Visual Servoing Platform version 3.5.0
vpRect.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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 rectangle in the plane.
33 *
34 * Author:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
45#include <visp3/core/vpDebug.h>
46#include <visp3/core/vpRect.h>
47
53vpRect::vpRect() : left(0), top(0), width(0), height(0) {}
54
64vpRect::vpRect(double l, double t, double w, double h) : left(l), top(t), width(w), height(h) {}
65
74vpRect::vpRect(const vpImagePoint &topLeft, double w, double h)
75 : left(topLeft.get_u()), top(topLeft.get_v()), width(w), height(h)
76{
77}
78
83vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
84 : left(topLeft.get_u()), top(topLeft.get_v()), width(0), height(0)
85{
86 this->left = topLeft.get_u();
87 this->top = topLeft.get_v();
88
89 setBottom(bottomRight.get_v());
90 setRight(bottomRight.get_u());
91}
92
96vpRect::vpRect(const vpRect &r) : left(0), top(0), width(0), height(0) { *this = r; }
97
103{
104 this->left = r.left;
105 this->top = r.top;
106 this->width = r.width;
107 this->height = r.height;
108 return *this;
109}
110
116vpRect::vpRect(const std::vector<vpImagePoint> &ip) : left(0), top(0), width(0), height(0) { set(ip); }
117
125bool vpRect::isInside(const vpImagePoint &ip) const
126{
127 return (ip.get_i() <= this->getBottom() && ip.get_i() >= this->getTop() && ip.get_j() <= this->getRight() &&
128 ip.get_j() >= this->getLeft());
129}
130
139void vpRect::set(double l, double t, double w, double h)
140{
141 left = l;
142 top = t;
143 width = w;
144 height = h;
145}
146
155void vpRect::set(const vpImagePoint &topLeft, double w, double h)
156{
157 left = topLeft.get_u();
158 top = topLeft.get_v();
159 width = w;
160 height = h;
161}
162
168void vpRect::set(const std::vector<vpImagePoint> &ip)
169{
170 if (ip.size() < 1)
171 throw(vpException(vpException::dimensionError, "At least 1 point is requested to build a rectangle"));
172 double minu, maxu;
173 double minv, maxv;
174 minu = maxu = ip[0].get_u();
175 minv = maxv = ip[0].get_v();
176
177 for (size_t i = 1; i < ip.size(); i++) {
178 double u = ip[i].get_u();
179 double v = ip[i].get_v();
180 if (u < minu)
181 minu = u;
182 else if (u > maxu)
183 maxu = u;
184 if (v < minv)
185 minv = v;
186 else if (v > maxv)
187 maxv = v;
188 }
189
190 setLeft(minu);
191 setTop(minv);
192 setRight(maxu);
193 setBottom(maxv);
194}
195
203void vpRect::set(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
204{
205 this->left = topLeft.get_u();
206 this->top = topLeft.get_v();
207
208 setBottom(bottomRight.get_v());
209 setRight(bottomRight.get_u());
210}
211
215void vpRect::set(const vpRect &r) { *this = r; }
216
221bool vpRect::operator==(const vpRect &r) const
222{
223 // return (top == r.top && left == r.left && width == r.width && height ==
224 // r.height);
225 return (std::fabs(top - r.top) <= std::fabs(top) * std::numeric_limits<double>::epsilon() &&
226 std::fabs(left - r.left) <= std::fabs(left) * std::numeric_limits<double>::epsilon() &&
227 std::fabs(width - r.width) <= std::fabs(width) * std::numeric_limits<double>::epsilon() &&
228 std::fabs(height - r.height) <= std::fabs(height) * std::numeric_limits<double>::epsilon());
229}
230
235bool vpRect::operator!=(const vpRect &r) const
236{
237 // return (top != r.top || left != r.left || width != r.width || height !=
238 // r.height);
239 // return (std::fabs(top-r.top) >
240 // std::fabs(top)*std::numeric_limits<double>::epsilon()
241 // || std::fabs(left-r.left) >
242 // std::fabs(left)*std::numeric_limits<double>::epsilon()
243 // || std::fabs(width-r.width) >
244 // std::fabs(width)*std::numeric_limits<double>::epsilon()
245 // || std::fabs(height-r.height) >
246 // std::fabs(height)*std::numeric_limits<double>::epsilon());
247 return !(*this == r);
248}
249
258VISP_EXPORT bool inRectangle(const vpImagePoint &ip, const vpRect &rect)
259{
260 return (ip.get_i() <= rect.getBottom() && ip.get_i() >= rect.getTop() && ip.get_j() <= rect.getRight() &&
261 ip.get_j() >= rect.getLeft());
262}
263
264VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRect &r)
265{
266 os << r.getLeft() << ", " << r.getTop() << ", " << r.getWidth() << ", " << r.getHeight();
267 return os;
268}
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
double get_j() const
Definition: vpImagePoint.h:214
double get_u() const
Definition: vpImagePoint.h:262
double get_i() const
Definition: vpImagePoint.h:203
double get_v() const
Definition: vpImagePoint.h:273
Defines a rectangle in the plane.
Definition: vpRect.h:80
vpRect()
Definition: vpRect.cpp:53
double getWidth() const
Definition: vpRect.h:228
bool isInside(const vpImagePoint &ip) const
Definition: vpRect.cpp:125
void set(double left, double top, double width, double height)
Definition: vpRect.cpp:139
void setTop(double pos)
Definition: vpRect.h:358
double getLeft() const
Definition: vpRect.h:174
vpRect & operator=(const vpRect &r)
Definition: vpRect.cpp:102
bool operator==(const vpRect &r) const
Definition: vpRect.cpp:221
bool operator!=(const vpRect &r) const
Definition: vpRect.cpp:235
void setLeft(double pos)
Definition: vpRect.h:322
void setRight(double pos)
Definition: vpRect.h:349
double getRight() const
Definition: vpRect.h:180
double getBottom() const
Definition: vpRect.h:98
double getHeight() const
Definition: vpRect.h:167
void setBottom(double pos)
Definition: vpRect.h:289
double getTop() const
Definition: vpRect.h:193