Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpPolygon.h
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2  * ViSP, open source Visual Servoing Platform software.
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Defines a generic 2D polygon.
32  */
33 
34 #ifndef _vpPolygon_h_
35 #define _vpPolygon_h_
36 
37 #include <list>
38 #include <vector>
39 
40 #include <visp3/core/vpCameraParameters.h>
41 #include <visp3/core/vpColor.h>
42 #include <visp3/core/vpImage.h>
43 #include <visp3/core/vpImagePoint.h>
44 #include <visp3/core/vpPoint.h>
45 #include <visp3/core/vpRect.h>
46 
96 class VISP_EXPORT vpPolygon
97 {
98 protected:
100  std::vector<vpImagePoint> _corners;
105  double _area;
108  bool _goodPoly;
111 
112 public:
115  PnPolyRayCasting
117  };
118 
119  vpPolygon();
120  explicit vpPolygon(const std::vector<vpImagePoint> &corners);
121  explicit vpPolygon(const std::list<vpImagePoint> &corners);
122  vpPolygon(const vpPolygon &poly);
123  virtual ~vpPolygon();
124 
125  vpPolygon &operator=(const vpPolygon &poly);
126 
127  void buildFrom(const std::vector<vpImagePoint> &corners, const bool create_convex_hull = false);
128  void buildFrom(const std::list<vpImagePoint> &corners, const bool create_convex_hull = false);
129  void buildFrom(const std::vector<vpPoint> &corners, const vpCameraParameters &cam,
130  const bool create_convex_hull = false);
131 
132  unsigned int getSize() const;
133  void initClick(const vpImage<unsigned char> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
134  unsigned int thickness = 1);
135  void initClick(const vpImage<vpRGBa> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
136  unsigned int thickness = 1);
137 
138  bool isInside(const vpImagePoint &iP, const PointInPolygonMethod &method = PnPolyRayCasting) const;
139 
140  void display(const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness = 1) const;
141 
147  const std::vector<vpImagePoint> &getCorners() const { return _corners; }
148 
155  inline double getArea() const { return this->_area; }
156 
163  inline vpImagePoint getCenter() const { return this->_center; }
164 
171  inline vpRect getBoundingBox() const { return _bbox; }
172 
173 protected:
174  void init(const std::vector<vpImagePoint> &corners);
175  void init(const std::list<vpImagePoint> &corners);
176  void updateArea();
177  void updateCenter();
178  void updateBoundingBox();
179 
180 private:
181  bool testIntersectionSegments(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpImagePoint &ip3,
182  const vpImagePoint &ip4) const;
183  void precalcValuesPnPoly();
184 
185  std::vector<double> m_PnPolyConstants;
186  std::vector<double> m_PnPolyMultiples;
187 
188  //###################
189  // Static Functions
190  //###################
191 
192 public:
193  static bool isInside(const std::vector<vpImagePoint> &roi, const double &i, const double &j,
194  const PointInPolygonMethod &method = PnPolyRayCasting);
195 };
196 
197 #endif
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static const vpColor red
Definition: vpColor.h:211
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Defines a generic 2D polygon.
Definition: vpPolygon.h:97
const std::vector< vpImagePoint > & getCorners() const
Definition: vpPolygon.h:147
bool _goodPoly
Definition: vpPolygon.h:108
vpRect getBoundingBox() const
Definition: vpPolygon.h:171
vpImagePoint getCenter() const
Definition: vpPolygon.h:163
vpImagePoint _center
Definition: vpPolygon.h:103
double getArea() const
Definition: vpPolygon.h:155
vpRect _bbox
Bounding box containing the polygon.
Definition: vpPolygon.h:110
PointInPolygonMethod
Definition: vpPolygon.h:113
@ PnPolySegmentIntersection
Definition: vpPolygon.h:114
std::vector< vpImagePoint > _corners
Collection of image points containing the corners.
Definition: vpPolygon.h:100
double _area
Area of the polygon.
Definition: vpPolygon.h:105
Defines a rectangle in the plane.
Definition: vpRect.h:76