vpProjectionDisplay.h

/****************************************************************************
 *
 * $Id: vpProjectionDisplay.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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:
 * Interface with the image for feature display.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpProjectionDisplay_H
#define vpProjectionDisplay_H

#include <visp/vpConfig.h>
#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))

#include <visp/vpCameraParameters.h>
#include <visp/vpColor.h>
#include <visp/vpImage.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpForwardProjection.h>

#include <list>

class VISP_EXPORT vpProjectionDisplay
{
private:
  vpImage<unsigned char> Icam ;
  vpImage<unsigned char> Iext ;

#if defined VISP_HAVE_X11
  vpDisplayX dIcam ;
  vpDisplayX dIext ;
#elif defined VISP_HAVE_GTK
  vpDisplayGTK dIcam ;
  vpDisplayGTK dIext ;
#elif defined VISP_HAVE_GDI
  vpDisplayGDI dIcam ;
  vpDisplayGDI dIext ;
#endif
public:
  void init() ;
  void init(int select) ;
  void close() ;
  static int internalView() { return 0x01 ; }
  static int externalView() { return 0x02 ; }

  vpProjectionDisplay() { init() ;}
  vpProjectionDisplay(int select) { init(select) ;}
private:
  std::list<vpForwardProjection *> listFp ;
public:
  void insert( vpForwardProjection &fp) ;

public:
/*
  void display(const vpHomogeneousMatrix &cextMo,
           const vpHomogeneousMatrix &cMo,
           const vpCameraParameters &cam,
           const vpColor color,
           const int select) ;
*/
  void display(vpImage<unsigned char> &I,
           const vpHomogeneousMatrix &cextMo,
           const vpHomogeneousMatrix &cMo,
           const vpCameraParameters &cam,
           const vpColor color,
           const bool &displayTraj = false);


private:
  vpPoint o ;
  vpPoint x ;
  vpPoint y ;
  vpPoint z ;
  vpMatrix traj;

public:
  void displayCamera(vpImage<unsigned char> &I,
             const vpHomogeneousMatrix &cextMo,
             const vpHomogeneousMatrix &cMo,
             const vpCameraParameters &cam) ;
} ;



#endif
#endif

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