#include <polygon.h>
Public Types | |
| typedef boost::shared_ptr < Polygon > | Ptr |
| typedef boost::tuple< Ptr, Ptr > | PtrPair |
Public Member Functions | |
| virtual double | area () |
| template<class PointT > | |
| void | boundariesToPointCloud (pcl::PointCloud< PointT > &output) |
| virtual Eigen::Vector3f | centroid () |
| virtual void | clearTriangleDecompositionCache () |
| virtual std::vector< Polygon::Ptr > | decomposeToTriangles () |
| virtual Eigen::Vector3f | directionAtPoint (size_t i) |
| double | distance (const Eigen::Vector3f &point) |
| Compute distance between point and this polygon. | |
| double | distance (const Eigen::Vector3f &point, Eigen::Vector3f &nearest_point) |
| Compute distance between point and this polygon. Nearest point on this polygon can be gotten. | |
| virtual void | drawLineToImage (const jsk_recognition_utils::CameraDepthSensor &model, cv::Mat &image, const cv::Scalar &color, const int line_width=1) const |
| draw line of polygons on image. | |
| std::vector< Segment::Ptr > | edges () const |
| get all the edges as point of Segment. | |
| virtual size_t | getFarestPointIndex (const Eigen::Vector3f &O) |
| virtual void | getLocalMinMax (double &min_x, double &min_y, double &max_x, double &max_y) |
| virtual PointIndexPair | getNeighborIndex (size_t index) |
| virtual Eigen::Vector3f | getNormalFromVertices () |
| virtual size_t | getNumVertices () |
| virtual Eigen::Vector3f | getVertex (size_t i) |
| virtual Vertices | getVertices () |
| virtual bool | isConvex () |
| virtual bool | isInside (const Eigen::Vector3f &p) |
| return true if p is inside of polygon. p should be in global coordinates. | |
| virtual bool | isPossibleToRemoveTriangleAtIndex (size_t index, const Eigen::Vector3f &direction) |
| virtual bool | isTriangle () |
| virtual bool | maskImage (const jsk_recognition_utils::CameraDepthSensor &model, cv::Mat &image) const |
| generate mask image of the polygon. if all the points are outside of field-of-view, returns false. | |
| virtual Eigen::Vector3f | nearestPoint (const Eigen::Vector3f &p, double &distance) |
| Compute nearest point from p on this polygon. | |
| size_t | nextIndex (size_t i) |
| Polygon (const Vertices &vertices) | |
| Polygon (const Vertices &vertices, const std::vector< float > &coefficients) | |
| size_t | previousIndex (size_t i) |
| Eigen::Vector3f | randomSampleLocalPoint (boost::mt19937 &random_generator) |
| template<class PointT > | |
| pcl::PointCloud< PointT >::Ptr | samplePoints (double grid_size) |
| virtual PtrPair | separatePolygon (size_t index) |
| virtual void | transformBy (const Eigen::Affine3d &transform) |
| transform Polygon with given transform. cached triangles is cleared. | |
| virtual void | transformBy (const Eigen::Affine3f &transform) |
| transform Polygon with given transform. cached triangles is cleared. | |
| virtual | ~Polygon () |
Static Public Member Functions | |
| static Polygon | createPolygonWithSkip (const Vertices &vertices) |
| static Polygon | fromROSMsg (const geometry_msgs::Polygon &polygon) |
| static std::vector< Polygon::Ptr > | fromROSMsg (const jsk_recognition_msgs::PolygonArray &msg, const Eigen::Affine3f &offset=Eigen::Affine3f::Identity()) |
| convert jsk_recognition_msgs::PolygonArray to std::vector<Polygon::Ptr>. It requires offset transformation in the 2nd argument. | |
| static Polygon::Ptr | fromROSMsgPtr (const geometry_msgs::Polygon &polygon) |
Protected Attributes | |
| std::vector< Polygon::Ptr > | cached_triangles_ |
| Vertices | vertices_ |
Detailed Description
Member Typedef Documentation
| typedef boost::shared_ptr<Polygon> jsk_recognition_utils::Polygon::Ptr |
Reimplemented from jsk_recognition_utils::Plane.
Reimplemented in jsk_recognition_utils::ConvexPolygon.
| typedef boost::tuple<Ptr, Ptr> jsk_recognition_utils::Polygon::PtrPair |
Constructor & Destructor Documentation
| jsk_recognition_utils::Polygon::Polygon | ( | const Vertices & | vertices | ) |
Definition at line 87 of file polygon.cpp.
| jsk_recognition_utils::Polygon::Polygon | ( | const Vertices & | vertices, |
| const std::vector< float > & | coefficients | ||
| ) |
Definition at line 94 of file polygon.cpp.
| jsk_recognition_utils::Polygon::~Polygon | ( | ) | [virtual] |
Definition at line 101 of file polygon.cpp.
Member Function Documentation
| double jsk_recognition_utils::Polygon::area | ( | ) | [virtual] |
Definition at line 127 of file polygon.cpp.
| void jsk_recognition_utils::Polygon::boundariesToPointCloud | ( | pcl::PointCloud< PointT > & | output | ) | [inline] |
| Eigen::Vector3f jsk_recognition_utils::Polygon::centroid | ( | ) | [virtual] |
Definition at line 62 of file polygon.cpp.
| virtual void jsk_recognition_utils::Polygon::clearTriangleDecompositionCache | ( | ) | [inline, virtual] |
| Polygon jsk_recognition_utils::Polygon::createPolygonWithSkip | ( | const Vertices & | vertices | ) | [static] |
Definition at line 46 of file polygon.cpp.
| std::vector< Polygon::Ptr > jsk_recognition_utils::Polygon::decomposeToTriangles | ( | ) | [virtual] |
Definition at line 482 of file polygon.cpp.
| Eigen::Vector3f jsk_recognition_utils::Polygon::directionAtPoint | ( | size_t | i | ) | [virtual] |
Definition at line 142 of file polygon.cpp.
| double jsk_recognition_utils::Polygon::distance | ( | const Eigen::Vector3f & | point | ) |
Compute distance between point and this polygon.
Definition at line 225 of file polygon.cpp.
| double jsk_recognition_utils::Polygon::distance | ( | const Eigen::Vector3f & | point, |
| Eigen::Vector3f & | nearest_point | ||
| ) |
Compute distance between point and this polygon. Nearest point on this polygon can be gotten.
Definition at line 231 of file polygon.cpp.
| void jsk_recognition_utils::Polygon::drawLineToImage | ( | const jsk_recognition_utils::CameraDepthSensor & | model, |
| cv::Mat & | image, | ||
| const cv::Scalar & | color, | ||
| const int | line_width = 1 |
||
| ) | const [virtual] |
draw line of polygons on image.
Definition at line 442 of file polygon.cpp.
| std::vector< Segment::Ptr > jsk_recognition_utils::Polygon::edges | ( | ) | const |
get all the edges as point of Segment.
Definition at line 212 of file polygon.cpp.
| Polygon jsk_recognition_utils::Polygon::fromROSMsg | ( | const geometry_msgs::Polygon & | polygon | ) | [static] |
Reimplemented in jsk_recognition_utils::ConvexPolygon.
Definition at line 564 of file polygon.cpp.
| std::vector< Polygon::Ptr > jsk_recognition_utils::Polygon::fromROSMsg | ( | const jsk_recognition_msgs::PolygonArray & | msg, |
| const Eigen::Affine3f & | offset = Eigen::Affine3f::Identity() |
||
| ) | [static] |
convert jsk_recognition_msgs::PolygonArray to std::vector<Polygon::Ptr>. It requires offset transformation in the 2nd argument.
Definition at line 588 of file polygon.cpp.
| Polygon::Ptr jsk_recognition_utils::Polygon::fromROSMsgPtr | ( | const geometry_msgs::Polygon & | polygon | ) | [static] |
Reimplemented in jsk_recognition_utils::ConvexPolygon.
Definition at line 576 of file polygon.cpp.
| size_t jsk_recognition_utils::Polygon::getFarestPointIndex | ( | const Eigen::Vector3f & | O | ) | [virtual] |
Definition at line 106 of file polygon.cpp.
| void jsk_recognition_utils::Polygon::getLocalMinMax | ( | double & | min_x, |
| double & | min_y, | ||
| double & | max_x, | ||
| double & | max_y | ||
| ) | [virtual] |
Definition at line 166 of file polygon.cpp.
| PointIndexPair jsk_recognition_utils::Polygon::getNeighborIndex | ( | size_t | index | ) | [virtual] |
Definition at line 121 of file polygon.cpp.
| Eigen::Vector3f jsk_recognition_utils::Polygon::getNormalFromVertices | ( | ) | [virtual] |
Definition at line 533 of file polygon.cpp.
| size_t jsk_recognition_utils::Polygon::getNumVertices | ( | ) | [virtual] |
Definition at line 267 of file polygon.cpp.
| Eigen::Vector3f jsk_recognition_utils::Polygon::getVertex | ( | size_t | i | ) | [virtual] |
Definition at line 271 of file polygon.cpp.
| virtual Vertices jsk_recognition_utils::Polygon::getVertices | ( | ) | [inline, virtual] |
| bool jsk_recognition_utils::Polygon::isConvex | ( | ) | [virtual] |
Definition at line 464 of file polygon.cpp.
| bool jsk_recognition_utils::Polygon::isInside | ( | const Eigen::Vector3f & | p | ) | [virtual] |
return true if p is inside of polygon. p should be in global coordinates.
Definition at line 600 of file polygon.cpp.
| bool jsk_recognition_utils::Polygon::isPossibleToRemoveTriangleAtIndex | ( | size_t | index, |
| const Eigen::Vector3f & | direction | ||
| ) | [virtual] |
Definition at line 305 of file polygon.cpp.
| bool jsk_recognition_utils::Polygon::isTriangle | ( | ) | [virtual] |
Definition at line 162 of file polygon.cpp.
| bool jsk_recognition_utils::Polygon::maskImage | ( | const jsk_recognition_utils::CameraDepthSensor & | model, |
| cv::Mat & | image | ||
| ) | const [virtual] |
generate mask image of the polygon. if all the points are outside of field-of-view, returns false.
Definition at line 412 of file polygon.cpp.
| Eigen::Vector3f jsk_recognition_utils::Polygon::nearestPoint | ( | const Eigen::Vector3f & | p, |
| double & | distance | ||
| ) | [virtual] |
Compute nearest point from p on this polygon.
This method first project p onth the polygon and if the projected point is inside of polygon, the projected point is the nearest point. If not, distances between the point and edges are computed and search the nearest point.
In case of searching edges, it is achieved in brute-force searching and if the number of edges is huge, it may take a lot of time to compute.
This method cannot be used for const instance because triangle decomposition will change the cache in the instance.
Distance between p and nearest point is stored in distance.
Definition at line 239 of file polygon.cpp.
| size_t jsk_recognition_utils::Polygon::nextIndex | ( | size_t | i | ) |
Definition at line 554 of file polygon.cpp.
| size_t jsk_recognition_utils::Polygon::previousIndex | ( | size_t | i | ) |
Definition at line 544 of file polygon.cpp.
| Eigen::Vector3f jsk_recognition_utils::Polygon::randomSampleLocalPoint | ( | boost::mt19937 & | random_generator | ) |
Definition at line 185 of file polygon.cpp.
| pcl::PointCloud<PointT>::Ptr jsk_recognition_utils::Polygon::samplePoints | ( | double | grid_size | ) | [inline] |
| Polygon::PtrPair jsk_recognition_utils::Polygon::separatePolygon | ( | size_t | index | ) | [virtual] |
Definition at line 275 of file polygon.cpp.
| void jsk_recognition_utils::Polygon::transformBy | ( | const Eigen::Affine3d & | transform | ) | [virtual] |
transform Polygon with given transform. cached triangles is cleared.
Definition at line 389 of file polygon.cpp.
| void jsk_recognition_utils::Polygon::transformBy | ( | const Eigen::Affine3f & | transform | ) | [virtual] |
transform Polygon with given transform. cached triangles is cleared.
Definition at line 396 of file polygon.cpp.
Member Data Documentation
std::vector<Polygon::Ptr> jsk_recognition_utils::Polygon::cached_triangles_ [protected] |
Vertices jsk_recognition_utils::Polygon::vertices_ [protected] |
The documentation for this class was generated from the following files: