Polygon3D¶

class Polygon3D(*args, **kwargs)¶

Bases: pybind11_object

Implements a 3D polygon with render functionalities like clipping.

Overloaded function.

__init__(self: visp._visp.core.Polygon3D) -> None

Basic constructor.

__init__(self: visp._visp.core.Polygon3D, mbtp: visp._visp.core.Polygon3D) -> None

Methods

`__init__`	Overloaded function.
`addPoint`	Add a corner point to the list of polygon's corners.
`changeFrame`	Project the 3D corner points into the image thanks to the pose of the camera.
`computePolygonClipped`	Compute the region of interest in the image according to the used clipping.
`getClippedPolygon`	Static method to compute the clipped points from a set of initial points.
`getClipping`	Get the clipping used.
`getFarClippingDistance`	Get the far distance for clipping.
`getMinMaxRoi`	return: A tuple containing:
`getNbCornerInsideImage`	Static method to check the number of points of a region defined by the vector of image point that are inside the image.
`getNbCornerInsidePrevImage`	Return the number of corners at the previous computation.
`getNbPoint`	Return the number of corners.
`getNearClippingDistance`	Get the near distance for clipping.
`getPoint`	Get a reference to a corner.
`getPolygonClipped`	Get the 3D clipped points.
`getPolygonClippedWithInfo`	Get the 3D clipped points and their clipping information.
`getRoi`	Overloaded function.
`getRoiClipped`	Overloaded function.
`roiInsideImage`	Static method to check whether the region defined by the vector of image point is contained entirely in the image.
`setClipping`	Specify which clipping to use.
`setFarClippingDistance`	Set the far distance for clipping.
`setNbPoint`	Set the number of points which are the corners of the polygon.
`setNearClippingDistance`	Set the near distance for clipping.

Inherited Methods

Operators

`__doc__`
`__init__`	Overloaded function.
`__module__`

Attributes

`ALL_CLIPPING`
`DOWN_CLIPPING`
`FAR_CLIPPING`
`FOV_CLIPPING`
`LEFT_CLIPPING`
`NEAR_CLIPPING`
`NO_CLIPPING`
`RIGHT_CLIPPING`
`UP_CLIPPING`
`__annotations__`
`clippingFlag`
`distFarClip`
`distNearClip`
`nbCornersInsidePrev`
`nbpt`
`polyClipped`

class Polygon3DClippingType(self, value: int)¶

Bases: pybind11_object

Values:

NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: visp._visp.core.Polygon3D) -> None

Basic constructor.

__init__(self: visp._visp.core.Polygon3D, mbtp: visp._visp.core.Polygon3D) -> None

addPoint(self, n: int, P: visp._visp.core.Point) → None¶

Add a corner point to the list of polygon’s corners.

Parameters:

n: int¶: The index of the corner.
P: visp._visp.core.Point¶: The point to add.

changeFrame(self, cMo: visp._visp.core.HomogeneousMatrix) → None¶

Project the 3D corner points into the image thanks to the pose of the camera.

Parameters:

cMo: visp._visp.core.HomogeneousMatrix¶: The pose of the camera.

computePolygonClipped(self, cam: visp._visp.core.CameraParameters = vpCameraParameters()) → None¶

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: visp._visp.core.CameraParameters = vpCameraParameters()¶: camera parameters used to compute the field of view.

static getClippedPolygon(ptIn: list[visp._visp.core.Point], cMo: visp._visp.core.HomogeneousMatrix, clippingFlags: int, cam: visp._visp.core.CameraParameters = vpCameraParameters(), znear: float = 0.001, zfar: float = 100) → list[visp._visp.core.Point]¶

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: list[visp._visp.core.Point]¶: Input points
cMo: visp._visp.core.HomogeneousMatrix¶: Pose considered for the clipping.
clippingFlags: int¶: Clipping flag (see vpPolygon3D::vpPolygon3DClippingType ).
cam: visp._visp.core.CameraParameters = vpCameraParameters()¶: Camera parameters (Only used if clipping flags contain FOV clipping).
znear: float = 0.001¶: Near clipping distance value (Only used if clipping flags contain Near clipping).
zfar: float = 100¶: Far clipping distance value (Only used if clipping flags contain Far clipping).

Returns:

A tuple containing:

ptOut: Output points (result of the clipping).

getClipping(self) → int¶

Get the clipping used.

Returns:: Clipping flags.

getFarClippingDistance(self) → float¶

Get the far distance for clipping.

Returns:: Far clipping value.

static getMinMaxRoi(roi: list[visp._visp.core.ImagePoint]) → tuple[int, int, int, int]¶

Returns:

A tuple containing:

i_min
i_max
j_min
j_max

getNbCornerInsideImage(self, I: visp._visp.core.ImageGray, cam: visp._visp.core.CameraParameters) → int¶

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: visp._visp.core.ImageGray¶: The image used for its size.
cam: visp._visp.core.CameraParameters¶: The camera parameters.

getNbCornerInsidePrevImage(self) → int¶

Return the number of corners at the previous computation.

Returns:: number of corner of the face at the previous computation

getNbPoint(self) → int¶

Return the number of corners.

Returns:: number of corner of the face

getNearClippingDistance(self) → float¶

Get the near distance for clipping.

Returns:: Near clipping value.

getPoint(self, _index: int) → visp._visp.core.Point¶

Get a reference to a corner.

Parameters:

_index: int¶: the index of the corner

getPolygonClipped(self) → list[visp._visp.core.Point]¶

Get the 3D clipped points.

Warning

Suppose that changeFrame() and computePolygonClipped() have already been called.

Returns:

A tuple containing:

poly: resulting points.

getPolygonClippedWithInfo(self) → list[tuple[visp._visp.core.Point, int]]¶

Get the 3D clipped points and their clipping information.

Warning

Suppose that changeFrame() and computePolygonClipped() have already been called.

Returns:

A tuple containing:

poly: resulting points plus clipping information.

getRoi(*args, **kwargs)¶

Overloaded function.

getRoi(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters) -> list[visp._visp.core.ImagePoint]

Get the region of interest in the image.

Parameters:

cam: camera parameters.

Returns:

Image point corresponding to the region of interest.

getRoi(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters, cMo: visp._visp.core.HomogeneousMatrix) -> list[visp._visp.core.ImagePoint]

Get the region of interest in the image.

Parameters:

cam: camera parameters.
cMo: pose.

Returns:

Image point corresponding to the region of interest.

getRoiClipped(*args, **kwargs)¶

Overloaded function.

getRoiClipped(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters) -> list[visp._visp.core.ImagePoint]

Get the region of interest clipped in the image.

Warning

Suppose that changeFrame() and computePolygonClipped() have already been called.

Parameters:

cam: camera parameters.

Returns:

A tuple containing:

roi: image point corresponding to the region of interest.

getRoiClipped(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters, cMo: visp._visp.core.HomogeneousMatrix) -> list[visp._visp.core.ImagePoint]

Get the region of interest clipped in the image.

Parameters:

cam: camera parameters.
cMo: pose.

Returns:

A tuple containing:

roi: image point corresponding to the region of interest.

getRoiClipped(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters) -> list[tuple[visp._visp.core.ImagePoint, int]]

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.

Returns:

A tuple containing:

roi: image point corresponding to the region of interest with clipping information.

getRoiClipped(self: visp._visp.core.Polygon3D, cam: visp._visp.core.CameraParameters, cMo: visp._visp.core.HomogeneousMatrix) -> list[tuple[visp._visp.core.ImagePoint, int]]

Get the region of interest clipped in the image and the information to know if it’s a clipped point.

Parameters:

cam: camera parameters.
cMo: pose.

Returns:

A tuple containing:

roi: image point corresponding to the region of interest with clipping information.

static roiInsideImage(I: visp._visp.core.ImageGray, corners: list[visp._visp.core.ImagePoint]) → bool¶

Static method to check whether the region defined by the vector of image point is contained entirely in the image.

Parameters:

I: visp._visp.core.ImageGray¶: The image used for its size.
corners: list[visp._visp.core.ImagePoint]¶: The vector of points defining a region

setClipping(self, flags: int) → None¶

Specify which clipping to use.

Note

See vpPolygon3DClipping

Parameters:

flags: int¶: New clipping flags.

setFarClippingDistance(self, dist: float) → None¶

Set the far distance for clipping.

Parameters:

dist: float¶: Far clipping value.

setNbPoint(self, nb: int) → None¶

Set the number of points which are the corners of the polygon.

Parameters:

nb: int¶: The number of corners.

setNearClippingDistance(self, dist: float) → None¶

Set the near distance for clipping.

Parameters:

dist: float¶: Near clipping value.