vpDisplayX.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Image display.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpDisplayX_h
#define vpDisplayX_h

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#ifdef VISP_HAVE_X11

// namespace X11name
//{
#include <X11/Xlib.h>
#include <X11/Xutil.h>
//#include <X11/Xatom.h>
//#include <X11/cursorfont.h>
//} ;

// using namespace X11name ;

// Work arround to use this class with Eigen3
#ifdef Success
#undef Success // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=253
#endif

#include <visp3/core/vpImage.h>
#include <visp3/core/vpRect.h>

class VISP_EXPORT vpDisplayX : public vpDisplay
{
private:
  Display *display;
  Window window;
  XImage *Ximage;
  Colormap lut;
  GC context;
  int screen;
  XEvent event;
  Pixmap pixmap;
  unsigned long *x_color; // Array of predefined colors
  unsigned int screen_depth;
  unsigned short colortable[256];
  XColor xcolor;
  XGCValues values;
  bool ximage_data_init;
  unsigned int RMask, GMask, BMask;
  int RShift, GShift, BShift;

  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpDisplayX(const vpDisplayX &)
  //    : vpDisplay(), display(NULL), window(), Ximage(NULL), lut(),
  //    context(), screen(), event(), pixmap(),
  //      x_color(NULL), screen_depth(8), xcolor(), values(),
  //      ximage_data_init(false), RMask(0), GMask(0), BMask(0), RShift(0),
  //      GShift(0), BShift(0)
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpDisplayX &operator=(const vpDisplayX &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif

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

  virtual ~vpDisplayX();

  void getImage(vpImage<vpRGBa> &I);
  unsigned int getScreenDepth();
  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 = "");

protected:
  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);

  int getMsb(unsigned int u32val);
  bool getPointerMotionEvent(vpImagePoint &ip);
  bool getPointerPosition(vpImagePoint &ip);

  void setFont(const std::string &font);
  void setTitle(const std::string &title);
  void setWindowPosition(int winx, int winy);
};

#endif
#endif