#include <convex_polygon.h>

Inheritance diagram for jsk_recognition_utils::ConvexPolygon:

Public Types
typedef boost::shared_ptr< ConvexPolygon >	Ptr

typedef Eigen::Vector3f	Vertex

typedef std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >	Vertices

Public Types inherited from jsk_recognition_utils::Polygon
typedef boost::shared_ptr< Polygon >	Ptr

typedef boost::tuple< Ptr, Ptr >	PtrPair

Public Types inherited from jsk_recognition_utils::Plane
typedef boost::shared_ptr< Plane >	Ptr

Public Member Functions
bool	allEdgesLongerThan (double thr)

	ConvexPolygon (const Vertices &vertices)

	ConvexPolygon (const Vertices &vertices, const std::vector< float > &coefficients)

double	distanceFromVertices (const Eigen::Vector3f &p)

bool	distanceSmallerThan (const Eigen::Vector3f &p, double distance_threshold)

bool	distanceSmallerThan (const Eigen::Vector3f &p, double distance_threshold, double &output_distance)

virtual ConvexPolygon	flipConvex ()

virtual Eigen::Vector3f	getCentroid ()

virtual bool	isProjectableInside (const Eigen::Vector3f &p)

virtual Ptr	magnify (const double scale_factor)

virtual Ptr	magnifyByDistance (const double distance)

virtual void	project (const Eigen::Vector3d &p, Eigen::Vector3d &output)

virtual void	project (const Eigen::Vector3d &p, Eigen::Vector3f &output)

virtual void	project (const Eigen::Vector3f &p, Eigen::Vector3d &output)

virtual void	project (const Eigen::Vector3f &p, Eigen::Vector3f &output)

virtual void	projectOnPlane (const Eigen::Affine3f &p, Eigen::Affine3f &output)

virtual void	projectOnPlane (const Eigen::Vector3f &p, Eigen::Vector3f &output)

geometry_msgs::Polygon	toROSMsg ()

Public Member Functions inherited from jsk_recognition_utils::Polygon
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. More...

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...

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...

std::vector< Segment::Ptr >	edges () const
	get all the edges as point of Segment. More...

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. More...

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. More...

virtual Eigen::Vector3f	nearestPoint (const Eigen::Vector3f &p, double &distance)
	Compute nearest point from p on this polygon. More...

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. More...

virtual void	transformBy (const Eigen::Affine3f &transform)
	transform Polygon with given transform. cached triangles is cleared. More...

virtual	~Polygon ()

Public Member Functions inherited from jsk_recognition_utils::Plane
virtual double	angle (const Eigen::Vector3f &vector)

virtual double	angle (const Plane &another)

virtual Eigen::Affine3f	coordinates ()

virtual double	distance (const Plane &another)

virtual double	distanceToPoint (const Eigen::Vector3f p)

virtual double	distanceToPoint (const Eigen::Vector4f p)

virtual Plane::Ptr	faceToOrigin ()

virtual Plane	flip ()

virtual double	getD ()

virtual Eigen::Vector3f	getNormal ()

virtual Eigen::Vector3f	getPointOnPlane ()

virtual bool	isSameDirection (const Eigen::Vector3f &another_normal)

virtual bool	isSameDirection (const Plane &another)

	Plane (const boost::array< float, 4 > &coefficients)

	Plane (const std::vector< float > &coefficients)

	Plane (Eigen::Vector3f normal, double d)

	Plane (Eigen::Vector3f normal, Eigen::Vector3f p)

virtual void	project (const Eigen::Affine3d &pose, Eigen::Affine3d &output)

virtual void	project (const Eigen::Affine3f &pose, Eigen::Affine3f &output)

virtual double	signedDistanceToPoint (const Eigen::Vector3f p)

virtual double	signedDistanceToPoint (const Eigen::Vector4f p)

virtual std::vector< float >	toCoefficients ()

virtual void	toCoefficients (std::vector< float > &output)

virtual Plane	transform (const Eigen::Affine3d &transform)

virtual Plane	transform (const Eigen::Affine3f &transform)

virtual	~Plane ()

Static Public Member Functions
static ConvexPolygon	fromROSMsg (const geometry_msgs::Polygon &polygon)

static ConvexPolygon::Ptr	fromROSMsgPtr (const geometry_msgs::Polygon &polygon)

Static Public Member Functions inherited from jsk_recognition_utils::Polygon
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. More...

static Polygon::Ptr	fromROSMsgPtr (const geometry_msgs::Polygon &polygon)

Additional Inherited Members
Protected Member Functions inherited from jsk_recognition_utils::Plane
virtual void	initializeCoordinates ()

Protected Attributes inherited from jsk_recognition_utils::Polygon
std::vector< Polygon::Ptr >	cached_triangles_

Vertices	vertices_

Protected Attributes inherited from jsk_recognition_utils::Plane
double	d_

Eigen::Vector3f	normal_

Eigen::Affine3f	plane_coordinates_

Detailed Description

Definition at line 80 of file convex_polygon.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<ConvexPolygon> jsk_recognition_utils::ConvexPolygon::Ptr

Definition at line 115 of file convex_polygon.h.

◆ Vertex

typedef Eigen::Vector3f jsk_recognition_utils::ConvexPolygon::Vertex

Definition at line 116 of file convex_polygon.h.

◆ Vertices

typedef std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > jsk_recognition_utils::ConvexPolygon::Vertices

Definition at line 118 of file convex_polygon.h.

Constructor & Destructor Documentation

◆ ConvexPolygon() [1/2]

jsk_recognition_utils::ConvexPolygon::ConvexPolygon ( const Vertices & vertices )

Definition at line 43 of file convex_polygon.cpp.

◆ ConvexPolygon() [2/2]

jsk_recognition_utils::ConvexPolygon::ConvexPolygon	(	const Vertices &	vertices,
		const std::vector< float > &	coefficients
	)

Definition at line 49 of file convex_polygon.cpp.

Member Function Documentation

◆ allEdgesLongerThan()

bool jsk_recognition_utils::ConvexPolygon::allEdgesLongerThan ( double thr )

Definition at line 214 of file convex_polygon.cpp.

◆ distanceFromVertices()

double jsk_recognition_utils::ConvexPolygon::distanceFromVertices ( const Eigen::Vector3f & p )

Definition at line 232 of file convex_polygon.cpp.

◆ distanceSmallerThan() [1/2]

bool jsk_recognition_utils::ConvexPolygon::distanceSmallerThan	(	const Eigen::Vector3f &	p,
		double	distance_threshold
	)

Definition at line 189 of file convex_polygon.cpp.

◆ distanceSmallerThan() [2/2]

bool jsk_recognition_utils::ConvexPolygon::distanceSmallerThan	(	const Eigen::Vector3f &	p,
		double	distance_threshold,
		double &	output_distance
	)

Definition at line 196 of file convex_polygon.cpp.

◆ flipConvex()

ConvexPolygon jsk_recognition_utils::ConvexPolygon::flipConvex ( )

virtual

Definition at line 95 of file convex_polygon.cpp.

◆ fromROSMsg()

ConvexPolygon jsk_recognition_utils::ConvexPolygon::fromROSMsg ( const geometry_msgs::Polygon & polygon )

static

Definition at line 165 of file convex_polygon.cpp.

◆ fromROSMsgPtr()

ConvexPolygon::Ptr jsk_recognition_utils::ConvexPolygon::fromROSMsgPtr ( const geometry_msgs::Polygon & polygon )

static

Definition at line 177 of file convex_polygon.cpp.

◆ getCentroid()

Eigen::Vector3f jsk_recognition_utils::ConvexPolygon::getCentroid ( )

virtual

Definition at line 156 of file convex_polygon.cpp.

◆ isProjectableInside()

bool jsk_recognition_utils::ConvexPolygon::isProjectableInside ( const Eigen::Vector3f & p )

virtual

Definition at line 287 of file convex_polygon.cpp.

◆ magnify()

ConvexPolygon::Ptr jsk_recognition_utils::ConvexPolygon::magnify ( const double scale_factor )

virtual

Definition at line 261 of file convex_polygon.cpp.

◆ magnifyByDistance()

ConvexPolygon::Ptr jsk_recognition_utils::ConvexPolygon::magnifyByDistance ( const double distance )

virtual

Definition at line 245 of file convex_polygon.cpp.

◆ project() [1/4]

void jsk_recognition_utils::ConvexPolygon::project	(	const Eigen::Vector3d &	p,
		Eigen::Vector3d &	output
	)

virtual

Reimplemented from jsk_recognition_utils::Plane.

Definition at line 134 of file convex_polygon.cpp.

◆ project() [2/4]

void jsk_recognition_utils::ConvexPolygon::project	(	const Eigen::Vector3d &	p,
		Eigen::Vector3f &	output
	)

virtual

Reimplemented from jsk_recognition_utils::Plane.

Definition at line 142 of file convex_polygon.cpp.

◆ project() [3/4]

void jsk_recognition_utils::ConvexPolygon::project	(	const Eigen::Vector3f &	p,
		Eigen::Vector3d &	output
	)

virtual

Reimplemented from jsk_recognition_utils::Plane.

Definition at line 148 of file convex_polygon.cpp.

◆ project() [4/4]

void jsk_recognition_utils::ConvexPolygon::project	(	const Eigen::Vector3f &	p,
		Eigen::Vector3f &	output
	)

virtual

Reimplemented from jsk_recognition_utils::Plane.

Definition at line 109 of file convex_polygon.cpp.

◆ projectOnPlane() [1/2]

void jsk_recognition_utils::ConvexPolygon::projectOnPlane	(	const Eigen::Affine3f &	p,
		Eigen::Affine3f &	output
	)

virtual

Definition at line 62 of file convex_polygon.cpp.

◆ projectOnPlane() [2/2]

void jsk_recognition_utils::ConvexPolygon::projectOnPlane	(	const Eigen::Vector3f &	p,
		Eigen::Vector3f &	output
	)

virtual

Definition at line 56 of file convex_polygon.cpp.

◆ toROSMsg()

geometry_msgs::Polygon jsk_recognition_utils::ConvexPolygon::toROSMsg ( )

Definition at line 273 of file convex_polygon.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ Vertex

◆ Vertices

Constructor & Destructor Documentation

◆ ConvexPolygon() [1/2]

◆ ConvexPolygon() [2/2]

Member Function Documentation

◆ allEdgesLongerThan()

◆ distanceFromVertices()

◆ distanceSmallerThan() [1/2]

◆ distanceSmallerThan() [2/2]

◆ flipConvex()

◆ fromROSMsg()

◆ fromROSMsgPtr()

◆ getCentroid()

◆ isProjectableInside()

◆ magnify()

◆ magnifyByDistance()

◆ project() [1/4]

◆ project() [2/4]

◆ project() [3/4]

◆ project() [4/4]

◆ projectOnPlane() [1/2]

◆ projectOnPlane() [2/2]

◆ toROSMsg()