(pt.x)};
97 #elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
98 std::transform(begin(cv_conv_hull_corners), end(cv_conv_hull_corners), std::back_inserter(conv_hull_corners),
99 [](
const cv::Point &pt) {
100 return vpImagePoint{
static_cast<double>(pt.y),
static_cast<double>(pt.x)};
103 for (std::vector<cv::Point>::const_iterator it = cv_conv_hull_corners.begin(); it != cv_conv_hull_corners.end();
105 conv_hull_corners.push_back(
vpImagePoint(
static_cast<double>(it->y),
static_cast<double>(it->x)));
109 return conv_hull_corners;
118 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
131 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
133 if (corners.size() < 3) {
148 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
150 if (corners.size() < 3) {
162 : _corners(poly._corners), _center(poly._center), _area(poly._area), _goodPoly(poly._goodPoly), _bbox(poly._bbox),
163 m_PnPolyConstants(poly.m_PnPolyConstants), m_PnPolyMultiples(poly.m_PnPolyMultiples)
184 m_PnPolyConstants = poly.m_PnPolyConstants;
185 m_PnPolyMultiples = poly.m_PnPolyMultiples;
200 if (create_convex_hull) {
201 #ifdef VISP_HAVE_OPENCV
202 init(convexHull(corners));
222 if (create_convex_hull) {
223 #ifdef VISP_HAVE_OPENCV
224 init(convexHull(corners));
247 const bool create_convex_hull)
249 std::vector<vpImagePoint> ipCorners(corners.size());
250 for (
unsigned int i = 0; i < corners.size(); ++i) {
253 buildFrom(ipCorners, create_convex_hull);
266 unsigned int thickness)
271 std::vector<vpImagePoint> cornersClick;
277 cornersClick.push_back(ip);
300 std::vector<vpImagePoint> cornersClick;
306 cornersClick.push_back(ip);
331 precalcValuesPnPoly();
351 precalcValuesPnPoly();
374 double denominator = di1 * dj2 - dj1 * di2;
376 if (fabs(denominator) < std::numeric_limits<double>::epsilon()) {
380 double alpha = -((ip1.
get_i() - ip3.
get_i()) * dj2 + di2 * (ip3.
get_j() - ip1.
get_j())) / denominator;
381 if (alpha < 0 || alpha >= 1) {
385 double beta = -(di1 * (ip3.
get_j() - ip1.
get_j()) + dj1 * (ip1.
get_i() - ip3.
get_i())) / denominator;
386 if (beta < 0 || beta >= 1) {
412 infPoint.
set_i(infPoint.
get_i() + 1000 * generator());
413 infPoint.
set_j(infPoint.
get_j() + 1000 * generator());
419 bool oddNbIntersections =
false;
420 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
423 bool intersection =
false;
431 intersection = testIntersectionSegments(ip1, ip2, ip, infPoint);
437 oddNbIntersections = !oddNbIntersections;
441 test = oddNbIntersections;
447 bool oddNodes =
false;
451 oddNodes ^= (ip.
get_v() * m_PnPolyMultiples[i] + m_PnPolyConstants[i] < ip.
get_u());
464 void vpPolygon::precalcValuesPnPoly()
470 m_PnPolyConstants.resize(
_corners.size());
471 m_PnPolyMultiples.resize(
_corners.size());
475 m_PnPolyConstants[i] =
_corners[i].get_u();
476 m_PnPolyMultiples[i] = 0.0;
478 m_PnPolyConstants[i] =
_corners[i].get_u() -
506 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
507 unsigned int i_p_1 = (i + 1) %
_corners.size();
538 for(
unsigned int i=0; i<(
_corners.size()-1); ++i){
546 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
547 unsigned int i_p_1 = (i + 1) %
_corners.size();
579 std::set<double> setI;
580 std::set<double> setJ;
581 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
586 std::set<double>::const_iterator iterI = setI.end();
587 std::set<double>::const_iterator iterJ = setJ.end();
609 const unsigned int N = (
unsigned int)
_corners.size();
610 for (
unsigned int i = 0; i < N; ++i) {
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionnalities.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
@ badValue
Used to indicate that a value is not in the allowed range.
@ notImplementedError
Not implemented.
@ divideByZeroError
Division by zero.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static bool equal(double x, double y, double threshold=0.001)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Defines a generic 2D polygon.
void display(const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1) const
void init(const std::vector< vpImagePoint > &corners)
vpRect _bbox
Bounding box containing the polygon.
@ PnPolySegmentIntersection
void buildFrom(const std::vector< vpImagePoint > &corners, const bool create_convex_hull=false)
unsigned int getSize() const
std::vector< vpImagePoint > _corners
Collection of image points containing the corners.
vpPolygon & operator=(const vpPolygon &poly)
double _area
Area of the polygon.
void initClick(const vpImage< unsigned char > &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 setBottomRight(const vpImagePoint &bottomRight)
void setTopLeft(const vpImagePoint &topLeft)
Class for generating random numbers with uniform probability density.