vpPlotGraph.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:
 * Define a graph for the vpPlot class.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef DOXYGEN_SHOULD_SKIP_THIS

#ifndef vpPlotGraph_H
#define vpPlotGraph_H

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

#include <visp3/core/vpMouseButton.h>
#include <visp3/gui/vpPlotCurve.h>

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpPoint.h>

#if defined(VISP_HAVE_DISPLAY)

class vpPlotGraph
{
public:
  double xorg;
  double yorg;
  double zoomx;
  double zoomy;
  double xmax;
  double ymax;
  double xmin;
  double ymin;
  double xdelt;
  double ydelt;
  bool gridx;
  bool gridy;
  vpColor gridColor;
  std::string title;
  std::string unitx;
  std::string unity;
  unsigned int curveNbr;
  vpPlotCurve *curveList;
  bool scaleInitialized;
  bool firstPoint;

  int nbDivisionx;
  int nbDivisiony;

  // Graph complet
  vpImagePoint topLeft;
  unsigned int width;
  unsigned int height;
  vpRect graphZone;

  // Zone d'affichage
  vpImagePoint dTopLeft;
  unsigned int dWidth;
  unsigned int dHeight;
  vpRect dGraphZone;

  // Zone d'affichage
  vpImagePoint dTopLeft3D;
  //     int dWidth;
  //     int dHeight;
  vpRect dGraphZone3D;

  // 3D part
  vpCameraParameters cam;
  vpHomogeneousMatrix cMo;
  vpHomogeneousMatrix cMf;
  double w_xval;
  double w_xsize;
  double w_yval;
  double w_ysize;
  double w_zval;
  double w_zsize;
  double ptXorg;
  double ptYorg;
  double ptZorg;
  double zoomx_3D;
  double zoomy_3D;
  double zoomz_3D;

  int nbDivisionz;

  double zorg;
  double zoomz;
  double zmax;
  double zmin;
  double zdelt;
  std::string unitz;
  vpImagePoint old_iPr;
  vpImagePoint old_iPz;
  bool blockedr;
  bool blockedz;
  bool blocked;

  unsigned int epsi;
  unsigned int epsj;

  bool dispUnit;
  bool dispTitle;
  bool dispLegend;

  unsigned int gridThickness;

  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //    vpPlotGraph(const vpPlotGraph &)
  //      : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
  //      xmin(0), ymin(-10),
  //        xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
  //        curveNbr(1), curveList(NULL), scaleInitialized(false),
  //        firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
  //        width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
  //        dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
  //        cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
  //        w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
  //        zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
  //        zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
  //        old_iPz(), blockedr(false), blockedz(false), blocked(false),
  //        epsi(5), epsj(6), dispUnit(false), dispTitle(false),
  //        dispLegend(false), gridThickness(1)
  //    {
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!");
  //    }
  //    vpPlotGraph &operator=(const vpPlotGraph &){
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!"); return *this;
  //    }
  //#endif

public:
  vpPlotGraph();
  virtual ~vpPlotGraph();

  bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
  bool check3Dpoint(vpImagePoint &iP);
  void clearGraphZone(vpImage<unsigned char> &I);
  void computeGraphParameters();
  void computeGraphParameters3D();

  void initGraph(unsigned int nbCurve);
  void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
                unsigned int margej);
  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
                 double ymax, int nbDivy, bool gx, bool gy);
  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
                 double ymax, int nbDivy, double zmin, double zmax, int nbDivz,
                 bool gx, bool gy);

  void displayGrid(vpImage<unsigned char> &I);
  void displayUnit(vpImage<unsigned char> &I);
  void displayTitle(vpImage<unsigned char> &I);
  void displayLegend(vpImage<unsigned char> &I);
  void displayGrid3D(vpImage<unsigned char> &I);

  void findPose();

  bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);

  bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
  vpHomogeneousMatrix navigation(const vpImage<unsigned char> &I, bool &changed, vpMouseButton::vpMouseButtonType &b);

  void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
  vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x,
                                        double y, double z);
  void replot(vpImage<unsigned char> &I);
  void replot3D(vpImage<unsigned char> &I);

  void rescalex(unsigned int side, double extremity);
  void rescaley(unsigned int side, double extremity);
  void rescalez(unsigned int side, double extremity);
  // void rescale(double &min, double &max, double &delta, int nbDiv, int side);
  void resetPointList(unsigned int curveNum);

  void setCurveColor(unsigned int curveNum, const vpColor &color);
  void setCurveThickness(unsigned int curveNum, unsigned int thickness);
  void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; };
  void setLegend(unsigned int curveNum, const std::string &legend);
  void setTitle(const std::string &title);
  void setUnitX(const std::string &unitx);
  void setUnitY(const std::string &unity);
  void setUnitZ(const std::string &unitz);
};

#endif
#endif
#endif