43 #include <visp3/core/vpDisplay.h>
44 #include <visp3/core/vpException.h>
45 #include <visp3/core/vpMeterPixelConversion.h>
46 #include <visp3/core/vpPolygon.h>
47 #include <visp3/core/vpUniRand.h>
55 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
57 std::vector<vpImagePoint> corners;
73 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
75 if (corners.size() < 3) {
90 : _corners(), _center(), _area(0.), _goodPoly(true), _bbox(), m_PnPolyConstants(), m_PnPolyMultiples()
92 if (corners.size() < 3) {
104 : _corners(poly._corners), _center(poly._center), _area(poly._area), _goodPoly(poly._goodPoly), _bbox(poly._bbox),
105 m_PnPolyConstants(poly.m_PnPolyConstants), m_PnPolyMultiples(poly.m_PnPolyMultiples)
126 m_PnPolyConstants = poly.m_PnPolyConstants;
127 m_PnPolyMultiples = poly.m_PnPolyMultiples;
165 std::vector<vpImagePoint> ipCorners(corners.size());
166 for (
unsigned int i = 0; i < corners.size(); ++i) {
182 unsigned int thickness)
187 std::vector<vpImagePoint> cornersClick;
193 cornersClick.push_back(ip);
216 std::vector<vpImagePoint> cornersClick;
222 cornersClick.push_back(ip);
247 precalcValuesPnPoly();
267 precalcValuesPnPoly();
290 double denominator = di1 * dj2 - dj1 * di2;
292 if (fabs(denominator) < std::numeric_limits<double>::epsilon()) {
296 double alpha = -((ip1.
get_i() - ip3.
get_i()) * dj2 + di2 * (ip3.
get_j() - ip1.
get_j())) / denominator;
297 if (alpha < 0 || alpha >= 1) {
301 double beta = -(di1 * (ip3.
get_j() - ip1.
get_j()) + dj1 * (ip1.
get_i() - ip3.
get_i())) / denominator;
302 if (beta < 0 || beta >= 1) {
328 infPoint.set_i(infPoint.get_i() + 1000 * generator());
329 infPoint.set_j(infPoint.get_j() + 1000 * generator());
335 bool oddNbIntersections =
false;
336 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
339 bool intersection =
false;
347 intersection = testIntersectionSegments(ip1, ip2, ip, infPoint);
353 oddNbIntersections = !oddNbIntersections;
357 test = oddNbIntersections;
363 bool oddNodes =
false;
367 oddNodes ^= (ip.
get_v() * m_PnPolyMultiples[i] + m_PnPolyConstants[i] < ip.
get_u());
380 void vpPolygon::precalcValuesPnPoly()
386 m_PnPolyConstants.resize(
_corners.size());
387 m_PnPolyMultiples.resize(
_corners.size());
391 m_PnPolyConstants[i] =
_corners[i].get_u();
392 m_PnPolyMultiples[i] = 0.0;
394 m_PnPolyConstants[i] =
_corners[i].get_u() -
422 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
423 unsigned int i_p_1 = (i + 1) %
_corners.size();
454 for(
unsigned int i=0; i<(
_corners.size()-1); ++i){
462 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
463 unsigned int i_p_1 = (i + 1) %
_corners.size();
495 std::set<double> setI;
496 std::set<double> setJ;
497 for (
unsigned int i = 0; i <
_corners.size(); ++i) {
502 std::set<double>::const_iterator iterI = setI.end();
503 std::set<double>::const_iterator iterJ = setJ.end();
525 const unsigned int N = (
unsigned int)
_corners.size();
526 for (
unsigned int i = 0; i < N; ++i) {
542 bool vpPolygon::isInside(
const std::vector<vpImagePoint> &roi,
const double &i,
const double &j,
543 const PointInPolygonMethod &method)