Visual Servoing Platform version 3.6.0
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vpRect.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Defines a rectangle in the plane.
33 *
34 *
35*****************************************************************************/
36
43#include <visp3/core/vpDebug.h>
44#include <visp3/core/vpRect.h>
45
51vpRect::vpRect() : left(0), top(0), width(0), height(0) {}
52
62vpRect::vpRect(double l, double t, double w, double h) : left(l), top(t), width(w), height(h) {}
63
72vpRect::vpRect(const vpImagePoint &topLeft, double w, double h)
73 : left(topLeft.get_u()), top(topLeft.get_v()), width(w), height(h)
74{
75}
76
81vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
82 : left(topLeft.get_u()), top(topLeft.get_v()), width(0), height(0)
83{
84 this->left = topLeft.get_u();
85 this->top = topLeft.get_v();
86
87 setBottom(bottomRight.get_v());
88 setRight(bottomRight.get_u());
89}
90
94vpRect::vpRect(const vpRect &r) : left(0), top(0), width(0), height(0) { *this = r; }
95
101{
102 this->left = r.left;
103 this->top = r.top;
104 this->width = r.width;
105 this->height = r.height;
106 return *this;
107}
108
114vpRect::vpRect(const std::vector<vpImagePoint> &ip) : left(0), top(0), width(0), height(0) { set(ip); }
115
123bool vpRect::isInside(const vpImagePoint &ip) const
124{
125 return (ip.get_i() <= this->getBottom() && ip.get_i() >= this->getTop() && ip.get_j() <= this->getRight() &&
126 ip.get_j() >= this->getLeft());
127}
128
137void vpRect::set(double l, double t, double w, double h)
138{
139 left = l;
140 top = t;
141 width = w;
142 height = h;
143}
144
153void vpRect::set(const vpImagePoint &topLeft, double w, double h)
154{
155 left = topLeft.get_u();
156 top = topLeft.get_v();
157 width = w;
158 height = h;
159}
160
166void vpRect::set(const std::vector<vpImagePoint> &ip)
167{
168 if (ip.size() < 1)
169 throw(vpException(vpException::dimensionError, "At least 1 point is requested to build a rectangle"));
170 double minu, maxu;
171 double minv, maxv;
172 minu = maxu = ip[0].get_u();
173 minv = maxv = ip[0].get_v();
174
175 for (size_t i = 1; i < ip.size(); i++) {
176 double u = ip[i].get_u();
177 double v = ip[i].get_v();
178 if (u < minu)
179 minu = u;
180 else if (u > maxu)
181 maxu = u;
182 if (v < minv)
183 minv = v;
184 else if (v > maxv)
185 maxv = v;
186 }
187
188 setLeft(minu);
189 setTop(minv);
190 setRight(maxu);
191 setBottom(maxv);
192}
193
201void vpRect::set(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
202{
203 this->left = topLeft.get_u();
204 this->top = topLeft.get_v();
205
206 setBottom(bottomRight.get_v());
207 setRight(bottomRight.get_u());
208}
209
213void vpRect::set(const vpRect &r) { *this = r; }
214
219bool vpRect::operator==(const vpRect &r) const
220{
221 // return (top == r.top && left == r.left && width == r.width && height ==
222 // r.height);
223 return (std::fabs(top - r.top) <= std::fabs(top) * std::numeric_limits<double>::epsilon() &&
224 std::fabs(left - r.left) <= std::fabs(left) * std::numeric_limits<double>::epsilon() &&
225 std::fabs(width - r.width) <= std::fabs(width) * std::numeric_limits<double>::epsilon() &&
226 std::fabs(height - r.height) <= std::fabs(height) * std::numeric_limits<double>::epsilon());
227}
228
233bool vpRect::operator!=(const vpRect &r) const
234{
235 // return (top != r.top || left != r.left || width != r.width || height !=
236 // r.height);
237 // return (std::fabs(top-r.top) >
238 // std::fabs(top)*std::numeric_limits<double>::epsilon()
239 // || std::fabs(left-r.left) >
240 // std::fabs(left)*std::numeric_limits<double>::epsilon()
241 // || std::fabs(width-r.width) >
242 // std::fabs(width)*std::numeric_limits<double>::epsilon()
243 // || std::fabs(height-r.height) >
244 // std::fabs(height)*std::numeric_limits<double>::epsilon());
245 return !(*this == r);
246}
247
256VISP_EXPORT bool inRectangle(const vpImagePoint &ip, const vpRect &rect)
257{
258 return (ip.get_i() <= rect.getBottom() && ip.get_i() >= rect.getTop() && ip.get_j() <= rect.getRight() &&
259 ip.get_j() >= rect.getLeft());
260}
261
262VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRect &r)
263{
264 os << r.getLeft() << ", " << r.getTop() << ", " << r.getWidth() << ", " << r.getHeight();
265 return os;
266}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ dimensionError
Bad dimension.
Definition vpException.h:83
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
double get_j() const
double get_u() const
double get_i() const
double get_v() const
Defines a rectangle in the plane.
Definition vpRect.h:76
vpRect()
Definition vpRect.cpp:51
double getWidth() const
Definition vpRect.h:224
bool isInside(const vpImagePoint &ip) const
Definition vpRect.cpp:123
void set(double left, double top, double width, double height)
Definition vpRect.cpp:137
void setTop(double pos)
Definition vpRect.h:354
double getLeft() const
Definition vpRect.h:170
vpRect & operator=(const vpRect &r)
Definition vpRect.cpp:100
bool operator==(const vpRect &r) const
Definition vpRect.cpp:219
bool operator!=(const vpRect &r) const
Definition vpRect.cpp:233
void setLeft(double pos)
Definition vpRect.h:318
void setRight(double pos)
Definition vpRect.h:345
double getRight() const
Definition vpRect.h:176
double getBottom() const
Definition vpRect.h:94
double getHeight() const
Definition vpRect.h:163
void setBottom(double pos)
Definition vpRect.h:285
double getTop() const
Definition vpRect.h:189