cob_3d_mapping::FOVSegmentation Class Reference

Class for segmenting a polygon array by the field of view of a camera. More...

#include <fov_segmentation.h>

List of all members.

Public Types
typedef std::vector < Polygon::Ptr >::iterator	polygon_iterator
Public Member Functions
void	compute (std::vector< Polygon::Ptr > &polygons)
	Compute an return the polygons inside the FOV frustum.
	FOVSegmentation ()
void	setFOV (FieldOfView &fov)
	Set the FOV.
void	setShapeArray (std::vector< Polygon::Ptr > &polygons)
	Set the polygon array.
	~FOVSegmentation ()
Protected Member Functions
bool	ccw (Eigen::Vector2f &a, Eigen::Vector2f &b, Eigen::Vector2f &c)
	Check if three points are sorted counterclockwise.
void	clipFOVandPlane (Polygon::Ptr &poly, std::vector< Eigen::Vector3f > &intersections)
	Clip the FOV with a planar polygon.
Protected Attributes
FieldOfView	fov_
	The field of view.
std::vector< Polygon::Ptr >	polygons_in_
	The input polygon array.

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Detailed Description

Class for segmenting a polygon array by the field of view of a camera.

Definition at line 78 of file fov_segmentation.h.

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Member Typedef Documentation

typedef std::vector<Polygon::Ptr>::iterator cob_3d_mapping::FOVSegmentation::polygon_iterator

Definition at line 81 of file fov_segmentation.h.

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Constructor & Destructor Documentation

FOVSegmentation::FOVSegmentation

(

)

Empty Constructor

Definition at line 72 of file fov_segmentation.cpp.

cob_3d_mapping::FOVSegmentation::~FOVSegmentation

(

)

[inline]

Empty Destructor

void

Definition at line 87 of file fov_segmentation.h.

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Member Function Documentation

bool FOVSegmentation::ccw	(	Eigen::Vector2f &	a,
		Eigen::Vector2f &	b,
		Eigen::Vector2f &	c
	)		[protected]

Check if three points are sorted counterclockwise.

Parameters:

[in]	a	The first point.
[in]	b	The second point.
[in]	c	The third point.

Returns:

True, if the points are counterclockwise.

Definition at line 76 of file fov_segmentation.cpp.

void FOVSegmentation::clipFOVandPlane	(	Polygon::Ptr &	poly,
		std::vector< Eigen::Vector3f > &	intersections
	)		[protected]

Clip the FOV with a planar polygon.

Parameters:

[in]	poly	The polygon to be clipped.
[out]	The	intersection points between FOV and polygon.

Definition at line 148 of file fov_segmentation.cpp.

void FOVSegmentation::compute

(

std::vector< Polygon::Ptr > &

polygons

)

Compute an return the polygons inside the FOV frustum.

Parameters:

[out]

polygons

The polygons inside the frustum.

Definition at line 81 of file fov_segmentation.cpp.

void cob_3d_mapping::FOVSegmentation::setFOV

(

FieldOfView &

fov

)

[inline]

Set the FOV.

Parameters:

[in]

fov

Field of view.

Definition at line 97 of file fov_segmentation.h.

void cob_3d_mapping::FOVSegmentation::setShapeArray

(

std::vector< Polygon::Ptr > &

polygons

)

[inline]

Set the polygon array.

Parameters:

[in]

polygons

The polygon array.

Definition at line 106 of file fov_segmentation.h.

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Member Data Documentation

FieldOfView cob_3d_mapping::FOVSegmentation::fov_ [protected]

The field of view.

Definition at line 143 of file fov_segmentation.h.

std::vector<Polygon::Ptr> cob_3d_mapping::FOVSegmentation::polygons_in_ [protected]

The input polygon array.

Definition at line 141 of file fov_segmentation.h.

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The documentation for this class was generated from the following files:

• fov_segmentation.h
• fov_segmentation.cpp