Visual Servoing Platform version 3.5.0
vpTriangle.h
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3 * ViSP, open source Visual Servoing Platform software.
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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 2D triangle.
33 *
34 * Author:
35 * Amaury Dame
36 * Nicolas Melchior
37 *
38 *****************************************************************************/
39
40#ifndef vpTriangle_h
41#define vpTriangle_h
42
55#include <visp3/core/vpImagePoint.h>
56#include <visp3/core/vpMatrix.h>
57
58class VISP_EXPORT vpTriangle
59{
60private:
61 bool goodTriange;
62 vpImagePoint S1;
63 double uvinv00;
64 double uvinv01;
65 double uvinv10;
66 double uvinv11;
67 double ptempo0;
68 double ptempo1;
69 double area;
70 vpImagePoint apex1;
71 vpImagePoint apex2;
72 vpImagePoint apex3;
73
74public:
75 vpTriangle();
76 vpTriangle(const vpTriangle &tri);
77 virtual ~vpTriangle();
78
79 vpTriangle &operator=(const vpTriangle &tri);
80
81 vpTriangle(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
82
83 void buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
84
85 bool inTriangle(const vpImagePoint &iP, double threshold = 0.00001);
86
95 {
96 iP1 = apex1;
97 iP2 = apex2;
98 iP3 = apex3;
99 }
100
107 inline double getArea() const { return this->area; }
108
109private:
110 void init(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3);
111};
112
113#endif
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Defines a 2D triangle.
Definition: vpTriangle.h:59
void getTriangleApexes(vpImagePoint &iP1, vpImagePoint &iP2, vpImagePoint &iP3) const
Definition: vpTriangle.h:94
double getArea() const
Definition: vpTriangle.h:107