Visual Servoing Platform version 3.6.0
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vpRectOriented.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Defines a (possibly oriented) rectangle in the plane.
33 *
34*****************************************************************************/
35#include <visp3/core/vpRectOriented.h>
36
37#include <cmath>
38
41 : m_center(), m_width(), m_height(), m_theta(), m_topLeft(), m_topRight(), m_bottomLeft(), m_bottomRight()
42{ }
43
50vpRectOriented::vpRectOriented(const vpImagePoint &center, double width, double height, double theta)
51{
52 m_center = center;
53 m_width = width;
54 m_height = height;
55 m_theta = theta;
56 m_topLeft.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2.0);
57 m_topLeft.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2.0);
58 m_bottomLeft.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 - m_width * sin(m_theta) / 2.0);
59 m_bottomLeft.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 - m_width * cos(m_theta) / 2.0);
60 m_bottomRight.set_i(m_center.get_i() + m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2.0);
61 m_bottomRight.set_j(m_center.get_j() - m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2.0);
62 m_topRight.set_i(m_center.get_i() - m_height * cos(m_theta) / 2.0 + m_width * sin(m_theta) / 2.0);
63 m_topRight.set_j(m_center.get_j() + m_height * sin(m_theta) / 2.0 + m_width * cos(m_theta) / 2.0);
64}
65
70{
71 m_center = rect.getCenter();
72 m_width = rect.getWidth();
73 m_height = rect.getHeight();
74 m_theta = .0;
75 m_topLeft.set_i(m_center.get_i() - m_height / 2.0);
76 m_topLeft.set_j(m_center.get_j() - m_width / 2.0);
77 m_bottomLeft.set_i(m_center.get_i() + m_height / 2.0);
78 m_bottomLeft.set_j(m_center.get_j() - m_width / 2.0);
79 m_bottomRight.set_i(m_center.get_i() + m_height / 2.0);
80 m_bottomRight.set_j(m_center.get_j() + m_width / 2.0);
81 m_topRight.set_i(m_center.get_i() - m_height / 2.0);
82 m_topRight.set_j(m_center.get_j() + m_width / 2.0);
83}
84
85#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
89vpRectOriented::vpRectOriented(const vpRectOriented &rectOriented) { *this = rectOriented; }
90
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
130vpRectOriented::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
142void 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
169vpImagePoint vpRectOriented::getCenter() const { return m_center; }
170
172vpImagePoint vpRectOriented::getTopLeft() const { return m_topLeft; }
173
175vpImagePoint vpRectOriented::getTopRight() const { return m_topRight; }
176
178vpImagePoint vpRectOriented::getBottomLeft() const { return m_bottomLeft; }
179
181vpImagePoint vpRectOriented::getBottomRight() const { return m_bottomRight; }
182
184void 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
199double vpRectOriented::getWidth() const { return m_width; }
200
202double 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
219double vpRectOriented::getOrientation() const { return m_theta; }
220
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
235bool 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}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ badValue
Used to indicate that a value is not in the allowed range.
Definition vpException.h:85
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_j(double jj)
double get_j() const
void set_i(double ii)
double get_i() const
Defines an oriented rectangle in the plane.
double getHeight() const
Get the rectangle height.
vpImagePoint getBottomLeft() const
Get the bottom-left corner.
double getOrientation() const
Get the rectangle orientation (rad).
vpImagePoint getBottomRight() const
Get the bottom-right corner.
void setPoints(const vpImagePoint &topLeft, const vpImagePoint &topRight, const vpImagePoint &bottomLeft, const vpImagePoint &bottomRight)
void setCenter(const vpImagePoint &center)
Set the center of the rectangle.
double getWidth() const
Get the rectangle width.
bool isInside(const vpImagePoint &point) const
Check whether the point is inside the rectangle.
vpRectOriented()
Default constructor.
void setSize(double width, double height)
Set the size of the rectangle : performs a homothety relatively to the rectangle center.
vpImagePoint getTopRight() const
Get the top-right corner.
vpImagePoint getTopLeft() const
Get the top-left corner.
vpImagePoint getCenter() const
Get the rectangle center point.
void setOrientation(double theta)
Set the rectangle orientation (rad).
vpRectOriented & operator=(const vpRectOriented &rect)=default
Defines a rectangle in the plane.
Definition vpRect.h:76
void getCenter(double &x, double &y) const
Definition vpRect.h:133
double getWidth() const
Definition vpRect.h:224
double getHeight() const
Definition vpRect.h:163