AURobotServers: UGridBBox Class Reference

AURobotServers 4

Public Member Functions
void	addCell (int ix, int iy, int iz, UImg3Dpoint *v)
	add this cell to the bounding box More...

void	addCol (int pixel)

void	addPosToFootprint (UPosition *pos)

void	addPosToProfile (UPosition *pos, bool isProfile)

void	addPosToSideView (UPosition *pos, bool isSideView)

bool	allowMerge (UGridBBox *nb, int maxdy)
	merge is not allowed if resulting y-size is above maxdy cells More...

void	clear ()
	clear More...

void	filter (int minCellCnt, int maxDX, int maxDY, int maxHeight, int minHeight, int minX, int roofLimit, double minDens, int minDensCnt)
	is this box valid or not, based on size More...

int	getCol ()

double	getDensity (UPolygon *pgn)

bool	hasOverlap (UGridBBox *nb, int allowedZdist)

void	merge (UGridBBox *other)

void	reduceToConvexFootprint ()

	UGridBBox ()

	~UGridBBox ()
	destructor More...

Public Attributes
int	col [MCL]

int	colCnt

bool	filtered
	is box filtered More...

UPolygon40 *	footprint
	polygon for the foodprint of the box More...

bool	footprintConvex
	is the footprint convex More...

int	hitCnt
	count of cells More...

bool	human
	is likeky to be a human More...

int	maxx

int	maxy

int	maxz

int	minx
	limits of box in voxel index values More...

int	miny

int	minz

UImg3Dpoint *	pix
	sample pixels in box More...

UPolygon40 *	profile

bool	roof
	is a roof or ignorable high obstacle More...

int	serial
	original cluster number More...

UPolygon40 *	sideView

bool	valid
	is box valid More...

Static Public Attributes
static const int	MCL = 20
	number of pixels in average array More...

Detailed Description

Bounding box for a number of voxels

Constructor & Destructor Documentation

UGridBBox::UGridBBox ( )

inline

UGridBBox::~UGridBBox ( )

inline

destructor

Member Function Documentation

void UGridBBox::addCell	(	int	ix,
		int	iy,
		int	iz,
		UImg3Dpoint *	v
	)

inline

add this cell to the bounding box

References UImg3Dpoint::pixLeft, UImg3Dpoint::pos, and UImg3Dpoint::q.

Referenced by UGrid3D::voxelSegmentation().

void UGridBBox::addCol ( int pixel )

inline

Add colour sample to the total samples of this blob, if array is full, then remove one from both ends. So that it is possible to find the a sort of median color at the end. based on Red-Green only. The color order is assumed to be 8-bit blue;green;red (i.e. red is lower 8 bits)

void UGridBBox::addPosToFootprint ( UPosition * pos )

inline

add a position to the footprint of this box. if too full, then the points are reduced to a convex

References UPolygon::add(), dist, UPolygon::getPointsCnt(), and UPolygon::removeNearVertex().

void UGridBBox::addPosToProfile	(	UPosition *	pos,
		bool	isProfile
	)

inline

add a position to the footprint of this box. if too full, then the points are reduced to a convex

Parameters

pos	is the position to add to polygon
isProfile	true if the coordinates are exchanged to profile view

References UPolygon::add(), dist, UPolygon::getPointsCnt(), UPolygon::removeNearVertex(), UPosition::x, UPosition::y, and UPosition::z.

void UGridBBox::addPosToSideView	(	UPosition *	pos,
		bool	isSideView
	)

inline

add a position to the footprint of this box. if too full, then the points are reduced to a convex

Parameters

pos	is the position to add to polygon
isProfile	true if the coordinates are exchanged to side view

References UPolygon::add(), dist, UPolygon::getPointsCnt(), UPolygon::removeNearVertex(), UPosition::x, UPosition::y, and UPosition::z.

bool UGridBBox::allowMerge	(	UGridBBox *	nb,
		int	maxdy
	)

inline

merge is not allowed if resulting y-size is above maxdy cells

References maxi(), maxy, mini(), and miny.

void UGridBBox::clear ( void )

inline

clear

Referenced by UGridBBoxes::getBBox().

void UGridBBox::filter	(	int	minCellCnt,
		int	maxDX,
		int	maxDY,
		int	maxHeight,
		int	minHeight,
		int	minX,
		int	roofLimit,
		double	minDens,
		int	minDensCnt
	)

inline

is this box valid or not, based on size

Referenced by UGridBBoxes::filter().

int UGridBBox::getCol ( )

inline

Get representative colour for this bounding box

Referenced by UResObj3d::paintGndPlane().

double UGridBBox::getDensity ( UPolygon * pgn )

inline

References a, and UPolygon::getXYarea().

Referenced by UGrid3D::paintVoxels().

bool UGridBBox::hasOverlap	(	UGridBBox *	nb,
		int	allowedZdist
	)

inline

test if this box overlaps another box returns true if so

References footprint, footprintConvex, UPolygon::isEmbedded(), UPolygon::isOverlappingXY(), maxz, minz, and reduceToConvexFootprint().

Referenced by UGridBBoxes::mergeOverlappingBBs().

void UGridBBox::merge ( UGridBBox * other )

inline

Merge the other box into this

Parameters

other assimilated box

References footprint, UPolygon::getPoints(), UPolygon::getPointsCnt(), hitCnt, maxi(), maxx, maxy, maxz, mini(), minx, miny, minz, profile, and sideView.

void UGridBBox::reduceToConvexFootprint ( )

inline

reduce the footprint list of cell-points to a convex footprint, using the x,y coordinates only

References UPolygon::extractConvexTo().

Referenced by hasOverlap(), and UGridBBoxes::reduceToConvexFootprint().

Member Data Documentation

int UGridBBox::col[MCL]

array of pixels sorted in intensity order, a few is kept only, but should give a fair colour representation of the polygin

int UGridBBox::colCnt

Number of colours in the col array

bool UGridBBox::filtered

is box filtered

Referenced by UGrid3D::paintVoxels().

UPolygon40* UGridBBox::footprint

polygon for the foodprint of the box

Referenced by UResObj3d::do3dVoxels(), hasOverlap(), merge(), UResObj3d::paintGndPlane(), and UGrid3D::paintVoxels().

bool UGridBBox::footprintConvex

is the footprint convex

Referenced by hasOverlap().

int UGridBBox::hitCnt

count of cells

Referenced by merge(), and UGrid3D::paintVoxels().

bool UGridBBox::human

is likeky to be a human

Referenced by UResObj3d::do3dVoxels(), UResObj3d::paintGndPlane(), and UGrid3D::paintVoxels().

int UGridBBox::maxx

Referenced by UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

int UGridBBox::maxy

Referenced by allowMerge(), UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

int UGridBBox::maxz

Referenced by hasOverlap(), UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

const int UGridBBox::MCL = 20

static

number of pixels in average array

int UGridBBox::minx

limits of box in voxel index values

Referenced by UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

int UGridBBox::miny

Referenced by allowMerge(), UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

int UGridBBox::minz

Referenced by hasOverlap(), UGrid3D::logBB(), merge(), and UGrid3D::paintVoxels().

UImg3Dpoint* UGridBBox::pix

sample pixels in box

UPolygon40 * UGridBBox::profile

Referenced by merge().

bool UGridBBox::roof

is a roof or ignorable high obstacle

Referenced by UResObj3d::paintGndPlane(), and UGrid3D::paintVoxels().

int UGridBBox::serial

original cluster number

Referenced by UGridBBoxes::getBBox().

UPolygon40 * UGridBBox::sideView

Referenced by merge(), and UResObj3d::paintGndPlane().

bool UGridBBox::valid

is box valid

Referenced by UResObj3d::do3dVoxels(), UGridBBoxes::filter(), UGrid3D::logBB(), UResObj3d::paintGndPlane(), UGrid3D::paintVoxels(), and UGridBBoxes::reduceToConvexFootprint().

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

uresobj3d.cpp