Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpTriangle.cpp
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31  * Description:
32  * Defines a 2D triangle.
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35 
36 #include <visp3/core/vpDebug.h>
37 #include <visp3/core/vpTriangle.h>
38 
46  : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
47  apex2(), apex3()
48 {
49  init(vpImagePoint(0, 0), vpImagePoint(1, 0), vpImagePoint(0, 1));
50 }
51 
60 vpTriangle::vpTriangle(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
61  : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
62  apex2(), apex3()
63 {
64  init(iP1, iP2, iP3);
65 }
66 
73  : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0), ptempo0(0), ptempo1(0), area(0), apex1(),
74  apex2(), apex3()
75 {
76  *this = tri;
77 }
78 
83 
88 {
89  goodTriange = tri.goodTriange;
90  S1 = tri.S1;
91  uvinv00 = tri.uvinv00;
92  uvinv01 = tri.uvinv01;
93  uvinv10 = tri.uvinv10;
94  uvinv11 = tri.uvinv11;
95  ptempo0 = tri.ptempo0;
96  ptempo1 = tri.ptempo1;
97  area = tri.area;
98  apex1 = tri.apex1;
99  apex2 = tri.apex2;
100  apex3 = tri.apex3;
101  return *this;
102 };
103 
112 void vpTriangle::buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
113 {
114  init(iP1, iP2, iP3);
115 }
116 
117 void vpTriangle::init(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
118 {
119  ptempo0 = ptempo1 = 0.;
120  apex1 = iP1;
121  apex2 = iP2;
122  apex3 = iP3;
123 
124  vpMatrix uv(2, 2);
125  vpMatrix uvinv(2, 2);
126 
127  uv[0][0] = iP2.get_i() - iP1.get_i();
128  uv[1][0] = iP3.get_i() - iP1.get_i();
129  uv[0][1] = iP2.get_j() - iP1.get_j();
130  uv[1][1] = iP3.get_j() - iP1.get_j();
131  try {
132  uvinv = uv.inverseByLU();
133  goodTriange = true;
134  }
135  catch (...) {
136  goodTriange = false;
137  std::cout << "Empty triangle" << std::endl;
138  }
139 
140  uvinv00 = uvinv[0][0];
141  uvinv01 = uvinv[0][1];
142  uvinv10 = uvinv[1][0];
143  uvinv11 = uvinv[1][1];
144  S1 = iP1;
145  area = 0.5 * fabs(uv.det());
146 }
147 
159 bool vpTriangle::inTriangle(const vpImagePoint &iP, double threshold)
160 {
161  if (!goodTriange)
162  return false;
163 
164  if (threshold < 0)
165  threshold = 0;
166 
167  ptempo0 = iP.get_i() - S1.get_i();
168  ptempo1 = iP.get_j() - S1.get_j();
169 
170  double p_ds_uv0 = ptempo0 * uvinv00 + ptempo1 * uvinv10;
171  double p_ds_uv1 = ptempo0 * uvinv01 + ptempo1 * uvinv11;
172 
173  return (p_ds_uv0 + p_ds_uv1 < 1. + threshold && p_ds_uv0 > -threshold && p_ds_uv1 > -threshold);
174 }
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
double get_j() const
Definition: vpImagePoint.h:125
double get_i() const
Definition: vpImagePoint.h:114
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Defines a 2D triangle.
Definition: vpTriangle.h:53
vpTriangle & operator=(const vpTriangle &tri)
Definition: vpTriangle.cpp:87
void buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
Definition: vpTriangle.cpp:112
bool inTriangle(const vpImagePoint &iP, double threshold=0.00001)
Definition: vpTriangle.cpp:159
virtual ~vpTriangle()
Definition: vpTriangle.cpp:82