vpPolygon.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Defines a generic 2D polygon.
 */
 
#ifndef VP_POLYGON_H
#define VP_POLYGON_H
 
#include <list>
#include <vector>
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRect.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPolygon
{
public:
  enum PointInPolygonMethod
  {
    PnPolySegmentIntersection, 
    PnPolyRayCasting           
  };
 
  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 { return _corners; }
 
  inline double getArea() const { return this->_area; }
 
  inline vpImagePoint getCenter() const { return this->_center; }
 
  inline vpRect getBoundingBox() const { return _bbox; }
 
  //###################
  // Static Functions
  //###################
  static bool isInside(const std::vector<vpImagePoint> &roi, const double &i, const double &j,
                       const PointInPolygonMethod &method = PnPolyRayCasting);
 
protected:
  void init(const std::vector<vpImagePoint> &corners);
  void init(const std::list<vpImagePoint> &corners);
  void updateArea();
  void updateCenter();
  void updateBoundingBox();
 
protected:
  std::vector<vpImagePoint> _corners;
  vpImagePoint _center;
  double _area;
  bool _goodPoly;
  vpRect _bbox;
 
private:
  bool testIntersectionSegments(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpImagePoint &ip3,
                                const vpImagePoint &ip4) const;
  void precalcValuesPnPoly();
 
  std::vector<double> m_PnPolyConstants;
  std::vector<double> m_PnPolyMultiples;
};
END_VISP_NAMESPACE
#endif