Contour2D Class Reference

class representing a 2d contour More...

#include <Contour2D.hpp>

Classes
class	Point
	the point description of the contour More...

Public Types
typedef rw::core::Ptr< Contour2D >	Ptr
	smart pointer type to this class

Public Member Functions
	Contour2D ()
	constructor
	Contour2D (const rw::math::Vector2D<> &center, const std::vector< Point > &contour)
	constructor More...
size_t	size () const
	get nr of conout points on this contour More...
Point &	operator[] (size_t i)
	get i'th contour point More...
const Point &	operator[] (size_t i) const
	get i'th contour point More...
double	calcArea ()
	calculates the area of this contour
rw::math::Vector2D &	center ()
	get contour center
const rw::math::Vector2D &	center () const
	get contour center
std::vector< Point > &	points ()
	get contour point list
const std::vector< Point > &	points () const
	get contour point list
TriMesh::Ptr	toTriMesh (double height)

Static Public Member Functions
static void	write (Contour2D &objC, std::string file)
	writes a contour to file More...
static Contour2D	read (std::string file)
	reads a contour from file More...
static double	calcSequenceMoment (const Contour2D &contour, const rw::math::Vector2D<> &c, const int r)
	calculates the r'th sequence moment of an ordered contour More...
static double	calcCentralMoments (const Contour2D &contour, const rw::math::Vector2D<> &c, const int r)
	calculates the r'th central moments of the contour More...
static Covariance	calcCovarianceMatrix (const Contour2D &contour, const rw::math::Vector2D<> &c)
	Calculates the covariance of the contour "contour" with mean coordinate c. More...
static rw::math::Rotation2D	calcOrientation (const Contour2D &contour, const rw::math::Vector2D<> &c)
	calculates the orientation of a contour where the first axis is the longest principal axis posible.
static rw::math::Vector2D	calcCentroid (const Contour2D &contour)
	calculates the centroid or the mean of the points in the contour.
static double	getCurvature (int idx, int pixelStep, const Contour2D &contour)
	extracts the local curvature around the contour point defined by idx.
static rw::math::Vector2D< double >	calcNormal (int idx, int pixelStep, const Contour2D &contour, bool counterClock=true)
	calculate normals of a contour More...
static void	recalcNormal (Contour2D &contour)
	recalculate normals of a contour More...
static Contour2D::Ptr	getOuterContour (const Contour2D &contour, double resolution)
	extracts the outer contour of a contour More...

Detailed Description

class representing a 2d contour

Constructor & Destructor Documentation

Contour2D()

Contour2D ( const rw::math::Vector2D<> &  center, const std::vector< Point > &  contour  )

inline

constructor

Parameters

center
contour

Member Function Documentation

calcCentralMoments()

static double calcCentralMoments ( const Contour2D &  contour, const rw::math::Vector2D<> &  c, const int  r  )

static

calculates the r'th central moments of the contour

Parameters

contour
c	[in] center
r	[in]

Returns

the moment

calcCovarianceMatrix()

static Covariance calcCovarianceMatrix ( const Contour2D &  contour, const rw::math::Vector2D<> &  c  )

static

Calculates the covariance of the contour "contour" with mean coordinate c.

Parameters

contour	[in] the contour
c	[in] the mean of the contour points/coordinates

Returns

the 2x2 covariance matrix of the contour

calcNormal()

static rw::math::Vector2D<double> calcNormal ( int  idx, int  pixelStep, const Contour2D &  contour, bool  counterClock = true  )

static

calculate normals of a contour

Parameters

idx
pixelStep
contour
counterClock

Returns

contour normal

calcSequenceMoment()

static double calcSequenceMoment ( const Contour2D &  contour, const rw::math::Vector2D<> &  c, const int  r  )

static

calculates the r'th sequence moment of an ordered contour

Parameters

contour	[in]
c	[in] center
r	[in]

getOuterContour()

static Contour2D::Ptr getOuterContour ( const Contour2D &  contour, double  resolution  )

static

extracts the outer contour of a contour

Parameters

contour	[in] contour to find outer contour of.
resolution	[in] the resolution.

Returns

new contour

operator[]() [1/2]

Point& operator[] ( size_t  i )

inline

get i'th contour point

Parameters

i

Returns

the i'th contour point

operator[]() [2/2]

const Point& operator[] ( size_t  i ) const

inline

get i'th contour point

Parameters

i

Returns

the i'th contour point

read()

static Contour2D read ( std::string  file )

static

reads a contour from file

Parameters

file

Returns

a contour

recalcNormal()

static void recalcNormal ( Contour2D &  contour )

static

recalculate normals of a contour

Parameters

contour

size()

size_t size ( ) const

inline

get nr of conout points on this contour

Returns

number of points

toTriMesh()

TriMesh::Ptr toTriMesh

(

double

height

)

A 3D geometry for a 2D contour of height height.

2D points (x,y) end up as (x, y, 0) in 3D.

write()

static void write ( Contour2D &  objC, std::string  file  )

static

writes a contour to file

Parameters

objC	[in] contour to write to file
file	[in] name of file

---

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

• Contour2D.hpp