Example: math_polygon_intersection

Example for the C++ function mrpt::math::intersect(const TPolygon2D& subject, const TPolygon2D& clipping) for polygon clipping or intersection using the Sutherland-Hodgman algorithm.

C++ example source code:

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2022, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/math/TObject2D.h>
#include <mrpt/math/TPolygon2D.h>
#include <mrpt/math/geometry.h>

#include <iostream>

static void polygonClippingExample()
{
    // Define the polygons:
    const mrpt::math::TPolygon2D subject = {{
        {0.0, 0.0},
        {5.0, 0.0},
        {7.0, 3.0},
        {3.0, 6.0},
        {-4.0, 4.0},
        {-1.0, -1.0}
        //
    }};

    const mrpt::math::TPolygon2D clipping = {{
        {-6.0, 0.5}, {8.0, 2.0}, {10.0, 4.0}, {-7.0, 3.0}
        //
    }};

    // Compute intersection:
    mrpt::math::TObject2D clippedObj;
    bool doIntersect = mrpt::math::intersect(subject, clipping, clippedObj);
    ASSERT_(doIntersect);

    mrpt::math::TPolygon2D clippedPoly;
    bool isPoly = clippedObj.getPolygon(clippedPoly);
    ASSERT_(isPoly);

    // GUI:
    mrpt::gui::CDisplayWindowPlots winIn(
        "Inputs (red:subject, blue:clipping)", 500, 500);
    winIn.setPos(20, 50);

    const auto [x1, y1] = subject.getPlotData();
    winIn.plot(x1, y1, "-r3");
    winIn.hold_on();

    const auto [x2, y2] = clipping.getPlotData();
    winIn.plot(x2, y2, ":b2");

    mrpt::gui::CDisplayWindowPlots winOut("Result", 500, 500);
    winOut.setPos(600, 50);

    winOut.plot(x2, y2, ":b2");
    winOut.hold_on();

    const auto [xp, yp] = clippedPoly.getPlotData();
    winOut.plot(xp, yp, "-r3");

    winIn.axis_equal();
    winOut.axis_equal();

    std::cout << "Press any key on input window or close it to end program.\n";
    winIn.waitForKey();
}

int main(int argc, char** argv)
{
    try
    {
        polygonClippingExample();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cout << e.what() << std::endl;
        return 1;
    }
}