Exemplo n.º 1
0
/*!
	
  Get the extremities of the line.

  \param ip1 : Coordinates of the first extremity.
  \param ip2 : Coordinates of the second extremity.
*/
void
vpMeLine::getExtremities(vpImagePoint &ip1, vpImagePoint &ip2)
{
  /*Return the coordinates of the extremities of the line*/
  ip1.set_i( PExt[0].ifloat );
  ip1.set_j( PExt[0].jfloat );
  ip2.set_i( PExt[1].ifloat );
  ip2.set_j( PExt[1].jfloat );
}
Exemplo n.º 2
0
/*!
	
  Computes the intersection point of two lines. The result is given in
  the (i,j) frame.

  \param line1 : The first line.
  \param line2 : The second line.
  \param ip : The coordinates of the intersection point.

  \return Returns a boolean value which depends on the computation
  success. True means that the computation ends successfully.
*/
bool
vpMeLine::intersection(const vpMeLine &line1, const vpMeLine &line2, 
                       vpImagePoint &ip)
{
  double a1 = line1.a;
  double b1 = line1.b;
  double c1 = line1.c;
  double a2 = line2.a;
  double b2 = line2.b;
  double c2 = line2.c;

  try{
    double i=0, j=0;
    double denom = 0;

    if (a1 > 0.1)
    {
      denom = (-(a2/a1) * b1 + b2);

      //if (denom == 0)
      if (std::fabs(denom) <= std::numeric_limits<double>::epsilon())
      {
        std::cout << "!!!!!!!!!!!!! Problem : Lines are parallel !!!!!!!!!!!!!" << std::endl;
        return (false);
      }

      //if (denom != 0 )
      if (std::fabs(denom) > std::numeric_limits<double>::epsilon())
      {
        j = ( (a2/a1)*c1 - c2 ) / denom;
        i = (-b1*j - c1) / a1;
      }
    }

    else
    {
      denom = (-(b2/b1) * a1 + a2);

      //if (denom == 0)
      if (std::fabs(denom) <= std::numeric_limits<double>::epsilon())
      {
        std::cout << "!!!!!!!!!!!!! Problem : Lines are parallel !!!!!!!!!!!!!" << std::endl;
        return (false);
      }

      //if (denom != 0 )
      if (std::fabs(denom) > std::numeric_limits<double>::epsilon())
      {
        i = ( (b2/b1)*c1 - c2 ) / denom;
        j = (-a1*i - c1) / b1;
      }
    }
    ip.set_i( i );
    ip.set_j( j );
    
    return (true);
  }
  catch(...)
  {
    return (false);
  }
}