Package org.robwork.sdurw_geometry

Class Contour2DPtr

java.lang.Object

org.robwork.sdurw_geometry.Contour2DPtr

public class Contour2DPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
Contour2DPtr()	Default constructor yielding a NULL-pointer.
Contour2DPtr(long cPtr, boolean cMemoryOwn)
Contour2DPtr(Contour2D ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
Contour2D	__ref__()	Dereferencing operator.
double	calcArea()	calculates the area of this contour
double	calcCentralMoments(Contour2D contour, Vector2D c, int r)	calculates the r'th central moments of the contour
Vector2D	calcCentroid(Contour2D contour)	calculates the centroid or the mean of the points in the contour.
Covariance	calcCovarianceMatrix(Contour2D contour, Vector2D c)	Calculates the covariance of the contour "contour" with mean coordinate c
Vector2D	calcNormal(int idx, int pixelStep, Contour2D contour)	calculate normals of a contour
Vector2D	calcNormal(int idx, int pixelStep, Contour2D contour, boolean counterClock)	calculate normals of a contour
SWIGTYPE_p_rw__math__Rotation2DT_t	calcOrientation(Contour2D contour, Vector2D c)	calculates the orientation of a contour where the first axis is the longest principal axis posible.
double	calcSequenceMoment(Contour2D contour, Vector2D c, int r)	calculates the r'th sequence moment of an ordered contour
Vector2D	center()	get contour center
Contour2DCPtr	cptr()
void	delete()
Contour2D	deref()	The pointer stored in the object.
boolean	equals(Contour2D p)
Contour2D.Point	get(long i)
static long	getCPtr(Contour2DPtr obj)
double	getCurvature(int idx, int pixelStep, Contour2D contour)	extracts the local curvature around the contour point defined by idx.
Contour2D	getDeref()	Member access operator.
Contour2DPtr	getOuterContour(Contour2D contour, double resolution)	extracts the outer contour of a contour
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
SWIGTYPE_p_std__vectorT_rw__geometry__Contour2D__Point_t	points()	get contour point list
Contour2D	read(java.lang.String file)	reads a contour from file
void	recalcNormal(Contour2D contour)	recalculate normals of a contour
void	set(long i, Contour2D.Point d)
long	size()	get nr of conout points on this contour
TriMeshPtr	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.
void	write(Contour2D objC, java.lang.String file)	writes a contour to file

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Contour2DPtr

public Contour2DPtr(long cPtr,
                    boolean cMemoryOwn)

Contour2DPtr

public Contour2DPtr()

Default constructor yielding a NULL-pointer.

Contour2DPtr

public Contour2DPtr(Contour2D ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(Contour2DPtr obj)

delete

public void delete()

deref

public Contour2D deref()

The pointer stored in the object.

__ref__

public Contour2D __ref__()

Dereferencing operator.

getDeref

public Contour2D getDeref()

Member access operator.

equals

public boolean equals(Contour2D p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

cptr

public Contour2DCPtr cptr()

size

public long size()

get nr of conout points on this contour

Returns:

number of points

get

public Contour2D.Point get(long i)

set

public void set(long i,
                Contour2D.Point d)

calcArea

public double calcArea()

calculates the area of this contour

center

public Vector2D center()

get contour center

points

public SWIGTYPE_p_std__vectorT_rw__geometry__Contour2D__Point_t points()

get contour point list

write

public void write(Contour2D objC,
                  java.lang.String file)

writes a contour to file

Parameters:

objC - [in] contour to write to file

file - [in] name of file

read

public Contour2D read(java.lang.String file)

reads a contour from file

Parameters:

file -

Returns:

a contour

calcSequenceMoment

public double calcSequenceMoment(Contour2D contour,
                                 Vector2D c,
                                 int r)

calculates the r'th sequence moment of an ordered contour

Parameters:

contour - [in]

c - [in] center

r - [in]

calcCentralMoments

public double calcCentralMoments(Contour2D contour,
                                 Vector2D c,
                                 int r)

calculates the r'th central moments of the contour

Parameters:

contour -

c - [in] center

r - [in]

Returns:

the moment

calcCovarianceMatrix

public Covariance calcCovarianceMatrix(Contour2D contour,
                                       Vector2D c)

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

calcOrientation

public SWIGTYPE_p_rw__math__Rotation2DT_t calcOrientation(Contour2D contour,
                                                          Vector2D c)

calculates the orientation of a contour where the first
axis is the longest principal axis posible.

calcCentroid

public Vector2D calcCentroid(Contour2D contour)

calculates the centroid or the mean of the points in the contour.

getCurvature

public double getCurvature(int idx,
                           int pixelStep,
                           Contour2D contour)

extracts the local curvature around the contour point
defined by idx.

calcNormal

public Vector2D calcNormal(int idx,
                           int pixelStep,
                           Contour2D contour,
                           boolean counterClock)

calculate normals of a contour

Parameters:

idx -

pixelStep -

contour -

counterClock -

Returns:

contour normal

calcNormal

public Vector2D calcNormal(int idx,
                           int pixelStep,
                           Contour2D contour)

calculate normals of a contour

Parameters:

idx -

pixelStep -

contour -

Returns:

contour normal

recalcNormal

public void recalcNormal(Contour2D contour)

recalculate normals of a contour

Parameters:

contour -

getOuterContour

public Contour2DPtr getOuterContour(Contour2D contour,
                                    double resolution)

extracts the outer contour of a contour

Parameters:

contour - [in] contour to find outer contour of.

resolution - [in] the resolution.

Returns:

new contour

toTriMesh

public TriMeshPtr 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.