vpTemplateTrackerTriangle.h

/****************************************************************************
 *
 * $Id: vpTemplateTrackerTriangle.h 4636 2014-02-04 08:17:58Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpTemplateTrackerTriangle_hh
#define vpTemplateTrackerTriangle_hh

#include <assert.h>
#include <vector>

#include <visp/vpMatrix.h>
#include <visp/vpMath.h>
#include <visp/vpColVector.h>
#include <visp/vpImagePoint.h>
#include <visp/vpTemplateTrackerHeader.h>

class VISP_EXPORT vpTemplateTrackerTriangle
{
  protected:
    double            minx_temp;
    double            miny_temp;
    vpTemplateTrackerDPoint    C1; 
    vpTemplateTrackerDPoint    C2; 
    vpTemplateTrackerDPoint    C3; 

    double            l_t;
    double            h_t;

    bool              not_good;
    double            uvinv00;
    double            uvinv01;
    double            uvinv10;
    double            uvinv11;
    double            marge_triangle;

  private:
    vpColVector getCorner1() const;
    vpColVector getCorner2() const;
    vpColVector getCorner3() const;
    
  public:
    vpTemplateTrackerTriangle();
    vpTemplateTrackerTriangle(const vpTemplateTrackerTriangle& T);
    vpTemplateTrackerTriangle(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
    vpTemplateTrackerTriangle(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
    vpTemplateTrackerTriangle(int x1, int y1, int x2, int y2, int x3, int y3);
    vpTemplateTrackerTriangle(double x1, double y1, double x2, double y2, double x3, double y3);

    vpTemplateTrackerTriangle getPyramidDown() const;
    void getCorners(vpColVector &c1,vpColVector &c2,vpColVector &c3) const;
    void getCorners(vpImagePoint &c1, vpImagePoint &c2, vpImagePoint &c3) const;
    void getCorners(std::vector<vpImagePoint> &c) const;

    vpColVector getCorner(unsigned int i) const {
      assert(i<3);
      if(i==0) return getCorner1();
      else if(i==1) return getCorner2();
      else /*if(i==2)*/ return getCorner3();
    };
    void getCorner(unsigned int i, double &x, double &y) const {
      assert(i<3);
      if(i==0) {
        x = C1.x;
        y = C1.y;
      }
      else if(i==1) {
        x = C2.x;
        y = C2.y;
      }
      else /*if(i==2)*/ {
        x = C3.x;
        y = C3.y;
      }
    };

    double getMaxx() const;
    double getMaxy() const;
    double getMinx() const;
    double getMiny() const;

    void getSize(double &w, double &h) const;
    void getSize(int &w, int &h) const;
    
    void init(const vpColVector &c1,const vpColVector &c2,const vpColVector &c3);
    void init(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
    void init(int x1,int y1, int x2,int y2, int x3,int y3);
    void init(double x1,double y1, double x2,double y2, double x3,double y3);
    bool inTriangle(const vpImagePoint &ip) const;
    bool inTriangle(const int &i, const int &j) const;
    bool inTriangle(const double &i,const double &j) const;

    vpTemplateTrackerTriangle & operator=(const vpTemplateTrackerTriangle& T);
};
#endif