cloud_geometry::areas Namespace Reference

Functions
bool	comparePoint2D (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Sort the Point32 points in vector structures according to their .x/.y values.
bool	comparePoint3D (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Sort 3d points in vector structures according to their .x/.y/.z values.
double	compute2DPolygonalArea (const sensor_msgs::PointCloud &points, const std::vector< double > &normal)
	Compute the area of a 2D planar polygon patch - using a given normal.
double	compute2DPolygonalArea (const geometry_msgs::Polygon &polygon, const std::vector< double > &normal)
	Compute the area of a 2D planar polygon patch - using a given normal.
double	compute2DPolygonalArea (const geometry_msgs::Polygon &polygon)
	Compute the area of a 2D planar polygon patch. The normal is computed automatically.
bool	compute2DPolygonNormal (const geometry_msgs::Polygon &poly, std::vector< double > &normal)
void	convexHull2D (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, const std::vector< double > &coeff, geometry_msgs::Polygon &hull)
	Compute a 2D convex hull in 3D space using Andrew's monotone chain algorithm.
void	convexHull2D (const std::vector< geometry_msgs::Point32 > &points, geometry_msgs::Polygon &hull)
	Compute a 2D convex hull using Andrew's monotone chain algorithm.
bool	isPointIn2DPolygon (const geometry_msgs::Point32 &point, const geometry_msgs::Polygon &polygon)
	Check if a 2d point (X and Y coordinates considered only!) is inside or outisde a given polygon.

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Function Documentation

bool cloud_geometry::areas::comparePoint2D	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		[inline]

Sort the Point32 points in vector structures according to their .x/.y values.

Parameters:

p1	the first Point32 point
p2	the second Point32 point

Definition at line 55 of file areas.h.

bool cloud_geometry::areas::comparePoint3D	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)		[inline]

Sort 3d points in vector structures according to their .x/.y/.z values.

Parameters:

p1	the first 3d point
p2	the second 3d point

Definition at line 69 of file areas.h.

double cloud_geometry::areas::compute2DPolygonalArea	(	const sensor_msgs::PointCloud &	points,
		const std::vector< double > &	normal
	)

Compute the area of a 2D planar polygon patch - using a given normal.

Parameters:

points	the point cloud (planar)
normal	the plane normal

Definition at line 56 of file areas.cpp.

double cloud_geometry::areas::compute2DPolygonalArea	(	const geometry_msgs::Polygon &	polygon,
		const std::vector< double > &	normal
	)

Compute the area of a 2D planar polygon patch - using a given normal.

Parameters:

polygon	the planar polygon
normal	the plane normal

Definition at line 91 of file areas.cpp.

double cloud_geometry::areas::compute2DPolygonalArea

(

const geometry_msgs::Polygon &

polygon

)

Compute the area of a 2D planar polygon patch. The normal is computed automatically.

Parameters:

polygon	the planar polygon
normal	the plane normal

Definition at line 162 of file areas.cpp.

bool cloud_geometry::areas::compute2DPolygonNormal	(	const geometry_msgs::Polygon &	poly,
		std::vector< double > &	normal
	)

Definition at line 121 of file areas.cpp.

void cloud_geometry::areas::convexHull2D	(	const sensor_msgs::PointCloud &	points,
		const std::vector< int > &	indices,
		const std::vector< double > &	coeff,
		geometry_msgs::Polygon &	hull
	)

Compute a 2D convex hull in 3D space using Andrew's monotone chain algorithm.

Parameters:

points	the point cloud
indices	the point indices to use from the cloud (they must form a planar model)
coeff	the *normalized* planar model coefficients
hull	the resultant convex hull model as a Polygon3D

Definition at line 180 of file areas.cpp.

void cloud_geometry::areas::convexHull2D	(	const std::vector< geometry_msgs::Point32 > &	points,
		geometry_msgs::Polygon &	hull
	)

Compute a 2D convex hull using Andrew's monotone chain algorithm.

Note:

(code snippet inspired from http://www.softsurfer.com/Archive/algorithm_0109/algorithm_0109.htm) Copyright 2001, softSurfer (www.softsurfer.com)

Parameters:

points	the 2D projected point cloud representing a planar model
hull	the resultant 2D convex hull model as a Polygon

Definition at line 269 of file areas.cpp.

bool cloud_geometry::areas::isPointIn2DPolygon	(	const geometry_msgs::Point32 &	point,
		const geometry_msgs::Polygon &	polygon
	)

Check if a 2d point (X and Y coordinates considered only!) is inside or outisde a given polygon.

Note:

(This is highly optimized code taken from http://www.visibone.com/inpoly/) Copyright (c) 1995-1996 Galacticomm, Inc. Freeware source code.

Parameters:

point	a 3D point projected onto the same plane as the polygon
polygon	a polygon

Definition at line 406 of file areas.cpp.