Class representing Polygon shapes. More...

#include <polygon.h>

Inheritance diagram for cob_3d_mapping::Polygon:

Public Types
typedef boost::shared_ptr < const Polygon >	ConstPtr
	Const. Polygon pointer.
typedef boost::shared_ptr < Polygon >	Ptr
	Polygon pointer.
Public Member Functions
void	assignWeight ()
	Assign merge weight to Polygon.
double	computeArea3d () const
	Computation of area of 2D polygon.
Eigen::Vector3f	computeCentroid ()
	Computation of centroid of polygn.
Eigen::Vector3f	computeCentroid (std::vector< std::vector< Eigen::Vector3f > > &contours_3d)
void	computePose (std::vector< std::vector< Eigen::Vector3f > > &contours_3d)
float	computeSimilarity (const Polygon::Ptr &poly) const
	Compute similarity of two polygons.
void	debugOutput (std::string name)
	Computation of bounding box and pose of structure.
bool	getContourOverlap (const Polygon::Ptr &poly, float &rel_overlap, int &abs_overlap) const
	Compute overlap of two Polygons.
std::vector< std::vector < Eigen::Vector2f > >	getContours2D ()
virtual std::vector < std::vector< Eigen::Vector3f > >	getContours3D ()
virtual void	getMergeCandidates (const std::vector< Polygon::Ptr > &poly_vec, std::vector< int > &intersections) const
	Check for merge candidates.
bool	hasSimilarParametersWith (const Polygon::Ptr &poly) const
	Check for similar polygon parameters.
virtual bool	isIntersectedWith (const Polygon::Ptr &poly) const
	Check for intersection of two polygons.
virtual void	merge (std::vector< Polygon::Ptr > &poly_vec)
	Merging of polygons.
void	mergeDifference (Polygon::Ptr &p_merge)
size_t	outerContourIndex () const
	Get index of first non-hole contour.
	Polygon ()
	Constructor for Polygon object.
	Polygon (unsigned int id, Eigen::Vector3f normal, Eigen::Vector3f centroid, std::vector< std::vector< Eigen::Vector3f > > &contours_3d, std::vector< bool > holes, std::vector< float > color)
	Get point on polygon.
	Polygon (unsigned int id, Eigen::Vector3f normal, Eigen::Vector3f centroid, std::vector< pcl::PointCloud< pcl::PointXYZ > > &contours_3d, std::vector< bool > holes, std::vector< float > color)
virtual void	projectContour (const Polygon &p, std::vector< std::vector< Eigen::Vector2f > > &contours) const
void	setContours2D (std::vector< std::vector< Eigen::Vector2f > > &contours_2d)
virtual void	setContours3D (std::vector< std::vector< Eigen::Vector3f > > &contours_3d)
virtual void	setParamsFrom (Polygon::Ptr &p)
void	smoothContours ()
	Smooth contours of polygon.
virtual void	transform (const Eigen::Affine3f &trafo)
	Transform polygon to target coordinate system.
virtual void	triangulate (list< TPPLPoly > &tri_list) const
virtual void	updateAttributes (const Eigen::Vector3f &new_normal, const Eigen::Vector3f &new_centroid)
	Compute attributes for Polygon.
Public Attributes
std::vector< std::vector < Eigen::Vector2f > >	contours_
double	d_
std::vector< bool >	holes_
MergeConfig	merge_settings_
double	merge_weight_
Eigen::Vector3f	normal_
Protected Member Functions
void	applyGpcStructure (const gpc_polygon *gpc_p)
	Conversion from GPC structure to polygon.
void	assignID (const std::vector< Polygon::Ptr > &poly_vec)
	Assign ID to Polygon.
virtual void	computeAverage (const std::vector< Polygon::Ptr > &poly_vec, Polygon::Ptr &p_average)
	Average polygon is calculated.
void	getGpcStructure (gpc_polygon *gpc_p, const std::vector< std::vector< Eigen::Vector2f > > &contours) const
	Get 2D GPC structure from polygon.
void	getIntersection (const Polygon::Ptr &poly, gpc_polygon *gpc_intersection) const
	Get intersection of two polygons.
void	mergeUnion (std::vector< Polygon::Ptr > &poly_vec, Polygon::Ptr &p_average)
	Calculate merge union of Polygons.
Protected Attributes
DominantColor	d_color_

Detailed Description

Class representing Polygon shapes.

Note:: Comparison and Merging of Polygons is handled.

Definition at line 120 of file polygon.h.

Member Typedef Documentation

typedef boost::shared_ptr<const Polygon> cob_3d_mapping::Polygon::ConstPtr

Const. Polygon pointer.

Const boost shared pointer to polygon.

Definition at line 131 of file polygon.h.

typedef boost::shared_ptr<Polygon> cob_3d_mapping::Polygon::Ptr

Polygon pointer.

Boost shared pointer to polygon.

Reimplemented from cob_3d_mapping::Shape.

Reimplemented in cob_3d_mapping::Cylinder.

Definition at line 126 of file polygon.h.

Constructor & Destructor Documentation

cob_3d_mapping::Polygon::Polygon ( ) [inline]

Constructor for Polygon object.

Definition at line 136 of file polygon.h.

cob_3d_mapping::Polygon::Polygon	(	unsigned int	id,
		Eigen::Vector3f	normal,
		Eigen::Vector3f	centroid,
		std::vector< std::vector< Eigen::Vector3f > > &	contours_3d,
		std::vector< bool >	holes,
		std::vector< float >	color
	)

Get point on polygon.

Point on polygon is calculated with distance d in normal direction.

Parameters:

normal	Normal of the polygon
d	Parameter from plane equation ax+by+cz=d Get axes of coordinate system on plane.

Calculation of axes cartesian coordinate system using one given axis.

Parameters:

normal	Axis coordinate system is oriented to.
v	Axis orthogonal to normal
u	Axis completing the Gaussian three-leg Copy GPC structure Smooth contours of GPC structure

Outline of GPC structure is smoothed using a path smoothing algorithm.

Parameters:

gpc_in	Input GPC structure
gpc_out	Output GPC structure

Definition at line 178 of file polygon.cpp.

cob_3d_mapping::Polygon::Polygon	(	unsigned int	id,
		Eigen::Vector3f	normal,
		Eigen::Vector3f	centroid,
		std::vector< pcl::PointCloud< pcl::PointXYZ > > &	contours_3d,
		std::vector< bool >	holes,
		std::vector< float >	color
	)

Definition at line 201 of file polygon.cpp.

Member Function Documentation

void cob_3d_mapping::Polygon::applyGpcStructure ( const gpc_polygon * gpc_p ) [protected]

Conversion from GPC structure to polygon.

Transformation from 2D GPC structure to 3D polygon object using an external transformation.

Parameters:

[in]	external_trafo	from 2D to 3D
[in]	gpc_p	Input GPC structure

Definition at line 717 of file polygon.cpp.

void cob_3d_mapping::Polygon::assignID ( const std::vector< Polygon::Ptr > & poly_vec ) [protected]

Assign ID to Polygon.

Lowest ID of input vector is assigned to Polygon.

Parameters:

[in] poly_vec Vector with Polygon pointers.

Definition at line 617 of file polygon.cpp.

void cob_3d_mapping::Polygon::assignWeight ( )

Assign merge weight to Polygon.

Assignment of merge weight to Polygon object depending on weighting method. The weighting method is determined from the merge_config parameters.

See also:: cob_3d_mapping::merge_config

Definition at line 603 of file polygon.cpp.

double cob_3d_mapping::Polygon::computeArea3d ( ) const

Computation of area of 2D polygon.

This method is only suitable for polygons with no expansion in z-direction. Computation of area of 3D polygon.

This method is suitable for all polygons.

Definition at line 835 of file polygon.cpp.

void cob_3d_mapping::Polygon::computeAverage	(	const std::vector< Polygon::Ptr > &	poly_vec,
		Polygon::Ptr &	p_average
	)		`[protected, virtual]`

Average polygon is calculated.

Merge settings - configuring assignment of weight and merge processes Calculation of average polygon based on merge weights of individual polygons.

Parameters:

[in]	poly_vec	Polygons, that weighting is performed with
[out]	p_average	Resultant polygon.

See also:: cob_3d_mapping::merge_config; assignWeight()

Definition at line 628 of file polygon.cpp.

Eigen::Vector3f cob_3d_mapping::Polygon::computeCentroid ( )

Computation of centroid of polygn.

Definition at line 772 of file polygon.cpp.

Eigen::Vector3f cob_3d_mapping::Polygon::computeCentroid ( std::vector< std::vector< Eigen::Vector3f > > & contours_3d )

Definition at line 805 of file polygon.cpp.

void cob_3d_mapping::Polygon::computePose ( std::vector< std::vector< Eigen::Vector3f > > & contours_3d )

Definition at line 760 of file polygon.cpp.

float cob_3d_mapping::Polygon::computeSimilarity ( const Polygon::Ptr & poly ) const

Compute similarity of two polygons.

Similarity of Polygons is computed based on parameters and overlap.

Parameters:

[in] poly Polygon, the similarity is calculated with.

Returns:: Similarity of polygons.

Definition at line 459 of file polygon.cpp.

void cob_3d_mapping::Polygon::debugOutput ( std::string name )

Computation of bounding box and pose of structure.

Parameters:

[out]	pose	Orientation of bounding box, as an affine transformation matrix.
[out]	min_pt	Minimal boundary of bounding box.
[out]	max_pt	Maximal boundary of bounding box. Output of contour vertices to file.
[in]	name	Name of output file

Todo:: Change output path to value on individual system

Definition at line 881 of file polygon.cpp.

bool cob_3d_mapping::Polygon::getContourOverlap	(	const Polygon::Ptr &	poly,
		float &	rel_overlap,
		int &	abs_overlap
	)		const

Compute overlap of two Polygons.

Relative overlap and absolute overlap of two Polygons is computed.

Parameters:

[in]	Polygon,the	overlap is computed with.
[out]	Relative	overlap of the polygons.
[out]	Absolute	overlap of the polygons.

Returns:: bool true if there is some overlap.

Definition at line 416 of file polygon.cpp.

std::vector<std::vector<Eigen::Vector2f> > cob_3d_mapping::Polygon::getContours2D ( ) [inline]

Definition at line 175 of file polygon.h.

std::vector< std::vector< Eigen::Vector3f > > cob_3d_mapping::Polygon::getContours3D ( ) [virtual]

Reimplemented in cob_3d_mapping::Cylinder.

Definition at line 260 of file polygon.cpp.

void cob_3d_mapping::Polygon::getGpcStructure	(	gpc_polygon *	gpc_p,
		const std::vector< std::vector< Eigen::Vector2f > > &	contours
	)		const `[protected]`

Get 2D GPC structure from polygon.

Transformation from 3D to 2D is performed with given transformation.

Parameters:

[in]	external_trafo	Affine transformation.
[out]	Resultant	GPC structure.

Definition at line 691 of file polygon.cpp.

void cob_3d_mapping::Polygon::getIntersection	(	const Polygon::Ptr &	poly,
		gpc_polygon *	gpc_intersection
	)		const `[protected]`

Get intersection of two polygons.

GPC methods are used to calculate the intersection.

Parameters:

[in]	poly	Polygon for calculation of intersection.
[out]	gpc_intersection	GPC structure of the intersection of the Polygons.

Definition at line 393 of file polygon.cpp.

void cob_3d_mapping::Polygon::getMergeCandidates	(	const std::vector< Polygon::Ptr > &	poly_vec,
		std::vector< int > &	intersections
	)		const `[virtual]`

Check for merge candidates.

Parameters:

[in]	poly_vec	Vector of Polygons, that are checked.
[out]	intersections	Vector with indices of merge candidates.

Definition at line 372 of file polygon.cpp.

bool cob_3d_mapping::Polygon::hasSimilarParametersWith ( const Polygon::Ptr & poly ) const [inline]

Check for similar polygon parameters.

Check is performed based on merge settings of Polygons.

Parameters:

[in] poly Polygon, whose parameters are compared to this Polygon.

Definition at line 283 of file polygon.h.

bool cob_3d_mapping::Polygon::isIntersectedWith ( const Polygon::Ptr & poly ) const [virtual]

Check for intersection of two polygons.

Parameters:

[in] poly Polygon, this Polygon is checked for intersections with.

Returns:: bool True if polygons are intersected.

Definition at line 382 of file polygon.cpp.

void cob_3d_mapping::Polygon::merge ( std::vector< Polygon::Ptr > & poly_vec ) [virtual]

Merging of polygons.

Complete merge process for this polygon with a vector of merge candidates. Merging is performed relative to an average Polygon.

Parameters:

[in] poly_vec Vector with merge candidate Polygons

Definition at line 472 of file polygon.cpp.

void cob_3d_mapping::Polygon::mergeDifference ( Polygon::Ptr & p_merge )

Definition at line 484 of file polygon.cpp.

void cob_3d_mapping::Polygon::mergeUnion	(	std::vector< Polygon::Ptr > &	poly_vec,
		Polygon::Ptr &	p_average
	)		`[protected]`

Calculate merge union of Polygons.

The union of contours and the resultant parameters are computed with respect to an average Polygon.Results are stored in Polygon object the method is called for.

Parameters:

[in]	poly_vec	Vector of merge candidate Polygons.
[in]	p_average	Polygon providing the resultant parameters.

Definition at line 506 of file polygon.cpp.

size_t cob_3d_mapping::Polygon::outerContourIndex ( ) const [inline]

Get index of first non-hole contour.

Returns:: Index of first non-hole contour.

Definition at line 164 of file polygon.h.

void cob_3d_mapping::Polygon::projectContour	(	const Polygon &	p,
		std::vector< std::vector< Eigen::Vector2f > > &	contours
	)		const `[virtual]`

Definition at line 584 of file polygon.cpp.

void cob_3d_mapping::Polygon::setContours2D ( std::vector< std::vector< Eigen::Vector2f > > & contours_2d ) [inline]

Definition at line 174 of file polygon.h.

void cob_3d_mapping::Polygon::setContours3D ( std::vector< std::vector< Eigen::Vector3f > > & contours_3d ) [virtual]

Reimplemented in cob_3d_mapping::Cylinder.

Definition at line 237 of file polygon.cpp.

void cob_3d_mapping::Polygon::setParamsFrom ( Polygon::Ptr & p ) [virtual]

Reimplemented in cob_3d_mapping::Cylinder.

Definition at line 681 of file polygon.cpp.

void cob_3d_mapping::Polygon::smoothContours ( )

Smooth contours of polygon.

Outline of polygon is smoothed.

See also:: smoothGpcStructure()

Definition at line 321 of file polygon.cpp.

void cob_3d_mapping::Polygon::transform ( const Eigen::Affine3f & trafo ) [virtual]

Transform polygon to target coordinate system.

Polygon is transformed with input transformation. Operation is applied to both parameters and contour points.

Parameters:

[in] trafo Affine transformation to target coordinate system

Implements cob_3d_mapping::Shape.

Definition at line 297 of file polygon.cpp.

void cob_3d_mapping::Polygon::triangulate ( list< TPPLPoly > & tri_list ) const [virtual]

Reimplemented in cob_3d_mapping::Cylinder.

Definition at line 852 of file polygon.cpp.

void cob_3d_mapping::Polygon::updateAttributes	(	const Eigen::Vector3f &	new_normal,
		const Eigen::Vector3f &	new_centroid
	)		`[virtual]`

Compute attributes for Polygon.

Set of attributes is completed with respect to the input parameters.

Parameters:

[in]	new_normal	Normal of Polygon.
[in]	new_centroid	Centroid of Polygon.

Definition at line 278 of file polygon.cpp.

Member Data Documentation

std::vector<std::vector<Eigen::Vector2f> > cob_3d_mapping::Polygon::contours_

Contours of polygon structure.

Definition at line 349 of file polygon.h.

double cob_3d_mapping::Polygon::d_

Definition at line 351 of file polygon.h.

DominantColor cob_3d_mapping::Polygon::d_color_ [protected]

Definition at line 415 of file polygon.h.

std::vector<bool> cob_3d_mapping::Polygon::holes_

Bool vector indicating holes in polygon structure

Definition at line 353 of file polygon.h.

MergeConfig cob_3d_mapping::Polygon::merge_settings_

Definition at line 355 of file polygon.h.

double cob_3d_mapping::Polygon::merge_weight_

Merge weight of polygon - regulating its influence in merge processes.

Definition at line 354 of file polygon.h.

Eigen::Vector3f cob_3d_mapping::Polygon::normal_

Normal of polygons structure.

Definition at line 350 of file polygon.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation