Visual Servoing Platform  version 3.4.0
vpPlotGraph.h
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30  *
31  * Description:
32  * Define a graph for the vpPlot class.
33  *
34  * Authors:
35  * Nicolas Melchior
36  *
37  *****************************************************************************/
38 
39 #ifndef DOXYGEN_SHOULD_SKIP_THIS
40 
41 #ifndef vpPlotGraph_H
42 #define vpPlotGraph_H
43 
44 #include <visp3/core/vpColor.h>
45 #include <visp3/core/vpImage.h>
46 
47 #include <visp3/core/vpMouseButton.h>
48 #include <visp3/gui/vpPlotCurve.h>
49 
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpRect.h>
52 
53 #include <visp3/core/vpCameraParameters.h>
54 #include <visp3/core/vpPoint.h>
55 
56 #if defined(VISP_HAVE_DISPLAY)
57 
58 class vpPlotGraph
59 {
60 public:
61  double xorg;
62  double yorg;
63  double zoomx;
64  double zoomy;
65  double xmax;
66  double ymax;
67  double xmin;
68  double ymin;
69  double xdelt;
70  double ydelt;
71  bool gridx;
72  bool gridy;
73  vpColor gridColor;
74  std::string title;
75  std::string unitx;
76  std::string unity;
77  unsigned int curveNbr;
78  vpPlotCurve *curveList;
79  bool scaleInitialized;
80  bool firstPoint;
81 
82  int nbDivisionx;
83  int nbDivisiony;
84 
85  // Graph complet
86  vpImagePoint topLeft;
87  unsigned int width;
88  unsigned int height;
89  vpRect graphZone;
90 
91  // Zone d'affichage
92  vpImagePoint dTopLeft;
93  unsigned int dWidth;
94  unsigned int dHeight;
95  vpRect dGraphZone;
96 
97  // Zone d'affichage
98  vpImagePoint dTopLeft3D;
99  // int dWidth;
100  // int dHeight;
101  vpRect dGraphZone3D;
102 
103  // 3D part
104  vpCameraParameters cam;
107  double w_xval;
108  double w_xsize;
109  double w_yval;
110  double w_ysize;
111  double w_zval;
112  double w_zsize;
113  double ptXorg;
114  double ptYorg;
115  double ptZorg;
116  double zoomx_3D;
117  double zoomy_3D;
118  double zoomz_3D;
119 
120  int nbDivisionz;
121 
122  double zorg;
123  double zoomz;
124  double zmax;
125  double zmin;
126  double zdelt;
127  std::string unitz;
128  vpImagePoint old_iPr;
129  vpImagePoint old_iPz;
130  bool blockedr;
131  bool blockedz;
132  bool blocked;
133 
134  unsigned int epsi;
135  unsigned int epsj;
136 
137  bool dispUnit;
138  bool dispTitle;
139  bool dispLegend;
140 
141  unsigned int gridThickness;
142 
143  // private:
144  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
145  // vpPlotGraph(const vpPlotGraph &)
146  // : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
147  // xmin(0), ymin(-10),
148  // xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
149  // curveNbr(1), curveList(NULL), scaleInitialized(false),
150  // firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
151  // width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
152  // dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
153  // cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
154  // w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
155  // zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
156  // zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
157  // old_iPz(), blockedr(false), blockedz(false), blocked(false),
158  // epsi(5), epsj(6), dispUnit(false), dispTitle(false),
159  // dispLegend(false), gridThickness(1)
160  // {
161  // throw vpException(vpException::functionNotImplementedError, "Not
162  // implemented!");
163  // }
164  // vpPlotGraph &operator=(const vpPlotGraph &){
165  // throw vpException(vpException::functionNotImplementedError, "Not
166  // implemented!"); return *this;
167  // }
168  //#endif
169 
170 public:
171  vpPlotGraph();
172  virtual ~vpPlotGraph();
173 
174  bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
175  bool check3Dpoint(vpImagePoint &iP);
176  void clearGraphZone(vpImage<unsigned char> &I);
177  void computeGraphParameters();
178  void computeGraphParameters3D();
179 
180  void initGraph(unsigned int nbCurve);
181  void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
182  unsigned int margej);
183  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
184  double ymax, int nbDivy, bool gx, bool gy);
185  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
186  double ymax, int nbDivy, double zmin, double zmax, int nbDivz,
187  bool gx, bool gy);
188 
189  void displayGrid(vpImage<unsigned char> &I);
190  void displayUnit(vpImage<unsigned char> &I);
191  void displayTitle(vpImage<unsigned char> &I);
192  void displayLegend(vpImage<unsigned char> &I);
193  void displayGrid3D(vpImage<unsigned char> &I);
194 
195  void findPose();
196 
197  bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);
198 
199  bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
200  vpHomogeneousMatrix navigation(const vpImage<unsigned char> &I, bool &changed, vpMouseButton::vpMouseButtonType &b);
201 
202  void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
203  vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x,
204  double y, double z);
205  void replot(vpImage<unsigned char> &I);
206  void replot3D(vpImage<unsigned char> &I);
207 
208  void rescalex(unsigned int side, double extremity);
209  void rescaley(unsigned int side, double extremity);
210  void rescalez(unsigned int side, double extremity);
211  // void rescale(double &min, double &max, double &delta, int nbDiv, int side);
212  void resetPointList(unsigned int curveNum);
213 
214  void setCurveColor(unsigned int curveNum, const vpColor &color);
215  void setCurveThickness(unsigned int curveNum, unsigned int thickness);
216  void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; };
217  void setLegend(unsigned int curveNum, const std::string &legend);
218  void setTitle(const std::string &title);
219  void setUnitX(const std::string &unitx);
220  void setUnitY(const std::string &unity);
221  void setUnitZ(const std::string &unitz);
222 };
223 
224 #endif
225 #endif
226 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
Generic class defining intrinsic camera parameters.
Defines a rectangle in the plane.
Definition: vpRect.h:79
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87