Visual Servoing Platform  version 3.2.1 under development (2019-08-21) under development (2019-08-21)
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 
90 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
91 
95 {
96  m_center = rectOriented.getCenter();
97  m_width = rectOriented.getWidth();
98  m_height = rectOriented.getHeight();
99  m_theta = rectOriented.getOrientation();
100  m_topLeft = rectOriented.getTopLeft();
101  m_bottomLeft = rectOriented.getBottomLeft();
102  m_bottomRight = rectOriented.getBottomRight();
103  m_topRight = rectOriented.getTopRight();
104  return *this;
105 }
106 #endif
107 
112 {
113  m_center = rect.getCenter();
114  m_width = rect.getWidth();
115  m_height = rect.getHeight();
116  m_theta = .0;
117  m_topLeft.set_i(m_center.get_i() - m_height / 2.0);
118  m_topLeft.set_j(m_center.get_j() - m_width / 2.0);
119  m_bottomLeft.set_i(m_center.get_i() + m_height / 2.0);
120  m_bottomLeft.set_j(m_center.get_j() - m_width / 2.0);
121  m_bottomRight.set_i(m_center.get_i() + m_height / 2.0);
122  m_bottomRight.set_j(m_center.get_j() + m_width / 2.0);
123  m_topRight.set_i(m_center.get_i() - m_height / 2.0);
124  m_topRight.set_j(m_center.get_j() + m_width / 2.0);
125  return *this;
126 }
127 
130 vpRectOriented::operator vpRect()
131 {
132  if (std::fabs(m_theta) > std::numeric_limits<double>::epsilon())
133  throw(vpException(vpException::badValue, "Cannot convert a vpRectOriented with non-zero orientation to a vpRect"));
134 
135  return vpRect(m_topLeft, m_bottomRight);
136 }
137 
142 void vpRectOriented::setPoints(const vpImagePoint &topLeft, const vpImagePoint &topRight,
143  const vpImagePoint &bottomLeft, const vpImagePoint &bottomRight)
144 {
145  m_topLeft = topLeft;
146  m_bottomLeft = bottomLeft;
147  m_bottomRight = bottomRight;
148  m_topRight = topRight;
149  m_center.set_i((m_topLeft.get_i() + m_bottomLeft.get_i() + m_bottomRight.get_i() + m_topRight.get_i()) / 4.0);
150  m_center.set_j((m_topLeft.get_j() + m_bottomLeft.get_j() + m_bottomRight.get_j() + m_topRight.get_j()) / 4.0);
151  m_width = sqrt((m_topRight.get_i() - m_topLeft.get_i()) * (m_topRight.get_i() - m_topLeft.get_i()) +
152  (m_topRight.get_j() - m_topLeft.get_j()) * (m_topRight.get_j() - m_topLeft.get_j()));
153  m_height = sqrt((m_bottomLeft.get_i() - m_topLeft.get_i()) * (m_bottomLeft.get_i() - m_topLeft.get_i()) +
154  (m_bottomLeft.get_j() - m_topLeft.get_j()) * (m_bottomLeft.get_j() - m_topLeft.get_j()));
155  m_theta = atan2(m_topRight.get_i() - m_topLeft.get_i(), m_topRight.get_j() - m_topLeft.get_j());
156 }
157 
160 {
161  m_topLeft += center - m_center;
162  m_bottomLeft += center - m_center;
163  m_bottomRight += center - m_center;
164  m_topRight += center - m_center;
165  m_center = center;
166 }
167 
169 vpImagePoint vpRectOriented::getCenter() const { return m_center; }
170 
172 vpImagePoint vpRectOriented::getTopLeft() const { return m_topLeft; }
173 
175 vpImagePoint vpRectOriented::getTopRight() const { return m_topRight; }
176 
178 vpImagePoint vpRectOriented::getBottomLeft() const { return m_bottomLeft; }
179 
181 vpImagePoint vpRectOriented::getBottomRight() const { return m_bottomRight; }
182 
184 void vpRectOriented::setSize(double width, double height)
185 {
186  m_width = width;
187  m_height = height;
188  m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
189  m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
190  m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
191  m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
192  m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
193  m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
194  m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
195  m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
196 }
197 
199 double vpRectOriented::getWidth() const { return m_width; }
200 
202 double vpRectOriented::getHeight() const { return m_height; }
203 
206 {
207  m_theta = theta;
208  m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
209  m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
210  m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2);
211  m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2);
212  m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
213  m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
214  m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2);
215  m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2);
216 }
217 
219 double vpRectOriented::getOrientation() const { return m_theta; }
220 
222 bool vpRectOriented::isInside(const vpImagePoint &point) const
223 {
224  if (!isLeft(point, m_topLeft, m_bottomLeft))
225  return false;
226  if (!isLeft(point, m_bottomLeft, m_bottomRight))
227  return false;
228  if (!isLeft(point, m_bottomRight, m_topRight))
229  return false;
230  if (!isLeft(point, m_topRight, m_topLeft))
231  return false;
232  return true;
233 }
234 
235 bool vpRectOriented::isLeft(const vpImagePoint &pointToTest, const vpImagePoint &point1,
236  const vpImagePoint &point2) const
237 {
238  double a = point1.get_j() - point2.get_j();
239  double b = point2.get_i() - point1.get_i();
240  double c = -(a * point1.get_i() + b * point1.get_j());
241  double d = a * pointToTest.get_i() + b * pointToTest.get_j() + c;
242  return (d > 0);
243 }
vpImagePoint getTopRight() const
Get the top-right corner.
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
double get_i() const
Definition: vpImagePoint.h:204
vpImagePoint getBottomRight() const
Get the bottom-right corner.
void setPoints(const vpImagePoint &topLeft, const vpImagePoint &topRight, const vpImagePoint &bottomLeft, const vpImagePoint &bottomRight)
double getOrientation() const
Get the rectangle orientation (rad).
vpRectOriented()
Default constructor.
void getCenter(double &x, double &y) const
Definition: vpRect.h:125
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpRectOriented & operator=(const vpRectOriented &rect)=default
void setCenter(const vpImagePoint &center)
Set the center of the rectangle.
double getWidth() const
Get the rectangle width.
vpImagePoint getBottomLeft() const
Get the bottom-left corner.
void set_i(const double ii)
Definition: vpImagePoint.h:167
double getWidth() const
Definition: vpRect.h:203
double get_j() const
Definition: vpImagePoint.h:215
bool isInside(const vpImagePoint &point) const
Check whether the point is inside the rectangle.
void set_j(const double jj)
Definition: vpImagePoint.h:178
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.
double getHeight() const
Get the rectangle height.
double getHeight() const
Definition: vpRect.h:155
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
vpImagePoint getCenter() const
Get the rectangle center point.
Defines an oriented rectangle in the plane.