We call the corners vertices.
Let r be the radius of the incircle with incenter I. The perpendicular from I to each side is the radius r. That forms the altitude of a triangle whose base is a side. The three triangles together make the original trangle, so its area mathcal{A} is
mathcal{A} = 1/2 r(a+b+c)
We have
a^2 = (9-5)^2 + (4-5)^2=17
b^2 = (9-1)^2 + (8-4)^2=80
c^2 = (5-1)^2+(8-5)^2=25
The area mathcal{A} of a triangle with sides a,b,c satisfies
16mathcal{A}^2 = 4a^2 b^2 - (c^2 - a^2 - b^2)^2
16 mathcal{A}^2 = 4(17)(80) - (25 - 17 - 80)^2 = 256
mathcal{A} = sqrt{256/16} = 4
r = {2 mathcal{A} } / (a+b+c)
r = { 8 } / {\sqrt{17} + sqrt{80} + sqrt{25} }