#include <visp3/gui/vpDisplayOpenCV.h>

Inheritance diagram for vpDisplayOpenCV:

Public Types
enum	vpScaleType { SCALE_AUTO, SCALE_1, SCALE_2, SCALE_3, SCALE_4, SCALE_5, SCALE_6, SCALE_7, SCALE_8, SCALE_9, SCALE_10, SCALE_DEFAULT }

Public Member Functions
	vpDisplayOpenCV ()

	vpDisplayOpenCV (int winx, int winy, const std::string &title="")

	vpDisplayOpenCV (vpImage< unsigned char > &I, vpScaleType type)

	vpDisplayOpenCV (vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="", vpScaleType type=SCALE_DEFAULT)

	vpDisplayOpenCV (vpImage< vpRGBa > &I, vpScaleType type)

	vpDisplayOpenCV (vpImage< vpRGBa > &I, int winx=-1, int winy=-1, const std::string &title="", vpScaleType type=SCALE_DEFAULT)

virtual	~vpDisplayOpenCV ()

void	getImage (vpImage< vpRGBa > &I)

unsigned int	getScreenHeight ()

void	getScreenSize (unsigned int &width, unsigned int &height)

unsigned int	getScreenWidth ()

void	init (vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")

void	init (vpImage< vpRGBa > &I, int winx=-1, int winy=-1, const std::string &title="")

void	init (unsigned int width, unsigned int height, int winx=-1, int winy=-1, const std::string &title="")

Inherited functionalities from vpDisplay
unsigned int	computeAutoScale (unsigned int width, unsigned int height)

unsigned int	getDownScalingFactor ()

unsigned int	getHeight () const

unsigned int	getWidth () const

int	getWindowXPosition () const

int	getWindowYPosition () const

bool	isInitialised ()

virtual void	setDownScalingFactor (unsigned int scale)

virtual void	setDownScalingFactor (vpScaleType scaleType)

Static Public Member Functions
Static public vpDisplay functionalities on gray level images.
static unsigned int	getDownScalingFactor (const vpImage< unsigned char > &I)

static void	close (vpImage< unsigned char > &I)

static void	display (const vpImage< unsigned char > &I)

static void	displayArrow (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)

static void	displayArrow (const vpImage< unsigned char > &I, int i1, int j1, int i2, int j2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)

static void	displayCamera (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)

static void	displayCharString (const vpImage< unsigned char > &I, const vpImagePoint &ip, const char *string, const vpColor &color)

static void	displayCharString (const vpImage< unsigned char > &I, int i, int j, const char *string, const vpColor &color)

static void	displayCircle (const vpImage< unsigned char > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayCircle (const vpImage< unsigned char > &I, int i, int j, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayCross (const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)

static void	displayCross (const vpImage< unsigned char > &I, int i, int j, unsigned int size, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< unsigned char > &I, int i1, int j1, int i2, int j2, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ips, const bool closeTheShape, const vpColor &color, unsigned int thickness=1)

static void	displayEllipse (const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)

static void	displayEllipse (const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, const double &theta1, const double &theta2, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)

static void	displayFrame (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))

static void	displayLine (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

static void	displayLine (const vpImage< unsigned char > &I, int i1, int j1, int i2, int j2, const vpColor &color, unsigned int thickness=1)

static void	displayLine (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ips, const bool closeTheShape, const vpColor &color, unsigned int thickness=1)

static void	displayPoint (const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)

static void	displayPoint (const vpImage< unsigned char > &I, int i, int j, const vpColor &color, unsigned int thickness=1)

static void	displayPolygon (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, const vpRect &rectangle, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, const vpImagePoint &center, float angle, unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, int i, int j, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< unsigned char > &I, unsigned int i, unsigned int j, float angle, unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness=1)

static void	displayROI (const vpImage< unsigned char > &I, const vpRect &roi)

static void	displayText (const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)

static void	displayText (const vpImage< unsigned char > &I, int i, int j, const std::string &s, const vpColor &color)

static void	flush (const vpImage< unsigned char > &I)

static void	flushROI (const vpImage< unsigned char > &I, const vpRect &roi)

static bool	getClick (const vpImage< unsigned char > &I, bool blocking=true)

static bool	getClick (const vpImage< unsigned char > &I, vpImagePoint &ip, bool blocking=true)

static bool	getClick (const vpImage< unsigned char > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClick (const vpImage< unsigned char > &I, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClickUp (const vpImage< unsigned char > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClickUp (const vpImage< unsigned char > &I, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static void	getImage (const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)

static bool	getKeyboardEvent (const vpImage< unsigned char > &I, bool blocking=true)

static bool	getKeyboardEvent (const vpImage< unsigned char > &I, std::string &key, bool blocking=true)

static bool	getKeyboardEvent (const vpImage< unsigned char > &I, char *key, bool blocking=true)

static bool	getPointerMotionEvent (const vpImage< unsigned char > &I, vpImagePoint &ip)

static bool	getPointerPosition (const vpImage< unsigned char > &I, vpImagePoint &ip)

static void	setBackground (const vpImage< unsigned char > &I, const vpColor &color)

static void	setFont (const vpImage< unsigned char > &I, const std::string &font)

static void	setTitle (const vpImage< unsigned char > &I, const std::string &windowtitle)

static void	setWindowPosition (const vpImage< unsigned char > &I, int winx, int winy)

Static public vpDisplay functionalities on 32 bits color images.
static unsigned int	getDownScalingFactor (const vpImage< vpRGBa > &I)

static void	close (vpImage< vpRGBa > &I)

static void	display (const vpImage< vpRGBa > &I)

static void	displayArrow (const vpImage< vpRGBa > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)

static void	displayArrow (const vpImage< vpRGBa > &I, int i1, int j1, int i2, int j2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)

static void	displayCamera (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)

static void	displayCharString (const vpImage< vpRGBa > &I, const vpImagePoint &ip, const char *string, const vpColor &color)

static void	displayCharString (const vpImage< vpRGBa > &I, int i, int j, const char *string, const vpColor &color)

static void	displayCircle (const vpImage< vpRGBa > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayCircle (const vpImage< vpRGBa > &I, int i, int j, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayCross (const vpImage< vpRGBa > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)

static void	displayCross (const vpImage< vpRGBa > &I, int i, int j, unsigned int size, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< vpRGBa > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< vpRGBa > &I, int i1, int j1, int i2, int j2, const vpColor &color, unsigned int thickness=1)

static void	displayDotLine (const vpImage< vpRGBa > &I, const std::vector< vpImagePoint > &ips, const bool closeTheShape, const vpColor &color, unsigned int thickness=1)

static void	displayEllipse (const vpImage< vpRGBa > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)

static void	displayEllipse (const vpImage< vpRGBa > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, const double &theta1, const double &theta2, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)

static void	displayFrame (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))

static void	displayLine (const vpImage< vpRGBa > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

static void	displayLine (const vpImage< vpRGBa > &I, int i1, int j1, int i2, int j2, const vpColor &color, unsigned int thickness=1)

static void	displayLine (const vpImage< vpRGBa > &I, const std::vector< vpImagePoint > &ips, const bool closeTheShape, const vpColor &color, unsigned int thickness=1)

static void	displayPoint (const vpImage< vpRGBa > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)

static void	displayPoint (const vpImage< vpRGBa > &I, int i, int j, const vpColor &color, unsigned int thickness=1)

static void	displayPolygon (const vpImage< vpRGBa > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, const vpRect &rectangle, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, const vpImagePoint &center, float angle, unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, int i, int j, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)

static void	displayRectangle (const vpImage< vpRGBa > &I, unsigned int i, unsigned int j, float angle, unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness=1)

static void	displayROI (const vpImage< vpRGBa > &I, const vpRect &roi)

static void	displayText (const vpImage< vpRGBa > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)

static void	displayText (const vpImage< vpRGBa > &I, int i, int j, const std::string &s, const vpColor &color)

static void	flush (const vpImage< vpRGBa > &I)

static void	flushROI (const vpImage< vpRGBa > &I, const vpRect &roi)

static bool	getClick (const vpImage< vpRGBa > &I, bool blocking=true)

static bool	getClick (const vpImage< vpRGBa > &I, vpImagePoint &ip, bool blocking=true)

static bool	getClick (const vpImage< vpRGBa > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClick (const vpImage< vpRGBa > &I, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClickUp (const vpImage< vpRGBa > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static bool	getClickUp (const vpImage< vpRGBa > &I, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

static void	getImage (const vpImage< vpRGBa > &Is, vpImage< vpRGBa > &Id)

static bool	getKeyboardEvent (const vpImage< vpRGBa > &I, bool blocking=true)

static bool	getKeyboardEvent (const vpImage< vpRGBa > &I, std::string &key, bool blocking=true)

static bool	getKeyboardEvent (const vpImage< vpRGBa > &I, char *key, bool blocking=true)

static bool	getPointerMotionEvent (const vpImage< vpRGBa > &I, vpImagePoint &ip)

static bool	getPointerPosition (const vpImage< vpRGBa > &I, vpImagePoint &ip)

static void	setBackground (const vpImage< vpRGBa > &I, const vpColor &color)

static void	setFont (const vpImage< vpRGBa > &I, const std::string &font)

static void	setTitle (const vpImage< vpRGBa > &I, const std::string &windowtitle)

static void	setWindowPosition (const vpImage< vpRGBa > &I, int winx, int winy)

Protected Member Functions
void	setFont (const std::string &font)

void	setTitle (const std::string &title)

void	setWindowPosition (int winx, int winy)

void	clearDisplay (const vpColor &color=vpColor::white)

void	closeDisplay ()

void	displayArrow (const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)

void	displayCharString (const vpImagePoint &ip, const char *text, const vpColor &color=vpColor::green)

void	displayCircle (const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)

void	displayCross (const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)

void	displayDotLine (const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

void	displayImage (const vpImage< unsigned char > &I)

void	displayImage (const vpImage< vpRGBa > &I)

void	displayImage (const unsigned char *I)

void	displayImageROI (const vpImage< unsigned char > &I, const vpImagePoint &iP, const unsigned int width, const unsigned int height)

void	displayImageROI (const vpImage< vpRGBa > &I, const vpImagePoint &iP, const unsigned int width, const unsigned int height)

void	displayLine (const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)

void	displayPoint (const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)

void	displayRectangle (const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)

void	displayRectangle (const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color, bool fill=false, unsigned int thickness=1)

void	displayRectangle (const vpRect &rectangle, const vpColor &color, bool fill=false, unsigned int thickness=1)

void	flushDisplay ()

void	flushDisplayROI (const vpImagePoint &iP, const unsigned int width, const unsigned int height)

bool	getClick (bool blocking=true)

bool	getClick (vpImagePoint &ip, bool blocking=true)

bool	getClick (vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

bool	getClickUp (vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)

bool	getKeyboardEvent (bool blocking=true)

bool	getKeyboardEvent (std::string &key, bool blocking=true)

bool	getPointerMotionEvent (vpImagePoint &ip)

bool	getPointerPosition (vpImagePoint &ip)

void	setScale (vpScaleType scaleType, unsigned int width, unsigned int height)

Static Protected Member Functions
static void	on_mouse (int event, int x, int y, int flags, void *param)

Protected Attributes
bool	m_displayHasBeenInitialized

int	m_windowXPosition

int	m_windowYPosition

unsigned int	m_width

unsigned int	m_height

std::string	m_title

unsigned int	m_scale

vpScaleType	m_scaleType

Detailed Description

The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenCV should be installed. Installation instructions are provided here https://visp.inria.fr/3rd_opencv.

The example below shows how to display an image with this video device.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV)
  vpImage<unsigned char> I; // Grey level image
  // Read an image in PGM P5 format
  vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
  vpDisplayOpenCV d;
  // Initialize the display with the image I. Display and image are
  // now link together.
  d.init(I);
  // Specify the window location
  vpDisplay::setWindowPosition(I, 400, 100);
  // Set the display window title
  vpDisplay::setTitle(I, "My OpenCV display");
  // Set the display background with image I content
  vpDisplay::display(I);
  // Draw a red rectangle in the display overlay (foreground)
  vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
  // Draw a red rectangle in the display overlay (foreground)
  vpImagePoint topLeftCorner;
  topLeftCorner.set_i(10);
  topLeftCorner.set_j(50);
  vpDisplay::displayRectangle(I, topLeftCorner, 100, 20, vpColor::green, true);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Get non blocking keyboard events
  std::cout << "Check keyboard events..." << std::endl;
  char key[10];
  bool ret;
  for (int i=0; i< 200; i++) {
    bool ret = vpDisplay::getKeyboardEvent(I, key, false);
    if (ret)
      std::cout << "keyboard event: key: " << "\"" << key << "\"" << std::endl;
   vpTime::wait(40);
  }
  // Get a blocking keyboard event
  std::cout << "Wait for a keyboard event..." << std::endl;
  ret = vpDisplay::getKeyboardEvent(I, key, true);
  std::cout << "keyboard event: " << ret << std::endl;
  if (ret)
    std::cout << "key: " << "\"" << key << "\"" << std::endl;
  // Wait for a click in the display window
  std::cout << "Wait for a button click..." << std::endl;
  vpDisplay::getClick(I);
#endif
}

Examples:: AROgre.cpp, AROgreBasic.cpp, BSpline.cpp, displayOpenCV.cpp, grab1394CMU.cpp, grabFlyCapture.cpp, grabOpenCV.cpp, imageSequenceReader.cpp, kinectAcquisition.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, templateTracker.cpp, testAprilTag.cpp, testClick.cpp, testDisplayPolygonLines.cpp, testDisplayRoi.cpp, testDisplays.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testNurbs.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, testVideoDevice.cpp, testVideoDeviceDual.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-auto-tracker.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-event-keyboard.cpp, tutorial-export-image.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flood-fill.cpp, tutorial-grabber-1394.cpp, tutorial-grabber-basler-pylon.cpp, tutorial-grabber-flycapture.cpp, tutorial-grabber-opencv.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-v4l2.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-filter.cpp, tutorial-image-simulator.cpp, tutorial-image-viewer.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker-with-reinit.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-template-tracker.cpp, tutorial-video-reader.cpp, tutorial-video-recorder.cpp, tutorial-viewer.cpp, videoReader.cpp, and wireframeSimulator.cpp.

Definition at line 142 of file vpDisplayOpenCV.h.

Member Enumeration Documentation

enum vpDisplay::vpScaleType

inherited

Values that could be applied to a display to down scale the size of the display.

Enumerator
SCALE_AUTO	Auto down scaling factor computed fom the screen resolution.
SCALE_1	Display and image have the same size.
SCALE_2	Display width and height is down scaled by 2 wrt the image size.
SCALE_3	Display width and height is down scaled by 3 wrt the image size.
SCALE_4	Display width and height is down scaled by 4 wrt the image size.
SCALE_5	Display width and height is down scaled by 5 wrt the image size.
SCALE_6	Display width and height is down scaled by 6 wrt the image size.
SCALE_7	Display width and height is down scaled by 7 wrt the image size.
SCALE_8	Display width and height is down scaled by 8 wrt the image size.
SCALE_9	Display width and height is down scaled by 9 wrt the image size.
SCALE_10	Display width and height is down scaled by 10 wrt the image size.
SCALE_DEFAULT	Display and image have the same size. Similar to vpDisplay::SCALE_1.

Definition at line 176 of file vpDisplay.h.

Constructor & Destructor Documentation

vpDisplayOpenCV::vpDisplayOpenCV ( )

Basic constructor.

To initialize the window position, title and size you may call init(vpImage<unsigned char> &, int, int, const std::string &) or init(vpImage<vpRGBa> &, int, int, const std::string &).

#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayOpenCV.h>
int main()
{
  vpDisplayOpenCV d;
  vpImage<unsigned char> I(240, 384);
  d.init(I, 100, 200, "My display");
}

Definition at line 314 of file vpDisplayOpenCV.cpp.

vpDisplayOpenCV::vpDisplayOpenCV	(	int	x,
		int	y,
		const std::string &	title = `""`
	)

Constructor that just initialize the display position in the screen and the display title.

Parameters

x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

To initialize the display size, you need to call init().

#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayOpenCV.h>
int main()
{
  vpDisplayOpenCV d(100, 200, "My display");
  vpImage<unsigned char> I(240, 384);
  d.init(I);
}

Definition at line 255 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_title, vpDisplay::m_windowXPosition, and vpDisplay::m_windowYPosition.

vpDisplayOpenCV::vpDisplayOpenCV	(	vpImage< unsigned char > &	I,
		vpScaleType	scaleType
	)

Constructor. Initialize a display to visualize a gray level image (8 bits).

Parameters

I : Image to be displayed (not that image has to be initialized)

scaleType

: If this parameter is set to:

vpDisplay::SCALE_AUTO, the display size is adapted to ensure the image is fully displayed in the screen;
vpDisplay::SCALE_DEFAULT or vpDisplay::SCALE_1, the display size is the same than the image size.
vpDisplay::SCALE_2, the display size is downscaled by 2 along the lines and the columns.
vpDisplay::SCALE_3, the display size is downscaled by 3 along the lines and the columns.
vpDisplay::SCALE_4, the display size is downscaled by 4 along the lines and the columns.
vpDisplay::SCALE_5, the display size is downscaled by 5 along the lines and the columns.

Definition at line 107 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), init(), and vpDisplay::setScale().

vpDisplayOpenCV::vpDisplayOpenCV	(	vpImage< unsigned char > &	I,
		int	x = `-1`,
		int	y = `-1`,
		const std::string &	title = `""`,
		vpScaleType	scaleType = `SCALE_DEFAULT`
	)

Constructor. Initialize a display to visualize a gray level image (8 bits).

Parameters

I	: Image to be displayed (not that image has to be initialized)
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.
scaleType	: If this parameter is set to: vpDisplay::SCALE_AUTO, the display size is adapted to ensure the image is fully displayed in the screen; vpDisplay::SCALE_DEFAULT or vpDisplay::SCALE_1, the display size is the same than the image size. vpDisplay::SCALE_2, the display size is downscaled by 2 along the lines and the columns. vpDisplay::SCALE_3, the display size is downscaled by 3 along the lines and the columns. vpDisplay::SCALE_4, the display size is downscaled by 4 along the lines and the columns. vpDisplay::SCALE_5, the display size is downscaled by 5 along the lines and the columns.

Definition at line 146 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), init(), and vpDisplay::setScale().

vpDisplayOpenCV::vpDisplayOpenCV	(	vpImage< vpRGBa > &	I,
		vpScaleType	scaleType
	)

Constructor. Initialize a display to visualize a RGBa image (32 bits).

Parameters

I : Image to be displayed (not that image has to be initialized)

scaleType

: If this parameter is set to:

vpDisplay::SCALE_AUTO, the display size is adapted to ensure the image is fully displayed in the screen;
vpDisplay::SCALE_DEFAULT or vpDisplay::SCALE_1, the display size is the same than the image size.
vpDisplay::SCALE_2, the display size is downscaled by 2 along the lines and the columns.
vpDisplay::SCALE_3, the display size is downscaled by 3 along the lines and the columns.
vpDisplay::SCALE_4, the display size is downscaled by 4 along the lines and the columns.
vpDisplay::SCALE_5, the display size is downscaled by 5 along the lines and the columns.

Definition at line 181 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), init(), and vpDisplay::setScale().

vpDisplayOpenCV::vpDisplayOpenCV	(	vpImage< vpRGBa > &	I,
		int	x = `-1`,
		int	y = `-1`,
		const std::string &	title = `""`,
		vpScaleType	scaleType = `SCALE_DEFAULT`
	)

Constructor. Initialize a display to visualize a RGBa image (32 bits).

Parameters

I	: Image to be displayed (not that image has to be initialized)
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.
scaleType	: If this parameter is set to: vpDisplay::SCALE_AUTO, the display size is adapted to ensure the image is fully displayed in the screen; vpDisplay::SCALE_DEFAULT or vpDisplay::SCALE_1, the display size is the same than the image size. vpDisplay::SCALE_2, the display size is downscaled by 2 along the lines and the columns. vpDisplay::SCALE_3, the display size is downscaled by 3 along the lines and the columns. vpDisplay::SCALE_4, the display size is downscaled by 4 along the lines and the columns. vpDisplay::SCALE_5, the display size is downscaled by 5 along the lines and the columns.

Definition at line 217 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), init(), and vpDisplay::setScale().

vpDisplayOpenCV::~vpDisplayOpenCV ( )

virtual

Destructor.

Definition at line 331 of file vpDisplayOpenCV.cpp.

References closeDisplay().

Member Function Documentation

void vpDisplayOpenCV::clearDisplay ( const vpColor & color = vpColor::white )

protected

Warning: Not implemented yet.

Definition at line 1057 of file vpDisplayOpenCV.cpp.

References vpTRACE.

void vpDisplay::close ( vpImage< unsigned char > & I )

staticinherited

Close the display attached to I.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, manDisplay.cpp, SickLDMRS-Process.cpp, testDisplayRoi.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, and testVideoDevice.cpp.

Definition at line 51 of file vpDisplay_uchar.cpp.

void vpDisplay::close ( vpImage< vpRGBa > & I )

staticinherited

Close the display attached to I.

Definition at line 51 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::closeDisplay ( )

protected

Close the window.

See also: init()

Definition at line 981 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, and vpDisplay::m_title.

Referenced by ~vpDisplayOpenCV().

unsigned int vpDisplay::computeAutoScale	(	unsigned int	width,
		unsigned int	height
	)

inherited

Computes the down scaling factor that should be applied to the window size to display the image given the resolution of the screen.

Parameters

width,height : Image size.

Returns

Definition at line 247 of file vpDisplay.cpp.

Referenced by vpDisplay::setScale().

void vpDisplay::display ( const vpImage< unsigned char > & I )

staticinherited

Display image I.

Warning: Display has to be initialized.; Suppress the overlay drawing.

Parameters

I	: Image to display.

See also: init(), close()

Examples:: AROgre.cpp, AROgreBasic.cpp, BSpline.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displaySequence.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grab1394CMU.cpp, grab1394Two.cpp, grabDirectShow.cpp, grabDirectShowMulti.cpp, grabDisk.cpp, grabFlyCapture.cpp, grabOpenCV.cpp, grabRealSense.cpp, grabRealSense2.cpp, grabV4l2.cpp, grabV4l2MultiCpp11Thread.cpp, imageSequenceReader.cpp, keyPointSurf.cpp, kinectAcquisition.cpp, manDisplay.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, planarObjectDetector.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, SickLDMRS-Process.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testAprilTag.cpp, testClick.cpp, testDisplayPolygonLines.cpp, testDisplayRoi.cpp, testDisplays.cpp, testFeatureSegment.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testMouseEvent.cpp, testNurbs.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, testTrackDot.cpp, testVideoDevice.cpp, testVideoDeviceDual.cpp, testVirtuoseWithGlove.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-auto-tracker.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-cross.cpp, tutorial-draw-line.cpp, tutorial-draw-point.cpp, tutorial-draw-rectangle.cpp, tutorial-draw-text.cpp, tutorial-event-keyboard.cpp, tutorial-export-image.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flood-fill.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-grabber-1394-writer.cpp, tutorial-grabber-1394.cpp, tutorial-grabber-basler-pylon.cpp, tutorial-grabber-CMU1394.cpp, tutorial-grabber-flycapture.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-opencv.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-v4l2-threaded.cpp, tutorial-grabber-v4l2.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-display-scaled-auto.cpp, tutorial-image-display-scaled-manu.cpp, tutorial-image-display.cpp, tutorial-image-filter.cpp, tutorial-image-simulator.cpp, tutorial-image-viewer.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker-with-reinit.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-template-tracker.cpp, tutorial-video-reader.cpp, tutorial-video-recorder.cpp, tutorial-viewer.cpp, videoReader.cpp, and wireframeSimulator.cpp.

Definition at line 677 of file vpDisplay_uchar.cpp.

void vpDisplay::display ( const vpImage< vpRGBa > & I )

staticinherited

Display image I.

Warning: Display has to be initialized.; Suppress the overlay drawing.

Parameters

I	: Image to display.

See also: init(), close()

Definition at line 674 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayArrow	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color = `vpColor::white`,
		unsigned int	w = `4`,
		unsigned int	h = `2`,
		unsigned int	thickness = `1`
	)

protected

Display an arrow from image point ip1 to image point ip2.

Parameters

ip1,ip2	: Initial and final image point.
color	: Arrow color.
w,h	: Width and height of the arrow.
thickness	: Thickness of the lines used to display the arrow.

Definition at line 1073 of file vpDisplayOpenCV.cpp.

References displayLine(), vpImagePoint::distance(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::m_displayHasBeenInitialized, vpDisplayException::notInitializedError, vpImagePoint::set_i(), vpImagePoint::set_j(), and vpMath::sqr().

void vpDisplay::displayArrow	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color = `vpColor::white`,
		unsigned int	w = `4`,
		unsigned int	h = `2`,
		unsigned int	thickness = `1`
	)

staticinherited

Display an arrow from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Arrow color.
w,h	: Width and height of the arrow.
thickness	: Thickness of the lines used to display the arrow.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, and testDisplays.cpp.

Definition at line 61 of file vpDisplay_uchar.cpp.

Referenced by vpMeLine::computeRhoTheta(), vpProjectionDisplay::displayCamera(), vpMbtFaceDepthNormal::displayFeature(), vpMeTracker::initTracking(), and vpMeTracker::track().

void vpDisplay::displayArrow	(	const vpImage< unsigned char > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color = `vpColor::white`,
		unsigned int	w = `4`,
		unsigned int	h = `2`,
		unsigned int	thickness = `1`
	)

staticinherited

Display an arrow from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	: Initial image point.
i2,j2	: Final image point.
color	: Arrow color.
w,h	: Width and height of the arrow.
thickness	: Thickness of the lines used to display the arrow.

Definition at line 77 of file vpDisplay_uchar.cpp.

void vpDisplay::displayArrow	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color = `vpColor::white`,
		unsigned int	w = `4`,
		unsigned int	h = `2`,
		unsigned int	thickness = `1`
	)

staticinherited

Display an arrow from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Arrow color.
w,h	: Width and height of the arrow.
thickness	: Thickness of the lines used to display the arrow.

Definition at line 61 of file vpDisplay_rgba.cpp.

void vpDisplay::displayArrow	(	const vpImage< vpRGBa > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color = `vpColor::white`,
		unsigned int	w = `4`,
		unsigned int	h = `2`,
		unsigned int	thickness = `1`
	)

staticinherited

Display an arrow from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	: Initial image point.
i2,j2	: Final image point.
color	: Arrow color.
w,h	: Width and height of the arrow.
thickness	: Thickness of the lines used to display the arrow.

Definition at line 77 of file vpDisplay_rgba.cpp.

void vpDisplay::displayCamera	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		double	size,
		const vpColor &	color,
		unsigned int	thickness
	)

staticinherited

Display the projection of an object camera represented by a cone in the image.

Parameters

I	: The image associated to the display.
cMo	: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam	: Camera intrinsic parameters.
size	: Size of the object camera.
color	: Color used to display the camera in the image.
thickness	: Thickness of the graphics drawing.

Definition at line 96 of file vpDisplay_uchar.cpp.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpDisplay::displayCamera	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		double	size,
		const vpColor &	color,
		unsigned int	thickness
	)

staticinherited

Display the projection of an object camera represented by a cone in the image.

Parameters

I	: The image associated to the display.
cMo	: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam	: Camera intrinsic parameters.
size	: Size of the object camera.
color	: Color used to display the camera in the image.
thickness	: Thickness of the graphics drawing.

Definition at line 96 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayCharString	(	const vpImagePoint &	ip,
		const char *	text,
		const vpColor &	color = `vpColor::green`
	)

protected

Display a string at the image point ip location.

To select the font used to display the string, use setFont().

Parameters

ip	: Upper left image point location of the string in the display.
text	: String to display in overlay.
color	: String color.

See also: setFont()

Definition at line 1124 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplay::displayCharString	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip,
		const char *	string,
		const vpColor &	color
	)

staticinherited

Display a string at the image point ip location. Use rather displayText() that does the same.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
ip	: Upper left image point location of the string in the display.
string	: String to display in overlay.
color	: String color.

See also: setFont(), displayText()

Examples:: sonarPioneerReader.cpp.

Definition at line 115 of file vpDisplay_uchar.cpp.

void vpDisplay::displayCharString	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		const char *	string,
		const vpColor &	color
	)

staticinherited

Display a string at the image point (i,j) location. Use rather displayText() that does the same.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
i,j	: Upper left image point location of the string in the display.
string	: String to display in overlay.
color	: String color.

See also: setFont(), displayText()

Definition at line 134 of file vpDisplay_uchar.cpp.

void vpDisplay::displayCharString	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip,
		const char *	string,
		const vpColor &	color
	)

staticinherited

Display a string at the image point ip location. Use rather displayText() that does the same.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
ip	: Upper left image point location of the string in the display.
string	: String to display in overlay.
color	: String color.

See also: setFont(), displayText()

Definition at line 115 of file vpDisplay_rgba.cpp.

void vpDisplay::displayCharString	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		const char *	string,
		const vpColor &	color
	)

staticinherited

Display a string at the image point (i,j) location. Use rather displayText() that does the same.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
i,j	: Upper left image point location of the string in the display.
string	: String to display in overlay.
color	: String color.

See also: setFont(), displayText()

Definition at line 134 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayCircle	(	const vpImagePoint &	center,
		unsigned int	radius,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

protected

Display a circle.

Parameters

center	: Circle center position.
radius	: Circle radius.
color	: Circle color.
fill	: When set to true fill the circle.
thickness	: Thickness of the circle. This parameter is only useful when fill is set to false.

Definition at line 1162 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplay::displayCircle	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center,
		unsigned int	radius,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a circle.

Parameters

I	: The image associated to the display.
center	: Circle center position.
radius	: Circle radius.
color	: Circle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the circle. This parameter is only useful when fill is set to false.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, testDisplays.cpp, testKeyPoint-2.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-image-display-scaled-auto.cpp, tutorial-image-display-scaled-manu.cpp, and tutorial-image-display.cpp.

Definition at line 150 of file vpDisplay_uchar.cpp.

Referenced by vpFeatureSegment::display(), vpProjectionDisplay::display(), vpKeyPoint::displayMatching(), and vpDot2::trackAndDisplay().

void vpDisplay::displayCircle	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		unsigned int	radius,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a circle.

Parameters

I	: The image associated to the display.
i,j	: Circle center position.
radius	: Circle radius.
color	: Circle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the circle. This parameter is only useful when fill is set to false.

Definition at line 166 of file vpDisplay_uchar.cpp.

void vpDisplay::displayCircle	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	center,
		unsigned int	radius,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a circle.

Parameters

I	: The image associated to the display.
center	: Circle center position.
radius	: Circle radius.
color	: Circle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the circle. This parameter is only useful when fill is set to false.

Definition at line 149 of file vpDisplay_rgba.cpp.

void vpDisplay::displayCircle	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		unsigned int	radius,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a circle.

Parameters

I	: The image associated to the display.
i,j	: Circle center position.
radius	: Circle radius.
color	: Circle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the circle. This parameter is only useful when fill is set to false.

Definition at line 165 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayCross	(	const vpImagePoint &	ip,
		unsigned int	size,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

protected

Display a cross at the image point ip location.

Parameters

ip	: Cross location.
size	: Size (width and height) of the cross.
color	: Cross color.
thickness	: Thickness of the lines used to display the cross.

Definition at line 1230 of file vpDisplayOpenCV.cpp.

References displayLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::m_displayHasBeenInitialized, vpDisplayException::notInitializedError, vpImagePoint::set_i(), and vpImagePoint::set_j().

void vpDisplay::displayCross	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip,
		unsigned int	size,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a cross at the image point ip location.

Parameters

I	: The image associated to the display.
ip	: Cross location.
size	: Size (width and height) of the cross.
color	: Cross color.
thickness	: Thickness of the lines used to display the cross.

Examples:: AROgre.cpp, AROgreBasic.cpp, BSpline.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Segment2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, sonarPioneerReader.cpp, testDisplays.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testNurbs.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-draw-cross.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 180 of file vpDisplay_uchar.cpp.

Referenced by vpMbtDistanceCylinder::computeInteractionMatrixError(), vpDot2::defineDots(), vpKltOpencv::display(), vpDot2::display(), vpDot::display(), vpMeNurbs::display(), vpMeSite::display(), vpMeLine::display(), vpMeEllipse::display(), vpKeyPoint::display(), vpCalibration::displayData(), vpCalibration::displayGrid(), vpKeyPoint::displayMatching(), vpPose::displayModel(), vpFeatureDisplay::displayPoint(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMeSite::getQueryList(), vpTemplateTrackerZone::initClick(), vpPolygon::initClick(), vpMbTracker::initClick(), vpMeEllipse::initTracking(), vpMeNurbs::initTracking(), vpMeLine::initTracking(), vpMeEllipse::printParameters(), vpMeLine::sample(), vpDot2::searchDotsInArea(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpKltOpencv::suppressFeature(), vpDot2::track(), vpDot::track(), and vpMeEllipse::~vpMeEllipse().

void vpDisplay::displayCross	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		unsigned int	size,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a cross at the image point (i,j) location.

Parameters

I	: The image associated to the display.
i,j	: Cross location.
size	: Size (width and height) of the cross.
color	: Cross color.
thickness	: Thickness of the lines used to display the cross.

Definition at line 194 of file vpDisplay_uchar.cpp.

void vpDisplay::displayCross	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip,
		unsigned int	size,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a cross at the image point ip location.

Parameters

I	: The image associated to the display.
ip	: Cross location.
size	: Size (width and height) of the cross.
color	: Cross color.
thickness	: Thickness of the lines used to display the cross.

Definition at line 179 of file vpDisplay_rgba.cpp.

void vpDisplay::displayCross	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		unsigned int	size,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a cross at the image point (i,j) location.

Parameters

I	: The image associated to the display.
i,j	: Cross location.
size	: Size (width and height) of the cross.
color	: Cross color.
thickness	: Thickness of the lines used to display the cross.

Definition at line 193 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayDotLine	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

protected

Display a dashed line from image point ip1 to image point ip2.

Parameters

ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Line thickness.

Definition at line 1257 of file vpDisplayOpenCV.cpp.

References displayLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, and vpMath::sqr().

void vpDisplay::displayDotLine	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a dashed line from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Dashed line thickness.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, testDisplayPolygonLines.cpp, and testDisplays.cpp.

Definition at line 207 of file vpDisplay_uchar.cpp.

Referenced by vpDot2::trackAndDisplay().

void vpDisplay::displayDotLine	(	const vpImage< unsigned char > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a dashed line from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	Initial image point.
i2,j2	Final image point.
color	: Line color.
thickness	: Dashed line thickness.

Definition at line 221 of file vpDisplay_uchar.cpp.

void vpDisplay::displayDotLine	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	ips,
		const bool	closeTheShape,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display dashed lines for the list of image points.

Parameters

I	: The image associated to the display.
ips	: List of image points.
closeTheShape	: If true, display a dashed line from the first and last image points.
color	: Line color.
thickness	: Dashed line thickness.

Definition at line 235 of file vpDisplay_uchar.cpp.

void vpDisplay::displayDotLine	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a dashed line from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Dashed line thickness.

Definition at line 206 of file vpDisplay_rgba.cpp.

void vpDisplay::displayDotLine	(	const vpImage< vpRGBa > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a dashed line from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	Initial image point.
i2,j2	Final image point.
color	: Line color.
thickness	: Dashed line thickness.

Definition at line 220 of file vpDisplay_rgba.cpp.

void vpDisplay::displayDotLine	(	const vpImage< vpRGBa > &	I,
		const std::vector< vpImagePoint > &	ips,
		const bool	closeTheShape,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display the dashed lines formed by the list of image points

Parameters

I	: The image associated to the display.
ips	: List of image points.
closeTheShape	: If true, display a dashed line from the first and last image points.
color	: Line color.
thickness	: Dashed line thickness.

Definition at line 234 of file vpDisplay_rgba.cpp.

void vpDisplay::displayEllipse	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center,
		const double &	coef1,
		const double &	coef2,
		const double &	coef3,
		bool	use_centered_moments,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display an ellipse from its parameters expressed in pixels.

Parameters

I	: Image to consider.
center	: Center of the ellipse.
coef1,coef2,coef3	: Depending on the parameter use_centered_moments these parameters are: the centered moments expressed in pixels: $\mu_{20}, \mu_{11}, \mu_{02}$ ; the major and minor axis lenght in pixels and the excentricity of the ellipse in radians: .
use_centered_moments	: When false, the parameters coef1, coef2, coef3 are the parameters . When true, the parameters coef1, coef2, coef3 are rather the centered moments $\mu_{20}, \mu_{11}, \mu_{02}$ expressed in pixels. In that case, we compute the parameters a, b and e from the centered moments.
color	: Drawings color.
thickness	: Drawings thickness.

All the points $(u_\theta,v_\theta)$ on the ellipse are drawn thanks to its parametric representation:

$\left(\begin{array}{c} u_\theta \\ v_\theta \end{array} \right) = \left(\begin{array}{c} u_c \\ v_c \end{array} \right) + \left(\begin{array}{cc} \cos(e) & -\sin(e) \\ \sin(e) & \cos(e) \end{array} \right) \left(\begin{array}{c} a \cos(\theta) \\ b \sin(\theta) \end{array} \right)$

with $0 \leq \theta \leq 2\pi$ .

The following example shows how to use for example this function to display the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);
vpDisplay::displayEllipse(I, ellipse.getCenter(), ellipse.get_mu20(),
                          ellipse.get_mu11(), ellipse.get_mu02(), true, vpColor::orange, 1);
vpDisplay::flush(I);

Definition at line 296 of file vpDisplay_uchar.cpp.

References vpMath::rad().

Referenced by vpMbtDistanceCircle::display(), vpFeatureDisplay::displayEllipse(), and vpDisplay::displayEllipse().

void vpDisplay::displayEllipse	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center,
		const double &	coef1,
		const double &	coef2,
		const double &	coef3,
		const double &	theta1,
		const double &	theta2,
		bool	use_centered_moments,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display an ellipse from its parameters expressed in pixels.

Parameters

I	: Image to consider.
center	: Center of the ellipse.
coef1,coef2,coef3	: Depending on the parameter use_centered_moments these parameters are: the centered moments expressed in pixels: $\mu_{20}, \mu_{11}, \mu_{02}$ ; the major and minor axis lenght in pixels and the excentricity of the ellipse in radians: .
theta1,theta2	: Angles $(\theta_1, \theta_2)$ in radians used to select a portion of the ellipse. If theta1=0 and theta2=vpMath::rad(360) all the ellipse is displayed.
use_centered_moments	: When false, the parameters coef1, coef2, coef3 are the parameters . When true, the parameters coef1, coef2, coef3 are rather the centered moments $\mu_{20}, \mu_{11}, \mu_{02}$ expressed in pixels. In that case, we compute the parameters a, b and e from the centered moments.
color	: Drawings color.
thickness	: Drawings thickness.

All the points $(u_\theta,v_\theta)$ on the ellipse are drawn thanks to its parametric representation:

$\left(\begin{array}{c} u_\theta \\ v_\theta \end{array} \right) = \left(\begin{array}{c} u_c \\ v_c \end{array} \right) + \left(\begin{array}{cc} \cos(e) & -\sin(e) \\ \sin(e) & \cos(e) \end{array} \right) \left(\begin{array}{c} a \cos(\theta) \\ b \sin(\theta) \end{array} \right)$

with $\theta_1 \leq \theta \leq \theta_2$ .

The following example shows how to use for example this function to display the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);
vpDisplay::displayEllipse(I, ellipse.getCenter(), ellipse.get_mu20(),
                          ellipse.get_mu11(), ellipse.get_mu02(),
                          ellipse.getSmallestAngle(),
ellipse.getHighestAngle(), true, vpColor::orange, 1); vpDisplay::flush(I);

Definition at line 356 of file vpDisplay_uchar.cpp.

void vpDisplay::displayEllipse	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	center,
		const double &	coef1,
		const double &	coef2,
		const double &	coef3,
		bool	use_centered_moments,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display an ellipse from its parameters expressed in pixels.

Parameters

I	: Image to consider.
center	: Center of the ellipse.
coef1,coef2,coef3	: Depending on the parameter use_centered_moments these parameters are: the centered moments expressed in pixels: $\mu_{20}, \mu_{11}, \mu_{02}$ ; the major and minor axis lenght in pixels and the excentricity of the ellipse in radians: .
use_centered_moments	: When false, the parameters coef1, coef2, coef3 are the parameters . When true, the parameters coef1, coef2, coef3 are rather the centered moments $\mu_{20}, \mu_{11}, \mu_{02}$ expressed in pixels. In that case, we compute the parameters a, b and e from the centered moments.
color	: Drawings color.
thickness	: Drawings thickness.

All the points $(u_\theta,v_\theta)$ on the ellipse are drawn thanks to its parametric representation:

$\left(\begin{array}{c} u_\theta \\ v_\theta \end{array} \right) = \left(\begin{array}{c} u_c \\ v_c \end{array} \right) + \left(\begin{array}{cc} \cos(e) & -\sin(e) \\ \sin(e) & \cos(e) \end{array} \right) \left(\begin{array}{c} a \cos(\theta) \\ b \sin(\theta) \end{array} \right)$

with $0 \leq \theta \leq 2\pi$ .

The following example shows how to use for example this function to display the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);
vpDisplay::displayEllipse(I, ellipse.getCenter(), ellipse.get_mu20(),
                          ellipse.get_mu11(), ellipse.get_mu02(), true, vpColor::orange, 1);
vpDisplay::flush(I);

Definition at line 295 of file vpDisplay_rgba.cpp.

References vpDisplay::displayEllipse(), and vpMath::rad().

void vpDisplay::displayEllipse	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	center,
		const double &	coef1,
		const double &	coef2,
		const double &	coef3,
		const double &	theta1,
		const double &	theta2,
		bool	use_centered_moments,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display an ellipse from its parameters expressed in pixels.

Parameters

I	: Image to consider.
center	: Center of the ellipse.
coef1,coef2,coef3	: Depending on the parameter use_centered_moments these parameters are: the centered moments expressed in pixels: $\mu_{20}, \mu_{11}, \mu_{02}$ ; the major and minor axis lenght in pixels and the excentricity of the ellipse in radians: .
theta1,theta2	: Angles $(\theta_1, \theta_2)$ in radians used to select a portion of the ellipse. If theta1=0 and theta2=vpMath::rad(360) all the ellipse is displayed.
use_centered_moments	: When false, the parameters coef1, coef2, coef3 are the parameters . When true, the parameters coef1, coef2, coef3 are rather the centered moments $\mu_{20}, \mu_{11}, \mu_{02}$ expressed in pixels. In that case, we compute the parameters a, b and e from the centered moments.
color	: Drawings color.
thickness	: Drawings thickness.

All the points $(u_\theta,v_\theta)$ on the ellipse are drawn thanks to its parametric representation:

$\left(\begin{array}{c} u_\theta \\ v_\theta \end{array} \right) = \left(\begin{array}{c} u_c \\ v_c \end{array} \right) + \left(\begin{array}{cc} \cos(e) & -\sin(e) \\ \sin(e) & \cos(e) \end{array} \right) \left(\begin{array}{c} a \cos(\theta) \\ b \sin(\theta) \end{array} \right)$

with $\theta_1 \leq \theta \leq \theta_2$ .

The following example shows how to use for example this function to display the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);
vpDisplay::displayEllipse(I, ellipse.getCenter(), ellipse.get_mu20(),
                          ellipse.get_mu11(), ellipse.get_mu02(),
                          ellipse.getSmallestAngle(),
                          ellipse.getHighestAngle(), true, vpColor::orange, 1);
vpDisplay::flush(I);

Definition at line 356 of file vpDisplay_rgba.cpp.

void vpDisplay::displayFrame	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		double	size,
		const vpColor &	color = `vpColor::none`,
		unsigned int	thickness = `1`,
		const vpImagePoint &	offset = `vpImagePoint(0, 0)`
	)

staticinherited

Display the projection of an object frame represented by 3 arrows in the image.

Parameters

I	: The image associated to the display.
cMo	: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam	: Camera intrinsic parameters.
size	: Size of the object frame.
color	: Color used to display the frame in the image.
thickness	: the thickness of the line.
offset	: Offset in pixels applied to the frame origin location in the image.

Examples:: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, servoFrankaPBVS.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, testAprilTag.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testVirtuoseWithGlove.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-chessboard-pose.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 378 of file vpDisplay_uchar.cpp.

Referenced by vpPose::display(), vpMbTracker::initClick(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpDisplay::displayFrame	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		double	size,
		const vpColor &	color = `vpColor::none`,
		unsigned int	thickness = `1`,
		const vpImagePoint &	offset = `vpImagePoint(0, 0)`
	)

staticinherited

Display the projection of an object frame represented by 3 arrows in the image.

Parameters

I	: The image associated to the display.
cMo	: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam	: Camera intrinsic parameters.
size	: Size of the object frame.
color	: Color used to display the frame in the image.
thickness	: the thickness of the line.
offset	: Offset in pixels applied to the frame origin location in the image.

Definition at line 378 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayImage ( const vpImage< unsigned char > & I )

protected

Display the gray level image I (8bits).

Warning: Display has to be initialized.; suppres the overlay drawing

Parameters

I	: Image to display.

See also: init(), closeDisplay()

Definition at line 584 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_height, vpDisplay::m_scale, vpDisplay::m_width, and vpDisplayException::notInitializedError.

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

protected

Display the color image I in RGBa format (32bits).

Warning: Display has to be initialized.; suppres the overlay drawing

Parameters

I	: Image to display.

See also: init(), closeDisplay()

Definition at line 782 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_height, vpDisplay::m_scale, vpDisplay::m_width, vpDisplayException::notInitializedError, and vpRGBa::R.

void vpDisplayOpenCV::displayImage ( const unsigned char * I )

protected

Warning: ot implemented yet

See also: init(), closeDisplay()

Definition at line 972 of file vpDisplayOpenCV.cpp.

References vpTRACE.

void vpDisplayOpenCV::displayImageROI	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	iP,
		const unsigned int	w,
		const unsigned int	h
	)

protected

Display a selection of the gray level image I (8bits).

Warning: Display has to be initialized.; Suppress the overlay drawing in the region of interest.

Parameters

I	: Image to display.
iP	: Top left corner of the region of interest
w,h	: Width and height of the region of interest

See also: init(), closeDisplay()

Definition at line 676 of file vpDisplayOpenCV.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_height, vpDisplay::m_scale, vpDisplay::m_width, and vpDisplayException::notInitializedError.

void vpDisplayOpenCV::displayImageROI	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	iP,
		const unsigned int	w,
		const unsigned int	h
	)

protected

Display a selection of the color image I in RGBa format (32bits).

Warning: Display has to be initialized.; Suppress the overlay drawing in the region of interest.

Parameters

I	: Image to display.
iP	: Top left corner of the region of interest
w,h	: Width and height of the region of interest

See also: init(), closeDisplay()

Definition at line 873 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_height, vpDisplay::m_scale, vpDisplay::m_width, vpDisplayException::notInitializedError, and vpRGBa::R.

void vpDisplayOpenCV::displayLine	(	const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

protected

Display a line from image point ip1 to image point ip2.

Parameters

ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Line thickness.

Definition at line 1282 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

Referenced by displayArrow(), displayCross(), and displayDotLine().

void vpDisplay::displayLine	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a line from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Line thickness.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, SickLDMRS-Process.cpp, sonarPioneerReader.cpp, testDisplayPolygonLines.cpp, testDisplays.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, tutorial-draw-line.cpp, tutorial-flood-fill.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, and tutorial-matching-surf-homography-deprecated.cpp.

Definition at line 392 of file vpDisplay_uchar.cpp.

Referenced by vpVirtualGrabber::acquire(), vpTemplateTrackerZone::display(), vpFeatureSegment::display(), vpMbtDistanceLine::display(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceKltPoints::display(), vpPolygon::display(), vpMbtDistanceCylinder::display(), vpMeLine::display(), vpHistogram::display(), vpMeEllipse::display(), vpWireFrameSimulator::display_scene(), vpFeatureDisplay::displayLine(), vpKeyPoint::displayMatching(), vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpTemplateTrackerZone::initClick(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpDisplay::displayLine	(	const vpImage< unsigned char > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a line from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	Initial image point.
i2,j2	Final image point.
color	: Line color.
thickness	: Line thickness.

Definition at line 406 of file vpDisplay_uchar.cpp.

void vpDisplay::displayLine	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	ips,
		const bool	closeTheShape,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display the lines formed by the list of image points.

Parameters

I	: The image associated to the display.
ips	: List of image points.
closeTheShape	: If true, display a line from the first and last image points.
color	: Line color.
thickness	: Line thickness.

Definition at line 419 of file vpDisplay_uchar.cpp.

void vpDisplay::displayLine	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a line from image point ip1 to image point ip2.

Parameters

I	: The image associated to the display.
ip1,ip2	: Initial and final image points.
color	: Line color.
thickness	: Line thickness.

Definition at line 391 of file vpDisplay_rgba.cpp.

void vpDisplay::displayLine	(	const vpImage< vpRGBa > &	I,
		int	i1,
		int	j1,
		int	i2,
		int	j2,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a line from image point (i1,j1) to image point (i2,j2).

Parameters

I	: The image associated to the display.
i1,j1	Initial image point.
i2,j2	Final image point.
color	: Line color.
thickness	: Line thickness.

Definition at line 405 of file vpDisplay_rgba.cpp.

void vpDisplay::displayLine	(	const vpImage< vpRGBa > &	I,
		const std::vector< vpImagePoint > &	ips,
		const bool	closeTheShape,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display the lines formed by the list of image points.

Parameters

I	: The image associated to the display.
ips	: List of image points.
closeTheShape	: If true, draw a line from the first and last image points.
color	: Line color.
thickness	: Line thickness.

Definition at line 418 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayPoint	(	const vpImagePoint &	ip,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

protected

Display a point at the image point ip location.

Parameters

ip	: Point location.
color	: Point color.
thickness	: point thickness.

Definition at line 1319 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplay::displayPoint	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a point at the image point ip location.

Parameters

I	: The image associated to the display.
ip	: Point location.
color	: Point color.
thickness	: Thickness of the point

Examples:: servoAfma6Points2DCamVelocityEyeToHand.cpp, testDisplays.cpp, trackDot.cpp, trackDot2.cpp, and tutorial-draw-point.cpp.

Definition at line 439 of file vpDisplay_uchar.cpp.

Referenced by vpDot2::display(), vpDot::display(), vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpDot2::getFreemanChain(), vpMbTracker::initClick(), vpDot::operator==(), vpDot2::searchDotsInArea(), vpMeNurbs::seekExtremitiesCanny(), and vpMeSite::track().

void vpDisplay::displayPoint	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a point at the image point (i,j) location.

Parameters

I	: The image associated to the display.
i,j	: Point location.
color	: Point color.
thickness	: Thickness of the point

Definition at line 452 of file vpDisplay_uchar.cpp.

void vpDisplay::displayPoint	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a point at the image point ip location.

Parameters

I	: The image associated to the display.
ip	: Point location.
color	: Point color.
thickness	: Thickness of the point

Definition at line 438 of file vpDisplay_rgba.cpp.

void vpDisplay::displayPoint	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a point at the image point (i,j) location.

Parameters

I	: The image associated to the display.
i,j	: Point location.
color	: Point color.
thickness	: Thickness of the point

Definition at line 451 of file vpDisplay_rgba.cpp.

void vpDisplay::displayPolygon	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	vip,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a polygon defined by a vector of image points.

Parameters

I	: The image associated to the display.
vip	: Vector of image point that define the vertexes of the polygon.
color	: Line color.
thickness	: Line thickness.

Examples:: mbot-apriltag-ibvs.cpp.

Definition at line 465 of file vpDisplay_uchar.cpp.

void vpDisplay::displayPolygon	(	const vpImage< vpRGBa > &	I,
		const std::vector< vpImagePoint > &	vip,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a polygon defined by a vector of image points.

Parameters

I	: The image associated to the display.
vip	: Vector of image point that define the vertexes of the polygon.
color	: Line color.
thickness	: Line thickness.

Definition at line 463 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::displayRectangle	(	const vpImagePoint &	topLeft,
		unsigned int	w,
		unsigned int	h,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

protected

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

topLeft	: Top-left corner of the rectangle.
w,h	: Rectangle size in terms of width and height.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 1364 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplayOpenCV::displayRectangle	(	const vpImagePoint &	topLeft,
		const vpImagePoint &	bottomRight,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

protected

Display a rectangle.

Parameters

topLeft	: Top-left corner of the rectangle.
bottomRight	: Bottom-right corner of the rectangle.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 1444 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpImagePoint::get_u(), vpImagePoint::get_v(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplayOpenCV::displayRectangle	(	const vpRect &	rectangle,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

protected

Display a rectangle.

Parameters

rectangle	: Rectangle characteristics.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 1525 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpRGBa::G, vpRect::getBottom(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpColor::id, vpColor::id_unknown, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpRGBa::R, and vpMath::round().

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	topLeft,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
topLeft	: Top-left corner of the rectangle.
width,height	: Rectangle size.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, fernClassifier.cpp, keyPointSurf.cpp, manDisplay.cpp, planarObjectDetector.cpp, testAprilTag.cpp, testDisplays.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageTemplateMatching.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-rectangle.cpp, tutorial-draw-text.cpp, tutorial-export-image.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, and tutorial-image-viewer.cpp.

Definition at line 485 of file vpDisplay_uchar.cpp.

Referenced by vpDot2::searchDotsInArea(), and vpMeNurbs::seekExtremitiesCanny().

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	topLeft,
		const vpImagePoint &	bottomRight,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
topLeft	: Top-left corner of the rectangle.
bottomRight	: Bottom-right corner of the rectangle.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 563 of file vpDisplay_uchar.cpp.

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		const vpRect &	rectangle,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
rectangle	: Rectangle characteristics.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 524 of file vpDisplay_uchar.cpp.

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center,
		float	angle,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle defined by its center, its orientation (angle) and its size.

Parameters

I	: Image associated to the display.
center	: Rectangle center point.
angle	: Angle in radians width an horizontal axis oriented from left to right.
width,height	: Rectangle size.
color	: Rectangle color.
thickness	: Thickness of the four lines used to display the rectangle.

Definition at line 543 of file vpDisplay_uchar.cpp.

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with (i,j) as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
i,j	: Top-left corner of the rectangle.
width,height	: Rectangle size.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 505 of file vpDisplay_uchar.cpp.

void vpDisplay::displayRectangle	(	const vpImage< unsigned char > &	I,
		unsigned int	i,
		unsigned int	j,
		float	angle,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle defined by its center, its orientation (angle) and its size.

Parameters

I	: Image associated to the display.
i,j	: Rectangle center point.
angle	: Angle in radians width an horizontal axis oriented from left to right.
width,height	: Rectangle size.
color	: Rectangle color.
thickness	: Thickness of the four lines used to display the rectangle.

Definition at line 583 of file vpDisplay_uchar.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	topLeft,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
topLeft	: Top-left corner of the rectangle.
width,height	: Rectangle size.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 483 of file vpDisplay_rgba.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	topLeft,
		const vpImagePoint &	bottomRight,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
topLeft	: Top-left corner of the rectangle.
bottomRight	: Bottom-right corner of the rectangle.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 561 of file vpDisplay_rgba.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		const vpRect &	rectangle,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
rectangle	: Rectangle characteristics.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 522 of file vpDisplay_rgba.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	center,
		float	angle,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle defined by its center, its orientation (angle) and its size.

Parameters

I	: Image associated to the display.
center	: Rectangle center point.
angle	: Angle in radians width an horizontal axis oriented from left to right.
width,height	: Rectangle size.
color	: Rectangle color.
thickness	: Thickness of the four lines used to display the rectangle.

Definition at line 541 of file vpDisplay_rgba.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		bool	fill = `false`,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle with (i,j) as the top-left corner and width and height the rectangle size.

Parameters

I	: The image associated to the display.
i,j	: Top-left corner of the rectangle.
width,height	: Rectangle size.
color	: Rectangle color.
fill	: When set to true fill the rectangle.
thickness	: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

Definition at line 503 of file vpDisplay_rgba.cpp.

void vpDisplay::displayRectangle	(	const vpImage< vpRGBa > &	I,
		unsigned int	i,
		unsigned int	j,
		float	angle,
		unsigned int	width,
		unsigned int	height,
		const vpColor &	color,
		unsigned int	thickness = `1`
	)

staticinherited

Display a rectangle defined by its center, its orientation (angle) and its size.

Parameters

I	: Image associated to the display.
i,j	: Rectangle center point.
angle	: Angle in radians width an horizontal axis oriented from left to right.
width,height	: Rectangle size.
color	: Rectangle color.
thickness	: Thickness of the four lines used to display the rectangle.

Definition at line 580 of file vpDisplay_rgba.cpp.

void vpDisplay::displayROI	(	const vpImage< unsigned char > &	I,
		const vpRect &	roi
	)

staticinherited

Update the display with the content of the image that is in the region of interest.

Parameters

I	: Image.
roi	: Region of interest.

Examples:: testDisplayRoi.cpp.

Definition at line 683 of file vpDisplay_uchar.cpp.

void vpDisplay::displayROI	(	const vpImage< vpRGBa > &	I,
		const vpRect &	roi
	)

staticinherited

Update the display with the content of the image that is in the region of interest.

Parameters

I	: Image.
roi	: Region of interest.

Definition at line 680 of file vpDisplay_rgba.cpp.

void vpDisplay::displayText	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip,
		const std::string &	s,
		const vpColor &	color
	)

staticinherited

Display a string at the image point ip location.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
ip	: Upper left image point location of the string in the display.
s	: String to display in overlay.
color	: String color.

See also: setFont()

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grabFlyCapture.cpp, grabRealSense.cpp, grabRealSense2.cpp, grabV4l2MultiCpp11Thread.cpp, manDisplay.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, planarObjectDetector.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoFrankaPBVS.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, templateTracker.cpp, testAprilTag.cpp, testDisplayPolygonLines.cpp, testDisplays.cpp, testForceTorqueAti.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, testVirtuoseWithGlove.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-text.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flood-fill.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-grabber-1394.cpp, tutorial-grabber-basler-pylon.cpp, tutorial-grabber-flycapture.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-opencv.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-v4l2-threaded.cpp, tutorial-grabber-v4l2.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-filter.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, tutorial-video-reader.cpp, and tutorial-video-recorder.cpp.

Definition at line 601 of file vpDisplay_uchar.cpp.

Referenced by vpVirtualGrabber::acquire(), vpKltOpencv::display(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbTracker::initClick(), and vpKltOpencv::suppressFeature().

void vpDisplay::displayText	(	const vpImage< unsigned char > &	I,
		int	i,
		int	j,
		const std::string &	s,
		const vpColor &	color
	)

staticinherited

Display a string at the image point (i,j) location.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
i,j	: Upper left image point location of the string in the display.
s	: String to display in overlay.
color	: String color.

See also: setFont()

Definition at line 619 of file vpDisplay_uchar.cpp.

void vpDisplay::displayText	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	ip,
		const std::string &	s,
		const vpColor &	color
	)

staticinherited

Display a string at the image point ip location.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
ip	: Upper left image point location of the string in the display.
s	: String to display in overlay.
color	: String color.

See also: setFont()

Definition at line 598 of file vpDisplay_rgba.cpp.

void vpDisplay::displayText	(	const vpImage< vpRGBa > &	I,
		int	i,
		int	j,
		const std::string &	s,
		const vpColor &	color
	)

staticinherited

Display a string at the image point (i,j) location.

To select the font used to display the string, use setFont().

Parameters

I	: Image associated to the display.
i,j	: Upper left image point location of the string in the display.
s	: String to display in overlay.
color	: String color.

See also: setFont()

Definition at line 616 of file vpDisplay_rgba.cpp.

void vpDisplay::flush ( const vpImage< unsigned char > & I )

staticinherited

Flushes the output buffer associated to image I display. It's necessary to use this function to see the results of any drawing.

Warning: This function is particular and must be called to show the overlay. Because it's time spending, use it parcimoniously.

#include <visp3/core/vpColor.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGDI.h>
int main() {
  vpImage<unsigned char> I(240, 380);
  vpDisplayGDI d;
  d.init(I);
  vpDisplay::display(I); // display the image
  vpImagePoint center;
  unsigned int radius = 100;
  vpDisplay::displayCircle(I, center, radius, vpColor::red);
  vpDisplay::flush(I); // Mendatory to display the requested features.
}

See also: flushROI()

Examples:: AROgre.cpp, AROgreBasic.cpp, BSpline.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displaySequence.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grab1394CMU.cpp, grab1394Two.cpp, grabDirectShow.cpp, grabDirectShowMulti.cpp, grabDisk.cpp, grabFlyCapture.cpp, grabOpenCV.cpp, grabRealSense.cpp, grabRealSense2.cpp, grabV4l2.cpp, grabV4l2MultiCpp11Thread.cpp, imageSequenceReader.cpp, keyPointSurf.cpp, kinectAcquisition.cpp, manDisplay.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, planarObjectDetector.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, SickLDMRS-Process.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testAprilTag.cpp, testClick.cpp, testDisplayPolygonLines.cpp, testDisplayRoi.cpp, testDisplays.cpp, testFeatureSegment.cpp, testForceTorqueAti.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testMouseEvent.cpp, testNurbs.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, testTrackDot.cpp, testVideoDevice.cpp, testVideoDeviceDual.cpp, testVirtuoseWithGlove.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-auto-tracker.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-cross.cpp, tutorial-draw-line.cpp, tutorial-draw-point.cpp, tutorial-draw-rectangle.cpp, tutorial-draw-text.cpp, tutorial-event-keyboard.cpp, tutorial-export-image.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flood-fill.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-grabber-1394-writer.cpp, tutorial-grabber-1394.cpp, tutorial-grabber-basler-pylon.cpp, tutorial-grabber-CMU1394.cpp, tutorial-grabber-flycapture.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-opencv.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-v4l2-threaded.cpp, tutorial-grabber-v4l2.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-display-scaled-auto.cpp, tutorial-image-display-scaled-manu.cpp, tutorial-image-display.cpp, tutorial-image-filter.cpp, tutorial-image-simulator.cpp, tutorial-image-viewer.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker-with-reinit.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, tutorial-template-tracker.cpp, tutorial-video-reader.cpp, tutorial-video-recorder.cpp, tutorial-viewer.cpp, videoReader.cpp, and wireframeSimulator.cpp.

Definition at line 653 of file vpDisplay_uchar.cpp.

Referenced by vpVirtualGrabber::acquire(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpDot2::defineDots(), vpMbtDistanceCircle::displayMovingEdges(), vpDot2::getFreemanChain(), vpTemplateTrackerZone::initClick(), vpPolygon::initClick(), vpMbTracker::initClick(), vpMeEllipse::initTracking(), vpMeNurbs::initTracking(), vpMeLine::initTracking(), vpDot2::searchDotsInArea(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpSimulatorAfma6::setPosition(), vpMeEllipse::track(), vpMeLine::track(), vpDot2::trackAndDisplay(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpDisplay::flush ( const vpImage< vpRGBa > & I )

staticinherited

Flushes the output buffer associated to image I display. It's necessary to use this function to see the results of any drawing.

Warning: This function is particular and must be called to show the overlay. Because it's time spending, use it parcimoniously.

#include <visp3/core/vpColor.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGDI.h>
int main() {
  vpImage<vpRGBa> I(240, 380);
  vpDisplayGDI d;
  d.init(I);
  vpDisplay::display(I); // display the image
  vpImagePoint center;
  unsigned int radius = 100;
  vpDisplay::displayCircle(I, center, radius, vpColor::red);
  vpDisplay::flush(I); // Mendatory to display the requested features.
}

See also: flushROI()

Definition at line 650 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::flushDisplay ( )

protected

Flushes the OpenCV buffer. It's necessary to use this function to see the results of any drawing.

Definition at line 1018 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_title, and vpDisplayException::notInitializedError.

Referenced by getClick(), and getKeyboardEvent().

void vpDisplayOpenCV::flushDisplayROI	(	const vpImagePoint &	iP,
		const unsigned int	width,
		const unsigned int	height
	)

protected

Flushes the OpenCV buffer. It's necessary to use this function to see the results of any drawing.

Definition at line 1038 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_title, and vpDisplayException::notInitializedError.

void vpDisplay::flushROI	(	const vpImage< unsigned char > &	I,
		const vpRect &	roi
	)

staticinherited

Flushes the output buffer associated to image I display. It's necessary to use this function to see the results of any drawing.

Warning: This function is particular and must be called to show the overlay. Because it's time spending, use it parcimoniously.

See also: flush()

Examples:: testDisplayRoi.cpp.

Definition at line 664 of file vpDisplay_uchar.cpp.

void vpDisplay::flushROI	(	const vpImage< vpRGBa > &	I,
		const vpRect &	roi
	)

staticinherited

Flushes the output buffer associated to image I display. It's necessary to use this function to see the results of any drawing.

Warning: This function is particular and must be called to show the overlay. Because it's time spending, use it parcimoniously.

See also: flush()

Definition at line 661 of file vpDisplay_rgba.cpp.

bool vpDisplayOpenCV::getClick ( bool blocking = true )

protected

Wait for a click from one of the mouse button.

Parameters

blocking

[in] : Blocking behavior.

When set to true, this method waits until a mouse button is pressed and then returns always true.
When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns

true if a button was clicked. This is always the case if blocking is set to true.
false if no button was clicked. This can occur if blocking is set to false.

Definition at line 1618 of file vpDisplayOpenCV.cpp.

References flushDisplay(), vpDisplay::m_displayHasBeenInitialized, and vpDisplayException::notInitializedError.

bool vpDisplayOpenCV::getClick	(	vpImagePoint &	ip,
		bool	blocking = `true`
	)

protected

Wait for a click from one of the mouse button and get the position of the clicked image point.

Parameters

ip	[out] : The coordinates of the clicked image point.
blocking	[in] : true for a blocking behaviour waiting a mouse button click, false for a non blocking behaviour.

Returns

true if a button was clicked. This is always the case if blocking is set to true.
false if no button was clicked. This can occur if blocking is set to false.

Definition at line 1671 of file vpDisplayOpenCV.cpp.

References flushDisplay(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpDisplayOpenCV::getClick	(	vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

protected

Wait for a mouse button click and get the position of the clicked pixel. The button used to click is also set.

Parameters

ip	[out] : The coordinates of the clicked image point.
button	[out] : The button used to click.
blocking	[in] : When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise. If a button is pressed, the location of the mouse pointer is updated in ip.

Definition at line 1742 of file vpDisplayOpenCV.cpp.

References vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpDisplay::getClick	(	const vpImage< unsigned char > &	I,
		bool	blocking = `true`
	)

staticinherited

Wait for a click from one of the mouse button.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns

true if a button was clicked. This is always the case if blocking is set to true.
false if no button was clicked. This can occur if blocking is set to false.

Examples:: BSpline.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displaySequence.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grab1394CMU.cpp, grabFlyCapture.cpp, grabOpenCV.cpp, grabRealSense.cpp, grabRealSense2.cpp, grabV4l2MultiCpp11Thread.cpp, imageSequenceReader.cpp, keyPointSurf.cpp, kinectAcquisition.cpp, manDisplay.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, planarObjectDetector.cpp, plot2d.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testAprilTag.cpp, testClick.cpp, testComedi.cpp, testDisplayPolygonLines.cpp, testDisplayRoi.cpp, testDisplays.cpp, testForceTorqueAti.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testMouseEvent.cpp, testNurbs.cpp, testRealSense2_D435.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, testTrackDot.cpp, testVideoDevice.cpp, testVideoDeviceDual.cpp, testVirtuoseWithGlove.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-autothreshold.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-blob-auto-tracker.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-brightness-adjustment.cpp, tutorial-chessboard-pose.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-cross.cpp, tutorial-draw-line.cpp, tutorial-draw-point.cpp, tutorial-draw-rectangle.cpp, tutorial-draw-text.cpp, tutorial-export-image.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flood-fill.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-grabber-1394-writer.cpp, tutorial-grabber-CMU1394.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-v4l2-threaded.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-display-scaled-auto.cpp, tutorial-image-display-scaled-manu.cpp, tutorial-image-display.cpp, tutorial-image-filter.cpp, tutorial-image-simulator.cpp, tutorial-image-viewer.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker-with-reinit.cpp, tutorial-klt-tracker.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-keypoint-SIFT.cpp, tutorial-matching-keypoint.cpp, tutorial-matching-surf-deprecated.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, tutorial-template-tracker.cpp, tutorial-video-reader.cpp, tutorial-video-recorder.cpp, tutorial-viewer.cpp, videoReader.cpp, and wireframeSimulator.cpp.

Definition at line 702 of file vpDisplay_uchar.cpp.

Referenced by vpVirtualGrabber::acquire(), vpDot2::defineDots(), vpDisplay::getClick(), vpPlot::getPixelValue(), vpTemplateTrackerZone::initClick(), vpPolygon::initClick(), vpMbTracker::initClick(), vpMeEllipse::initTracking(), vpMeNurbs::initTracking(), vpMeLine::initTracking(), vpDot2::initTracking(), vpDot::initTracking(), vpWireFrameSimulator::navigation(), and QPlot::wait().

bool vpDisplay::getClick	(	const vpImage< unsigned char > &	I,
		vpImagePoint &	ip,
		bool	blocking = `true`
	)

staticinherited

Wait for a click from one of the mouse button and get the position of the clicked image point.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
blocking	[in] : Blocking behavior. When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise. If a button is pressed, the location of the mouse pointer is updated in ip.

Definition at line 722 of file vpDisplay_uchar.cpp.

bool vpDisplay::getClick	(	const vpImage< unsigned char > &	I,
		vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
button	[out] : The button used to click.
blocking	[in] : When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise. If a button is pressed, the location of the mouse pointer is updated in ip.

Definition at line 747 of file vpDisplay_uchar.cpp.

bool vpDisplay::getClick	(	const vpImage< unsigned char > &	I,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
button	[out] : The button used to click.
blocking	[in] : When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise.

Definition at line 769 of file vpDisplay_uchar.cpp.

References vpDisplay::getClick().

bool vpDisplay::getClick	(	const vpImage< vpRGBa > &	I,
		bool	blocking = `true`
	)

staticinherited

Wait for a click from one of the mouse button.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns

true if a button was clicked. This is always the case if blocking is set to true.
false if no button was clicked. This can occur if blocking is set to false.

Definition at line 699 of file vpDisplay_rgba.cpp.

bool vpDisplay::getClick	(	const vpImage< vpRGBa > &	I,
		vpImagePoint &	ip,
		bool	blocking = `true`
	)

staticinherited

Wait for a click from one of the mouse button and get the position of the clicked image point.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
blocking	[in] : Blocking behavior. When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise. If a button is pressed, the location of the mouse pointer is updated in ip.

Definition at line 719 of file vpDisplay_rgba.cpp.

bool vpDisplay::getClick	(	const vpImage< vpRGBa > &	I,
		vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
button	[out] : The button used to click.
blocking	[in] : When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise. If a button is pressed, the location of the mouse pointer is updated in ip.

Definition at line 744 of file vpDisplay_rgba.cpp.

bool vpDisplay::getClick	(	const vpImage< vpRGBa > &	I,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
button	[out] : The button used to click.
blocking	[in] : When set to true, this method waits until a mouse button is pressed and then returns always true. When set to false, returns true only if a mouse button is pressed, otherwise returns false.

Returns: true if a mouse button is pressed, false otherwise.

Definition at line 766 of file vpDisplay_rgba.cpp.

References vpDisplay::getClick().

bool vpDisplayOpenCV::getClickUp	(	vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

protected

Wait for a mouse button click release and get the position of the image point were the click release occurs. The button used to click is also set. Same method as getClick(unsigned int&, unsigned int&, vpMouseButton::vpMouseButtonType &, bool).

Parameters

ip	[out] : Position of the clicked image point.
button	[in] : Button used to click.
blocking	[in] : true for a blocking behaviour waiting a mouse button click, false for a non blocking behaviour.

Returns

true if a button was clicked. This is always the case if blocking is set to true.
false if no button was clicked. This can occur if blocking is set to false.

See also: getClick(vpImagePoint &, vpMouseButton::vpMouseButtonType &, bool)

Definition at line 1818 of file vpDisplayOpenCV.cpp.

References vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpDisplay::getClickUp	(	const vpImage< unsigned char > &	I,
		vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click release and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
button	[out] : The clicked button.
blocking	[in] : When set to true, this method waits until a mouse button is released and then returns always true. When set to false, returns true only if a mouse button is released, otherwise returns false.

Returns: true if a mouse button is released, false otherwise. If a button is released, the location of the mouse pointer is updated in ip.

Examples:: testClick.cpp.

Definition at line 795 of file vpDisplay_uchar.cpp.

Referenced by vpDisplay::getClickUp(), and vpWireFrameSimulator::navigation().

bool vpDisplay::getClickUp	(	const vpImage< unsigned char > &	I,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click release and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
button	[out] : The clicked button.
blocking	[in] : When set to true, this method waits until a mouse button is released and then returns always true. When set to false, returns true only if a mouse button is released, otherwise returns false.

Returns: true if a mouse button is released, false otherwise.

Definition at line 817 of file vpDisplay_uchar.cpp.

References vpDisplay::getClickUp().

bool vpDisplay::getClickUp	(	const vpImage< vpRGBa > &	I,
		vpImagePoint &	ip,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click release and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the clicked image point.
button	[out] : The clicked button.
blocking	[in] : When set to true, this method waits until a mouse button is released and then returns always true. When set to false, returns true only if a mouse button is released, otherwise returns false.

Returns: true if a mouse button is released, false otherwise. If a button is released, the location of the mouse pointer is updated in ip.

Definition at line 792 of file vpDisplay_rgba.cpp.

bool vpDisplay::getClickUp	(	const vpImage< vpRGBa > &	I,
		vpMouseButton::vpMouseButtonType &	button,
		bool	blocking = `true`
	)

staticinherited

Wait for a mouse button click release and get the position of the clicked image point. The button used to click is also set.

Parameters

I	[in] : The displayed image.
button	[out] : The clicked button.
blocking	[in] : When set to true, this method waits until a mouse button is released and then returns always true. When set to false, returns true only if a mouse button is released, otherwise returns false.

Returns: true if a mouse button is released, false otherwise.

Definition at line 814 of file vpDisplay_rgba.cpp.

References vpDisplay::getClickUp().

unsigned int vpDisplay::getDownScalingFactor ( )

inlineinherited

Return the value of the down scale factor applied to the image in order to reduce the size of the window used to display the image.

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeMultiTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtKltMultiTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 229 of file vpDisplay.h.

unsigned int vpDisplay::getDownScalingFactor ( const vpImage< unsigned char > & I )

staticinherited

Return the value of the down scale factor applied to the image in order to reduce the size of the window used to display the image.

Parameters

I	: Image associated to the display window.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 1189 of file vpDisplay_uchar.cpp.

unsigned int vpDisplay::getDownScalingFactor ( const vpImage< vpRGBa > & I )

staticinherited

Return the value of the down scale factor applied to the image in order to reduce the size of the window used to display the image.

Parameters

I	: Image associated to the display window.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 1179 of file vpDisplay_rgba.cpp.

unsigned int vpDisplay::getHeight ( ) const

inlineinherited

Return the display height.

See also: getWidth()

Definition at line 234 of file vpDisplay.h.

void vpDisplayOpenCV::getImage ( vpImage< vpRGBa > & I )

virtual

get the window pixmap and put it in vpRGBa image

Implements vpDisplay.

Definition at line 1874 of file vpDisplayOpenCV.cpp.

References vpImageConvert::convert().

void vpDisplay::getImage	(	const vpImage< unsigned char > &	Isrc,
		vpImage< vpRGBa > &	Idest
	)

staticinherited

Get the window pixmap and put it in vpRGBa image.

The code below shows how to use this method.

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
int main()
{
  vpImage<unsigned char> I(240, 320); // Create a black grey level image
  vpImage<vpRGBa> Ioverlay;
  vpDisplay *d;
  // Depending on the detected third party libraries, we instantiate here the
  // first video device which is available
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Draw a red rectangle in the display overlay (foreground)
  vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Updates the color image with the original loaded image and the overlay
  vpDisplay::getImage(I, Ioverlay);
  // Write the color image on the disk
  std::string ofilename("overlay.ppm");
  vpImageIo::write(Ioverlay, ofilename);
  // Wait for a click in the display window
  vpDisplay::getClick(I);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Examples:: displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, manDisplay.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, sonarPioneerReader.cpp, tutorial-export-image.cpp, tutorial-flood-fill.cpp, and tutorial-image-viewer.cpp.

Definition at line 144 of file vpDisplay.cpp.

References vpImageConvert::convert(), and vpImage< Type >::display.

Referenced by vpDisplay::getImage().

void vpDisplay::getImage	(	const vpImage< vpRGBa > &	Isrc,
		vpImage< vpRGBa > &	Idest
	)

staticinherited

Get the window pixmap and put it in vpRGBa image.

The code below shows how to use this method.

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
int main()
{
  vpImage<vpRGBa> I(240, 320); // Create a black RGB color image
  vpImage<vpRGBa> Ioverlay;
  vpDisplay *d;
  // Depending on the detected third party libraries, we instantiate here the
  // first video device which is available
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Draw a red rectangle in the display overlay (foreground)
  vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Updates the color image with the original loaded image and the overlay
  vpDisplay::getImage(I, Ioverlay);
  // Write the color image on the disk
  std::string ofilename("overlay.ppm");
  vpImageIo::write(Ioverlay, ofilename);
  // Wait for a click in the display window
  vpDisplay::getClick(I);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 218 of file vpDisplay.cpp.

References vpImage< Type >::display, and vpDisplay::getImage().

bool vpDisplayOpenCV::getKeyboardEvent ( bool blocking = true )

protected

Get a keyboard event.

Parameters

blocking

[in] : Blocking behavior.

When set to true, this method waits until a key is pressed and then returns always true.
When set to false, returns true only if a key is pressed, otherwise returns false.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Definition at line 1983 of file vpDisplayOpenCV.cpp.

References flushDisplay(), vpDisplay::m_displayHasBeenInitialized, and vpDisplayException::notInitializedError.

bool vpDisplayOpenCV::getKeyboardEvent	(	std::string &	key,
		bool	blocking = `true`
	)

protected

Get a keyboard event.

Parameters

blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.
key	[out]: If possible, an ISO Latin-1 character corresponding to the keyboard key.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Definition at line 2026 of file vpDisplayOpenCV.cpp.

References flushDisplay(), vpDisplay::m_displayHasBeenInitialized, and vpDisplayException::notInitializedError.

bool vpDisplay::getKeyboardEvent	(	const vpImage< unsigned char > &	I,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<unsigned char> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, false);
    if (event) {
      std::cout << "A keyboard event was detected" << std::endl;
      cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Examples:: tutorial-event-keyboard.cpp.

Definition at line 906 of file vpDisplay_uchar.cpp.

bool vpDisplay::getKeyboardEvent	(	const vpImage< unsigned char > &	I,
		std::string &	key,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.
key	[out]: If possible, an ISO Latin-1 character corresponding to the keyboard key.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<unsigned char> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  std::string key;
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, key, false);
    if (event) {
      std::cout << "Key detected: " << key << std::endl;
      cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 997 of file vpDisplay_uchar.cpp.

bool vpDisplay::getKeyboardEvent	(	const vpImage< unsigned char > &	I,
		char *	key,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.
key	[out]: If possible, an ISO Latin-1 character corresponding to the keyboard key.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<unsigned char> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  char key[10];
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, &key[0], false);
    if (event) {
      std::cout << "Key detected: " << key << std::endl;
      cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 1088 of file vpDisplay_uchar.cpp.

bool vpDisplay::getKeyboardEvent	(	const vpImage< vpRGBa > &	I,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<vpRGBa> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, false);
    if (event) {
      std::cout << "A keyboard event was detected" << std::endl; cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 902 of file vpDisplay_rgba.cpp.

bool vpDisplay::getKeyboardEvent	(	const vpImage< vpRGBa > &	I,
		std::string &	key,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.
key	[out]: If possible, an ISO Latin-1 character corresponding to the keyboard key.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<vpRGBa> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  std::string key;
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, key, false);
    if (event) {
      std::cout << "Key detected: " << key << std::endl;
      cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 993 of file vpDisplay_rgba.cpp.

bool vpDisplay::getKeyboardEvent	(	const vpImage< vpRGBa > &	I,
		char *	key,
		bool	blocking = `true`
	)

staticinherited

Get a keyboard event.

Parameters

I	[in] : The displayed image.
blocking	[in] : Blocking behavior. When set to true, this method waits until a key is pressed and then returns always true. When set to false, returns true only if a key is pressed, otherwise returns false.
key	[out]: If possible, an ISO Latin-1 character corresponding to the keyboard key.

Returns

true if a key was pressed. This is always the case if blocking is set to true.
false if no key was pressed. This can occur if blocking is set to false.

Below you will find an example showing how to use this method.

#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<vpRGBa> I(240, 320); // Create a black image
  vpDisplay *d;
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(VISP_HAVE_OPENCV)
  d = new vpDisplayOpenCV;
#else
  std::cout << "Sorry, no video device is available" << std::endl;
  return -1;
#endif
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
  // Set the display background with image I content
  vpDisplay::display(I);
  // Flush the foreground and background display
  vpDisplay::flush(I);
  // Wait for keyboard event
  std::cout << "Waiting a keyboard event..." << std::endl;
  vpDisplay::getKeyboardEvent(I, true);
  std::cout << "A keyboard event was detected" << std::endl;
  // Non blocking keyboard event loop
  int cpt_event = 0;
  char key[10];
  std::cout << "Enter a non blocking keyboard event detection loop..." << std::endl;
  do {
    bool event = vpDisplay::getKeyboardEvent(I, &key[Ø], false);
    if (event) {
      std::cout << "Key detected: " << key << std::endl;
      cpt_event ++;
    }
    vpTime::wait(5); // wait 5 ms
  } while(cpt_event < 5);
#ifdef VISP_HAVE_DISPLAY
  delete d;
#endif
}

Definition at line 1084 of file vpDisplay_rgba.cpp.

bool vpDisplayOpenCV::getPointerMotionEvent ( vpImagePoint & ip )

protected

Get the coordinates of the mouse pointer.

Parameters

ip	[out] : The coordinates of the mouse pointer.

Returns: true if a pointer motion event was received, false otherwise.

Exceptions

vpDisplayException::notInitializedError : If the display was not initialized.

Definition at line 2066 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpImagePoint::set_u(), and vpImagePoint::set_v().

Referenced by getPointerPosition().

bool vpDisplay::getPointerMotionEvent	(	const vpImage< unsigned char > &	I,
		vpImagePoint &	ip
	)

staticinherited

Get the coordinates of the mouse pointer.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the mouse pointer.

Returns: true if a pointer motion event was received, false otherwise.

Definition at line 1102 of file vpDisplay_uchar.cpp.

bool vpDisplay::getPointerMotionEvent	(	const vpImage< vpRGBa > &	I,
		vpImagePoint &	ip
	)

staticinherited

Get the coordinates of the mouse pointer.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the mouse pointer.

Returns: true if a pointer motion event was received, false otherwise.

Definition at line 1098 of file vpDisplay_rgba.cpp.

bool vpDisplayOpenCV::getPointerPosition ( vpImagePoint & ip )

protected

Get the coordinates of the mouse pointer.

Parameters

ip	[out] : The coordinates of the mouse pointer.

Returns: true.

Exceptions

vpDisplayException::notInitializedError : If the display was not initialized.

Definition at line 2098 of file vpDisplayOpenCV.cpp.

References getPointerMotionEvent(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scale, vpDisplayException::notInitializedError, vpImagePoint::set_u(), and vpImagePoint::set_v().

bool vpDisplay::getPointerPosition	(	const vpImage< unsigned char > &	I,
		vpImagePoint &	ip
	)

staticinherited

Get the coordinates of the mouse pointer.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the mouse pointer.

Returns: true.

Examples:: testClick.cpp.

Definition at line 1116 of file vpDisplay_uchar.cpp.

Referenced by vpPlot::getPixelValue(), vpPlot::navigate(), and vpWireFrameSimulator::navigation().

bool vpDisplay::getPointerPosition	(	const vpImage< vpRGBa > &	I,
		vpImagePoint &	ip
	)

staticinherited

Get the coordinates of the mouse pointer.

Parameters

I	[in] : The displayed image.
ip	[out] : The coordinates of the mouse pointer.

Returns: true.

Definition at line 1112 of file vpDisplay_rgba.cpp.

unsigned int vpDisplayOpenCV::getScreenHeight ( )

Gets the screen vertical resolution in pixels.

Definition at line 2175 of file vpDisplayOpenCV.cpp.

References getScreenSize().

void vpDisplayOpenCV::getScreenSize	(	unsigned int &	w,
		unsigned int &	h
	)

Gets screen resolution in pixels.

Parameters

w,h	: Horizontal and vertical screen resolution.

Definition at line 2119 of file vpDisplayOpenCV.cpp.

References vpException::functionNotImplementedError, vpDisplayX::getScreenSize(), and vpIoTools::splitChain().

Referenced by getScreenHeight(), and getScreenWidth().

unsigned int vpDisplayOpenCV::getScreenWidth ( )

Gets the screen horizontal resolution in pixels.

Definition at line 2165 of file vpDisplayOpenCV.cpp.

References getScreenSize().

unsigned int vpDisplay::getWidth ( ) const

inlineinherited

Return the display width.

See also: getHeight()

Examples:: testVideoDeviceDual.cpp.

Definition at line 239 of file vpDisplay.h.

int vpDisplay::getWindowXPosition ( ) const

inlineinherited

Return the position (along the horizontal axis) on the screen of the display window.

See also: getWindowYPosition()

Definition at line 245 of file vpDisplay.h.

Referenced by vpMbTracker::initClick().

int vpDisplay::getWindowYPosition ( ) const

inlineinherited

Return the position (along the vertical axis) on the screen of the display window.

See also: getWindowXPosition()

Definition at line 250 of file vpDisplay.h.

Referenced by vpMbTracker::initClick().

void vpDisplayOpenCV::init	(	vpImage< unsigned char > &	I,
		int	x = `-1`,
		int	y = `-1`,
		const std::string &	title = `""`
	)

Initialize the display (size, position and title) of a gray level image.

Parameters

I	: Image to be displayed (not that image has to be initialized)
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

Examples:: displayOpenCV.cpp, imageSequenceReader.cpp, manServo4PointsDisplay.cpp, photometricVisualServoing.cpp, poseVirtualVS.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, testAprilTag.cpp, testDisplayPolygonLines.cpp, testDisplayRoi.cpp, testDisplays.cpp, testImageTemplateMatching.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint.cpp, testNurbs.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-autothreshold.cpp, tutorial-connected-components.cpp, tutorial-contour.cpp, tutorial-contrast-sharpening.cpp, tutorial-count-coins.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-flood-fill.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-klt-tracker.cpp, tutorial-template-tracker.cpp, and videoReader.cpp.

Definition at line 347 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::display, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scaleType, vpDisplayException::notInitializedError, and vpDisplay::setScale().

Referenced by init(), and vpDisplayOpenCV().

void vpDisplayOpenCV::init	(	vpImage< vpRGBa > &	I,
		int	x = `-1`,
		int	y = `-1`,
		const std::string &	title = `""`
	)

Initialize the display (size, position and title) of a color image in RGBa format.

Parameters

I	: Image to be displayed (not that image has to be initialized)
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

Definition at line 367 of file vpDisplayOpenCV.cpp.

References vpImage< Type >::display, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), init(), vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_scaleType, vpDisplayException::notInitializedError, and vpDisplay::setScale().

void vpDisplayOpenCV::init	(	unsigned int	w,
		unsigned int	h,
		int	x = `-1`,
		int	y = `-1`,
		const std::string &	title = `""`
	)

Initialize the display size, position and title.

Parameters

w,h	: Width and height of the window.
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

Exceptions

vpDisplayException::notInitializedError If OpenCV was not build with an available display device suach as Gtk, Cocoa, Carbon, Qt.

Definition at line 389 of file vpDisplayOpenCV.cpp.

References vpRGBa::B, vpColor::black, vpColor::blue, vpColor::cyan, vpColor::darkBlue, vpColor::darkGray, vpColor::darkGreen, vpColor::darkRed, vpRGBa::G, vpColor::gray, vpColor::green, vpColor::id_black, vpColor::id_blue, vpColor::id_cyan, vpColor::id_darkBlue, vpColor::id_darkGray, vpColor::id_darkGreen, vpColor::id_darkRed, vpColor::id_gray, vpColor::id_green, vpColor::id_lightBlue, vpColor::id_lightGray, vpColor::id_lightGreen, vpColor::id_lightRed, vpColor::id_orange, vpColor::id_purple, vpColor::id_red, vpColor::id_unknown, vpColor::id_white, vpColor::id_yellow, vpColor::lightBlue, vpColor::lightGray, vpColor::lightGreen, vpColor::lightRed, vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_height, vpDisplay::m_scale, vpDisplay::m_scaleType, vpDisplay::m_title, vpDisplay::m_width, vpDisplay::m_windowXPosition, vpDisplay::m_windowYPosition, vpDisplayException::notInitializedError, on_mouse(), vpColor::orange, vpColor::purple, vpRGBa::R, vpColor::red, vpDisplay::setScale(), vpColor::white, and vpColor::yellow.

bool vpDisplay::isInitialised ( )

inlineinherited

Check if the display has been initialised

Returns: True if the display has been initialised, otherwise False

Definition at line 257 of file vpDisplay.h.

References vpColor::green, vpColor::none, and vpColor::white.

Referenced by vpPlot::setFont().

void vpDisplayOpenCV::on_mouse	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)

staticprotected

Definition at line 1880 of file vpDisplayOpenCV.cpp.

References vpDisplay::display().

Referenced by init().

void vpDisplay::setBackground	(	const vpImage< unsigned char > &	I,
		const vpColor &	color
	)

staticinherited

Set the window background.

Parameters

I	: Image associated to the display window.
color	Background color.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 1130 of file vpDisplay_uchar.cpp.

void vpDisplay::setBackground	(	const vpImage< vpRGBa > &	I,
		const vpColor &	color
	)

staticinherited

Set the window background.

Parameters

I	: Image associated to the display window.
color	Background color.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 1126 of file vpDisplay_rgba.cpp.

void vpDisplay::setDownScalingFactor ( unsigned int scale )

virtualinherited

Set the down scale factor applied to the image in order to reduce the display size.

Parameters

scale : Scale factor applied to display a rescaled image.

Reimplemented in vpDisplayWin32.

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeMultiTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint.cpp, tutorial-autothreshold.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-tracker-stereo.cpp.

Definition at line 232 of file vpDisplay.cpp.

References vpDisplay::m_displayHasBeenInitialized, and vpDisplay::m_scale.

Referenced by vpDisplay::setScale().

void vpDisplay::setDownScalingFactor ( vpScaleType scaleType )

virtualinherited

Set the down scaling factor either in auto mode or set manually.

This method has to be called before display initialization.

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
int main()
{
  vpImage<unsigned char> I(480, 640); // Black 640 by 480 image
#ifdef VISP_HAVE_X11
  vpDisplayX d;
#elif defined VISP_HAVE_GDI
  vpDisplayGDI d;
#endif
  // Display in a 160 by 120 windows size
  d.setDownScalingFactor(vpDisplay::SCALE_4);
  d.init(I);
  vpDisplay::display(I);
  vpDisplay::flush(I);
  vpDisplay::getClick(I); // wait for a click to quit
}

Reimplemented in vpDisplayWin32.

Definition at line 325 of file vpDisplay.cpp.

References vpDisplay::m_displayHasBeenInitialized, and vpDisplay::m_scaleType.

void vpDisplayOpenCV::setFont ( const std::string & font )

protected

Warning: This method is not yet implemented.

Set the font used to display a text in overlay. The display is performed using displayCharString().

Parameters

font	: The expected font name. The available fonts are given by the "xlsfonts" binary. To choose a font you can also use the "xfontsel" binary.

Note: Under UNIX, to know all the available fonts, use the "xlsfonts" binary in a terminal. You can also use the "xfontsel" binary.

See also: displayCharString()

Definition at line 532 of file vpDisplayOpenCV.cpp.

References vpERROR_TRACE.

void vpDisplay::setFont	(	const vpImage< unsigned char > &	I,
		const std::string &	fontname
	)

staticinherited

Set the font of a text printed in the display overlay. To print a text you may use displayCharString().

Parameters

I	: Image associated to the display window.
fontname	: The expected font name.

Note: Under UNIX, the available fonts are given by the "xlsfonts" binary. To choose a font you can also use the "xfontsel" binary.

See also: displayText()

Definition at line 1148 of file vpDisplay_uchar.cpp.

Referenced by vpPlot::setFont().

void vpDisplay::setFont	(	const vpImage< vpRGBa > &	I,
		const std::string &	fontname
	)

staticinherited

Set the font of a text printed in the display overlay. To print a text you may use displayCharString().

Parameters

I	: Image associated to the display window.
fontname	: The expected font name.

Note: Under UNIX, the available fonts are given by the "xlsfonts" binary. To choose a font you can also use the "xfontsel" binary.

See also: displayText()

Definition at line 1141 of file vpDisplay_rgba.cpp.

void vpDisplay::setScale	(	vpScaleType	scaleType,
		unsigned int	width,
		unsigned int	height
	)

protectedinherited

Set the down scaling factor either in auto mode or set manually.

Definition at line 260 of file vpDisplay.cpp.

References vpDisplay::computeAutoScale(), vpDisplay::SCALE_1, vpDisplay::SCALE_10, vpDisplay::SCALE_2, vpDisplay::SCALE_3, vpDisplay::SCALE_4, vpDisplay::SCALE_5, vpDisplay::SCALE_6, vpDisplay::SCALE_7, vpDisplay::SCALE_8, vpDisplay::SCALE_9, vpDisplay::SCALE_AUTO, vpDisplay::SCALE_DEFAULT, and vpDisplay::setDownScalingFactor().

Referenced by vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV(), and vpDisplayX::vpDisplayX().

void vpDisplayOpenCV::setTitle ( const std::string & title )

protected

Set the window title.

Warning: This method is not implemented yet.

Parameters

title : Window title.

Definition at line 541 of file vpDisplayOpenCV.cpp.

void vpDisplay::setTitle	(	const vpImage< unsigned char > &	I,
		const std::string &	windowtitle
	)

staticinherited

Set the windows title.

Note: This functionality is not implemented when vpDisplayOpenCV is used.

Parameters

I	: Image associated to the display window.
windowtitle	: Window title.

Examples:: tutorial-barcode-detector-live.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-dnn-object-detection-live.cpp, tutorial-draw-cross.cpp, tutorial-draw-line.cpp, tutorial-draw-point.cpp, tutorial-draw-rectangle.cpp, tutorial-draw-text.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-image-display-scaled-auto.cpp, tutorial-image-display-scaled-manu.cpp, tutorial-image-display.cpp, tutorial-image-filter.cpp, tutorial-image-simulator.cpp, tutorial-image-viewer.cpp, tutorial-video-reader.cpp, and tutorial-viewer.cpp.

Definition at line 1160 of file vpDisplay_uchar.cpp.

void vpDisplay::setTitle	(	const vpImage< vpRGBa > &	I,
		const std::string &	windowtitle
	)

staticinherited

Set the windows title.

Note: This functionality is not implemented when vpDisplayOpenCV is used.

Parameters

I	: Image associated to the display window.
windowtitle	: Window title.

Definition at line 1150 of file vpDisplay_rgba.cpp.

void vpDisplayOpenCV::setWindowPosition	(	int	winx,
		int	winy
	)

protected

Set the window position in the screen.

Parameters

winx,winy : Position of the upper-left window's border in the screen.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 559 of file vpDisplayOpenCV.cpp.

References vpDisplay::m_displayHasBeenInitialized, vpDisplay::m_title, vpDisplay::m_windowXPosition, vpDisplay::m_windowYPosition, and vpDisplayException::notInitializedError.

void vpDisplay::setWindowPosition	(	const vpImage< unsigned char > &	I,
		int	winx,
		int	winy
	)

staticinherited

Set the window position in the screen.

Parameters

I	: Image associated to the display window.
winx,winy	: Position of the upper-left window's border in the screen.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 1175 of file vpDisplay_uchar.cpp.

void vpDisplay::setWindowPosition	(	const vpImage< vpRGBa > &	I,
		int	winx,
		int	winy
	)

staticinherited

Set the window position in the screen.

Parameters

I	: Image associated to the display window.
winx,winy	: Position of the upper-left window's border in the screen.

Exceptions

vpDisplayException::notInitializedError : If the video device is not initialized.

Definition at line 1165 of file vpDisplay_rgba.cpp.

Member Data Documentation

bool vpDisplay::m_displayHasBeenInitialized

protectedinherited

display has been initialized

Definition at line 204 of file vpDisplay.h.

unsigned int vpDisplay::m_height

protectedinherited

Definition at line 210 of file vpDisplay.h.

Referenced by vpDisplayX::clearDisplay(), vpDisplayGTK::displayImage(), vpDisplayX::displayImage(), displayImage(), vpDisplayX::displayImageROI(), displayImageROI(), vpDisplayGTK::getImage(), vpDisplayX::getImage(), vpDisplayGTK::init(), vpDisplayX::init(), and init().

unsigned int vpDisplay::m_scale

protectedinherited

Definition at line 212 of file vpDisplay.h.

Referenced by vpDisplayGTK::displayCharString(), vpDisplayX::displayCharString(), displayCharString(), vpDisplayGTK::displayCircle(), vpDisplayX::displayCircle(), displayCircle(), vpDisplayGTK::displayDotLine(), vpDisplayX::displayDotLine(), displayDotLine(), vpDisplayGTK::displayImage(), vpDisplayX::displayImage(), displayImage(), vpDisplayGTK::displayImageROI(), vpDisplayX::displayImageROI(), displayImageROI(), vpDisplayGTK::displayLine(), vpDisplayX::displayLine(), displayLine(), vpDisplayWin32::displayPoint(), vpDisplayGTK::displayPoint(), vpDisplayX::displayPoint(), displayPoint(), vpDisplayGTK::displayRectangle(), vpDisplayX::displayRectangle(), displayRectangle(), vpDisplayX::flushDisplayROI(), vpDisplayWin32::getClick(), vpDisplayGTK::getClick(), vpDisplayX::getClick(), getClick(), vpDisplayWin32::getClickUp(), vpDisplayGTK::getClickUp(), vpDisplayX::getClickUp(), getClickUp(), vpDisplayWin32::getPointerMotionEvent(), vpDisplayGTK::getPointerMotionEvent(), vpDisplayX::getPointerMotionEvent(), getPointerMotionEvent(), vpDisplayWin32::getPointerPosition(), vpDisplayGTK::getPointerPosition(), vpDisplayX::getPointerPosition(), getPointerPosition(), vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), and vpDisplay::setDownScalingFactor().

vpScaleType vpDisplay::m_scaleType

protectedinherited

Definition at line 213 of file vpDisplay.h.

Referenced by vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), and vpDisplay::setDownScalingFactor().

std::string vpDisplay::m_title

protectedinherited

Definition at line 211 of file vpDisplay.h.

Referenced by closeDisplay(), flushDisplay(), flushDisplayROI(), vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), vpDisplayGTK::setTitle(), vpDisplayX::setTitle(), setWindowPosition(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV(), and vpDisplayX::vpDisplayX().

unsigned int vpDisplay::m_width

protectedinherited

Definition at line 209 of file vpDisplay.h.

Referenced by vpDisplayX::clearDisplay(), vpDisplayGTK::displayImage(), vpDisplayX::displayImage(), displayImage(), vpDisplayX::displayImageROI(), displayImageROI(), vpDisplayGTK::getImage(), vpDisplayX::getImage(), vpDisplayGTK::init(), vpDisplayX::init(), and init().

int vpDisplay::m_windowXPosition

protectedinherited

display position

Definition at line 206 of file vpDisplay.h.

Referenced by vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), setWindowPosition(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV(), and vpDisplayX::vpDisplayX().

int vpDisplay::m_windowYPosition

protectedinherited

display position

Definition at line 208 of file vpDisplay.h.

Referenced by vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), init(), setWindowPosition(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV(), and vpDisplayX::vpDisplayX().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation