Visual Servoing Platform  version 3.6.1 under development (2024-11-15)
vpTriangle.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Defines a 2D triangle.
32  */
33 
34 #ifndef vpTriangle_h
35 #define vpTriangle_h
36 
37 #include <visp3/core/vpConfig.h>
38 #include <visp3/core/vpImagePoint.h>
39 #include <visp3/core/vpMatrix.h>
40 
41 BEGIN_VISP_NAMESPACE
53 class VISP_EXPORT vpTriangle
54 {
55 private:
56  bool goodTriange;
57  vpImagePoint S1;
58  double uvinv00;
59  double uvinv01;
60  double uvinv10;
61  double uvinv11;
62  double ptempo0;
63  double ptempo1;
64  double area;
65  vpImagePoint apex1;
66  vpImagePoint apex2;
67  vpImagePoint apex3;
68 
69 public:
70  vpTriangle();
71  vpTriangle(const vpTriangle &tri);
72  virtual ~vpTriangle();
73 
74  vpTriangle &operator=(const vpTriangle &tri);
75 
76  vpTriangle(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
77 
78  vpTriangle &buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
79 
80  bool inTriangle(const vpImagePoint &iP, double threshold = 0.00001);
81 
89  void getTriangleApexes(vpImagePoint &iP1, vpImagePoint &iP2, vpImagePoint &iP3) const
90  {
91  iP1 = apex1;
92  iP2 = apex2;
93  iP3 = apex3;
94  }
95 
102  inline double getArea() const { return this->area; }
103 
104 private:
105  void init(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
106 };
107 END_VISP_NAMESPACE
108 #endif
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpTriangle
Defines a 2D triangle.
Definition: vpTriangle.h:54
vpTriangle::getTriangleApexes
void getTriangleApexes(vpImagePoint &iP1, vpImagePoint &iP2, vpImagePoint &iP3) const
Definition: vpTriangle.h:89
vpTriangle::getArea
double getArea() const
Definition: vpTriangle.h:102