Package org.robwork.sdurw_geometry

Class Contour2D

java.lang.Object

org.robwork.sdurw_geometry.Contour2D

public class Contour2D
extends java.lang.Object

class representing a 2d contour

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Contour2D.Point	the point description of the contour

Constructor Summary

Constructors

Constructor	Description
Contour2D()	constructor
Contour2D(long cPtr, boolean cMemoryOwn)
Contour2D(Vector2D center, SWIGTYPE_p_std__vectorT_rw__geometry__Contour2D__Point_t contour)	constructor

Method Summary

Modifier and Type	Method	Description
double	calcArea()	calculates the area of this contour
static double	calcCentralMoments(Contour2D contour, Vector2D c, int r)	calculates the r'th central moments of the contour
static Vector2D	calcCentroid(Contour2D contour)	calculates the centroid or the mean of the points in the contour.
static Covariance	calcCovarianceMatrix(Contour2D contour, Vector2D c)	Calculates the covariance of the contour "contour" with mean coordinate c
static Vector2D	calcNormal(int idx, int pixelStep, Contour2D contour)	calculate normals of a contour
static Vector2D	calcNormal(int idx, int pixelStep, Contour2D contour, boolean counterClock)	calculate normals of a contour
static 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.
static double	calcSequenceMoment(Contour2D contour, Vector2D c, int r)	calculates the r'th sequence moment of an ordered contour
Vector2D	center()	get contour center
void	delete()
Contour2D.Point	get(long i)
static long	getCPtr(Contour2D obj)
static double	getCurvature(int idx, int pixelStep, Contour2D contour)	extracts the local curvature around the contour point defined by idx.
static Contour2DPtr	getOuterContour(Contour2D contour, double resolution)	extracts the outer contour of a contour
SWIGTYPE_p_std__vectorT_rw__geometry__Contour2D__Point_t	points()	get contour point list
static Contour2D	read(java.lang.String file)	reads a contour from file
static 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.
static 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

Contour2D

public Contour2D(long cPtr,
                 boolean cMemoryOwn)

Contour2D

public Contour2D()

constructor

Contour2D

public Contour2D(Vector2D center,
                 SWIGTYPE_p_std__vectorT_rw__geometry__Contour2D__Point_t contour)

constructor

Parameters:

center -

contour -

Method Detail

getCPtr

public static long getCPtr(Contour2D obj)

delete

public void delete()

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 static 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 static Contour2D read(java.lang.String file)

reads a contour from file

Parameters:

file -

Returns:

a contour

calcSequenceMoment

public static 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 static 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 static 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 static 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 static Vector2D calcCentroid(Contour2D contour)

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

getCurvature

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

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

calcNormal

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

calculate normals of a contour

Parameters:

idx -

pixelStep -

contour -

Returns:

contour normal

recalcNormal

public static void recalcNormal(Contour2D contour)

recalculate normals of a contour

Parameters:

contour -

getOuterContour

public static 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.