Visual Servoing Platform  version 3.5.1 under development (2022-08-09)
testImagePoint.cpp

Test vpImagePoint functionalities.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* 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://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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:
* Test for vpImagePoint class.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImagePoint.h>
#if defined(VISP_HAVE_CATCH2)
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
TEST_CASE("Test comparison operator", "[operator]")
{
vpImagePoint ip1, ip2, ip3;
ip1.set_u(-11.1);
ip1.set_v(10);
ip2.set_j(-11.1);
ip2.set_i(10);
ip3.set_j(11.10001);
ip3.set_i(10.1);
CHECK(ip1 == ip2);
CHECK_FALSE(ip1 != ip2);
CHECK_FALSE(ip1 == ip3);
CHECK(ip1 != ip3);
}
TEST_CASE("Test pixel belongs to segment", "[operator]")
{
vpImagePoint start_pixel(10, 10);
SECTION("Segment horizontal right")
{
vpImagePoint end_pixel = start_pixel + vpImagePoint(0, 5);
auto j = start_pixel.get_j();
for (auto curr_pixel = start_pixel; curr_pixel.inSegment(start_pixel, end_pixel);
curr_pixel = curr_pixel.nextInSegment(start_pixel, end_pixel), j++) {
CHECK(curr_pixel == vpImagePoint(start_pixel.get_i(), j));
if (curr_pixel == end_pixel)
break;
}
}
SECTION("Segment horizontal left")
{
vpImagePoint end_pixel = start_pixel - vpImagePoint(0, 5);
auto j = start_pixel.get_j();
for (auto curr_pixel = start_pixel; curr_pixel.inSegment(start_pixel, end_pixel);
curr_pixel = curr_pixel.nextInSegment(start_pixel, end_pixel), j--) {
CHECK(curr_pixel == vpImagePoint(start_pixel.get_i(), j));
if (curr_pixel == end_pixel)
break;
}
}
SECTION("Segment vertical bottom")
{
vpImagePoint end_pixel = start_pixel + vpImagePoint(5, 0);
auto i = start_pixel.get_i();
for (auto curr_pixel = start_pixel; curr_pixel.inSegment(start_pixel, end_pixel);
curr_pixel = curr_pixel.nextInSegment(start_pixel, end_pixel), i++) {
CHECK(curr_pixel == vpImagePoint(i, start_pixel.get_j()));
if (curr_pixel == end_pixel)
break;
}
}
SECTION("Segment vertical top")
{
vpImagePoint end_pixel = start_pixel - vpImagePoint(5, 0);
auto i = start_pixel.get_i();
for (auto curr_pixel = start_pixel; curr_pixel.inSegment(start_pixel, end_pixel);
curr_pixel = curr_pixel.nextInSegment(start_pixel, end_pixel), i--) {
CHECK(curr_pixel == vpImagePoint(i, start_pixel.get_j()));
if (curr_pixel == end_pixel)
break;
}
}
}
int main(int argc, char *argv[])
{
Catch::Session session; // There must be exactly one instance
// Let Catch (using Clara) parse the command line
session.applyCommandLine(argc, argv);
int numFailed = session.run();
// numFailed is clamped to 255 as some unices only use the lower 8 bits.
// This clamping has already been applied, so just return it here
// You can also do any post run clean-up here
return numFailed;
}
#else
int main()
{
vpImagePoint ip1, ip2, ip3;
ip1.set_u(-11.1);
ip1.set_v(10);
ip2.set_j(-11.1);
ip2.set_i(10);
ip3.set_j(11.10001);
ip3.set_i(10.1);
std::cout << "We define ip1 with coordinates: " << ip1 << std::endl;
std::cout << "We define ip2 with coordinates: " << ip2 << std::endl;
std::cout << "We define ip3 with coordinates: " << ip3 << std::endl;
if (ip1 == ip2) {
std::cout << "ip1 == ip2" << std::endl;
} else {
std::cout << "ip1 != ip2 (bad result)" << std::endl;
return EXIT_FAILURE;
}
if (ip1 != ip2) {
std::cout << "ip1 != ip2 (bad result)" << std::endl;
return EXIT_FAILURE;
} else {
std::cout << "ip1 == ip2" << std::endl;
}
if (ip1 == ip3) {
std::cout << "ip1 == ip3 (bad result)" << std::endl;
return EXIT_FAILURE;
} else {
std::cout << "ip1 != ip3" << std::endl;
}
if (ip1 != ip3) {
std::cout << "ip1 != ip3" << std::endl;
} else {
std::cout << "ip1 == ip3 (bad result)" << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#endif
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
void set_j(double jj)
Definition: vpImagePoint.h:309
void set_i(double ii)
Definition: vpImagePoint.h:298
void set_u(double u)
Definition: vpImagePoint.h:335
void set_v(double v)
Definition: vpImagePoint.h:346