C++ vpImagePoint::get_i方法代码示例

void
vpTriangle::init(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
{
  apex1 = iP1;
  apex2 = iP2;
  apex3 = iP3;
  
  vpMatrix uv(2,2);
  vpMatrix uvinv(2,2);

  uv[0][0] = iP2.get_i() - iP1.get_i();
  uv[1][0] = iP3.get_i() - iP1.get_i();
  uv[0][1] = iP2.get_j() - iP1.get_j();
  uv[1][1] = iP3.get_j() - iP1.get_j();
  try
  {
    uvinv=uv.inverseByLU();
    goodTriange = true;
  }
  catch(...)
  {
    goodTriange = false;
    std::cout<<"Empty triangle"<<std::endl;
  }
  
  uvinv00=uvinv[0][0];
  uvinv01=uvinv[0][1];
  uvinv10=uvinv[1][0];
  uvinv11=uvinv[1][1];
  S1 = iP1;
}

void
vpPlotCurve::plotPoint(const vpImage<unsigned char> &I, const vpImagePoint &iP, const double x, const double y)
{  
  nbPoint++;
  
  if (nbPoint > 1)
  {
    vpDisplay::displayLine(I,lastPoint, iP, color, thickness);
  }
#if defined (VISP_HAVE_DISPLAY)
  double top;
  double left;
  double width;
  double height;
  
  if (iP.get_i() <= lastPoint.get_i()) {top = iP.get_i()-5; height = lastPoint.get_i() - top+10;}
  else {top = lastPoint.get_i()-5; height = iP.get_i() - top+10;}
  if (iP.get_j() <= lastPoint.get_j()) {left = iP.get_j()-5; width = lastPoint.get_j() - left+10;}
  else {left = lastPoint.get_j()-5; width = iP.get_j() - left+10;}
  vpDisplay::flushROI(I,vpRect(left,top,width,height));
#endif
  lastPoint = iP;
  pointListx.push_back(x);
  pointListy.push_back(y);
  pointListz.push_back(0.0);
}

/*!

  Computes the SURF points in only a part of the current image I and
  try to matched them with the points in the reference list. The part
  of the image is a rectangle defined by its top left corner, its
  height and its width. The parameters of this rectangle must be given
  in pixel. Only the matched points are stored.

  \param I : The gray scaled image where the points are computed.

  \param iP : The top left corner of the rectangle.

  \param height : height of the rectangle (in pixel).

  \param width : width of the rectangle (in pixel).

  \return the number of point which have been matched.
*/
unsigned int vpKeyPointSurf::matchPoint(const vpImage<unsigned char> &I,
			       const vpImagePoint &iP,
			       const unsigned int height, const unsigned int width)
{
  if((iP.get_i()+height) >= I.getHeight()
     || (iP.get_j()+width) >= I.getWidth())
  {
    vpTRACE("Bad size for the subimage");
    throw(vpException(vpImageException::notInTheImage ,
		      "Bad size for the subimage"));
  }

  vpImage<unsigned char> subImage;

  vpImageTools::createSubImage(I,
			       (unsigned int)iP.get_i(),
			       (unsigned int)iP.get_j(),
			       height, width, subImage);

  unsigned int nbMatchedPoint = this->matchPoint(subImage);

  for(unsigned int k = 0; k < nbMatchedPoint; k++)
  {
    (currentImagePointsList[k]).set_i((currentImagePointsList[k]).get_i()
				      + iP.get_i());
    (currentImagePointsList[k]).set_j((currentImagePointsList[k]).get_j()
				      + iP.get_j());
  }

  return(nbMatchedPoint);
}

/*
  Compute the distance d = |Pw1-Pw2|
*/
inline double distance(const vpImagePoint &iP1, const double w1, const vpImagePoint &iP2, const double w2)
{
  double distancei = iP1.get_i() - iP2.get_i();
  double distancej = iP1.get_j() - iP2.get_j();
  double distancew = w1 -w2;
  return sqrt(vpMath::sqr(distancei)+vpMath::sqr(distancej)+vpMath::sqr(distancew));
}

bool fromTo(const vpImagePoint &from, const vpImagePoint &to, vpDirection &direction) {
  if (from == to) {
    return false;
  }

  if ( std::fabs(from.get_i() - to.get_i()) < std::numeric_limits<double>::epsilon() ) {
    if (from.get_j() < to.get_j()) {
      direction.m_direction = EAST;
    } else {
      direction.m_direction = WEST;
    }
  } else if (from.get_i() < to.get_i()) {
    if ( std::fabs(from.get_j() - to.get_j()) < std::numeric_limits<double>::epsilon() ) {
      direction.m_direction = SOUTH;
    } else if (from.get_j() < to.get_j()) {
      direction.m_direction = SOUTH_EAST;
    } else {
      direction.m_direction = SOUTH_WEST;
    }
  } else {
    if ( std::fabs(from.get_j() - to.get_j()) < std::numeric_limits<double>::epsilon() ) {
      direction.m_direction = NORTH;
    } else if (from.get_j() < to.get_j()) {
      direction.m_direction = NORTH_EAST;
    } else {
      direction.m_direction = NORTH_WEST;
    }
  }

  return true;
}

void
vpPlotCurve::plotPoint(vpImage<unsigned char> &I, vpImagePoint iP, const double x, const double y)
{
  pointListx.end();
  pointListy.end();
  pointListz.end();
  
  nbPoint++;
  
  if (nbPoint > 1)
  {
    vpDisplay::displayLine(I,lastPoint, iP, color);
  }
#if( defined VISP_HAVE_X11 || defined VISP_HAVE_GDI )
  double top;
  double left;
  double width;
  double height;
  
  if (iP.get_i() <= lastPoint.get_i()) {top = iP.get_i()-5; height = lastPoint.get_i() - top+10;}
  else {top = lastPoint.get_i()-5; height = iP.get_i() - top+10;}
  if (iP.get_j() <= lastPoint.get_j()) {left = iP.get_j()-5; width = lastPoint.get_j() - left+10;}
  else {left = lastPoint.get_j()-5; width = iP.get_j() - left+10;}
  vpDisplay::flushROI(I,vpRect(left,top,width,height));
#endif
  lastPoint = iP;
  pointListx.addRight(x);
  pointListy.addRight(y);
  pointListz.addRight(0.0);
}

/*!
  Computes the \f$ alpha \f$ angle of the two points and store them into alpha1 for the smallest and alpha2 for the biggest.

  \note this function is useful only during the initialization.

  \param pt1 : First point whose \f$ alpha \f$ angle is computed.
  \param pt2 : Second point whose \f$ alpha \f$ angle is computed.
*/ 
void
vpMeEllipse::computeAngle(vpImagePoint pt1, vpImagePoint pt2)
{

  getParameters() ;
  double j1, i1, j11, i11;
  j1 =  i1 =  0.0 ;

  int number_of_points = 2000 ;
  double incr = 2 * M_PI / number_of_points ; // angle increment

  double dmin1 = 1e6  ;
  double dmin2 = 1e6  ;

  double k =  0 ;
  while(k < 2*M_PI) {

//     j1 = a *cos(k) ; // equation of an ellipse
//     i1 = b *sin(k) ; // equation of an ellipse

    j1 = a *sin(k) ; // equation of an ellipse
    i1 = b *cos(k) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
//     j11 = iPc.get_j() + ce *j1 - se *i1 ;
//     i11 = iPc.get_i() -( se *j1 + ce *i1) ;

    j11 = iPc.get_j() + ce *j1 + se *i1 ;
    i11 = iPc.get_i() - se *j1 + ce *i1 ;

    double  d = vpMath::sqr(pt1.get_i()-i11) + vpMath::sqr(pt1.get_j()-j11) ;
    if (d < dmin1)
    {
      dmin1 = d ;
      alpha1 = k ;
    }
    d = vpMath::sqr(pt2.get_i()-i11) + vpMath::sqr(pt2.get_j()-j11) ;
    if (d < dmin2)
    {
      dmin2 = d ;
      alpha2 = k ;
    }
    k += incr ;
  }
  //std::cout << "end vpMeEllipse::computeAngle(..)" << alpha1 << "  " << alpha2 << std::endl ;

  if (alpha2 < alpha1)
    alpha2 += 2 * M_PI;
  //else if (alpha2 == alpha1)
  else if (std::fabs(alpha2 - alpha1) < std::fabs(alpha1) * std::numeric_limits<double>::epsilon())
    alpha2 += 2 * M_PI;

  //std::cout << "end vpMeEllipse::computeAngle(..)" << alpha1 << "  " << alpha2 << std::endl ;
  
  
}

/*!
  Display a selection of the gray level image \e I (8bits).

  \warning Display has to be initialized.

  \warning Suppress the overlay drawing in the region of interest.

  \param I : Image to display.
  
  \param iP : Top left corner of the region of interest
  
  \param width : Width of the region of interest
  
  \param height : Height of the region of interest

  \sa init(), closeDisplay()
*/
void vpDisplayOpenCV::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
{
  if (displayHasBeenInitialized)
  { 
    vpImage<unsigned char> Itemp;
    vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),height,width,Itemp);
    vpImage<vpRGBa> Ic;
    vpImageConvert::convert(Itemp,Ic);
    
    CvSize size = cvSize((int)this->width, (int)this->height);
    int depth = 8;
    int channels = 3;
    if (background != NULL){
      if(background->nChannels != channels || background->depth != depth
         || background->height != (int) I.getHeight() || background->width != (int) I.getWidth()){
        if(background->nChannels != 0) cvReleaseImage(&background);
        background = cvCreateImage( size, depth, channels );
      }
    }
    else background = cvCreateImage( size, depth, channels );
    
    IplImage* Ip = NULL;
    vpImageConvert::convert(Ic, Ip);
    
    unsigned char * input = (unsigned char*)Ip->imageData;
    unsigned char * output = (unsigned char*)background->imageData;
    
    unsigned int iwidth = Ic.getWidth();

    input = input;
    output = output + (int)(iP.get_i()*3*this->width+ iP.get_j()*3);
    
    unsigned int i = 0;
    while (i < height)
    {
      unsigned int j = 0;
      while (j < width)
      {
	*(output+3*j) = *(input+j*3);
	*(output+3*j+1) = *(input+j*3+1);
	*(output+3*j+2) = *(input+j*3+2);
	j++;
      }
      input = input + 3*iwidth;
      output = output + 3*this->width;
      i++;
    }

    cvReleaseImage(&Ip);
  }
  else
  {
    vpERROR_TRACE("openCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

/*!
  Display an arrow from image point \e ip1 to image point \e ip2.
  \param ip1,ip2 : Initial and final image point.
  \param color : Arrow color.
  \param w,h : Width and height of the arrow.
  \param thickness : Thickness of the lines used to display the arrow.
*/
void vpDisplayGTK::displayArrow ( const vpImagePoint &ip1, 
                                  const vpImagePoint &ip2,
                                  const vpColor &color,
                                  unsigned int w, unsigned int h,
                                  unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    try{
      double a = ip2.get_i() - ip1.get_i() ;
      double b = ip2.get_j() - ip1.get_j() ;
      double lg = sqrt(vpMath::sqr(a)+vpMath::sqr(b)) ;

      //if ((a==0)&&(b==0))
      if ((std::fabs(a) <= std::numeric_limits<double>::epsilon() )&&(std::fabs(b) <= std::numeric_limits<double>::epsilon()) )
      {
        // DisplayCrossLarge(i1,j1,3,col) ;
      }
      else
      {
        a /= lg ;
        b /= lg ;

        vpImagePoint ip3;
        ip3.set_i(ip2.get_i() - w*a);
        ip3.set_j(ip2.get_j() - w*b);

        vpImagePoint ip4;
        ip4.set_i( ip3.get_i() - b*h );
        ip4.set_j( ip3.get_j() + a*h );

        if (lg > 2*vpImagePoint::distance(ip2, ip4) )
          displayLine ( ip2, ip4, color, thickness ) ;
        
        ip4.set_i( ip3.get_i() + b*h );
        ip4.set_j( ip3.get_j() - a*h );

        if (lg > 2*vpImagePoint::distance(ip2, ip4) )
          displayLine ( ip2, ip4, color, thickness ) ;

        displayLine ( ip1, ip2, color, thickness ) ;
      }
    }
    catch (...)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }
  }
  else
  {
    vpERROR_TRACE("GTK not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "GTK not initialized")) ;
  }
}

/*!

  Display of the ellipse thanks to the equation parameters.

  \param I : The image used as background.

  \param center : Center of the ellipse

  \param A : Semiminor axis of the ellipse.

  \param B : Semimajor axis of the ellipse.

  \param E : Angle made by the major axis and the i axis of the image frame \f$ (i,j) \f$

  \param smallalpha : Smallest \f$ alpha \f$ angle in rad.

  \param highalpha : Highest \f$ alpha \f$ angle in rad.

  \param color : Color used to display th lines.

  \param thickness : Thickness of the drawings.
*/
void vpMeEllipse::display(const vpImage<vpRGBa>& I, const vpImagePoint &center,
                          const double &A, const double &B, const double &E,
                          const double & smallalpha, const double &highalpha,
                          const vpColor &color, unsigned int thickness)
{
  double j1, i1;
  vpImagePoint iP11;
  double j2, i2;
  vpImagePoint iP22;
  j1 = j2 = i1 = i2 = 0 ;

  double incr = vpMath::rad(2) ; // angle increment

  vpDisplay::displayCross(I,center,20, vpColor::red, thickness) ;

  double k = smallalpha ;
  while (k+incr<highalpha)
  {
    j1 = A *cos(k) ; // equation of an ellipse
    i1 = B *sin(k) ; // equation of an ellipse

    j2 = A *cos(k+incr) ; // equation of an ellipse
    i2 = B *sin(k+incr) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
    iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
    iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
    // to get the coordinates of the point on the shifted ellipse
    iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
    iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

    vpDisplay::displayLine(I, iP11, iP22, color, thickness) ;

    k += incr ;
  }

  j1 = A *cos(smallalpha) ; // equation of an ellipse
  i1 = B *sin(smallalpha) ; // equation of an ellipse

  j2 = A *cos(highalpha) ; // equation of an ellipse
  i2 = B *sin(highalpha) ; // equation of an ellipse

  // (i1,j1) are the coordinates on the origin centered ellipse ;
  // a rotation by "e" and a translation by (xci,jc) are done
  // to get the coordinates of the point on the shifted ellipse
  iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
  iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
  // to get the coordinates of the point on the shifted ellipse
  iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
  iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

  vpDisplay::displayLine(I, center, iP11, vpColor::red, thickness) ;
  vpDisplay::displayLine(I, center, iP22, vpColor::blue, thickness) ;
}

/*!  
  Display a rectangle.

  \param topLeft : Top-left corner of the rectangle.
  \param bottomRight : Bottom-right corner of the rectangle.
  \param color : Rectangle color.
  \param fill : When set to true fill the rectangle.
  \param thickness : Thickness of the four lines used to display the
  rectangle.

  \warning The thickness can not be set if the display uses the d3d library.
*/
void vpDisplayWin32::displayRectangle( const vpImagePoint &topLeft,
                                       const vpImagePoint &bottomRight,
                                       const vpColor &color, bool fill,
			                                 unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  unsigned int width = static_cast<unsigned int>( bottomRight.get_j() - topLeft.get_j() );
  unsigned int height = static_cast<unsigned int>(bottomRight.get_i() - topLeft.get_i() );
  window.renderer->drawRect(topLeft,width,height,color, fill, thickness);
}

/*!
	
  Initialization of the tracking. The line is defined thanks to the
  coordinates of two points.

  \param I : Image in which the line appears.
  \param ip1 : Coordinates of the first point.
  \param ip2 : Coordinates of the second point.
*/
void
vpMeLine::initTracking(const vpImage<unsigned char> &I,
                       const vpImagePoint &ip1,
                       const vpImagePoint &ip2)
{
  vpCDEBUG(1) <<" begin vpMeLine::initTracking()"<<std::endl ;

  int i1s, j1s, i2s, j2s;

  i1s = vpMath::round( ip1.get_i() );
  i2s = vpMath::round( ip2.get_i() );
  j1s = vpMath::round( ip1.get_j() );
  j2s = vpMath::round( ip2.get_j() );

  try{

    //  1. On fait ce qui concerne les droites (peut etre vide)
    {
      // Points extremites
      PExt[0].ifloat = (float)ip1.get_i() ;
      PExt[0].jfloat = (float)ip1.get_j() ;
      PExt[1].ifloat = (float)ip2.get_i() ;
      PExt[1].jfloat = (float)ip2.get_j() ;

      double angle_ = atan2((double)(i1s-i2s),(double)(j1s-j2s)) ;
      a = cos(angle_) ;
      b = sin(angle_) ;

      // Real values of a, b can have an other sign. So to get the good values
      // of a and b in order to initialise then c, we call track(I) just below

      computeDelta(delta,i1s,j1s,i2s,j2s) ;
      delta_1 = delta;

      //      vpTRACE("a: %f b: %f c: %f -b/a: %f delta: %f", a, b, c, -(b/a), delta);

      sample(I) ;

    }
    //  2. On appelle ce qui n'est pas specifique
    {
      vpMeTracker::initTracking(I) ;
    }
    // Call track(I) to give the good sign to a and b and to initialise c which can be used for the display
    track(I);
  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
  vpCDEBUG(1) <<" end vpMeLine::initTracking()"<<std::endl ;
}

/*!

  \relates vpImagePoint

  Returns true if ip1 and ip2 are different; otherwire returns true.

*/
VISP_EXPORT bool operator!=( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
  //return ( ( ip1.get_i() != ip2.get_i() ) || ( ip1.get_j() != ip2.get_j() ) );
  double i1 = ip1.get_i();
  double j1 = ip1.get_j();
  double i2 = ip2.get_i();
  double j2 = ip2.get_j();

  return (
    ( std::fabs(i1-i2) > std::fabs(vpMath::maximum(i1, i2))*std::numeric_limits<double>::epsilon() )
    ||
    ( std::fabs(j1-j2) > std::fabs(vpMath::maximum(j1, j2))*std::numeric_limits<double>::epsilon() )
    );
}

/*!
  Test if two segments are intersecting.
  
  \throw vpException::divideByZeroError if the two lines are aligned (
  denominator equal to zero).
  
  \param ip1 : The first image point of the first segment.
  \param ip2 : The second image point of the first segment.
  \param ip3 : The first image point of the second segment.
  \param ip4 : The second image point of the second segment.
*/
bool 
vpPolygon::testIntersectionSegments(const vpImagePoint& ip1, const vpImagePoint& ip2, const vpImagePoint& ip3, const vpImagePoint& ip4)
{
  double di1 = ip2.get_i() - ip1.get_i();
  double dj1 = ip2.get_j() - ip1.get_j();
  
  double di2 = ip4.get_i() - ip3.get_i();
  double dj2 = ip4.get_j() - ip3.get_j();
  
  double denominator = di1 * dj2 - dj1 * di2;
  
  if(fabs(denominator) < std::numeric_limits<double>::epsilon()){
    throw vpException(vpException::divideByZeroError, "Denominator is null, lines are parallels");
  }
  
  double alpha = - ( ( ip1.get_i() - ip3.get_i() ) * dj2 + di2 * ( ip3.get_j() - ip1.get_j())) / denominator;  
  if(alpha < 0  || alpha >= 1){
    return false;
  }
  
  double beta = - (di1 * (ip3.get_j() - ip1.get_j() ) + dj1 * (ip1.get_i() - ip3.get_i()) ) / denominator;
  if(beta < 0  || beta >= 1){
    return false;
  }
  
  return true;
}

/*!
  Display a selection of the color image \e I in RGBa format (32bits).

  \warning Display has to be initialized.

  \warning Suppress the overlay drawing in the region of interest.

  \param I : Image to display.
  
  \param iP : Top left corner of the region of interest
  
  \param w : Width of the region of interest
  
  \param h : Height of the region of interest

  \sa init(), closeDisplay()
*/
void vpDisplayGTK::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int w, const unsigned int h )
{
  if (displayHasBeenInitialized)
  {
    vpImage<vpRGBa> Itemp;
    vpImageTools::crop(I,(unsigned int)iP.get_i(), (unsigned int)iP.get_j(), h, w, Itemp);
    /* Copie de l'image dans le pixmap fond */
    gdk_draw_rgb_32_image(background,
                          gc, (gint)iP.get_u(), (gint)iP.get_v(), (gint)w, (gint)h,
                          GDK_RGB_DITHER_NONE,
                          (unsigned char *)Itemp.bitmap,
                          (gint)(4*w));

    /* Permet de fermer la fenetre si besoin (cas des sequences d'images) */
    //while (g_main_iteration(FALSE));

    /* Le pixmap background devient le fond de la zone de dessin */
    gdk_window_set_back_pixmap(widget->window, background, FALSE);

    /* Affichage */
    //gdk_window_clear(GTK_WINDOW(widget));
    //flushDisplay() ;
  }
  else
  {
    vpERROR_TRACE("GTK not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "GTK not initialized")) ;
  }
}