Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpTemplateTrackerTriangle.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 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 http://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  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
45 #ifndef vpTemplateTrackerTriangle_hh
46 #define vpTemplateTrackerTriangle_hh
47 
48 #include <assert.h>
49 #include <vector>
50 
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpImagePoint.h>
53 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpMatrix.h>
55 #include <visp3/tt/vpTemplateTrackerHeader.h>
56 
61 class VISP_EXPORT vpTemplateTrackerTriangle
62 {
63 protected:
64  double minx_temp;
65  double miny_temp;
69 
70  double l_t;
71  double h_t;
72 
73  bool not_good;
74  double uvinv00;
75  double uvinv01;
76  double uvinv10;
77  double uvinv11;
79  double area;
80 
81 private:
82  vpColVector getCorner1() const;
83  vpColVector getCorner2() const;
84  vpColVector getCorner3() const;
85 
86 public:
89  vpTemplateTrackerTriangle(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
90  vpTemplateTrackerTriangle(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
91  vpTemplateTrackerTriangle(int x1, int y1, int x2, int y2, int x3, int y3);
92  vpTemplateTrackerTriangle(double x1, double y1, double x2, double y2, double x3, double y3);
93 
99  inline double getArea() const { return this->area; }
100 
101  vpTemplateTrackerTriangle getPyramidDown() const;
102  void getCorners(vpColVector &c1, vpColVector &c2, vpColVector &c3) const;
103  void getCorners(vpImagePoint &c1, vpImagePoint &c2, vpImagePoint &c3) const;
104  void getCorners(std::vector<vpImagePoint> &c) const;
105 
116  vpColVector getCorner(unsigned int i) const
117  {
118  assert(i < 3);
119  if (i == 0)
120  return getCorner1();
121  else if (i == 1)
122  return getCorner2();
123  else /*if(i==2)*/
124  return getCorner3();
125  };
135  void getCorner(unsigned int i, double &x, double &y) const
136  {
137  assert(i < 3);
138  if (i == 0) {
139  x = C1.x;
140  y = C1.y;
141  } else if (i == 1) {
142  x = C2.x;
143  y = C2.y;
144  } else /*if(i==2)*/ {
145  x = C3.x;
146  y = C3.y;
147  }
148  };
149 
150  double getMaxx() const;
151  double getMaxy() const;
152  double getMinx() const;
153  double getMiny() const;
154 
155  void getSize(double &w, double &h) const;
156  void getSize(int &w, int &h) const;
157 
158  void init(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
159  void init(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
160  void init(int x1, int y1, int x2, int y2, int x3, int y3);
161  void init(double x1, double y1, double x2, double y2, double x3, double y3);
162  bool inTriangle(const vpImagePoint &ip) const;
163  bool inTriangle(const int &i, const int &j) const;
164  bool inTriangle(const double &i, const double &j) const;
165 
167 };
168 #endif
void getCorner(unsigned int i, double &x, double &y) const
vpColVector getCorner(unsigned int i) const
vpTemplateTrackerDPoint C2
Corner 1.
vpTemplateTrackerDPoint C3
Corner 2.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88