Visual Servoing Platform version 3.5.0
vpPolygon.h
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30 *
31 * Description:
32 * Defines a generic 2D polygon.
33 *
34 * Author:
35 * Amaury Dame
36 * Nicolas Melchior
37 * Romain Tallonneau
38 *
39 *****************************************************************************/
40
41#ifndef vpPolygon_h
42#define vpPolygon_h
43
44#include <list>
45#include <vector>
46
47#include <visp3/core/vpCameraParameters.h>
48#include <visp3/core/vpColor.h>
49#include <visp3/core/vpImage.h>
50#include <visp3/core/vpImagePoint.h>
51#include <visp3/core/vpPoint.h>
52#include <visp3/core/vpRect.h>
53
103class VISP_EXPORT vpPolygon
104{
105protected:
107 std::vector<vpImagePoint> _corners;
112 double _area;
118
119public:
122 PnPolyRayCasting
124 };
125
126 vpPolygon();
127 explicit vpPolygon(const std::vector<vpImagePoint> &corners);
128 explicit vpPolygon(const std::list<vpImagePoint> &corners);
129 vpPolygon(const vpPolygon &poly);
130 virtual ~vpPolygon();
131
132 vpPolygon &operator=(const vpPolygon &poly);
133
134 void buildFrom(const std::vector<vpImagePoint> &corners);
135 void buildFrom(const std::list<vpImagePoint> &corners);
136 void buildFrom(const std::vector<vpPoint> &corners, const vpCameraParameters &cam);
137
138 unsigned int getSize() const;
139 void initClick(const vpImage<unsigned char> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
140 unsigned int thickness = 1);
141 void initClick(const vpImage<vpRGBa> &I, unsigned int size = 5, const vpColor &color = vpColor::red,
142 unsigned int thickness = 1);
143
144 bool isInside(const vpImagePoint &iP, const PointInPolygonMethod &method = PnPolyRayCasting) const;
145
146 void display(const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness = 1) const;
147
153 const std::vector<vpImagePoint> &getCorners() const { return _corners; }
154
161 inline double getArea() const { return this->_area; }
162
169 inline vpImagePoint getCenter() const { return this->_center; }
170
177 inline vpRect getBoundingBox() const { return _bbox; }
178
179protected:
180 void init(const std::vector<vpImagePoint> &corners);
181 void init(const std::list<vpImagePoint> &corners);
182 void updateArea();
183 void updateCenter();
184 void updateBoundingBox();
185
186private:
187 bool testIntersectionSegments(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpImagePoint &ip3,
188 const vpImagePoint &ip4) const;
189 void precalcValuesPnPoly();
190
191 std::vector<double> m_PnPolyConstants;
192 std::vector<double> m_PnPolyMultiples;
193
194 //###################
195 // Static Functions
196 //###################
197
198public:
199 static bool isInside(const std::vector<vpImagePoint> &roi, const double &i, const double &j,
200 const PointInPolygonMethod &method = PnPolyRayCasting);
201};
202
203#endif
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor red
Definition: vpColor.h:217
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Defines a generic 2D polygon.
Definition: vpPolygon.h:104
bool _goodPoly
Definition: vpPolygon.h:115
vpRect getBoundingBox() const
Definition: vpPolygon.h:177
vpImagePoint getCenter() const
Definition: vpPolygon.h:169
const std::vector< vpImagePoint > & getCorners() const
Definition: vpPolygon.h:153
vpImagePoint _center
Definition: vpPolygon.h:110
double getArea() const
Definition: vpPolygon.h:161
vpRect _bbox
Bounding box containing the polygon.
Definition: vpPolygon.h:117
PointInPolygonMethod
Definition: vpPolygon.h:120
@ PnPolySegmentIntersection
Definition: vpPolygon.h:121
std::vector< vpImagePoint > _corners
Collection of image points containing the corners.
Definition: vpPolygon.h:107
double _area
Area of the polygon.
Definition: vpPolygon.h:112
Defines a rectangle in the plane.
Definition: vpRect.h:80