Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
vpImagePoint.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  * 2D point useful for image processing
33  *
34 *****************************************************************************/
35 
36 #include <visp3/core/vpConfig.h>
37 #include <visp3/core/vpImagePoint.h>
38 #include <visp3/core/vpMath.h>
39 #include <visp3/core/vpRect.h>
40 
49 bool vpImagePoint::inRectangle(const vpRect &rect) const
50 {
51  return (this->i <= rect.getBottom() && this->i >= rect.getTop() && this->j <= rect.getRight() &&
52  this->j >= rect.getLeft());
53 }
54 
83 {
84  this->i += ip.i;
85  this->j += ip.j;
86  return *this;
87 }
88 
116 {
117  this->i /= scale;
118  this->j /= scale;
119  return *this;
120 }
121 
127 VISP_EXPORT bool operator==(const vpImagePoint &ip1, const vpImagePoint &ip2)
128 {
129  // return ( ( ip1.get_i() == ip2.get_i() ) && ( ip1.get_j() == ip2.get_j() )
130  // );
131 
132  double i1 = ip1.get_i();
133  double j1 = ip1.get_j();
134  double i2 = ip2.get_i();
135  double j2 = ip2.get_j();
136 
137  return ((std::fabs(i1 - i2) <= std::fabs(vpMath::maximum(i1, i2)) * std::numeric_limits<double>::epsilon()) &&
138  (std::fabs(j1 - j2) <= std::fabs(vpMath::maximum(j1, j2)) * std::numeric_limits<double>::epsilon()));
139 }
140 
146 VISP_EXPORT bool operator!=(const vpImagePoint &ip1, const vpImagePoint &ip2)
147 {
148  // return ( ( ip1.get_i() != ip2.get_i() ) || ( ip1.get_j() != ip2.get_j() )
149  // );
150  double i1 = ip1.get_i();
151  double j1 = ip1.get_j();
152  double i2 = ip2.get_i();
153  double j2 = ip2.get_j();
154 
155  return ((std::fabs(i1 - i2) > std::fabs(vpMath::maximum(i1, i2)) * std::numeric_limits<double>::epsilon()) ||
156  (std::fabs(j1 - j2) > std::fabs(vpMath::maximum(j1, j2)) * std::numeric_limits<double>::epsilon()));
157 }
158 
164 VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, const vpImagePoint &ip2)
165 {
166  return (vpImagePoint(ip1.get_i() + ip2.get_i(), ip1.get_j() + ip2.get_j()));
167 }
168 
174 VISP_EXPORT vpImagePoint operator+=(const vpImagePoint &ip1, const vpImagePoint &ip2)
175 {
176  return (vpImagePoint(ip1.get_i() + ip2.get_i(), ip1.get_j() + ip2.get_j()));
177 }
178 
198 VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, int offset)
199 {
200  return (vpImagePoint(ip1.get_i() + offset, ip1.get_j() + offset));
201 }
202 
222 VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, unsigned int offset)
223 {
224  return (vpImagePoint(ip1.get_i() + offset, ip1.get_j() + offset));
225 }
226 
246 VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, double offset)
247 {
248  return (vpImagePoint(ip1.get_i() + offset, ip1.get_j() + offset));
249 }
250 
257 VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, const vpImagePoint &ip2)
258 {
259  return (vpImagePoint(ip1.get_i() - ip2.get_i(), ip1.get_j() - ip2.get_j()));
260 }
261 
281 VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, int offset)
282 {
283  return (vpImagePoint(ip1.get_i() - offset, ip1.get_j() - offset));
284 }
285 
305 VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, unsigned int offset)
306 {
307  return (vpImagePoint(ip1.get_i() - offset, ip1.get_j() - offset));
308 }
309 
329 VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, double offset)
330 {
331  return (vpImagePoint(ip1.get_i() - offset, ip1.get_j() - offset));
332 }
333 
353 VISP_EXPORT vpImagePoint operator*(const vpImagePoint &ip1, double scale)
354 {
355  return (vpImagePoint(ip1.get_i() * scale, ip1.get_j() * scale));
356 }
357 
377 VISP_EXPORT vpImagePoint operator/(const vpImagePoint &ip1, double scale)
378 {
379  return (vpImagePoint(ip1.get_i() / scale, ip1.get_j() / scale));
380 }
381 
413 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpImagePoint &ip)
414 {
415  os << ip.get_i() << ", " << ip.get_j();
416  return os;
417 }
418 
424 vpRect vpImagePoint::getBBox(const std::vector<vpImagePoint> &ipVec)
425 {
426  vpRect rec(ipVec);
427 
428  return rec;
429 }
430 
439 double vpImagePoint::distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
440 {
441  return sqrt(vpMath::sqr(iP1.get_i() - iP2.get_i()) + vpMath::sqr(iP1.get_j() - iP2.get_j()));
442 }
443 
453 {
454  return vpMath::sqr(iP1.get_i() - iP2.get_i()) + vpMath::sqr(iP1.get_j() - iP2.get_j());
455 }
bool operator==(const vpArray2D< double > &A) const
Definition: vpArray2D.h:1211
bool operator!=(const vpArray2D< Type > &A) const
Definition: vpArray2D.h:1247
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:547
vpColVector operator*(const double &x, const vpColVector &v)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpImagePoint & operator/=(double scale)
double get_j() const
Definition: vpImagePoint.h:125
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
bool inRectangle(const vpRect &rect) const
vpImagePoint & operator+=(const vpImagePoint &ip)
VISP_EXPORT vpImagePoint operator+=(const vpImagePoint &ip1, const vpImagePoint &ip2)
VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, const vpImagePoint &ip2)
static vpRect getBBox(const std::vector< vpImagePoint > &ipVec)
VISP_EXPORT vpImagePoint operator/(const vpImagePoint &ip1, double scale)
static double sqrDistance(const vpImagePoint &iP1, const vpImagePoint &iP2)
VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, const vpImagePoint &ip2)
double get_i() const
Definition: vpImagePoint.h:114
static Type maximum(const Type &a, const Type &b)
Definition: vpMath.h:252
static double sqr(double x)
Definition: vpMath.h:201
Defines a rectangle in the plane.
Definition: vpRect.h:76
double getLeft() const
Definition: vpRect.h:170
double getRight() const
Definition: vpRect.h:176
double getBottom() const
Definition: vpRect.h:94
double getTop() const
Definition: vpRect.h:189