#include <visp3/core/vpImagePoint.h>

Public Member Functions
	vpImagePoint ()

	vpImagePoint (double ii, double jj)

	vpImagePoint (const vpImagePoint &ip)

virtual	~vpImagePoint ()

vpImagePoint &	operator= (const vpImagePoint &ip)

vpImagePoint &	operator= (const vpImagePoint &&ip) noexcept

vpImagePoint &	operator+= (const vpImagePoint &ip)

vpImagePoint &	operator-= (const vpImagePoint &ip)

vpImagePoint &	operator/= (double scale)

vpImagePoint &	operator*= (double scale)

void	set_i (double ii)

void	set_j (double jj)

void	set_ij (double ii, double jj)

double	get_i () const

double	get_j () const

void	set_u (double u)

void	set_v (double v)

void	set_uv (double u, double v)

double	get_u () const

double	get_v () const

bool	inRectangle (const vpRect &rect) const

Static Public Member Functions
static vpRect	getBBox (const std::vector< vpImagePoint > &ipVec)

static double	distance (const vpImagePoint &iP1, const vpImagePoint &iP2)

static double	sqrDistance (const vpImagePoint &iP1, const vpImagePoint &iP2)

Friends
VISP_EXPORT bool	operator== (const vpImagePoint &ip1, const vpImagePoint &ip2)

VISP_EXPORT bool	operator!= (const vpImagePoint &ip1, const vpImagePoint &ip2)

VISP_EXPORT vpImagePoint	operator+= (const vpImagePoint &ip1, const vpImagePoint &ip2)

VISP_EXPORT vpImagePoint	operator+ (const vpImagePoint &ip1, const vpImagePoint &ip2)

VISP_EXPORT vpImagePoint	operator+ (const vpImagePoint &ip1, int offset)

VISP_EXPORT vpImagePoint	operator+ (const vpImagePoint &ip1, unsigned int offset)

VISP_EXPORT vpImagePoint	operator+ (const vpImagePoint &ip1, double offset)

VISP_EXPORT vpImagePoint	operator- (const vpImagePoint &ip1, const vpImagePoint &ip2)

VISP_EXPORT vpImagePoint	operator- (const vpImagePoint &ip1, int offset)

VISP_EXPORT vpImagePoint	operator- (const vpImagePoint &ip1, unsigned int offset)

VISP_EXPORT vpImagePoint	operator- (const vpImagePoint &ip1, double offset)

VISP_EXPORT vpImagePoint	operator* (const vpImagePoint &ip1, double scale)

VISP_EXPORT vpImagePoint	operator/ (const vpImagePoint &ip1, double scale)

VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpImagePoint &ip)

Detailed Description

Class that defines a 2D point in an image. This class is useful for image processing and stores only the 2D coordinates given in sub-pixel.

Warning: If you want to define a point thanks to its coordinates given in meter in the object frame, the camera frame or the image plane, you have to use the class vpPoint.

In this class, the 2D coordinates are not necessary integer values. It is easy to manipulate the given coordinates in the two frames used in ViSP : the (i,j) coordinates and the (u,v) coordinates. The two following images illustrate the two coordinate systems.

Warning: An instance of the vpImagePoint class corresponds to a particular point. Thus, if you change the point coordinate using the method set_i(double i), it produces the same effect than if you used the method set_v(double v). These two methods change the same private attribute. It is also true for the two methods set_j(double j) and set_u(double u).

Examples:: AROgre.cpp, AROgreBasic.cpp, BSpline.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grabRealSense2_T265.cpp, keyPointSurf.cpp, manDisplay.cpp, mbot-apriltag-2D-half-vs.cpp, planarObjectDetector.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, SickLDMRS-Process.cpp, templateTracker.cpp, testAprilTag.cpp, testClick.cpp, testConnectedComponents.cpp, testConvert.cpp, testDisplays.cpp, testFloodFill.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageDraw.cpp, testImageNormalizedCorrelation.cpp, testImagePoint.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testLineFitting.cpp, testMouseEvent.cpp, testNurbs.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, testTrackDot.cpp, testVirtuoseWithGlove.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-flood-fill.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-viewer.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-munkres-assignment.cpp, tutorial-pose-from-points-image.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 87 of file vpImagePoint.h.

Constructor & Destructor Documentation

◆ vpImagePoint() [1/3]

vpImagePoint::vpImagePoint ( )

inline

Default constructor that initialize the coordinates of the image point to zero.

Definition at line 94 of file vpImagePoint.h.

◆ vpImagePoint() [2/3]

vpImagePoint::vpImagePoint	(	double	ii,
		double	jj
	)

inline

Default constructor that initialize the coordinates of the image thanks to the parameters $ ii $ and $ jj $ .

Definition at line 99 of file vpImagePoint.h.

◆ vpImagePoint() [3/3]

vpImagePoint::vpImagePoint ( const vpImagePoint & ip )

inline

Copy constructor.

Initialize the coordinates of the image point with ip.

Parameters

ip	: An image point.

Definition at line 107 of file vpImagePoint.h.

◆ ~vpImagePoint()

virtual vpImagePoint::~vpImagePoint ( )

inlinevirtual

Destructor.

Definition at line 109 of file vpImagePoint.h.

Member Function Documentation

◆ distance()

double vpImagePoint::distance	(	const vpImagePoint &	iP1,
		const vpImagePoint &	iP2
	)

static

Compute the distance $|iP1 - iP2| = \sqrt{(i_1-i_2)^2+(j_1-j_2)^2}$

Parameters

iP1	: First point
iP2	: Second point

Returns: the distance between the two points.

Examples:: grabRealSense2_T265.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, testImageNormalizedCorrelation.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, and tutorial-munkres-assignment.cpp.

Definition at line 443 of file vpImagePoint.cpp.

References get_i(), get_j(), and vpMath::sqr().

Referenced by vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplay::displayDotLine(), vpDisplay::displayLine(), vpImageDraw::drawArrow(), vpNurbs::globalCurveInterp(), vpMeEllipse::leastSquareRobust(), vpMeNurbs::seekExtremities(), vpMeNurbs::track(), and vpMeNurbs::updateDelta().

◆ get_i()

double vpImagePoint::get_i ( ) const

inline

Gets the point coordinate corresponding to the $ i $ axes in the frame (i,j).

Returns: The value of the coordinate along the axes.

See also: get_j(), get_u(), get_v()

Examples:: keyPointSurf.cpp, testAprilTag.cpp, and tutorial-flood-fill.cpp.

Definition at line 203 of file vpImagePoint.h.

Referenced by vpTriangle::buildFrom(), vpNurbs::computeCurveDersPoint(), vpImageTools::crop(), vpMeNurbs::display(), vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayX::displayCross(), vpDisplayGTK::displayCross(), vpDisplayOpenCV::displayCross(), vpDisplayOpenCV::displayDotLine(), vpDisplayGTK::displayImageROI(), vpDisplayOpenCV::displayImageROI(), vpDisplay::displayLine(), vpKeyPoint::displayMatching(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpDisplayWin32::displayRectangle(), distance(), vpImageDraw::drawArrow(), vpImageDraw::drawCross(), vpImageDraw::drawDottedLine(), vpImageTools::extract(), vp::findContours(), vp::floodFill(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMbtDistanceKltPoints::getModelForDisplay(), vpMbtDistanceCircle::getModelForDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpPolygon3D::getNbCornerInsideImage(), vpImage< bool >::getValue(), vpPolygon::init(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMeLine::initTracking(), vpDot2::initTracking(), vpDot::initTracking(), vpImage< bool >::insert(), vpImageTools::interpolate(), vpTriangle::inTriangle(), vpTemplateTrackerTriangle::inTriangle(), vpRectOriented::isInside(), vpPolygon::isInside(), vpRect::isInside(), vpMeEllipse::leastSquareRobust(), vpWireFrameSimulator::navigation(), vpImage< bool >::operator()(), vpRectOriented::operator=(), vpMeTracker::outOfImage(), vpMeEllipse::plugHoles(), vpNurbs::removeCurveKnot(), vpMeEllipse::sample(), vpMeNurbs::seekExtremitiesCanny(), vpRectOriented::setOrientation(), vpRectOriented::setPoints(), vpRectOriented::setSize(), sqrDistance(), vpMbtDistanceLine::updateMovingEdge(), vpMbtDistanceCylinder::updateMovingEdge(), and vpRectOriented::vpRectOriented().

◆ get_j()

double vpImagePoint::get_j ( ) const

inline

Gets the point coordinate corresponding to the $ j $ axes in the frame (i,j).

Returns: The value of the coordinate along the axes.

See also: get_i(), get_u(), get_v()

Examples:: keyPointSurf.cpp, testAprilTag.cpp, testImageDraw.cpp, and tutorial-flood-fill.cpp.

Definition at line 214 of file vpImagePoint.h.

Referenced by vpTriangle::buildFrom(), vpNurbs::computeCurveDersPoint(), vpImageTools::crop(), vpMeNurbs::display(), vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayX::displayCross(), vpDisplayGTK::displayCross(), vpDisplayOpenCV::displayCross(), vpDisplayOpenCV::displayDotLine(), vpDisplayGTK::displayImageROI(), vpDisplayOpenCV::displayImageROI(), vpDisplay::displayLine(), vpKeyPoint::displayMatching(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpDisplayWin32::displayRectangle(), distance(), vpImageDraw::drawArrow(), vpImageDraw::drawCross(), vpImageDraw::drawDottedLine(), vpImageTools::extract(), vp::findContours(), vp::floodFill(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMbtDistanceKltPoints::getModelForDisplay(), vpMbtDistanceCircle::getModelForDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpPolygon3D::getNbCornerInsideImage(), vpImage< bool >::getValue(), vpPolygon::init(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMeLine::initTracking(), vpDot2::initTracking(), vpDot::initTracking(), vpImage< bool >::insert(), vpImageTools::interpolate(), vpTriangle::inTriangle(), vpTemplateTrackerTriangle::inTriangle(), vpRectOriented::isInside(), vpPolygon::isInside(), vpRect::isInside(), vpMeEllipse::leastSquareRobust(), vpWireFrameSimulator::navigation(), vpImage< bool >::operator()(), vpRectOriented::operator=(), vpMeTracker::outOfImage(), vpMeEllipse::plugHoles(), vpNurbs::removeCurveKnot(), vpMeEllipse::sample(), vpMeNurbs::seekExtremitiesCanny(), vpRectOriented::setOrientation(), vpRectOriented::setPoints(), vpRectOriented::setSize(), sqrDistance(), vpMbtDistanceLine::updateMovingEdge(), vpMbtDistanceCylinder::updateMovingEdge(), and vpRectOriented::vpRectOriented().

◆ get_u()

double vpImagePoint::get_u ( ) const

inline

Gets the point coordinate corresponding to the $ u $ axes in the frame (u,v).

Returns: The value of the coordinate along the axes.

See also: get_i(), get_j(), get_v()

Examples:: servoAfma4Point2DCamVelocityKalman.cpp, testConvert.cpp, testImageDraw.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-flood-fill.cpp, tutorial-klt-tracker-live-v4l2.cpp, and tutorial-klt-tracker.cpp.

Definition at line 262 of file vpImagePoint.h.

Referenced by vpMeEllipse::computeAngleOnEllipse(), vpPose::computePlanarObjectPoseFromRGBD(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpMeEllipse::computeTheta(), vpPixelMeterConversion::convertPoint(), vpDot2::defineDots(), vpDisplayOpenCV::displayCharString(), vpDisplayOpenCV::displayCircle(), vpCalibration::displayData(), vpDisplayOpenCV::displayLine(), vpDisplayOpenCV::displayPoint(), vpDisplayX::displayRectangle(), vpDisplayGTK::displayRectangle(), vpDisplayOpenCV::displayRectangle(), vpImageDraw::drawEllipse(), vpImageDraw::drawLine(), vpDisplayWin32::flushDisplayROI(), vpDot2::getDistance(), vpDot2::getFreemanChain(), vpTemplateTrackerTriangle::init(), vpImageSimulator::init(), vpMeEllipse::initTracking(), vpPolygon::isInside(), vpMath::lineFitting(), vpRect::moveCenter(), vpDot::operator==(), vpHomography::project(), vpHomography::projection(), vpDot2::searchDotsInArea(), vpRect::set(), vpRect::setBottomRight(), vpRect::setTopLeft(), vpDot2::track(), vpDot::track(), vpRect::vpRect(), vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(), and vpCalibration::writeData().

◆ get_v()

double vpImagePoint::get_v ( ) const

inline

Gets the point coordinate corresponding to the $ v $ axes in the frame (u,v).

Returns: The value of the coordinate along the axes.

See also: get_i(), get_j(), get_u()

Examples:: servoAfma4Point2DCamVelocityKalman.cpp, testConvert.cpp, testImageDraw.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-flood-fill.cpp, tutorial-klt-tracker-live-v4l2.cpp, and tutorial-klt-tracker.cpp.

Definition at line 273 of file vpImagePoint.h.

References operator*().

Referenced by vpMeEllipse::computeAngleOnEllipse(), vpPose::computePlanarObjectPoseFromRGBD(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpMeEllipse::computeTheta(), vpPixelMeterConversion::convertPoint(), vpDot2::defineDots(), vpDisplayOpenCV::displayCharString(), vpDisplayOpenCV::displayCircle(), vpCalibration::displayData(), vpDisplayOpenCV::displayLine(), vpDisplayOpenCV::displayPoint(), vpDisplayX::displayRectangle(), vpDisplayGTK::displayRectangle(), vpDisplayOpenCV::displayRectangle(), vpImageDraw::drawEllipse(), vpImageDraw::drawLine(), vpDisplayWin32::flushDisplayROI(), vpDot2::getDistance(), vpDot2::getFreemanChain(), vpTemplateTrackerTriangle::init(), vpImageSimulator::init(), vpMeEllipse::initTracking(), vpPolygon::isInside(), vpMath::lineFitting(), vpRect::moveCenter(), vpHomography::project(), vpHomography::projection(), vpDot2::searchDotsInArea(), vpRect::set(), vpRect::setBottomRight(), vpRect::setTopLeft(), vpDot2::track(), vpDot::track(), vpRect::vpRect(), vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(), and vpCalibration::writeData().

◆ getBBox()

vpRect vpImagePoint::getBBox ( const std::vector< vpImagePoint > & ipVec )

static

Computes and returns the bounding box.

Parameters

ipVec : Vector of input image points.

Returns: Bounding box of the points.

Definition at line 428 of file vpImagePoint.cpp.

◆ inRectangle()

bool vpImagePoint::inRectangle ( const vpRect & rect ) const

Check if an image point belongs to a rectangle.

Parameters

rect	: the rectangle.

Returns: Returns true if the point belongs to the rectangle.

Definition at line 53 of file vpImagePoint.cpp.

References vpRect::getBottom(), vpRect::getLeft(), vpRect::getRight(), and vpRect::getTop().

Referenced by vpPlot::navigate().

◆ operator*=()

vpImagePoint& vpImagePoint::operator*= ( double scale )

inline

Operator *=.

Definition at line 150 of file vpImagePoint.h.

◆ operator+=()

vpImagePoint & vpImagePoint::operator+= ( const vpImagePoint & ip )

Operator +=.

This operator can be used to compute the center of gravity of a set of image points.

#include <iostream>
#include <vector>
#include <visp3/core/vpImagePoint.h>
int main()
{
  std::vector<vpImagePoint> ip(2);
  ip[0].set_ij(100, 200);
  ip[1].set_ij(300, 400);
  vpImagePoint cog(0,0);
  for(unsigned int i=0; i<ip.size(); i++)
    cog += ip[i];
  cog /= ip.size();
  std::cout << "cog: " << cog << std::endl;
}

Definition at line 86 of file vpImagePoint.cpp.

◆ operator-=()

vpImagePoint& vpImagePoint::operator-= ( const vpImagePoint & ip )

inline

Operator -=.

Definition at line 139 of file vpImagePoint.h.

◆ operator/=()

vpImagePoint & vpImagePoint::operator/= ( double scale )

Operator /=.

This operator can be used to compute the center of gravity of a set of image points.

#include <iostream>
#include <vector>
#include <visp3/core/vpImagePoint.h>
int main()
{
  std::vector<vpImagePoint> ip(2);
  ip[0].set_ij(100, 200);
  ip[1].set_ij(300, 400);
  vpImagePoint cog(0,0);
  for(unsigned int i=0; i<ip.size(); i++)
    cog += ip[i];
  cog /= ip.size();
  std::cout << "cog: " << cog << std::endl;
}

Definition at line 119 of file vpImagePoint.cpp.

◆ operator=() [1/2]

vpImagePoint& vpImagePoint::operator= ( const vpImagePoint & ip )

inline

Copy operator.

Definition at line 114 of file vpImagePoint.h.

◆ operator=() [2/2]

vpImagePoint& vpImagePoint::operator= ( const vpImagePoint && ip )

inlinenoexcept

Move operator.

Definition at line 124 of file vpImagePoint.h.

◆ set_i()

void vpImagePoint::set_i ( double ii )

inline

Sets the point coordinate corresponding to the $ i $ axes in the frame (i,j).

Parameters

ii	: The desired value for the coordinate along the axes.

See also: set_j(), set_u(), set_v()

Examples:: AROgre.cpp, AROgreBasic.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, SickLDMRS-Process.cpp, testDisplays.cpp, testImageDraw.cpp, testImagePoint.cpp, testTrackDot.cpp, and trackMeLine.cpp.

Definition at line 166 of file vpImagePoint.h.

Referenced by vpBSpline::computeCurveDers(), vpNurbs::computeCurveDersPoint(), vpNurbs::computeCurvePoint(), vpBSpline::computeCurvePoint(), vpMeLine::computeRhoTheta(), vpMeLine::display(), vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayX::displayCross(), vpDisplayGTK::displayCross(), vpDisplayOpenCV::displayCross(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpDisplayWin32::displayRectangle(), vpImageDraw::drawArrow(), vpImageDraw::drawCross(), vpMeLine::getExtremities(), vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMeSite::getQueryList(), vpMeTracker::initTracking(), vpMeLine::intersection(), vpPolygon::isInside(), vpRectOriented::operator=(), vpNurbs::refineKnotVectCurve(), vpNurbs::removeCurveKnot(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpImageSimulator::setCameraPosition(), vpRectOriented::setOrientation(), vpRectOriented::setPoints(), vpRectOriented::setSize(), vpMeSite::track(), vpPolygon::updateCenter(), and vpRectOriented::vpRectOriented().

◆ set_ij()

void vpImagePoint::set_ij	(	double	ii,
		double	jj
	)

inline

Sets the point coordinates in the frame (i,j).

Parameters

ii	: The desired value for the coordinate along the axes.
jj	: The desired value for the coordinate along the axes.

See also: set_i(), set_j(), set_u(), set_v()

Examples:: BSpline.cpp, fernClassifier.cpp, keyPointSurf.cpp, planarObjectDetector.cpp, templateTracker.cpp, testNurbs.cpp, tutorial-matching-keypoint-homography.cpp, and tutorial-matching-surf-homography-deprecated.cpp.

Definition at line 188 of file vpImagePoint.h.

Referenced by vpKeyPoint::compute3DForPointsInPolygons(), vpBSpline::computeCurveDers(), vpNurbs::computeCurveDersPoint(), vpNurbs::curveKnotIns(), vpMeNurbs::display(), vpFeatureDisplay::displayLine(), vpKeyPoint::displayMatching(), vpImageSimulator::getImage(), vpBasicKeyPoint::getMatchedPoints(), vpImage< bool >::getMinMaxLoc(), vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpBasicKeyPoint::getReferencePoint(), vpNurbs::globalCurveApprox(), vpNurbs::globalCurveInterp(), vpMbtDistanceCylinder::initMovingEdge(), vpMeEllipse::leastSquareRobust(), vpMeEllipse::plugHoles(), vpMeNurbs::seekExtremities(), vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), vpMbtDistanceCylinder::updateMovingEdge(), vpMeEllipse::updateTheta(), and vpMeEllipse::vpMeEllipse().

◆ set_j()

void vpImagePoint::set_j ( double jj )

inline

Sets the point coordinate corresponding to the $ j $ axes in the frame (i,j).

Parameters

jj	: The desired value for the coordinate along the axes.

See also: set_i(), set_u(), set_v()

Examples:: AROgre.cpp, AROgreBasic.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, SickLDMRS-Process.cpp, testDisplays.cpp, testImageDraw.cpp, testImagePoint.cpp, testTrackDot.cpp, and trackMeLine.cpp.

Definition at line 177 of file vpImagePoint.h.

Referenced by vpBSpline::computeCurveDers(), vpNurbs::computeCurveDersPoint(), vpNurbs::computeCurvePoint(), vpBSpline::computeCurvePoint(), vpMeLine::computeRhoTheta(), vpMeLine::display(), vpDisplayX::displayArrow(), vpDisplayGTK::displayArrow(), vpDisplayOpenCV::displayArrow(), vpDisplayX::displayCross(), vpDisplayGTK::displayCross(), vpDisplayOpenCV::displayCross(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpDisplayWin32::displayRectangle(), vpImageDraw::drawArrow(), vpImageDraw::drawCross(), vp::findContours(), vpMeLine::getExtremities(), vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMeSite::getQueryList(), vpMeTracker::initTracking(), vpMeLine::intersection(), vpPolygon::isInside(), vpRectOriented::operator=(), vpNurbs::removeCurveKnot(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpImageSimulator::setCameraPosition(), vpRectOriented::setOrientation(), vpRectOriented::setPoints(), vpRectOriented::setSize(), vpMeSite::track(), vpPolygon::updateCenter(), and vpRectOriented::vpRectOriented().

◆ set_u()

void vpImagePoint::set_u ( double u )

inline

Sets the point coordinate corresponding to the $ u $ axes in the frame (u,v).

Parameters

u	: The desired value for the coordinate along the axes.

See also: set_i(), set_j(), set_v()

Examples:: poseVirtualVS.cpp, testImagePoint.cpp, trackDot.cpp, trackDot2.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 225 of file vpImagePoint.h.

Referenced by vpMeterPixelConversion::convertPoint(), vpKltOpencv::display(), vpCalibration::displayData(), vpCalibration::displayGrid(), vpRect::getBottomLeft(), vpRect::getBottomRight(), vpRect::getCenter(), vpDisplayWin32::getClick(), vpDisplayOpenCV::getClick(), vpDisplayWin32::getClickUp(), vpDisplayOpenCV::getClickUp(), vpDot2::getFreemanChain(), vpDisplayWin32::getPointerMotionEvent(), vpDisplayOpenCV::getPointerMotionEvent(), vpDisplayWin32::getPointerPosition(), vpDisplayOpenCV::getPointerPosition(), vpRect::getTopLeft(), vpRect::getTopRight(), vpKeyPoint::matchPointAndDetect(), vpDot::operator==(), vpHomography::projection(), vpCalibration::readData(), vpDot2::searchDotsInArea(), vpKltOpencv::suppressFeature(), and vpDot::track().

◆ set_uv()

void vpImagePoint::set_uv	(	double	u,
		double	v
	)

inline

Sets the point coordinates in the frame (u,v).

Parameters

u	: The desired value for the coordinate along the axes.
v	: The desired value for the coordinate along the axes.

See also: set_i(), set_j(), set_u(), set_v()

Examples:: testKeyPoint-5.cpp, testKeyPoint-6.cpp, and tutorial-flood-fill.cpp.

Definition at line 247 of file vpImagePoint.h.

Referenced by vpMeEllipse::computePointOnEllipse(), vpDot2::defineDots(), vpImageDraw::drawEllipse(), vpTemplateTrackerZone::getCenter(), vpTemplateTrackerTriangle::getCorners(), vpMeEllipse::getParameters(), vpMeEllipse::initTracking(), and vpMeEllipse::leastSquareRobust().

◆ set_v()

void vpImagePoint::set_v ( double v )

inline

Sets the point coordinate corresponding to the $ v $ axes in the frame (u,v).

Parameters

v	: The desired value for the coordinate along the axes.

See also: set_i(), set_j(), set_u()

Examples:: poseVirtualVS.cpp, testImagePoint.cpp, trackDot.cpp, trackDot2.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 236 of file vpImagePoint.h.

Referenced by vpMeterPixelConversion::convertPoint(), vpKltOpencv::display(), vpCalibration::displayData(), vpRect::getBottomLeft(), vpRect::getBottomRight(), vpRect::getCenter(), vpDisplayWin32::getClick(), vpDisplayOpenCV::getClick(), vpDisplayWin32::getClickUp(), vpDisplayOpenCV::getClickUp(), vpDot2::getFreemanChain(), vpDisplayWin32::getPointerMotionEvent(), vpDisplayOpenCV::getPointerMotionEvent(), vpDisplayWin32::getPointerPosition(), vpDisplayOpenCV::getPointerPosition(), vpRect::getTopLeft(), vpRect::getTopRight(), vpKeyPoint::matchPointAndDetect(), vpDot::operator==(), vpHomography::projection(), vpCalibration::readData(), vpDot2::searchDotsInArea(), vpKltOpencv::suppressFeature(), and vpDot::track().

◆ sqrDistance()

double vpImagePoint::sqrDistance	(	const vpImagePoint &	iP1,
		const vpImagePoint &	iP2
	)

static

Compute the distance $ |iP1 - iP2| = (i_1-i_2)^2+(j_1-j_2)^2 $

Parameters

iP1	: First point
iP2	: Second point

Returns: the distance between the two points.

Definition at line 456 of file vpImagePoint.cpp.

References get_i(), get_j(), and vpMath::sqr().

Referenced by vpMeNurbs::localReSample(), and vpMeNurbs::sample().

Friends And Related Function Documentation

◆ operator!=

VISP_EXPORT bool operator!=	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

friend

Returns true if ip1 and ip2 are different; otherwire returns true.

Definition at line 150 of file vpImagePoint.cpp.

◆ operator*

VISP_EXPORT vpImagePoint operator*	(	const vpImagePoint &	ip1,
		double	scale
	)

friend

Returns a vpImagePoint with coordinates multiplied by a scale factor.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip*2: " << ip*2 << std::endl; // new coordinates (200, 400)
  return 0;
}

Definition at line 357 of file vpImagePoint.cpp.

◆ operator+ [1/4]

VISP_EXPORT vpImagePoint operator+	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

friend

Returns a vpImagePoint wich is the sum of $ ip1 $ and $ ip2 $ .

Definition at line 168 of file vpImagePoint.cpp.

◆ operator+ [2/4]

VISP_EXPORT vpImagePoint operator+	(	const vpImagePoint &	ip1,
		int	offset
	)

friend

Returns a vpImagePoint with an offset added to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip+10: " << ip+10 << std::endl; // new coordinates (110, 210)
  return 0;
}

Definition at line 202 of file vpImagePoint.cpp.

◆ operator+ [3/4]

VISP_EXPORT vpImagePoint operator+	(	const vpImagePoint &	ip1,
		unsigned int	offset
	)

friend

Returns a vpImagePoint with an offset added to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip+10u: " << ip+10u << std::endl; // new coordinates (110, 210)
  return 0;
}

Definition at line 226 of file vpImagePoint.cpp.

◆ operator+ [4/4]

VISP_EXPORT vpImagePoint operator+	(	const vpImagePoint &	ip1,
		double	offset
	)

friend

Returns a vpImagePoint with an offset added to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip+12.34: " << ip+12.34 << std::endl; // new coordinates (112.34, 212.34)
  return 0;
}

Definition at line 250 of file vpImagePoint.cpp.

◆ operator+=

VISP_EXPORT vpImagePoint operator+=	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

friend

Returns a vpImagePoint wich is the sum of $ ip1 $ and $ ip2 $ .

Definition at line 178 of file vpImagePoint.cpp.

◆ operator- [1/4]

VISP_EXPORT vpImagePoint operator-	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

friend

Returns a vpImagePoint wich is the difference between $ ip1 $ and $ ip2 $ .

Definition at line 261 of file vpImagePoint.cpp.

◆ operator- [2/4]

VISP_EXPORT vpImagePoint operator-	(	const vpImagePoint &	ip1,
		int	offset
	)

friend

Returns a vpImagePoint with an offset subtracted to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip-10: " << ip-10 << std::endl; // new coordinates (90, 190)
  return 0;
}

Definition at line 285 of file vpImagePoint.cpp.

◆ operator- [3/4]

VISP_EXPORT vpImagePoint operator-	(	const vpImagePoint &	ip1,
		unsigned int	offset
	)

friend

Returns a vpImagePoint with an offset subtracted to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip-10u: " << ip-10u << std::endl; // new coordinates (90, 190)
  return 0;
}

Definition at line 309 of file vpImagePoint.cpp.

◆ operator- [4/4]

VISP_EXPORT vpImagePoint operator-	(	const vpImagePoint &	ip1,
		double	offset
	)

friend

Returns a vpImagePoint with an offset subtracted to the two coordinates.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip-12.34: " << ip-12.34 << std::endl; // new coordinates (87.66, 187.66)
  return 0;
}

Definition at line 333 of file vpImagePoint.cpp.

◆ operator/

VISP_EXPORT vpImagePoint operator/	(	const vpImagePoint &	ip1,
		double	scale
	)

friend

Returns a vpImagePoint with coordinates divided by a scale factor.

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
  std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
  std::cout << "ip/2: " << ip/2 << std::endl; // new coordinates (50, 100)
  return 0;
}

Definition at line 381 of file vpImagePoint.cpp.

◆ operator<<

VISP_EXPORT std::ostream & operator<<	(	std::ostream &	os,
		const vpImagePoint &	ip
	)

friend

Writes the image point coordinates ip to the stream os, and returns a reference to the stream. Writes the first coordinate along the i axis and then the second one along the j axis. The coordinates are separated by a comma.

The following code

#include <iostream>
#include <visp3/core/vpImagePoint.h>
int main()
{
  vpImagePoint ip;
  ip.set_i(10);
  ip.set_j(11.1);
  std::cout << "Image point with coordinates: " << ip << std::endl;
  return 0;
}

produces the output:

Image point with coordinates: 10, 11.1

Definition at line 417 of file vpImagePoint.cpp.

◆ operator==

VISP_EXPORT bool operator==	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

friend

Returns true if ip1 and ip2 are equal; otherwire returns false.

Definition at line 131 of file vpImagePoint.cpp.

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ vpImagePoint() [1/3]

◆ vpImagePoint() [2/3]

◆ vpImagePoint() [3/3]

◆ ~vpImagePoint()

Member Function Documentation

◆ distance()

◆ get_i()

◆ get_j()

◆ get_u()

◆ get_v()

◆ getBBox()

◆ inRectangle()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_i()

◆ set_ij()

◆ set_j()

◆ set_u()

◆ set_uv()

◆ set_v()

◆ sqrDistance()

Friends And Related Function Documentation

◆ operator!=

◆ operator*

◆ operator+ [1/4]

◆ operator+ [2/4]

◆ operator+ [3/4]

◆ operator+ [4/4]

◆ operator+=

◆ operator- [1/4]

◆ operator- [2/4]

◆ operator- [3/4]

◆ operator- [4/4]

◆ operator/

◆ operator<<

◆ operator==