Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpTemplateTrackerTriangle.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
44 #ifndef vpTemplateTrackerTriangle_hh
45 #define vpTemplateTrackerTriangle_hh
46 
47 #include <assert.h>
48 #include <vector>
49 
50 #include <visp3/core/vpColVector.h>
51 #include <visp3/core/vpImagePoint.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/core/vpMatrix.h>
54 #include <visp3/tt/vpTemplateTrackerHeader.h>
55 
60 class VISP_EXPORT vpTemplateTrackerTriangle
61 {
62 protected:
63  double minx_temp;
64  double miny_temp;
68 
69  double l_t;
70  double h_t;
71 
72  bool not_good;
73  double uvinv00;
74  double uvinv01;
75  double uvinv10;
76  double uvinv11;
78  double area;
79 
80 private:
81  vpColVector getCorner1() const;
82  vpColVector getCorner2() const;
83  vpColVector getCorner3() const;
84 
85 public:
88  vpTemplateTrackerTriangle(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
89  vpTemplateTrackerTriangle(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
90  vpTemplateTrackerTriangle(int x1, int y1, int x2, int y2, int x3, int y3);
91  vpTemplateTrackerTriangle(double x1, double y1, double x2, double y2, double x3, double y3);
92 
98  inline double getArea() const { return this->area; }
99 
100  vpTemplateTrackerTriangle getPyramidDown() const;
101  void getCorners(vpColVector &c1, vpColVector &c2, vpColVector &c3) const;
102  void getCorners(vpImagePoint &c1, vpImagePoint &c2, vpImagePoint &c3) const;
103  void getCorners(std::vector<vpImagePoint> &c) const;
104 
115  vpColVector getCorner(unsigned int i) const
116  {
117  assert(i < 3);
118  if (i == 0)
119  return getCorner1();
120  else if (i == 1)
121  return getCorner2();
122  else /*if(i==2)*/
123  return getCorner3();
124  };
134  void getCorner(unsigned int i, double &x, double &y) const
135  {
136  assert(i < 3);
137  if (i == 0) {
138  x = C1.x;
139  y = C1.y;
140  } else if (i == 1) {
141  x = C2.x;
142  y = C2.y;
143  } else /*if(i==2)*/ {
144  x = C3.x;
145  y = C3.y;
146  }
147  };
148 
149  double getMaxx() const;
150  double getMaxy() const;
151  double getMinx() const;
152  double getMiny() const;
153 
154  void getSize(double &w, double &h) const;
155  void getSize(int &w, int &h) const;
156 
157  void init(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
158  void init(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
159  void init(int x1, int y1, int x2, int y2, int x3, int y3);
160  void init(double x1, double y1, double x2, double y2, double x3, double y3);
161  bool inTriangle(const vpImagePoint &ip) const;
162  bool inTriangle(const int &i, const int &j) const;
163  bool inTriangle(const double &i, const double &j) const;
164 
166 };
167 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpColVector getCorner(unsigned int i) const
vpTemplateTrackerDPoint C3
Corner 2.
vpTemplateTrackerDPoint C2
Corner 1.
void getCorner(unsigned int i, double &x, double &y) const