Visual Servoing Platform
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vpTriangle.cpp
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See https://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Defines a 2D triangle.
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*
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*****************************************************************************/
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#include <visp3/core/vpDebug.h>
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#include <visp3/core/vpTriangle.h>
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vpTriangle::vpTriangle
()
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: goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
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apex2(), apex3()
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{
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init(
vpImagePoint
(0, 0),
vpImagePoint
(1, 0),
vpImagePoint
(0, 1));
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}
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vpTriangle::vpTriangle
(
const
vpImagePoint
&iP1,
const
vpImagePoint
&iP2,
const
vpImagePoint
&iP3)
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: goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
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apex2(), apex3()
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{
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init(iP1, iP2, iP3);
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}
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vpTriangle::vpTriangle
(
const
vpTriangle
&tri)
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: goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
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apex2(), apex3()
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{
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*
this
= tri;
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}
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vpTriangle::~vpTriangle
() { }
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vpTriangle
&
vpTriangle::operator=
(
const
vpTriangle
&tri)
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{
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goodTriange = tri.goodTriange;
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S1 = tri.S1;
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uvinv00 = tri.uvinv00;
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uvinv01 = tri.uvinv01;
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uvinv10 = tri.uvinv10;
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uvinv11 = tri.uvinv11;
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ptempo0 = tri.ptempo0;
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ptempo1 = tri.ptempo1;
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area = tri.area;
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apex1 = tri.apex1;
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apex2 = tri.apex2;
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apex3 = tri.apex3;
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return
*
this
;
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};
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void
vpTriangle::buildFrom
(
const
vpImagePoint
&iP1,
const
vpImagePoint
&iP2,
const
vpImagePoint
&iP3)
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{
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init(iP1, iP2, iP3);
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}
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void
vpTriangle::init(
const
vpImagePoint
&iP1,
const
vpImagePoint
&iP2,
const
vpImagePoint
&iP3)
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{
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ptempo0 = ptempo1 = 0.;
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apex1 = iP1;
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apex2 = iP2;
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apex3 = iP3;
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vpMatrix
uv(2, 2);
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vpMatrix
uvinv(2, 2);
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uv[0][0] = iP2.
get_i
() - iP1.
get_i
();
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uv[1][0] = iP3.
get_i
() - iP1.
get_i
();
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uv[0][1] = iP2.
get_j
() - iP1.
get_j
();
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uv[1][1] = iP3.
get_j
() - iP1.
get_j
();
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try
{
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uvinv = uv.inverseByLU();
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goodTriange =
true
;
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}
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catch
(...) {
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goodTriange =
false
;
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std::cout <<
"Empty triangle"
<< std::endl;
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}
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uvinv00 = uvinv[0][0];
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uvinv01 = uvinv[0][1];
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uvinv10 = uvinv[1][0];
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uvinv11 = uvinv[1][1];
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S1 = iP1;
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area = 0.5 * fabs(uv.det());
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}
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bool
vpTriangle::inTriangle
(
const
vpImagePoint
&iP,
double
threshold)
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{
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if
(!goodTriange)
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return
false
;
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if
(threshold < 0)
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threshold = 0;
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ptempo0 = iP.
get_i
() - S1.
get_i
();
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ptempo1 = iP.
get_j
() - S1.
get_j
();
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double
p_ds_uv0 = ptempo0 * uvinv00 + ptempo1 * uvinv10;
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double
p_ds_uv1 = ptempo0 * uvinv01 + ptempo1 * uvinv11;
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return
(p_ds_uv0 + p_ds_uv1 < 1. + threshold && p_ds_uv0 > -threshold && p_ds_uv1 > -threshold);
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}
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition
vpImagePoint.h:82
vpImagePoint::get_j
double get_j() const
Definition
vpImagePoint.h:125
vpImagePoint::get_i
double get_i() const
Definition
vpImagePoint.h:114
vpMatrix
Implementation of a matrix and operations on matrices.
Definition
vpMatrix.h:152
vpTriangle
Defines a 2D triangle.
Definition
vpTriangle.h:53
vpTriangle::operator=
vpTriangle & operator=(const vpTriangle &tri)
Definition
vpTriangle.cpp:87
vpTriangle::buildFrom
void buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
Definition
vpTriangle.cpp:112
vpTriangle::vpTriangle
vpTriangle()
Definition
vpTriangle.cpp:45
vpTriangle::inTriangle
bool inTriangle(const vpImagePoint &iP, double threshold=0.00001)
Definition
vpTriangle.cpp:159
vpTriangle::~vpTriangle
virtual ~vpTriangle()
Definition
vpTriangle.cpp:82
modules
core
src
tools
geometry
vpTriangle.cpp
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