vpDisplayOpenCV.cpp

/****************************************************************************
 *
 * $Id: vpDisplayOpenCV.cpp 3795 2012-06-18 12:22:23Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Image display.
 *
 * Authors:
 * Christophe Collewet
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp/vpConfig.h>

#if ( defined(VISP_HAVE_OPENCV) )

#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <cmath>    // std::fabs
#include <limits>   // numeric_limits

// Display stuff
#include <visp/vpDisplay.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpMath.h>
#include <visp/vpImageTools.h>

//debug / exception
#include <visp/vpDebug.h>
#include <visp/vpDisplayException.h>

int vpDisplayOpenCV::count = 1;
vpDisplayOpenCV::vpDisplayOpenCV(vpImage<unsigned char> &I,
                                 int x,
                                 int y,
                                 const char *title) : vpDisplay()
{
  col = NULL;
  title = NULL ;
  window = 0 ;
  background = NULL;
  font = NULL;
  init(I, x, y, title) ;
}


vpDisplayOpenCV::vpDisplayOpenCV(vpImage<vpRGBa> &I,
                                 int x,
                                 int y,
                                 const char *title)
{
  col = NULL;
  title = NULL ;
  window = 0 ;
  background = NULL;
  font = NULL;
  init(I, x, y, title) ;
}

vpDisplayOpenCV::vpDisplayOpenCV ( int x, int y, const char *title )
{
  col = NULL;
  title = NULL ;
  window = 0 ;
  background = NULL;
  font = NULL;
  init(0, 0, x, y, title) ;
}

vpDisplayOpenCV::vpDisplayOpenCV()
{
  windowXPosition = windowYPosition = -1 ;

  col = NULL;
  title = NULL ;
  window = 0 ;
  background = NULL;
  if (title != NULL)
  {
    delete [] title ;
    title = NULL ;
  }
  font = NULL;
  displayHasBeenInitialized = false ;
}

vpDisplayOpenCV::~vpDisplayOpenCV()
{
  closeDisplay() ;
  cvReleaseImage(&background);
}

void
vpDisplayOpenCV::init(vpImage<unsigned char> &I,
                      int x,
                      int y,
                      const char *title)
{

  if ((I.getHeight() == 0) || (I.getWidth()==0))
  {
    vpERROR_TRACE("Image not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "Image not initialized")) ;
  }
  init (I.getWidth(), I.getHeight(), x, y, title) ;
  I.display = this ;
  displayHasBeenInitialized = true ;
}

void
vpDisplayOpenCV::init(vpImage<vpRGBa> &I,
                      int x,
                      int y,
                      const char *title)
{
  if ((I.getHeight() == 0) || (I.getWidth()==0))
  {
    vpERROR_TRACE("Image not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "Image not initialized")) ;
  }

  init (I.getWidth(), I.getHeight(), x, y, title) ;
  I.display = this ;
  displayHasBeenInitialized = true ;
}

void
vpDisplayOpenCV::init(unsigned int width, unsigned int height,
                      int x, int y,
                      const char *title)
{
  this->width  = width;
  this->height = height;
  this->windowXPosition = x;
  this->windowYPosition = y;
  int flags = CV_WINDOW_AUTOSIZE;
  if (title != NULL)
  {
    if (this->title != NULL)
    {
      delete [] this->title ;
      this->title = NULL ;
    }
    this->title = new char[strlen(title) + 1] ;
    strcpy(this->title, title) ;
  }
  else{
    if (this->title != NULL)
    {
      delete [] this->title ;
      this->title = NULL ;
    }
    this->title = new char[50] ;
    sprintf(this->title,"Unnamed ViSP display <%02d>",count) ;
  }
  count++;
  /* Create the window*/
  window = cvNamedWindow( this->title, flags );
  cvMoveWindow( this->title, x, y );
  move = false;
  lbuttondown = false;
  mbuttondown = false;
  rbuttondown = false;
  lbuttonup = false;
  mbuttonup = false;
  rbuttonup = false;
  cvSetMouseCallback( this->title, on_mouse, this );
  /* Create background pixmap */
//   background = cvCreateImage(cvSize((int)width,(int)height),IPL_DEPTH_8U,3);
//
//   cvShowImage( this->title,background);

  col = new CvScalar[vpColor::id_unknown] ;

  /* Create color */
  vpColor pcolor; // Predefined colors
  pcolor = vpColor::lightBlue;
  col[vpColor::id_lightBlue]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::blue;
  col[vpColor::id_blue]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::darkBlue;
  col[vpColor::id_darkBlue]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::lightRed;
  col[vpColor::id_lightRed]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::red;
  col[vpColor::id_red]    = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::darkRed;
  col[vpColor::id_darkRed]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::lightGreen;
  col[vpColor::id_lightGreen]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::green;
  col[vpColor::id_green]  = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::darkGreen;
  col[vpColor::id_darkGreen]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::yellow;
  col[vpColor::id_yellow] = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::cyan;
  col[vpColor::id_cyan]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::orange;
  col[vpColor::id_orange] = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::purple;
  col[vpColor::id_purple] = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::white;
  col[vpColor::id_white]  = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::black;
  col[vpColor::id_black]  = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::lightGray;
  col[vpColor::id_lightGray]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::gray;
  col[vpColor::id_gray]  = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;
  pcolor = vpColor::darkGray;
  col[vpColor::id_darkGray]   = CV_RGB(pcolor.R, pcolor.G, pcolor.B) ;

  font = new CvFont;
  cvInitFont( font, CV_FONT_HERSHEY_PLAIN, 0.70f,0.70f);

  CvSize fontSize;
  int baseline;
  cvGetTextSize( "A", font, &fontSize, &baseline );
  fontHeight = fontSize.height + baseline;
  displayHasBeenInitialized = true ;
}


void
vpDisplayOpenCV::setFont(const char * /* font */)
{
  vpERROR_TRACE("Not yet implemented" ) ;
}

void
vpDisplayOpenCV::setTitle(const char * /* title */)
{
  static bool warn_displayed = false;
  if (! warn_displayed) {
    vpTRACE("Not implemented");
    warn_displayed = true;
  }
#if 0
  if (displayHasBeenInitialized)
  {
    if (this->title != NULL) {
      delete [] this->title ;
      this->title = NULL ;
    }
    //    fprintf(stdout, "len: %d\n",  strlen(windowtitle)); fflush(stdout);
    this->title = new char[strlen(windowtitle) + 1] ;
    strcpy(this->title, windowtitle) ;
    //cvMoveWindow( this->title, windowXPosition,  windowYPosition);
    cvMoveWindow(windowtitle , windowXPosition,  windowYPosition);

  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
#endif
}


void vpDisplayOpenCV::setWindowPosition(int winx, int winy)
{
  if (displayHasBeenInitialized) {
    this->windowXPosition = winx;
    this->windowYPosition = winy;
    cvMoveWindow( this->title, winx, winy );
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}
void vpDisplayOpenCV::displayImage(const vpImage<unsigned char> &I)
{
  if (displayHasBeenInitialized)
  {
    vpImage<vpRGBa> Ic;
    vpImageConvert::convert(I,Ic);
    vpImageConvert::convert(Ic,background);
    /* Copie de l'image dans le pixmap fond */
    width = I.getWidth();
    height = I.getHeight();
    /* Le pixmap background devient le fond de la zone de dessin */

    /* Affichage */
    //gdk_window_clear(window);
    //gdk_flush();
  }
  else
  {
    vpERROR_TRACE("openCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

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")) ;
  }
}


void vpDisplayOpenCV::displayImage(const vpImage<vpRGBa> &I)
{

  if (displayHasBeenInitialized)
  {
    /* Copie de l'image dans le pixmap fond */

    vpImageConvert::convert(I,background);
    /* Copie de l'image dans le pixmap fond */
    width = I.getWidth();
    height = I.getHeight();

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

void vpDisplayOpenCV::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
{
  if (displayHasBeenInitialized)
  { 
    vpImage<vpRGBa> Ic;
    vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),height,width,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")) ;
  }
}


void vpDisplayOpenCV::displayImage(const unsigned char * /* I */)
{
  vpTRACE(" not implemented ") ;
}

void vpDisplayOpenCV::closeDisplay()
{
  if (col != NULL)
  {
    delete [] col ; col = NULL ;
  }
  if (font != NULL)
  {
    delete font ;
    font = NULL ;
  }

  if (window != 0)
  {
    cvDestroyWindow( title );
    count--;
    window = 0;
  }
  if (title != NULL)
  {
    delete [] title ;
    title = NULL ;
  }

  displayHasBeenInitialized= false;
}


void vpDisplayOpenCV::flushDisplay()
{
  if (displayHasBeenInitialized)
  {
    cvShowImage(title, background );
    cvWaitKey(5);
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

void vpDisplayOpenCV::flushDisplayROI(const vpImagePoint &/*iP*/, const unsigned int /*width*/, const unsigned int /*height*/)
{
  if (displayHasBeenInitialized)
  {
    cvShowImage(title, background );
    cvWaitKey(5);
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}


void vpDisplayOpenCV::clearDisplay(const vpColor & /* color */)
{
  static bool warn_displayed = false;
  if (! warn_displayed) {
    vpTRACE("Not implemented");
    warn_displayed = true;
  }
}

void vpDisplayOpenCV::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 );

    displayLine ( ip2, ip4, color, thickness ) ;
        
    ip4.set_i( ip3.get_i() + b*h );
    ip4.set_j( ip3.get_j() - a*h );

    displayLine ( ip2, ip4, color, thickness ) ;
    displayLine ( ip1, ip2, color, thickness ) ;
      }
    }
    catch (...)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

void vpDisplayOpenCV::displayCharString( const vpImagePoint &ip,
                                     const char *text, 
                     const vpColor &color )
{
  if (displayHasBeenInitialized)
  {
    if (color.id < vpColor::id_unknown) {
      cvPutText( background, text, 
         cvPoint( vpMath::round( ip.get_u() ),
              vpMath::round( ip.get_v()+fontHeight ) ), 
         font, col[color.id] );
    }
    else {
      cvcolor = CV_RGB(color.R, color.G, color.B) ;
      cvPutText( background, text, 
         cvPoint( vpMath::round( ip.get_u() ),
              vpMath::round( ip.get_v()+fontHeight ) ), 
         font, cvcolor );
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}
void vpDisplayOpenCV::displayCircle(const vpImagePoint &center,
                    unsigned int radius,
                    const vpColor &color,
                    bool  fill ,
                    unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    if (fill == false) {
      if (color.id < vpColor::id_unknown) {
    cvCircle( background, 
          cvPoint( vpMath::round( center.get_u() ), 
               vpMath::round( center.get_v() ) ), 
          (int)radius, col[color.id], (int)thickness);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvCircle( background, 
          cvPoint( vpMath::round( center.get_u() ), 
               vpMath::round( center.get_v() ) ), 
          (int)radius, cvcolor, (int)thickness);
      }
    }
    else {
      if (color.id < vpColor::id_unknown) {
    cvCircle( background, 
          cvPoint( vpMath::round( center.get_u() ), 
               vpMath::round( center.get_v() ) ), 
          (int)radius, col[color.id], CV_FILLED);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvCircle( background, 
          cvPoint( vpMath::round( center.get_u() ), 
               vpMath::round( center.get_v() ) ), 
          (int)radius, cvcolor, CV_FILLED);
      }
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

void
vpDisplayOpenCV::displayCross(const vpImagePoint &ip,
                              unsigned int size,
                              const vpColor &color,
                  unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    vpImagePoint top,bottom,left,right;
    top.set_i(ip.get_i()-size/2);
    top.set_j(ip.get_j());
    bottom.set_i(ip.get_i()+size/2);
    bottom.set_j(ip.get_j());
    left.set_i(ip.get_i());
    left.set_j(ip.get_j()-size/2);
    right.set_i(ip.get_i());
    right.set_j(ip.get_j()+size/2);
    try{
      displayLine(top, bottom, color, thickness) ;
      displayLine(left, right, color, thickness) ;
    }
    catch (...)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }
  }

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

}

void
vpDisplayOpenCV::displayDotLine(const vpImagePoint &ip1, 
                const vpImagePoint &ip2,
                const vpColor &color, 
                unsigned int thickness)
{

  if (displayHasBeenInitialized)
  {
    vpTRACE("Dot lines are not yet implemented");
    if (color.id < vpColor::id_unknown) {
      cvLine( background, 
          cvPoint( vpMath::round( ip1.get_u() ), 
               vpMath::round( ip1.get_v() ) ), 
          cvPoint( vpMath::round( ip2.get_u() ),
               vpMath::round( ip2.get_v() ) ), 
          col[color.id], (int) thickness);
    }
    else {
      cvcolor = CV_RGB(color.R, color.G, color.B) ;
      cvLine( background, 
          cvPoint( vpMath::round( ip1.get_u() ), 
               vpMath::round( ip1.get_v() ) ), 
          cvPoint( vpMath::round( ip2.get_u() ),
               vpMath::round( ip2.get_v() ) ), 
          cvcolor, (int) thickness);
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}


void
vpDisplayOpenCV::displayLine(const vpImagePoint &ip1, 
                 const vpImagePoint &ip2,
                 const vpColor &color, 
                 unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    if (color.id < vpColor::id_unknown) {
      cvLine( background, 
          cvPoint( vpMath::round( ip1.get_u() ), 
               vpMath::round( ip1.get_v() ) ), 
          cvPoint( vpMath::round( ip2.get_u() ),
               vpMath::round( ip2.get_v() ) ), 
          col[color.id], (int) thickness);
    }
    else {
      cvcolor = CV_RGB(color.R, color.G, color.B) ;
      cvLine( background, 
          cvPoint( vpMath::round( ip1.get_u() ), 
               vpMath::round( ip1.get_v() ) ), 
          cvPoint( vpMath::round( ip2.get_u() ),
               vpMath::round( ip2.get_v() ) ), 
          cvcolor, (int) thickness);
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

void vpDisplayOpenCV::displayPoint(const vpImagePoint &ip,
                                   const vpColor &color)
{
  if (displayHasBeenInitialized)
  {
    displayLine(ip,ip,color,1);
//     if (color.id < vpColor::id_unknown) {
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3 )] = (uchar)col[color.id].val[0];
// 
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3+1 )] = (uchar)col[color.id].val[1];
//       
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3+2 )] = (uchar)col[color.id].val[2];
//     }
//     else {
//       cvcolor = CV_RGB(color.R, color.G, color.B) ;
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3 )] = (uchar)cvcolor.val[0];
// 
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3+1 )] = (uchar)cvcolor.val[1];
//       
//       ((uchar*)(background->imageData 
//      + background->widthStep*vpMath::round( ip.get_i() )))
//  [vpMath::round( ip.get_j()*3+2 )] = (uchar)cvcolor.val[2];
// 
//     }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}

void
vpDisplayOpenCV::displayRectangle(const vpImagePoint &topLeft,
                                  unsigned int width, unsigned int height,
                                  const vpColor &color, bool fill,
                                  unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    if (fill == false) {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ),
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( topLeft.get_u()+width ),
                  vpMath::round( topLeft.get_v()+height ) ),
             col[color.id], (int)thickness);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ),
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( topLeft.get_u()+width ),
                  vpMath::round( topLeft.get_v()+height ) ),
             cvcolor, (int)thickness);
      }
    }
    else {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ),
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( topLeft.get_u()+width ),
                  vpMath::round( topLeft.get_v()+height ) ),
             col[color.id], CV_FILLED);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ),
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( topLeft.get_u()+width ),
                  vpMath::round( topLeft.get_v()+height ) ),
             cvcolor, CV_FILLED);

      }
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}
void
vpDisplayOpenCV::displayRectangle ( const vpImagePoint &topLeft,
                    const vpImagePoint &bottomRight,
                    const vpColor &color, bool fill,
                    unsigned int thickness )
{
  if (displayHasBeenInitialized)
  {
    if (fill == false) {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ), 
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( bottomRight.get_u() ), 
                  vpMath::round( bottomRight.get_v() ) ),
             col[color.id], (int)thickness);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ), 
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( bottomRight.get_u() ), 
                  vpMath::round( bottomRight.get_v() ) ),
             cvcolor, (int)thickness);
      }
    }
    else {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ), 
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( bottomRight.get_u() ), 
                  vpMath::round( bottomRight.get_v() ) ),
             col[color.id], CV_FILLED);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( topLeft.get_u() ), 
                  vpMath::round( topLeft.get_v() ) ),
             cvPoint( vpMath::round( bottomRight.get_u() ), 
                  vpMath::round( bottomRight.get_v() ) ),
             cvcolor, CV_FILLED);

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

void
vpDisplayOpenCV::displayRectangle(const vpRect &rectangle,
                                  const vpColor &color, bool fill,
                                  unsigned int thickness)
{
  if (displayHasBeenInitialized)
  {
    if (fill == false) {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( rectangle.getLeft() ),
                  vpMath::round( rectangle.getBottom() ) ),
             cvPoint( vpMath::round( rectangle.getRight() ),
                  vpMath::round( rectangle.getTop() ) ),
             col[color.id], (int)thickness);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( rectangle.getLeft() ),
                  vpMath::round( rectangle.getBottom() ) ),
             cvPoint( vpMath::round( rectangle.getRight() ),
                  vpMath::round( rectangle.getTop() ) ),
             cvcolor, (int)thickness);

      }
    }
    else {
      if (color.id < vpColor::id_unknown) {
    cvRectangle( background,
             cvPoint( vpMath::round( rectangle.getLeft() ),
                  vpMath::round( rectangle.getBottom() ) ),
             cvPoint( vpMath::round( rectangle.getRight() ),
                  vpMath::round( rectangle.getTop() ) ),
             col[color.id], CV_FILLED);
      }
      else {
    cvcolor = CV_RGB(color.R, color.G, color.B) ;
    cvRectangle( background,
             cvPoint( vpMath::round( rectangle.getLeft() ),
                  vpMath::round( rectangle.getBottom() ) ),
             cvPoint( vpMath::round( rectangle.getRight() ),
                  vpMath::round( rectangle.getTop() ) ),
             cvcolor, CV_FILLED);
      }
    }
  }
  else
  {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
}



bool
vpDisplayOpenCV::getClick(bool blocking)
{
  bool ret = false;
  if (displayHasBeenInitialized) {
    flushDisplay() ;
    if (blocking){
      lbuttondown = false;
      mbuttondown = false;
      rbuttondown = false;
    }
    do {
      if (lbuttondown){
        ret = true ;
        lbuttondown = false;
      }
      if (mbuttondown){
        ret = true ;
        mbuttondown = false;
      }
      if (rbuttondown){
        ret = true ;
        rbuttondown = false;
      }
      if (blocking) cvWaitKey(10);
    } while ( ret == false && blocking == true);
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  return ret;
}

bool
vpDisplayOpenCV::getClick(vpImagePoint &ip, bool blocking)
{
  bool ret = false;

  if (displayHasBeenInitialized) {
    flushDisplay() ;

    double u, v;

    if (blocking){
      lbuttondown = false;
      mbuttondown = false;
      rbuttondown = false;
    }
    do {
      if (lbuttondown){
        ret = true ;
        u = (unsigned int)x_lbuttondown;
        v = (unsigned int)y_lbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        lbuttondown = false;
      }
      if (mbuttondown){
        ret = true ;
        u = (unsigned int)x_mbuttondown;
        v = (unsigned int)y_mbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        mbuttondown = false;
      }
      if (rbuttondown){
        ret = true ;
        u = (unsigned int)x_rbuttondown;
        v = (unsigned int)y_rbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        rbuttondown = false;
      }
      if (blocking) cvWaitKey(10);
    } while ( ret == false && blocking == true);
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  return ret ;
}


bool
vpDisplayOpenCV::getClick(vpImagePoint &ip,
                          vpMouseButton::vpMouseButtonType& button,
                          bool blocking)
{
  bool ret = false;

  if (displayHasBeenInitialized) {
    //flushDisplay() ;
    double u, v;
    if (blocking){
      lbuttondown = false;
      mbuttondown = false;
      rbuttondown = false;
    }
    do {
      if (lbuttondown){
        ret = true ;
        u = (unsigned int)x_lbuttondown;
        v = (unsigned int)y_lbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button1;
        lbuttondown = false;
      }
      if (mbuttondown){
        ret = true ;
        u = (unsigned int)x_mbuttondown;
        v = (unsigned int)y_mbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button2;
        mbuttondown = false;
      }
      if (rbuttondown){
        ret = true ;
        u = (unsigned int)x_rbuttondown;
        v = (unsigned int)y_rbuttondown;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button3;
        rbuttondown = false;
      }
      if (blocking) cvWaitKey(10);
    } while ( ret == false && blocking == true);
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  return ret;
}

bool
vpDisplayOpenCV::getClickUp(vpImagePoint &ip,
                            vpMouseButton::vpMouseButtonType& button,
                            bool blocking)
{
  bool ret = false;
  if (displayHasBeenInitialized) {
    //flushDisplay() ;
    double u, v;
    if (blocking){
      lbuttonup = false;
      mbuttonup = false;
      rbuttonup = false;
    }
    do {
      if (lbuttonup){
        ret = true ;
        u = (unsigned int)x_lbuttonup;
        v = (unsigned int)y_lbuttonup;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button1;
        lbuttonup = false;
      }
      if (mbuttonup){
        ret = true ;
        u = (unsigned int)x_mbuttonup;
        v = (unsigned int)y_mbuttonup;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button2;
        mbuttonup = false;
      }
      if (rbuttonup){
        ret = true ;
        u = (unsigned int)x_rbuttonup;
        v = (unsigned int)y_rbuttonup;
    ip.set_u( u );
    ip.set_v( v );
        button = vpMouseButton::button3;
        rbuttonup = false;
      }
      if (blocking) cvWaitKey(10);
    } while ( ret == false && blocking == true);
  }
  else {
    vpERROR_TRACE ( "OpenCV not initialized " ) ;
    throw ( vpDisplayException ( vpDisplayException::notInitializedError,
                                 "OpenCV not initialized" ) ) ;
  }
  return ret;
}

/*
  \brief gets the displayed image (including the overlay plane)
  and returns an RGBa image
*/
void vpDisplayOpenCV::getImage(vpImage<vpRGBa> &I)
{
  vpImageConvert::convert(background,I);
  // shoudl certainly be optimized.
}

void vpDisplayOpenCV::on_mouse( int event, int x, int y, int /*flags*/, void* display )
{
  vpDisplayOpenCV* disp = (vpDisplayOpenCV*)display;
  switch ( event )
  {
    case CV_EVENT_MOUSEMOVE:
    {
      disp->move = true;
      disp->x_move = x;
      disp->y_move = y;
      break;
    }
    case CV_EVENT_LBUTTONDOWN:
    {
      disp->lbuttondown = true;
      disp->x_lbuttondown = x;
      disp->y_lbuttondown = y;
      break;
    }
    case CV_EVENT_MBUTTONDOWN:
    {
      disp->mbuttondown = true;
      disp->x_mbuttondown = x;
      disp->y_mbuttondown = y;
      break;
    }
    case CV_EVENT_RBUTTONDOWN:
    {
      disp->rbuttondown = true;
      disp->x_rbuttondown = x;
      disp->y_rbuttondown = y;
      break;
    }
    case CV_EVENT_LBUTTONUP:
    {
      disp->lbuttonup = true;
      disp->x_lbuttonup = x;
      disp->y_lbuttonup = y;
      break;
    }
    case CV_EVENT_MBUTTONUP:
    {
      disp->mbuttonup = true;
      disp->x_mbuttonup = x;
      disp->y_mbuttonup = y;
      break;
    }
    case CV_EVENT_RBUTTONUP:
    {
      disp->rbuttonup = true;
      disp->x_rbuttonup = x;
      disp->y_rbuttonup = y;
      break;
    }

    default :
      break;
  }
}

bool
vpDisplayOpenCV::getKeyboardEvent(bool blocking)
{
  int key_pressed;
  int delay;
  if (displayHasBeenInitialized) {
    flushDisplay() ;
    if (blocking) 
      delay = 0;
    else 
      delay = 10;

    key_pressed = cvWaitKey(delay);
    if (key_pressed == -1)
      return false;
    return true;
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  //return false; // Never reached after throw()
}
bool
vpDisplayOpenCV::getKeyboardEvent(char *string, bool blocking)
{
  int key_pressed;
  int delay;
  if (displayHasBeenInitialized) {
    flushDisplay() ;
    if (blocking) 
      delay = 0;
    else 
      delay = 10;

    key_pressed = cvWaitKey(delay);
    if (key_pressed == -1)
      return false;
    else {
      //std::cout << "Key pressed: \"" << key_pressed << "\"" << std::endl;
      sprintf(string, "%c", key_pressed);
    }
    return true;
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  //return false; // Never reached after throw()
}

bool 
vpDisplayOpenCV::getPointerMotionEvent (vpImagePoint &ip )
{
  bool ret = false;

  if (displayHasBeenInitialized) {
    //flushDisplay() ;
    double u, v;
    if (move){
      ret = true ;
      u = (unsigned int)x_move;
      v = (unsigned int)y_move;
      ip.set_u( u );
      ip.set_v( v );
      move = false;
    }
  }

  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  return ret;
}

bool
vpDisplayOpenCV::getPointerPosition ( vpImagePoint &ip)
{
  if (displayHasBeenInitialized) {
    //vpTRACE("Not implemented yet");
    bool moved = getPointerMotionEvent(ip);
    if (!moved)
    {
      double u, v;
      u = (unsigned int)x_move;
      v = (unsigned int)y_move;
      ip.set_u( u );
      ip.set_v( v );
    }
    return false;
  }
  else {
    vpERROR_TRACE("OpenCV not initialized " ) ;
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                             "OpenCV not initialized")) ;
  }
  //return false; // Never reached after throw()
}

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */