Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpRectOriented.cpp
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30  *
31  * Description:
32  * Defines a (possibly oriented) rectangle in the plane.
33  *
34  * Author:
35  * Pierre Chatelain
36  * Marc Pouliquen
37  *
38  *****************************************************************************/
39 #include <visp3/core/vpRectOriented.h>
40 
41 #include <cmath>
42 
45  : m_center(), m_width(), m_height(), m_theta(), m_topLeft(), m_topRight(), m_bottomLeft(), m_bottomRight()
46 {
47 }
48 
55 vpRectOriented::vpRectOriented(const vpImagePoint &center, const double width, const double height, const double theta)
56 {
57  m_center = center;
58  m_width = width;
59  m_height = height;
60  m_theta = theta;
61  m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2.0);
62  m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2.0);
63  m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2.0);
64  m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2.0);
65  m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2.0);
66  m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2.0);
67  m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2.0);
68  m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2.0);
69 }
70 
75 {
76  m_center = rect.getCenter();
77  m_width = rect.getWidth();
78  m_height = rect.getHeight();
79  m_theta = .0;
80  m_topLeft.set_i(m_center.get_i() - m_height / 2.0);
81  m_topLeft.set_j(m_center.get_j() - m_width / 2.0);
82  m_bottomLeft.set_i(m_center.get_i() + m_height / 2.0);
83  m_bottomLeft.set_j(m_center.get_j() - m_width / 2.0);
84  m_bottomRight.set_i(m_center.get_i() + m_height / 2.0);
85  m_bottomRight.set_j(m_center.get_j() + m_width / 2.0);
86  m_topRight.set_i(m_center.get_i() - m_height / 2.0);
87  m_topRight.set_j(m_center.get_j() + m_width / 2.0);
88 }
89 
94 {
95  m_center = rectOriented.getCenter();
96  m_width = rectOriented.getWidth();
97  m_height = rectOriented.getHeight();
98  m_theta = rectOriented.getOrientation();
99  m_topLeft = rectOriented.getTopLeft();
100  m_bottomLeft = rectOriented.getBottomLeft();
101  m_bottomRight = rectOriented.getBottomRight();
102  m_topRight = rectOriented.getTopRight();
103  return *this;
104 }
105 
110 {
111  m_center = rect.getCenter();
112  m_width = rect.getWidth();
113  m_height = rect.getHeight();
114  m_theta = .0;
115  m_topLeft.set_i(m_center.get_i() - m_height / 2.0);
116  m_topLeft.set_j(m_center.get_j() - m_width / 2.0);
117  m_bottomLeft.set_i(m_center.get_i() + m_height / 2.0);
118  m_bottomLeft.set_j(m_center.get_j() - m_width / 2.0);
119  m_bottomRight.set_i(m_center.get_i() + m_height / 2.0);
120  m_bottomRight.set_j(m_center.get_j() + m_width / 2.0);
121  m_topRight.set_i(m_center.get_i() - m_height / 2.0);
122  m_topRight.set_j(m_center.get_j() + m_width / 2.0);
123  return *this;
124 }
125 
128 vpRectOriented::operator vpRect()
129 {
130  if (std::fabs(m_theta) > std::numeric_limits<double>::epsilon())
131  throw(vpException(vpException::badValue, "Cannot convert a vpRectOriented with non-zero orientation to a vpRect"));
132 
133  return vpRect(m_topLeft, m_bottomRight);
134 }
135 
140 void vpRectOriented::setPoints(const vpImagePoint &topLeft, const vpImagePoint &topRight,
141  const vpImagePoint &bottomLeft, const vpImagePoint &bottomRight)
142 {
143  m_topLeft = topLeft;
144  m_bottomLeft = bottomLeft;
145  m_bottomRight = bottomRight;
146  m_topRight = topRight;
147  m_center.set_i((m_topLeft.get_i() + m_bottomLeft.get_i() + m_bottomRight.get_i() + m_topRight.get_i()) / 4.0);
148  m_center.set_j((m_topLeft.get_j() + m_bottomLeft.get_j() + m_bottomRight.get_j() + m_topRight.get_j()) / 4.0);
149  m_width = sqrt((m_topRight.get_i() - m_topLeft.get_i()) * (m_topRight.get_i() - m_topLeft.get_i()) +
150  (m_topRight.get_j() - m_topLeft.get_j()) * (m_topRight.get_j() - m_topLeft.get_j()));
151  m_height = sqrt((m_bottomLeft.get_i() - m_topLeft.get_i()) * (m_bottomLeft.get_i() - m_topLeft.get_i()) +
152  (m_bottomLeft.get_j() - m_topLeft.get_j()) * (m_bottomLeft.get_j() - m_topLeft.get_j()));
153  m_theta = atan2(m_topRight.get_i() - m_topLeft.get_i(), m_topRight.get_j() - m_topLeft.get_j());
154 }
155 
158 {
159  m_topLeft += center - m_center;
160  m_bottomLeft += center - m_center;
161  m_bottomRight += center - m_center;
162  m_topRight += center - m_center;
163  m_center = center;
164 }
165 
167 vpImagePoint vpRectOriented::getCenter() const { return m_center; }
168 
170 vpImagePoint vpRectOriented::getTopLeft() const { return m_topLeft; }
171 
173 vpImagePoint vpRectOriented::getTopRight() const { return m_topRight; }
174 
176 vpImagePoint vpRectOriented::getBottomLeft() const { return m_bottomLeft; }
177 
179 vpImagePoint vpRectOriented::getBottomRight() const { return m_bottomRight; }
180 
182 void vpRectOriented::setSize(double width, double height)
183 {
184  m_width = width;
185  m_height = height;
186  m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
187  m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
188  m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
189  m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
190  m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
191  m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
192  m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
193  m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
194 }
195 
197 double vpRectOriented::getWidth() const { return m_width; }
198 
200 double vpRectOriented::getHeight() const { return m_height; }
201 
204 {
205  m_theta = theta;
206  m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
207  m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
208  m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
209  m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
210  m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
211  m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
212  m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
213  m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
214 }
215 
217 double vpRectOriented::getOrientation() const { return m_theta; }
218 
220 bool vpRectOriented::isInside(const vpImagePoint &point) const
221 {
222  if (!isLeft(point, m_topLeft, m_bottomLeft))
223  return false;
224  if (!isLeft(point, m_bottomLeft, m_bottomRight))
225  return false;
226  if (!isLeft(point, m_bottomRight, m_topRight))
227  return false;
228  if (!isLeft(point, m_topRight, m_topLeft))
229  return false;
230  return true;
231 }
232 
233 bool vpRectOriented::isLeft(const vpImagePoint &pointToTest, const vpImagePoint &point1,
234  const vpImagePoint &point2) const
235 {
236  double a = point1.get_j() - point2.get_j();
237  double b = point2.get_i() - point1.get_i();
238  double c = -(a * point1.get_i() + b * point1.get_j());
239  double d = a * pointToTest.get_i() + b * pointToTest.get_j() + c;
240  return (d > 0);
241 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
double get_i() const
Definition: vpImagePoint.h:204
void getCenter(double &x, double &y) const
Definition: vpRect.h:116
void setPoints(const vpImagePoint &topLeft, const vpImagePoint &topRight, const vpImagePoint &bottomLeft, const vpImagePoint &bottomRight)
vpRectOriented()
Default constructor.
vpImagePoint getBottomLeft() const
Get the bottom-left corner.
error that can be emited by ViSP classes.
Definition: vpException.h:71
double getHeight() const
Definition: vpRect.h:147
void setCenter(const vpImagePoint &center)
Set the center of the rectangle.
double getHeight() const
Get the rectangle height.
double getWidth() const
Get the rectangle width.
double get_j() const
Definition: vpImagePoint.h:215
void set_i(const double ii)
Definition: vpImagePoint.h:167
double getWidth() const
Definition: vpRect.h:195
double getOrientation() const
Get the rectangle orientation (rad).
vpImagePoint getTopRight() const
Get the top-right corner.
bool isInside(const vpImagePoint &point) const
Check whether the point is inside the rectangle.
void set_j(const double jj)
Definition: vpImagePoint.h:178
vpRectOriented & operator=(const vpRectOriented &rect)
void setSize(double width, double height)
Set the size of the rectangle : performs a homothety relatively to the rectangle center.
vpImagePoint getTopLeft() const
Get the top-left corner.
void setOrientation(double theta)
Set the rectangle orientation (rad).
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Defines an oriented rectangle in the plane.
vpImagePoint getBottomRight() const
Get the bottom-right corner.
vpImagePoint getCenter() const
Get the rectangle center point.