testPolygon.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Example which test the polygon.
 */

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPolygon.h>
#include <visp3/io/vpParseArgv.h>
 
#include <visp3/core/vpDisplay.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
 
#include <math.h>
 
#include <iostream>
#include <string>
#include <vector>

#define GETOPTARGS "cdm:h"
 
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &opt_display, bool &opt_click, int &method);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
test the generic 2D polygons.\n\
\n\
SYNOPSIS\n\
  %s [-c] [-d] [-h]\n\
",
name);
 
  fprintf(stdout, "\n\
OPTIONS: \n\
  -c \n\
     Disable mouse click.\n\
\n\
  -d \n\
     Turn off display.\n\
\n\
  -m \n\
     Point in polygon test method.\n\
\n\
  -h\n\
     Print the help.\n\n");
 
  if (badparam) {
    fprintf(stderr, "ERROR: \n");
    fprintf(stderr, "\nBad parameter [%s]\n", badparam);
  }
}

bool getOptions(int argc, const char **argv, bool &opt_display, bool &opt_click, int &method)
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'c':
      opt_click = false;
      break;
    case 'd':
      opt_display = false;
      break;
    case 'm':
      method = atoi(optarg_);
      break;
    case 'h':
      usage(argv[0], nullptr);
      return false;
 
    default:
      usage(argv[0], optarg_);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
/* --------------------------------------------------------------------------
 */
 /*                               MAIN FUNCTION */
 /* --------------------------------------------------------------------------
  */
 
int main(int argc, const char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  try {
    bool opt_display = true;
    bool opt_click = true;
    int method = vpPolygon::PnPolySegmentIntersection;
    vpImage<unsigned char> I(480, 640, 255);
 
    // Read the command line options
    if (getOptions(argc, argv, opt_display, opt_click, method) == false) {
      return EXIT_FAILURE;
    }
 
    std::vector<vpImagePoint> vec1;
    vec1.push_back(vpImagePoint(200, 200));
    vec1.push_back(vpImagePoint(200, 400));
    vec1.push_back(vpImagePoint(320, 400));
    vec1.push_back(vpImagePoint(380, 300));
    vec1.push_back(vpImagePoint(280, 280));
    vpPolygon p1;
    p1.buildFrom(vec1);
 
    std::vector<vpImagePoint> vec2;
    vec2.push_back(vpImagePoint(20, 20));
    vec2.push_back(vpImagePoint(100, 20));
    vec2.push_back(vpImagePoint(100, 100));
    vec2.push_back(vpImagePoint(20, 100));
    vpPolygon p2(vec2);
 
    std::vector<vpImagePoint> vec3;
    vpPolygon p3(vec3);
 
#if defined(VISP_HAVE_X11)
    vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI display;
#else
    opt_display = false;
#endif
 
    std::cout << " Polygon 1 : " << std::endl;
    std::cout << " area : " << p1.getArea() << std::endl;
    std::cout << " center : " << p1.getCenter() << std::endl << std::endl;
 
    std::cout << " Polygon 2 : " << std::endl;
    std::cout << " area : " << p2.getArea() << std::endl;
    std::cout << " center : " << p2.getCenter() << std::endl << std::endl;
 
    std::cout << " Polygon 3 : " << std::endl;
    std::cout << " area : " << p3.getArea() << std::endl;
    std::cout << " center : " << p3.getCenter() << std::endl;
 
    if (opt_display) {
#if (defined VISP_HAVE_X11) || (defined VISP_HAVE_GTK) || (defined VISP_HAVE_GDI)
      display.init(I, 10, 10, "Test vpPolygon");
#endif
      vpDisplay::display(I);
      p1.display(I, vpColor::green, 1);
      vpDisplay::displayCross(I, p1.getCenter(), 5, vpColor::green);
      p2.display(I, vpColor::red, 1);
      vpDisplay::displayCross(I, p2.getCenter(), 5, vpColor::red);
      p3.display(I, vpColor::blue, 1);
      vpDisplay::displayCross(I, p3.getCenter(), 5, vpColor::lightBlue);
      vpDisplay::displayText(I, vpImagePoint(10, 10), "Click to finish", vpColor::red);
      vpDisplay::flush(I);
 
      if (opt_click)
        vpDisplay::getClick(I);
 
      vpDisplay::display(I);
      vpDisplay::displayText(I, vpImagePoint(10, 10), "Left click to add a point", vpColor::red);
      vpDisplay::displayText(I, vpImagePoint(20, 10), "Right click to build the polygon", vpColor::red);
      vpDisplay::flush(I);
      if (opt_click) {
        vpPolygon p4;
        p4.initClick(I);
        p4.display(I, vpColor::green, 1);
        std::cout << std::endl;
        std::cout << " Polygon 4 : " << std::endl;
        std::cout << " area : " << p4.getArea() << std::endl;
        std::cout << " center : " << p4.getCenter() << std::endl;
        std::cout << "Click to continue." << std::endl;
        vpDisplay::flush(I);
        vpDisplay::getClick(I);
 
        vpRect bbox = p4.getBoundingBox();
        for (unsigned int i = static_cast<unsigned int>(floor(bbox.getTop())); i < static_cast<unsigned int>(ceil(bbox.getBottom())); ++i) {
          for (unsigned int j = static_cast<unsigned int>(floor(bbox.getLeft())); j < static_cast<unsigned int>(ceil(bbox.getRight())); ++j) {
            if (p4.isInside(vpImagePoint(i, j), (vpPolygon::PointInPolygonMethod)method)) {
              vpDisplay::displayPoint(I, vpImagePoint(i, j), vpColor::orange);
            }
          }
        }
        vpDisplay::flush(I);
 
        std::cout << "Click to continue." << std::endl;
        vpDisplay::getClick(I);
        for (unsigned int i = 0; i < I.getHeight(); ++i) {
          for (unsigned int j = 0; j < I.getWidth(); ++j) {
            if (vpPolygon::isInside(p4.getCorners(), i, j, (vpPolygon::PointInPolygonMethod)method)) {
              vpDisplay::displayPoint(I, vpImagePoint(i, j), vpColor::green);
            }
          }
        }
        vpDisplay::flush(I);
 
        std::cout << "Click to finish." << std::endl;
 
        vpDisplay::getClick(I);
        vpDisplay::close(I);
 
        // Benchmark Point In Polygon test method
        std::vector<vpImagePoint> corners = p4.getCorners();
        std::cout << "Nb polygon corners=" << corners.size() << std::endl;
 
        vpPolygon polygon_benchmark(corners);
        vpImage<unsigned char> I_segmentIntersection(480, 640, 0);
        vpImage<unsigned char> I_rayCasting(480, 640, 0);
 
        double t_benchmark = vpTime::measureTimeMs();
        for (unsigned int i = 0; i < I_segmentIntersection.getHeight(); i++) {
          for (unsigned int j = 0; j < I_segmentIntersection.getWidth(); j++) {
            if (polygon_benchmark.isInside(vpImagePoint(i, j), vpPolygon::PnPolySegmentIntersection)) {
              I_segmentIntersection[i][j] = 255;
            }
          }
        }
        t_benchmark = vpTime::measureTimeMs() - t_benchmark;
        std::cout << "PnPolySegmentIntersection: " << t_benchmark << " ms" << std::endl;
 
        t_benchmark = vpTime::measureTimeMs();
        for (unsigned int i = 0; i < I_rayCasting.getHeight(); i++) {
          for (unsigned int j = 0; j < I_rayCasting.getWidth(); j++) {
            if (polygon_benchmark.isInside(vpImagePoint(i, j), vpPolygon::PnPolyRayCasting)) {
              I_rayCasting[i][j] = 255;
            }
          }
        }
        t_benchmark = vpTime::measureTimeMs() - t_benchmark;
        std::cout << "PnPolyRayCasting: " << t_benchmark << " ms" << std::endl;
 
#if defined(VISP_HAVE_X11)
        vpDisplayX display1, display2;
#elif defined(VISP_HAVE_GTK)
        vpDisplayGTK display1, display2;
#elif defined(VISP_HAVE_GDI)
        vpDisplayGDI display1, display2;
#endif
 
#if (defined VISP_HAVE_X11) || (defined VISP_HAVE_GTK) || (defined VISP_HAVE_GDI)
        display1.init(I_segmentIntersection, 10, 10, "Segment Intersection test");
        display2.init(I_rayCasting, static_cast<int>(I_segmentIntersection.getWidth()) + 10, 10, "Ray Casting test");
#endif
 
        vpDisplay::display(I_segmentIntersection);
        vpDisplay::display(I_rayCasting);
        vpDisplay::displayText(I_rayCasting, 20, 20, "Click to quit.", vpColor::red);
        vpDisplay::flush(I_segmentIntersection);
        vpDisplay::flush(I_rayCasting);
 
        vpDisplay::getClick(I_rayCasting);
      }
    }
 
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}