Lane Class Reference

Structure which stores relevant lane polygon information. More...

#include <Lane.h>

List of all members.

Public Member Functions
	Lane ()
bool	isInside (Point pt) const
void	draw (Mat &img) const
void	addVertex (Point pt)
void	changeLast (Point pt)
size_t	vertex_count () const
const vector< Point > &	getVertices () const
bool	finalize ()
void	clear ()
size_t	size ()
void	pop ()
Rect	bbox () const
Public Attributes
Drawing Parameters
Scalar	color
int	thickness
int	lineType
int	shift
Private Attributes
vector< Point >	vertices
model::polygon < model::d2::point_xy< int > >	poly
Rect	m_bbox

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Detailed Description

Structure which stores relevant lane polygon information.

Definition at line 35 of file Lane.h.

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Constructor & Destructor Documentation

Lane::Lane

(

)

Default lane constructor

Definition at line 13 of file Lane.cpp.

           :
   color(CV_RGB(50,255,50)),
   thickness(2),
   lineType(8),
   shift(0)
{}

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Member Function Documentation

void Lane::addVertex

(

Point

pt

)

Add vertex to list

Parameters:

pt

new point

Definition at line 41 of file Lane.cpp.

References vertices.

Referenced by draw_lanes(), and load_lanes().

{
   vertices.push_back(pt);
}

Rect Lane::bbox

(

)

const

Return the bounding box of the lane

Returns:

lane best fit rectangle

Definition at line 162 of file Lane.cpp.

References m_bbox.

                    {
    return m_bbox;
}

void Lane::changeLast

(

Point

pt

)

Adjust the last point

Parameters:

pt

Definition at line 50 of file Lane.cpp.

References vertices.

Referenced by draw_lanes().

{
   vertices.back() = pt;
}

void Lane::clear

(

)

Clear the list of vertices

Definition at line 140 of file Lane.cpp.

References vertices.

Referenced by draw_lanes(), and load_lanes().

                {
    vertices.clear();
}

void Lane::draw

(

Mat &

img

)

const

Draw the lane onto the image

Parameters:

img	image to draw

Definition at line 117 of file Lane.cpp.

References color, lineType, shift, size(), thickness, and vertices.

Referenced by draw_lanes().

{
   const int size = static_cast<int>(vertices.size());

   //create a pointer to point to
   const Point* pts_ptr = &(vertices[0]);

   polylines(
      img,
      &pts_ptr,
      &size,
      1,
      true,
      color,
      thickness,
      lineType,
      shift
   );
}

bool Lane::finalize

(

)

Call when finished modifying

Convert the vertex list into a boost polygon

Returns:

true if successful

Definition at line 77 of file Lane.cpp.

References m_bbox, poly, and vertices.

{
   if ( vertices.size() < 3 ) return false;
   
   using boost::assign::tuple_list_of;
   using boost::make_tuple;
   using boost::geometry::append;
   
   Point minP = vertices[0], maxP = vertices[0];
   for( size_t i=1; i<vertices.size(); i++){
       if( vertices[i].x < minP.x ) minP.x = vertices[i].x;
       if( vertices[i].y < minP.y ) minP.y = vertices[i].y;
       if( vertices[i].x > maxP.x ) maxP.x = vertices[i].x;
       if( vertices[i].y > maxP.y ) maxP.y = vertices[i].y;
   }
   m_bbox = Rect(minP.x, minP.y, maxP.x-minP.x, maxP.y-minP.y);
   
   //int* points = &(vertices[0]);
   for ( vector<Point>::iterator i = vertices.begin(); i != vertices.end(); ++i )
      append(poly, tuple_list_of(i->x,i->y));
   append(poly, tuple_list_of(vertices[0].x,vertices[0].y));
   
   return true;
}

const vector< Point > & Lane::getVertices

(

)

const

Get the number of vertices

Returns:

vertex list

Definition at line 68 of file Lane.cpp.

References vertices.

{
   return vertices;
}

bool Lane::isInside

(

Point

pt

)

const

Check if point is inside lane

Parameters:

pt	point to test

Returns:

true if the point is inside the polygon

Definition at line 107 of file Lane.cpp.

References poly.

{
   boost::tuple<int,int> p = boost::make_tuple(pt.x,pt.y);
   return within(p,poly);
}

void Lane::pop

(

)

Pop the last vertex

Definition at line 154 of file Lane.cpp.

References vertices.

              {
    vertices.pop_back();
}

size_t Lane::size

(

)

Return the size of the vertex list

Definition at line 147 of file Lane.cpp.

References vertices.

Referenced by draw(), and draw_lanes().

                 {
    return vertices.size();
}

size_t Lane::vertex_count

(

)

const

Return the number of vertices

Returns:

size of vertex list

Definition at line 59 of file Lane.cpp.

References vertices.

{
   return vertices.size();
}

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Member Data Documentation

Scalar Lane::color

Use CV_RGB(r,g,b) macro where r,g,b are [0,255] for uchar images and [0.0, 1.0] for floating point images

Definition at line 61 of file Lane.h.

Referenced by draw().

int Lane::lineType

8 or 4 for 4-connected or 8-connected Bresenham algorithm or CV_AA for anti-aliased lines using Gaussian filtering

Definition at line 64 of file Lane.h.

Referenced by draw().

Rect Lane::m_bbox [private]

Definition at line 75 of file Lane.h.

Referenced by bbox(), and finalize().

model::polygon<model::d2::point_xy<int> > Lane::poly [private]

Definition at line 74 of file Lane.h.

Referenced by finalize(), and isInside().

int Lane::shift

Number of fractional bits to shift in the point coordinates (probably want to leave 0)

Definition at line 66 of file Lane.h.

Referenced by draw().

int Lane::thickness

In pixels

Definition at line 63 of file Lane.h.

Referenced by draw().

vector<Point> Lane::vertices [private]

Definition at line 73 of file Lane.h.

Referenced by addVertex(), changeLast(), clear(), draw(), finalize(), getVertices(), pop(), size(), and vertex_count().

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

• src/structures/Lane.h
• src/structures/Lane.cpp