Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpImageDraw.h
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30  *
31  * Description:
32  * Drawing functions.
33  *
34  *****************************************************************************/
35 
36 #ifndef _vpImageDraw_h_
37 #define _vpImageDraw_h_
38 
45 #include <visp3/core/vpImage.h>
46 #include <visp3/core/vpColor.h>
47 #include <visp3/core/vpRect.h>
48 #include <visp3/core/vpCameraParameters.h>
49 
57 class VISP_EXPORT vpImageDraw
58 {
59 public:
60  static void drawArrow(vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, unsigned char color,
61  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
62  static void drawArrow(vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
63  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
64 
65  static void drawCircle(vpImage<unsigned char> &I, const vpImagePoint &center, unsigned int radius,
66  unsigned char color, unsigned int thickness = 1);
67  static void drawCircle(vpImage<vpRGBa> &I, const vpImagePoint &center, unsigned int radius,
68  const vpColor &color, unsigned int thickness = 1);
69 
70  static void drawCross(vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int size, unsigned char color,
71  unsigned int thickness = 1);
72  static void drawCross(vpImage<vpRGBa> &I, const vpImagePoint &ip, unsigned int size, const vpColor &color,
73  unsigned int thickness = 1);
74 
75  static void drawDottedLine(vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, unsigned char color,
76  unsigned int thickness = 1);
77  static void drawDottedLine(vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
78  unsigned int thickness = 1);
79 
80  static void drawEllipse(vpImage<unsigned char> &I, const vpImagePoint &center, double coef1,
81  double coef2, double coef3, bool use_centered_moments, unsigned char color,
82  double theta1 = 0, double theta2 = 360, unsigned int thickness = 1);
83  static void drawEllipse(vpImage<vpRGBa> &I, const vpImagePoint &center, double coef1,
84  double coef2, double coef3, bool use_centered_moments, const vpColor &color,
85  double theta1 = 0, double theta2 = 360, unsigned int thickness = 1);
86 
87  static void drawFrame(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
88  const vpCameraParameters &cam, double size, unsigned char color,
89  unsigned int thickness = 1, const vpImagePoint &offset = vpImagePoint(0, 0));
90  static void drawFrame(vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
91  const vpCameraParameters &cam, double size, const vpColor &color = vpColor::none,
92  unsigned int thickness = 1, const vpImagePoint &offset = vpImagePoint(0, 0));
93 
94  static void drawLine(vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, unsigned char color,
95  unsigned int thickness = 1);
96  static void drawLine(vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
97  unsigned int thickness = 1);
98 
99  static void drawPoint(vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned char color, unsigned int thickness = 1);
100  static void drawPoint(vpImage<vpRGBa> &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
101 
102  static void drawPolygon(vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
103  unsigned char color, unsigned int thickness = 1, bool closed = true);
104  static void drawPolygon(vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &vip,
105  const vpColor &color, unsigned int thickness = 1, bool closed = true);
106 
107  static void drawRectangle(vpImage<unsigned char> &I, const vpRect &rectangle, unsigned char color,
108  bool fill = false, unsigned int thickness = 1);
109  static void drawRectangle(vpImage<vpRGBa> &I, const vpRect &rectangle, const vpColor &color,
110  bool fill = false, unsigned int thickness = 1);
111 };
112 
113 #endif
vpImageDraw
Drawing functions for image.
Definition: vpImageDraw.h:57
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:149
vpColor
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
vpColor::none
static const vpColor none
Definition: vpColor.h:191
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:233
vpRect
Defines a rectangle in the plane.
Definition: vpRect.h:78
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88