Point Class Reference
#include <Point.h>
Detailed Description
We define Point as a separate lightweight class because it is used as a component of all the xxxData classes, and we don't want to nest these structures.
Definition at line 23 of file Point.h.
Public Member Functions | |
| Point (const Point &otherPt) | |
| Copy constructor. | |
| virtual | ~Point () |
| Destructor. | |
| fmat::Column< 3 > & | getCoords () const |
| coordinate_t | coordX () const |
| coordinate_t | coordY () const |
| coordinate_t | coordZ () const |
| ReferenceFrameType_t | getRefFrameType () const |
| void | setRefFrameType (const ReferenceFrameType_t ref) |
| Set reference frame type. | |
| float | distanceFrom (const Point &other) const |
| Euclidean distance from another point to this one. | |
| float | xyDistanceFrom (const Point &other) const |
| Euclidean distance from another point to this one, looking only at the x-y projection; z coordinates are ignored. | |
| AngSignPi | atanYX () const |
| Angle in xy-plane encoded by this vector. | |
| float | xyNorm () const |
| Length of the vector's projection in the x-y plane z coordinate is ignored. | |
| float | xyzNorm () const |
| Length of the xyz vector. | |
| Point | unitVector () const |
| Unit vector in the direction of this point. | |
| float | getHeightAbovePoint (const Point &groundPoint, const PlaneEquation &groundplane) |
| void | applyTransform (const fmat::Transform &T, const ReferenceFrameType_t newref=unspecified) |
| Apply a transformation matrix to translate and/or rotate the point. | |
| bool | projectToGround (const fmat::Transform &camToBase, const PlaneEquation &groundplane) |
| projects this to ground plane according to camToBase matrix | |
| bool | projectToGround (int xres, int yres, const PlaneEquation &groundplane) |
| Point | operator+ (const Point &b) const |
| Point & | operator+= (const Point &b) |
| Point | operator- (const Point &b) const |
| Point & | operator-= (const Point &b) |
| Point | operator* (float b) const |
| Point & | operator*= (float b) |
| Point | operator/ (float b) const |
| Point & | operator/= (float b) |
| bool | operator== (const Point &b) const |
| bool | operator!= (const Point &b) const |
| Point & | operator= (const Point &b) |
| void | printData () const |
| Point () | |
| Constructors. | |
| Point (coordinate_t const &xp, coordinate_t const &yp, coordinate_t zp=0, ReferenceFrameType_t ref=unspecified) | |
| Constructors. | |
| Point (const fmat::SubVector< 3, const float > &c, ReferenceFrameType_t ref=unspecified) | |
| Constructors. | |
| void | setCoords (const Point &otherPt) |
| Set position. | |
| void | setCoords (const fmat::Column< 3 > otherCoords) |
| Set position. | |
| void | setCoords (coordinate_t x, coordinate_t y, coordinate_t z=0) |
| Set position. | |
| bool | isLeftOf (const Point &other, float distance=0) const |
| These functions need a ShapeSpace argument because left/right depends on reference frame type. | |
| bool | isRightOf (const Point &other, float distance=0) const |
| These functions need a ShapeSpace argument because left/right depends on reference frame type. | |
| bool | isAbove (const Point &other, float distance=0) const |
| These functions need a ShapeSpace argument because left/right depends on reference frame type. | |
| bool | isBelow (const Point &other, float distance=0) const |
| These functions need a ShapeSpace argument because left/right depends on reference frame type. | |
| bool | isBetween (const Point &other1, const Point &other2) const |
| These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored). | |
| bool | isBetween (const Shape< LineData > &line1, const Shape< LineData > &line2) const |
| These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored). | |
| bool | isBetween (const LineData &line1, const LineData &line2) const |
| These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored). | |
| bool | isInside (const std::vector< LineData > &bound) const |
| These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored). | |
Public Attributes | |
| fmat::Column< 3 > | coords |
| ReferenceFrameType_t | refFrameType |
Private Member Functions | |
| void | makeRefFrameCompatible (const Point &other) |
Friends | |
| class | EndPoint |
| std::ostream & | operator<< (std::ostream &out, const Point &p) |
Constructor & Destructor Documentation
| Point | ( | ) |
Constructors.
Definition at line 31 of file Point.h.
Referenced by Point::operator*(), Point::operator+(), Point::operator-(), and Point::operator/().
| Point | ( | coordinate_t const & | xp, | |
| coordinate_t const & | yp, | |||
| coordinate_t | zp = 0, |
|||
| ReferenceFrameType_t | ref = unspecified | |||
| ) |
| Point | ( | const fmat::SubVector< 3, const float > & | c, | |
| ReferenceFrameType_t | ref = unspecified | |||
| ) |
Member Function Documentation
| void applyTransform | ( | const fmat::Transform & | T, | |
| const ReferenceFrameType_t | newref = unspecified | |||
| ) |
Apply a transformation matrix to translate and/or rotate the point.
Reimplemented in PointData.
Definition at line 94 of file Point.cc.
Referenced by TargetData::applyTransform(), SphereData::applyTransform(), SkeletonData::applyTransform(), PyramidData::applyTransform(), NaughtData::applyTransform(), MarkerData::applyTransform(), LineData::applyTransform(), EllipseData::applyTransform(), CylinderData::applyTransform(), BrickData::applyTransform(), BlobData::applyTransform(), AprilTagData::applyTransform(), AgentData::applyTransform(), SkeletonData::projectToGround(), MarkerData::projectToGround(), and AprilTagData::projectToGround().
| AngSignPi atanYX | ( | ) | const |
Angle in xy-plane encoded by this vector.
Definition at line 34 of file Point.cc.
Referenced by AgentData::findAgentsBelt(), and Point::isLeftOf().
| coordinate_t coordX | ( | ) | const |
Definition at line 45 of file Point.h.
Referenced by Point::atanYX(), MarkerData::calculateCameraDistance(), EndPoint::checkValidity(), AgentData::circlesVerticallyAligned(), AgentData::compareCircleDist(), BiColorMarkerData::extractMarkers(), NaughtData::extractNaughts(), AgentData::findAgentsBelt(), Region::findCentralMoment(), AgentData::findCirclesManual(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), LineData::firstPt(), LineData::firstPtCoord(), EllipseData::getBoundingBox(), CylinderData::getBoundingBox(), BrickData::getBoundingBox(), Point::getHeightAbovePoint(), AgentData::getIdFromCenter(), AgentData::getIdFromCorner(), ShapeSpace::getShapeListForGUI(), LineData::houghTransform(), LineData::intersectionWithLine(), LineData::intersectsLine(), Point::isAbove(), Region::isContained(), PolygonData::isInside(), Point::isLeftOf(), LineData::LineData(), LineData::lineEquation_abc(), LineData::lineEquation_abc_xz(), LineData::lineEquation_mb(), BlobData::new_blob(), Point::operator==(), LineData::perpendicularDistanceFrom(), LineData::pointIsAbove(), LineData::pointIsBelow(), LineData::pointIsLeftOf(), LineData::pointIsRightOf(), LineData::pointOnLine(), LineData::pointsOnPerimeterOfWindow(), LineData::pointsOnSameSide(), Point::printData(), LineData::printEnds(), TargetData::printParams(), SphereData::printParams(), PointData::printParams(), LocalizationParticleData::printParams(), LineData::printParams(), SphereData::projectToGround(), SkeletonData::projectToGround(), PyramidData::projectToGround(), Point::projectToGround(), MarkerData::projectToGround(), CylinderData::projectToGround(), BrickData::projectToGround(), AprilTagData::projectToGround(), CylinderData::render(), BlobData::render(), LineData::secondPt(), LineData::secondPtCoord(), LineData::setDrawCoords(), TargetData::update_derived_properties(), EllipseData::updateProperties(), Skeleton::validJoint(), Point::xyDistanceFrom(), Point::xyNorm(), and Point::xyzNorm().
| coordinate_t coordY | ( | ) | const |
Definition at line 46 of file Point.h.
Referenced by Point::atanYX(), MarkerData::calculateCameraDistance(), EndPoint::checkValidity(), AgentData::circlesHorizontallyAligned(), BiColorMarkerData::extractMarkers(), NaughtData::extractNaughts(), AgentData::findAgentsBelt(), Region::findCentralMoment(), AgentData::findCirclesManual(), BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), LineData::firstPt(), LineData::firstPtCoord(), EllipseData::getBoundingBox(), CylinderData::getBoundingBox(), BrickData::getBoundingBox(), Point::getHeightAbovePoint(), AgentData::getIdFromCenter(), AgentData::getIdFromCorner(), ShapeSpace::getShapeListForGUI(), LineData::houghTransform(), LineData::intersectionWithLine(), LineData::intersectsLine(), Point::isAbove(), Region::isContained(), PolygonData::isInside(), Point::isLeftOf(), LineData::LineData(), LineData::lineEquation_abc(), LineData::lineEquation_mb(), BlobData::new_blob(), Point::operator==(), LineData::perpendicularDistanceFrom(), LineData::pointIsAbove(), LineData::pointIsBelow(), LineData::pointIsLeftOf(), LineData::pointIsRightOf(), LineData::pointOnLine(), LineData::pointsOnPerimeterOfWindow(), LineData::pointsOnSameSide(), Point::printData(), LineData::printEnds(), TargetData::printParams(), SphereData::printParams(), PointData::printParams(), LocalizationParticleData::printParams(), LineData::printParams(), SphereData::projectToGround(), SkeletonData::projectToGround(), PyramidData::projectToGround(), Point::projectToGround(), MarkerData::projectToGround(), CylinderData::projectToGround(), BrickData::projectToGround(), AprilTagData::projectToGround(), CylinderData::render(), BlobData::render(), LineData::secondPt(), LineData::secondPtCoord(), LineData::setDrawCoords(), TargetData::update_derived_properties(), EllipseData::updateProperties(), Skeleton::validJoint(), Point::xyDistanceFrom(), Point::xyNorm(), and Point::xyzNorm().
| coordinate_t coordZ | ( | ) | const |
Definition at line 47 of file Point.h.
Referenced by Point::getHeightAbovePoint(), ShapeSpace::getShapeListForGUI(), LineData::lineEquation_abc_xz(), Point::operator==(), Point::printData(), TargetData::printParams(), SphereData::projectToGround(), SkeletonData::projectToGround(), PyramidData::projectToGround(), MarkerData::projectToGround(), CylinderData::projectToGround(), BrickData::projectToGround(), AprilTagData::projectToGround(), CylinderData::render(), BlobData::render(), TargetData::update_derived_properties(), Skeleton::validJoint(), and Point::xyzNorm().
Euclidean distance from another point to this one.
Definition at line 24 of file Point.cc.
Referenced by PolygonData::formsNewEndline(), PolygonData::isClosed(), SphereData::isInside(), PolygonData::isInside(), SphereData::isMatchFor(), SkeletonData::isMatchFor(), PointData::isMatchFor(), MarkerData::isMatchFor(), LocalizationParticleData::isMatchFor(), EndPoint::isMatchFor(), EllipseData::isMatchFor(), DominoData::isMatchFor(), BrickData::isMatchFor(), BlobData::isMatchFor(), AprilTagData::isMatchFor(), PolygonData::tryImportNewEndline(), TargetData::update_derived_properties(), LineData::update_derived_properties(), and BlobData::update_derived_properties().
| fmat::Column<3>& getCoords | ( | ) | const |
Definition at line 44 of file Point.h.
Referenced by CylinderData::extractCylinders(), PointData::extractPoints(), AgentData::findAgentsBelt(), AgentData::getBoundingBox(), BiColorMarkerData::printParams(), PointData::render(), NaughtData::render(), MarkerData::render(), BlobData::render(), LineData::setDrawCoords(), and BaseData::setPosition().
| float getHeightAbovePoint | ( | const Point & | groundPoint, | |
| const PlaneEquation & | groundplane | |||
| ) |
Definition at line 172 of file Point.cc.
Referenced by PyramidData::projectToGround(), and BrickData::projectToGround().
| ReferenceFrameType_t getRefFrameType | ( | ) | const |
These functions need a ShapeSpace argument because left/right depends on reference frame type.
Definition at line 72 of file Point.cc.
Referenced by DualCoding::bottomMost(), LineData::bottomPt(), Point::isBelow(), IsAbove::operator()(), DualCoding::topMost(), and LineData::topPt().
These functions need a ShapeSpace argument because left/right depends on reference frame type.
Definition at line 89 of file Point.cc.
Referenced by BrickData::addBrickWithTwoSides().
These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored).
These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored).
These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored).
These functions return true based on relative positions, assuming points lie in some x-y plane (z coordinate is ignored).
These functions need a ShapeSpace argument because left/right depends on reference frame type.
Definition at line 47 of file Point.cc.
Referenced by PyramidData::findBoundingTriangle(), Point::isRightOf(), DualCoding::leftMost(), LineData::leftPt(), IsLeftOf::operator()(), DualCoding::rightMost(), and LineData::rightPt().
These functions need a ShapeSpace argument because left/right depends on reference frame type.
Definition at line 69 of file Point.cc.
Referenced by BrickData::addBrickWithTwoSides().
| void makeRefFrameCompatible | ( | const Point & | other | ) | [private] |
Definition at line 214 of file Point.cc.
Referenced by Point::operator+=(), and Point::operator-=().
Definition at line 234 of file Point.cc.
Referenced by Point::operator!=().
| void printData | ( | ) | const |
Definition at line 240 of file Point.cc.
Referenced by BrickData::printParams().
| bool projectToGround | ( | int | xres, | |
| int | yres, | |||
| const PlaneEquation & | groundplane | |||
| ) |
| bool projectToGround | ( | const fmat::Transform & | camToBase, | |
| const PlaneEquation & | groundplane | |||
| ) |
projects this to ground plane according to camToBase matrix
Mathematical implementation:
We'll convert the ray to the plane's reference frame, solve there. We find a point on the ray (ro_b) and the direction of the ray (rv_b).
Find distance from the ray offset (ro_b) and the closest point on the plane.
Find scaling factor by projecting ray vector (rv_b) onto plane normal.
Intersection point will be rv_b*dist/align + ro_b, but need to watch out for case where align==0 (rv_b and plane are parallel, no intersection)
Reimplemented in PointData.
Definition at line 103 of file Point.cc.
Referenced by MarkerData::calculateCameraDistance(), AgentData::findAgentsBelt(), TargetData::projectToGround(), SphereData::projectToGround(), PyramidData::projectToGround(), NaughtData::projectToGround(), LineData::projectToGround(), EllipseData::projectToGround(), CylinderData::projectToGround(), BrickData::projectToGround(), BlobData::projectToGround(), and AgentData::projectToGround().
| void setCoords | ( | coordinate_t | x, | |
| coordinate_t | y, | |||
| coordinate_t | z = 0 | |||
| ) |
| void setCoords | ( | const fmat::Column< 3 > | otherCoords | ) |
| void setCoords | ( | const Point & | otherPt | ) |
Set position.
Definition at line 52 of file Point.h.
Referenced by MarkerData::calculateCameraDistance(), AgentData::findAgentsBelt(), BlobData::findCorners(), BlobData::findCornersShapeFit(), Region::mostDistantPtFrom(), Point::operator=(), LineData::pointsOnPerimeterOfWindow(), SphereData::projectToGround(), PyramidData::projectToGround(), BrickData::projectToGround(), SkeletonData::setCentroid(), CrossData::setCentroid(), AprilTagData::setCentroid(), SphereData::setCentroidPt(), SiftData::setCentroidPt(), NaughtData::setCentroidPt(), EllipseData::setCentroidPt(), AgentData::setCentroidPt(), and LineData::setEndPts().
| void setRefFrameType | ( | const ReferenceFrameType_t | ref | ) |
Set reference frame type.
Definition at line 58 of file Point.h.
Referenced by CylinderData::CylinderData(), EllipseData::EllipseData(), SphereData::projectToGround(), PyramidData::projectToGround(), BrickData::projectToGround(), and LineData::update_derived_properties().
| Point unitVector | ( | ) | const |
Unit vector in the direction of this point.
Definition at line 42 of file Point.cc.
Referenced by AgentData::findAgentsBelt().
Euclidean distance from another point to this one, looking only at the x-y projection; z coordinates are ignored.
Definition at line 28 of file Point.cc.
Referenced by EllipseData::updateProperties().
| float xyNorm | ( | ) | const |
| float xyzNorm | ( | ) | const |
Length of the xyz vector.
Definition at line 40 of file Point.cc.
Referenced by Point::unitVector().
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | out, | |
| const Point & | p | |||
| ) | [friend] |
Member Data Documentation
Definition at line 26 of file Point.h.
Referenced by Point::applyTransform(), BrickData::BrickData(), MarkerData::calculateCameraDistance(), Point::coordX(), Point::coordY(), Point::coordZ(), Point::distanceFrom(), SkeletonData::getBoundingBox(), SiftData::getBoundingBox(), PointData::getBoundingBox(), LineData::getBoundingBox(), BlobData::getBoundingBox(), BlobData::getCentroid(), Point::getCoords(), Point::getHeightAbovePoint(), LineData::isOverlappedWith(), Point::operator*(), Point::operator*=(), Point::operator+=(), Point::operator-=(), Point::operator/(), Point::operator/=(), MarkerData::printParams(), BlobData::printParams(), AgentData::printParams(), SkeletonData::projectToGround(), Point::projectToGround(), MarkerData::projectToGround(), BlobData::projectToGround(), AprilTagData::projectToGround(), Point::setCoords(), and EndPoint::updateParams().
Definition at line 27 of file Point.h.
Referenced by Point::applyTransform(), BrickData::BrickData(), Point::getRefFrameType(), Point::isAbove(), Point::isLeftOf(), Point::makeRefFrameCompatible(), Point::operator*(), Point::operator/(), Point::operator=(), PointData::PointData(), Point::projectToGround(), and Point::setRefFrameType().
The documentation for this class was generated from the following files:
