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| virtual double | area () |
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| template<class PointT > |
| void | boundariesToPointCloud (pcl::PointCloud< PointT > &output) |
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| virtual Eigen::Vector3f | centroid () |
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| virtual void | clearTriangleDecompositionCache () |
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| virtual std::vector< Polygon::Ptr > | decomposeToTriangles () |
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| virtual Eigen::Vector3f | directionAtPoint (size_t i) |
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| double | distance (const Eigen::Vector3f &point) |
| | Compute distance between point and this polygon. More...
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| 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. More...
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| 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. More...
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| std::vector< Segment::Ptr > | edges () const |
| | get all the edges as point of Segment. More...
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| virtual size_t | getFarestPointIndex (const Eigen::Vector3f &O) |
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| virtual void | getLocalMinMax (double &min_x, double &min_y, double &max_x, double &max_y) |
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| virtual PointIndexPair | getNeighborIndex (size_t index) |
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| virtual Eigen::Vector3f | getNormalFromVertices () |
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| virtual size_t | getNumVertices () |
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| virtual Eigen::Vector3f | getVertex (size_t i) |
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| virtual Vertices | getVertices () |
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| virtual bool | isConvex () |
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| virtual bool | isInside (const Eigen::Vector3f &p) |
| | return true if p is inside of polygon. p should be in global coordinates. More...
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| virtual bool | isPossibleToRemoveTriangleAtIndex (size_t index, const Eigen::Vector3f &direction) |
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| virtual bool | isTriangle () |
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| 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. More...
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| virtual Eigen::Vector3f | nearestPoint (const Eigen::Vector3f &p, double &distance) |
| | Compute nearest point from p on this polygon. More...
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| size_t | nextIndex (size_t i) |
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| | Polygon (const Vertices &vertices) |
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| | Polygon (const Vertices &vertices, const std::vector< float > &coefficients) |
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| size_t | previousIndex (size_t i) |
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| Eigen::Vector3f | randomSampleLocalPoint (boost::mt19937 &random_generator) |
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| template<class PointT > |
| pcl::PointCloud< PointT >::Ptr | samplePoints (double grid_size) |
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| virtual PtrPair | separatePolygon (size_t index) |
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| virtual void | transformBy (const Eigen::Affine3d &transform) |
| | transform Polygon with given transform. cached triangles is cleared. More...
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| virtual void | transformBy (const Eigen::Affine3f &transform) |
| | transform Polygon with given transform. cached triangles is cleared. More...
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| virtual | ~Polygon () |
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| virtual double | angle (const Plane &another) |
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| virtual double | angle (const Eigen::Vector3f &vector) |
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| virtual Eigen::Affine3f | coordinates () |
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| virtual double | distance (const Plane &another) |
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| virtual double | distanceToPoint (const Eigen::Vector4f p) |
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| virtual double | distanceToPoint (const Eigen::Vector3f p) |
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| virtual Plane::Ptr | faceToOrigin () |
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| virtual Plane | flip () |
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| virtual double | getD () |
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| virtual Eigen::Vector3f | getNormal () |
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| virtual Eigen::Vector3f | getPointOnPlane () |
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| virtual bool | isSameDirection (const Plane &another) |
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| virtual bool | isSameDirection (const Eigen::Vector3f &another_normal) |
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| | Plane (const std::vector< float > &coefficients) |
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| | Plane (const boost::array< float, 4 > &coefficients) |
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| | Plane (Eigen::Vector3f normal, double d) |
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| | Plane (Eigen::Vector3f normal, Eigen::Vector3f p) |
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| virtual void | project (const Eigen::Vector3f &p, Eigen::Vector3f &output) |
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| virtual void | project (const Eigen::Vector3d &p, Eigen::Vector3d &output) |
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| virtual void | project (const Eigen::Vector3d &p, Eigen::Vector3f &output) |
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| virtual void | project (const Eigen::Vector3f &p, Eigen::Vector3d &output) |
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| virtual void | project (const Eigen::Affine3d &pose, Eigen::Affine3d &output) |
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| virtual void | project (const Eigen::Affine3f &pose, Eigen::Affine3f &output) |
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| virtual double | signedDistanceToPoint (const Eigen::Vector4f p) |
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| virtual double | signedDistanceToPoint (const Eigen::Vector3f p) |
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| virtual void | toCoefficients (std::vector< float > &output) |
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| virtual std::vector< float > | toCoefficients () |
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| virtual Plane | transform (const Eigen::Affine3d &transform) |
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| virtual Plane | transform (const Eigen::Affine3f &transform) |
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| virtual | ~Plane () |
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Definition at line 55 of file polygon.h.
| Eigen::Vector3f jsk_recognition_utils::Polygon::nearestPoint |
( |
const Eigen::Vector3f & |
p, |
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double & |
distance |
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) |
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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.
Public Types inherited from jsk_recognition_utils::Plane