vpImagePoint.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * 2D point useful for image processing
 */

 
#ifndef VP_IMAGE_POINT_H
#define VP_IMAGE_POINT_H
 
#include <visp3/core/vpConfig.h>
 
#include <cmath>  // std::fabs
#include <ostream>
#include <vector>
 
BEGIN_VISP_NAMESPACE
class vpRect;

 
class VISP_EXPORT vpImagePoint
{
public:
  inline vpImagePoint() : i(0), j(0) { }
  inline vpImagePoint(double ii, double jj) : i(ii), j(jj) { }
  inline vpImagePoint(const vpImagePoint &ip) : i(ip.i), j(ip.j) { }
  inline virtual ~vpImagePoint() { }

  inline double get_i() const { return i; }

  inline double get_j() const { return j; }

  inline double get_u() const { return j; }

  inline double get_v() const { return i; }
 
  bool inRectangle(const vpRect &rect) const;

  inline bool inSegment(const vpImagePoint &start, const vpImagePoint &end) const
  {
    bool cond11 = ((end.get_j() >= start.get_j()) && (end.get_j() >= this->j) && (this->j >= start.get_j()));
    bool cond12 = ((end.get_j() <= start.get_j()) && (end.get_j() <= this->j) && (this->j <= start.get_j()));
    bool cond21 = ((end.get_i() >= start.get_i()) && (end.get_i() >= this->i) && (this->i >= start.get_i()));
    bool cond22 = ((end.get_i() <= start.get_i()) && (end.get_i() <= this->i) && (this->i <= start.get_i()));
    return (cond11 || cond12) && (cond21 || cond22);
  }

  inline vpImagePoint nextInSegment(const vpImagePoint &start, const vpImagePoint &end) const
  {
    const double line_slope = (end.get_i() - start.get_i()) / (end.get_j() - start.get_j());
    if (fabs(end.get_j() - this->j) > fabs(end.get_i() - this->i)) {
      double j_ = (end.get_j() > this->j ? (this->j + 1) : (this->j - 1));
#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
      return { end.get_i() - (line_slope * (end.get_j() - j_)), j_ };
#else
      return vpImagePoint(end.get_i() - (line_slope * (end.get_j() - j_)), j_);
#endif
    }
    else {
      double i_ = (end.get_i() > this->i ? (this->i + 1) : (this->i - 1));
#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
      return { i_, end.get_j() - ((end.get_i() - i_) / line_slope) };
#else
      return vpImagePoint(i_, end.get_j() - ((end.get_i() - i_) / line_slope));
#endif
    }
  }

  inline vpImagePoint &operator=(const vpImagePoint &ip)
  {
    this->i = ip.i;
    this->j = ip.j;
    return *this;
  }
 
#if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher
  inline vpImagePoint &operator=(const vpImagePoint &&ip) noexcept
  {
    this->i = ip.i;
    this->j = ip.j;
    return *this;
  }
#endif
 
  vpImagePoint &operator+=(const vpImagePoint &ip);

  inline vpImagePoint &operator-=(const vpImagePoint &ip)
  {
    this->i -= ip.i;
    this->j -= ip.j;
    return *this;
  }
  vpImagePoint &operator/=(double scale);

  inline vpImagePoint &operator*=(double scale)
  {
    this->i *= scale;
    this->j *= scale;
    return *this;
  }

  inline void set_i(double ii) { this->i = ii; }

  inline void set_j(double jj) { this->j = jj; }

  inline void set_ij(double ii, double jj)
  {
    this->i = ii;
    this->j = jj;
  }

  inline void set_u(double u) { j = u; }

  inline void set_v(double v) { i = v; }

  inline void set_uv(double u, double v)
  {
    this->i = v;
    this->j = u;
  }
 
  static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2);
  static vpRect getBBox(const std::vector<vpImagePoint> &ipVec);
  static double sqrDistance(const vpImagePoint &iP1, const vpImagePoint &iP2);
 
  friend VISP_EXPORT bool operator==(const vpImagePoint &ip1, const vpImagePoint &ip2);
  friend VISP_EXPORT bool operator!=(const vpImagePoint &ip1, const vpImagePoint &ip2);
  friend VISP_EXPORT vpImagePoint operator+=(const vpImagePoint &ip1, const vpImagePoint &ip2);
  friend VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, const vpImagePoint &ip2);
  friend VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, int offset);
  friend VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, unsigned int offset);
  friend VISP_EXPORT vpImagePoint operator+(const vpImagePoint &ip1, double offset);
  friend VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, const vpImagePoint &ip2);
  friend VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, int offset);
  friend VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, unsigned int offset);
  friend VISP_EXPORT vpImagePoint operator-(const vpImagePoint &ip1, double offset);
  friend VISP_EXPORT vpImagePoint operator*(const vpImagePoint &ip1, double scale);
  friend VISP_EXPORT vpImagePoint operator/(const vpImagePoint &ip1, double scale);
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpImagePoint &ip);
 
private:
  double i, j;
};
END_VISP_NAMESPACE
#endif