Visual Servoing Platform  version 3.2.0 under development (2018-10-19)

#include <visp3/gui/vpPlot.h>

Public Member Functions

 vpPlot ()
 
 vpPlot (const unsigned int nbGraph, const unsigned int height=700, const unsigned int width=700, const int x=-1, const int y=-1, const std::string &title="")
 
 ~vpPlot ()
 
void getPixelValue (const bool block)
 
void init (const unsigned int nbGraph, const unsigned int height=700, const unsigned int width=700, const int x=-1, const int y=-1, const std::string &title="")
 
void initGraph (unsigned int graphNum, unsigned int curveNbr)
 
void initRange (const unsigned int graphNum, double xmin, double xmax, double ymin, double ymax)
 
void initRange (const unsigned int graphNum, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax)
 
void navigate (void)
 
void plot (const unsigned int graphNum, const unsigned int curveNum, const double x, const double y)
 
void plot (const unsigned int graphNum, const double x, const vpColVector &v_y)
 
void plot (const unsigned int graphNum, const double x, const vpRowVector &v_y)
 
void plot (const unsigned int graphNum, const double x, const vpPoseVector &v_y)
 
void plot (const unsigned int graphNum, const double x, const vpTranslationVector &v_y)
 
void plot (const unsigned int graphNum, const double x, const vpRotationVector &v_y)
 
vpMouseButton::vpMouseButtonType plot (const unsigned int graphNum, const unsigned int curveNum, const double x, const double y, const double z)
 
vpMouseButton::vpMouseButtonType plot (const unsigned int graphNum, const double x, const vpColVector &v_y, const vpColVector &v_z)
 
void resetPointList (const unsigned int graphNum)
 
void resetPointList (const unsigned int graphNum, const unsigned int curveNum)
 
void saveData (const unsigned int graphNum, const std::string &dataFile, const std::string &title_prefix="")
 
void setColor (const unsigned int graphNum, const unsigned int curveNum, vpColor color)
 
void setGraphThickness (const unsigned int graphNum, const unsigned int thickness)
 
void setGridThickness (const unsigned int graphNum, const unsigned int thickness)
 
void setFont (const std::string &font)
 
void setLegend (const unsigned int graphNum, const unsigned int curveNum, const std::string &legend)
 
void setTitle (const unsigned int graphNum, const std::string &title)
 
void setUnitX (const unsigned int graphNum, const std::string &unitx)
 
void setUnitY (const unsigned int graphNum, const std::string &unity)
 
void setUnitZ (const unsigned int graphNum, const std::string &unitz)
 
void setThickness (const unsigned int graphNum, const unsigned int curveNum, const unsigned int thickness)
 

Public Attributes

vpImage< unsigned char > I
 

Detailed Description

This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window which contains between 1 and 4 graphics. Each one contains a desired number of curves.

Warning
This class is only available if one of the display functionalities (X11, GDI, GTK, OpenCV or Direct3D) is available. In visp3/core/vpConfig.h header file, you should have VISP_HAVE_DISPLAY define.

The example below shows how to use the vpPlot class. An other example provided in tutoral-ibvs-plotter.cpp and described in Tutorial: Real-time curves plotter tool shows how to use this class to plot in real-time some curves during an image-based visual servo.

#include <visp3/gui/vpPlot.h>
int main ()
{
#if defined(VISP_HAVE_DISPLAY)
// Create a window (700 by 700) at position (100, 200) with two graphics
vpPlot A(2, 700, 700, 100, 200, "Curves...");
// The first graphic contains 1 curve and the second graphic contains 2 curves
A.initGraph(0,1); A.initGraph(1,2);
// The color of the curve in the first graphic is red
A.setColor(0,0,vpColor::red);
// The first curve in the second graphic is green
A.setColor(1,0,vpColor::green);
// The second curve in the second graphic is blue
A.setColor(1,1,vpColor::blue);
// Add the point (0,0) in the first graphic
A.plot(0,0,0,0);
// Add the point (0,1) to the first curve of the second graphic
A.plot(1,0,0,1);
// Add the point (0,2) to the second curve of the second graphic
A.plot(1,1,0,2);
for (int i = 0; i < 50; i++) {
// Add the point (i,sin(i*pi/10) in the first graphic
A.plot(0,0,i,sin(i*M_PI/10));
// Add the point (i,1) to the first curve of the second graphic
A.plot(1,0,i,1);
// Add the point (i,2) to the second curve of the second graphic
A.plot(1,1,i,2);
}
return 0;
#endif
}
Examples:
plot2d.cpp, plot3d.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, testComedi.cpp, testFeatureSegment.cpp, testForceTorqueAti.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 115 of file vpPlot.h.

Constructor & Destructor Documentation

vpPlot::vpPlot ( )

Default constructor.

Needs then a call to init().

Definition at line 61 of file vpPlot.cpp.

vpPlot::vpPlot ( const unsigned int  graph_nbr,
const unsigned int  height = 700,
const unsigned int  width = 700,
const int  x = -1,
const int  y = -1,
const std::string &  title = "" 
)

This constructor creates a new window where the curves will be drawn. The number of graphics in the window must be set.

Warning
You can modify the default window size, but this is not advised.
Under Unix, when X11 is used to display the curves, the default font is set to "-adobe-times-medium-i-normal--10-100-75-75-p-52-iso8859-*". Note that you can chose an other one using "xfontsel".
Parameters
graph_nbr: The number of graph in the window.
height: Height of the window.
width: Width of the window.
x,y: The window is set at position x,y (column index, row index).
title: Window title.

Definition at line 81 of file vpPlot.cpp.

References init().

vpPlot::~vpPlot ( )

Basic destructor

Definition at line 130 of file vpPlot.cpp.

References vpException::dimensionError, and vpDisplay::display().

Member Function Documentation

void vpPlot::getPixelValue ( const bool  block)

This method displays the coordinates of the point pointed by the mouse pointer.

Parameters
block: If true, this method waits a click.

Definition at line 476 of file vpPlot.cpp.

References vpDisplay::getClick(), vpDisplay::getPointerPosition(), and I.

void vpPlot::init ( const unsigned int  graph_nbr,
const unsigned int  height = 700,
const unsigned int  width = 700,
const int  x = -1,
const int  y = -1,
const std::string &  title = "" 
)

Creates a new window where the curves will be drawn. The number of graphics in the window must be set.

Warning
You can modify the default window size, but this is not advised.
Parameters
graph_nbr: The number of graph in the window.
height: Height of the window.
width: Width of the window.
x,y: The window is set at position x,y (column index, row index).
title: Window title.
Examples:
servoMomentImage.cpp.

Definition at line 100 of file vpPlot.cpp.

References vpDisplay::display(), I, vpImage< Type >::init(), and vpDisplayGDI::vpDisplayGDI().

Referenced by vpPlot().

void vpPlot::initGraph ( unsigned int  graphNum,
unsigned int  curveNbr 
)
void vpPlot::initRange ( const unsigned int  graphNum,
double  xmin,
double  xmax,
double  ymin,
double  ymax 
)

This method enables to set the initial range of the selected graphic.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
xmin: The initial minimum value along the x axis given in the user coordinates.
xmax: The initial maximum value along the x axis given in the user coordinates.
ymin: The initial minimum value along the y axis given in the user coordinates.
ymax: The initial maximum value along the y axis given in the user coordinates.
Examples:
servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-large.cpp.

Definition at line 228 of file vpPlot.cpp.

References I.

void vpPlot::initRange ( const unsigned int  graphNum,
double  xmin,
double  xmax,
double  ymin,
double  ymax,
double  zmin,
double  zmax 
)

This method enables to set the initial range of the selected graphic.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
xmin: The initial minimum value along the x axis given in the user coordinates.
xmax: The initial maximum value along the x axis given in the user coordinates.
ymin: The initial minimum value along the y axis given in the user coordinates.
ymax: The initial maximum value along the y axis given in the user coordinates.
zmin: The initial minimum value along the z axis given in the user coordinates.
zmax: The initial maximum value along the z axis given in the user coordinates.

Definition at line 247 of file vpPlot.cpp.

References I.

void vpPlot::navigate ( void  )

This method allows to change the point of view with the mouse if you have a 3D graphic. The navigation is performed using the mouse.

  • A click on left mouse button allows rotations
  • A click on middle mouse button allows zoom
  • A click on rigt mouse button quit the infinite navigation loop.

Definition at line 439 of file vpPlot.cpp.

References vpMouseButton::button3, vpDisplay::getPointerPosition(), I, vpImagePoint::inRectangle(), vpMouseButton::none, and vpTime::sleepMs().

void vpPlot::plot ( const unsigned int  graphNum,
const unsigned int  curveNum,
const double  x,
const double  y 
)

This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum: The index of the curve in the list of the curves belonging to the graphic.
x: The coordinate of the new point along the x axis and given in the user unit system.
y: The coordinate of the new point along the y axis and given in the user unit system.
Examples:
plot2d.cpp, plot3d.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, testFeatureSegment.cpp, testForceTorqueAti.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 286 of file vpPlot.cpp.

References I.

Referenced by plot().

void vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpColVector v_y 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 302 of file vpPlot.cpp.

References vpArray2D< Type >::getRows(), plot(), and vpTRACE.

void vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpRowVector v_y 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 321 of file vpPlot.cpp.

References vpArray2D< Type >::getRows(), plot(), and vpTRACE.

void vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpPoseVector v_y 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 341 of file vpPlot.cpp.

References vpArray2D< Type >::getRows(), plot(), and vpTRACE.

void vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpTranslationVector v_y 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 360 of file vpPlot.cpp.

References vpArray2D< Type >::getRows(), plot(), and vpTRACE.

void vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpRotationVector v_y 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 380 of file vpPlot.cpp.

References plot(), vpArray2D< Type >::size(), and vpTRACE.

vpMouseButton::vpMouseButtonType vpPlot::plot ( const unsigned int  graphNum,
const unsigned int  curveNum,
const double  x,
const double  y,
const double  z 
)

This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum: The index of the curve in the list of the curves belonging to the graphic.
x: The coordinate of the new point along the x axis and given in the user unit system.
y: The coordinate of the new point along the y axis and given in the user unit system.
z: The coordinate of the new point along the z axis and given in the user unit system.

Definition at line 402 of file vpPlot.cpp.

References I.

vpMouseButton::vpMouseButtonType vpPlot::plot ( const unsigned int  graphNum,
const double  x,
const vpColVector v_y,
const vpColVector v_z 
)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x: The coordinate of the new points along the x axis and given in the user unit system.
v_y: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.
v_z: z coordinates vector. The coordinates of the new points along the z axis and given in the user unit system.

Definition at line 420 of file vpPlot.cpp.

References vpArray2D< Type >::getRows(), vpMouseButton::none, plot(), and vpTRACE.

void vpPlot::resetPointList ( const unsigned int  graphNum)

This method enables to erase the list of points stored for the graphic number $ graphNum $.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.

Definition at line 560 of file vpPlot.cpp.

Referenced by resetPointList().

void vpPlot::resetPointList ( const unsigned int  graphNum,
const unsigned int  curveNum 
)

This method enables to erase the list of points stored for the curve number $ curveNum $ contained in the graphic number $ graphNum $.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum: The index of the curve in the list of the curves belonging to the graphic.

Definition at line 615 of file vpPlot.cpp.

References resetPointList().

void vpPlot::saveData ( const unsigned int  graphNum,
const std::string &  dataFile,
const std::string &  title_prefix = "" 
)

This function enables to save in a text file all the plotted points of a graphic.

The content of the file is the following:

  • The first line of the text file is the graphic title prefixed by title_prefix.
  • Then the successive points coordinates (x, y, z) are given for each curve. If the graphic has two curves:
    • the first column corresponds to the x axis of the first curve
    • the second column corresponds to the y axis of the first curve
    • the third column corresponds to the z axis of the first curve
    • the fourth column corresponds to the x axis of the second curve
    • the fifth column corresponds to the y axis of the second curve
    • the sixth column corresponds to the z axis of the second curve

The columns are delimited thanks to tabulations.

Parameters
title_prefix: Prefix introducted in the first line of the saved file. To exploit a posteriori the resulting curves:
  • with gnuplot, set title_prefix to "# ".
  • with Matlab, set title_prefix to "% ".
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
dataFile: Name of the text file.
Examples:
plot2d.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 646 of file vpPlot.cpp.

void vpPlot::setColor ( const unsigned int  graphNum,
const unsigned int  curveNum,
vpColor  color 
)

This function enables you to choose the color used to draw a given curve.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum: The index of the curve in the list of the curves belonging to the graphic.
color: The color you want to use
Examples:
plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-large.cpp.

Definition at line 261 of file vpPlot.cpp.

References I.

void vpPlot::setFont ( const std::string &  font)
inline

Set the font of the characters. The display should be initialized before.

To know which font are available, on Unix you can use xfontsel or xlsfonts utilities.

Definition at line 187 of file vpPlot.h.

References vpDisplay::isInitialised(), and vpDisplay::setFont().

void vpPlot::setGraphThickness ( const unsigned int  graphNum,
const unsigned int  thickness 
)

This function enables you to choose the thickness used to draw all the curves belonging to a given graphic.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
thickness: The thickness you want to use

Definition at line 587 of file vpPlot.cpp.

void vpPlot::setGridThickness ( const unsigned int  graphNum,
const unsigned int  thickness 
)

This function enables you to choose the thickness used to draw the grid and the axis of a given graphic.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
thickness: The thickness you want to use

Definition at line 601 of file vpPlot.cpp.

void vpPlot::setLegend ( const unsigned int  graphNum,
const unsigned int  curveNum,
const std::string &  legend 
)
void vpPlot::setThickness ( const unsigned int  graphNum,
const unsigned int  curveNum,
const unsigned int  thickness 
)

This function enables you to choose the thickness used to draw a given curve.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum: The index of the curve in the list of the curves belonging to the graphic.
thickness: The thickness you want to use

Definition at line 574 of file vpPlot.cpp.

void vpPlot::setUnitX ( const unsigned int  graphNum,
const std::string &  unitx 
)

Sets the unit system of the x axis.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unitx: The name of the unit of the x axis.
Examples:
plot2d.cpp, and plot3d.cpp.

Definition at line 510 of file vpPlot.cpp.

void vpPlot::setUnitY ( const unsigned int  graphNum,
const std::string &  unity 
)

Sets the unit system of the y axis.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unity: The name of the unit of the y axis.
Examples:
plot2d.cpp, and plot3d.cpp.

Definition at line 522 of file vpPlot.cpp.

void vpPlot::setUnitZ ( const unsigned int  graphNum,
const std::string &  unitz 
)

Sets the unit system of the z axis.

Parameters
graphNum: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unitz: The name of the unit of the z axis.
Examples:
plot3d.cpp.

Definition at line 534 of file vpPlot.cpp.

Member Data Documentation