46 #include <visp3/core/vpConfig.h>
48 #if (defined(VISP_HAVE_GTK))
57 #include <visp3/core/vpDisplay.h>
58 #include <visp3/gui/vpDisplayGTK.h>
61 #include <visp3/core/vpDebug.h>
62 #include <visp3/core/vpDisplayException.h>
63 #include <visp3/core/vpImageConvert.h>
64 #include <visp3/core/vpImageTools.h>
65 #include <visp3/core/vpMath.h>
67 #ifndef DOXYGEN_SHOULD_SKIP_THIS
70 #include <gdk/gdkrgb.h>
73 class vpDisplayGTK::Impl
77 : m_widget(NULL), m_background(NULL), m_gc(NULL), m_blue(), m_red(), m_yellow(), m_green(), m_cyan(), m_orange(),
78 m_white(), m_black(), m_gdkcolor(), m_lightBlue(), m_darkBlue(), m_lightRed(), m_darkRed(), m_lightGreen(),
79 m_darkGreen(), m_purple(), m_lightGray(), m_gray(), m_darkGray(), m_colormap(NULL), m_font(NULL), m_vectgtk(NULL),
86 void init(
unsigned int win_width,
unsigned int win_height,
int win_x,
int win_y,
const std::string &title)
88 gint width =
static_cast<gint
>(win_width);
89 gint height =
static_cast<gint
>(win_height);
95 gtk_init(argc, &argv);
98 m_widget = gtk_window_new(GTK_WINDOW_TOPLEVEL);
100 gtk_widget_add_events(m_widget, GDK_BUTTON_PRESS_MASK | GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK);
102 gtk_window_set_default_size(GTK_WINDOW(m_widget), width, height);
104 gtk_window_move(GTK_WINDOW(m_widget), win_x, win_y);
106 gtk_widget_show(m_widget);
111 m_background = gdk_pixmap_new(m_widget->window, width, height, -1);
114 m_gc = gdk_gc_new(m_widget->window);
117 m_colormap = gdk_window_get_colormap(m_widget->window);
122 gdk_color_parse(
"light blue", &m_lightBlue);
123 gdk_colormap_alloc_color(m_colormap, &m_lightBlue, FALSE, TRUE);
126 gdk_color_parse(
"blue", &m_blue);
127 gdk_colormap_alloc_color(m_colormap, &m_blue, FALSE, TRUE);
130 gdk_color_parse(
"dark blue", &m_darkBlue);
131 gdk_colormap_alloc_color(m_colormap, &m_darkBlue, FALSE, TRUE);
134 gdk_color_parse(
"#FF8C8C", &m_lightRed);
135 gdk_colormap_alloc_color(m_colormap, &m_lightRed, FALSE, TRUE);
138 gdk_color_parse(
"red", &m_red);
139 gdk_colormap_alloc_color(m_colormap, &m_red, FALSE, TRUE);
142 gdk_color_parse(
"dark red", &m_darkRed);
143 gdk_colormap_alloc_color(m_colormap, &m_darkRed, FALSE, TRUE);
146 gdk_color_parse(
"light green", &m_lightGreen);
147 gdk_colormap_alloc_color(m_colormap, &m_lightGreen, FALSE, TRUE);
150 gdk_color_parse(
"green", &m_green);
151 gdk_colormap_alloc_color(m_colormap, &m_green, FALSE, TRUE);
154 gdk_color_parse(
"dark green", &m_darkGreen);
155 gdk_colormap_alloc_color(m_colormap, &m_darkGreen, FALSE, TRUE);
158 gdk_color_parse(
"yellow", &m_yellow);
159 gdk_colormap_alloc_color(m_colormap, &m_yellow, FALSE, TRUE);
162 gdk_color_parse(
"cyan", &m_cyan);
163 gdk_colormap_alloc_color(m_colormap, &m_cyan, FALSE, TRUE);
166 gdk_color_parse(
"orange", &m_orange);
167 gdk_colormap_alloc_color(m_colormap, &m_orange, FALSE, TRUE);
170 gdk_color_parse(
"purple", &m_purple);
171 gdk_colormap_alloc_color(m_colormap, &m_purple, FALSE, TRUE);
174 gdk_color_parse(
"white", &m_white);
175 gdk_colormap_alloc_color(m_colormap, &m_white, FALSE, TRUE);
178 gdk_color_parse(
"black", &m_black);
179 gdk_colormap_alloc_color(m_colormap, &m_black, FALSE, TRUE);
182 gdk_color_parse(
"#C0C0C0", &m_lightGray);
183 gdk_colormap_alloc_color(m_colormap, &m_lightGray, FALSE, TRUE);
186 gdk_color_parse(
"#808080", &m_gray);
187 gdk_colormap_alloc_color(m_colormap, &m_gray, FALSE, TRUE);
190 gdk_color_parse(
"#404040", &m_darkGray);
191 gdk_colormap_alloc_color(m_colormap, &m_darkGray, FALSE, TRUE);
195 m_font = gdk_font_load(
"-*-times-medium-r-normal-*-16-*-*-*-*-*-*-*");
197 m_font = gdk_font_load(
"-*-courier-bold-r-normal-*-*-140-*-*-*-*-*-*");
199 m_font = gdk_font_load(
"-*-courier 10 pitch-medium-r-normal-*-16-*-*-*-*-*-*-*");
202 gdk_window_set_title(m_widget->window, title.c_str());
205 void setFont(
const std::string &fontname) { m_font = gdk_font_load((
const gchar *)fontname.c_str()); }
207 void setTitle(
const std::string &title) { gdk_window_set_title(m_widget->window, title.c_str()); }
209 void setWindowPosition(
int win_x,
int win_y) { gtk_window_move(GTK_WINDOW(m_widget), win_x, win_y); }
215 gdk_draw_gray_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, I.
bitmap, width);
219 gdk_draw_gray_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, sampled.
bitmap, width);
223 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
230 gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, (
unsigned char *)I.
bitmap,
235 gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE,
236 (
unsigned char *)sampled.
bitmap, 4 * width);
240 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
245 gdk_draw_gray_image(m_background, m_gc, j_min, i_min, width, height, GDK_RGB_DITHER_NONE, I.
bitmap, width);
247 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
252 gdk_draw_rgb_32_image(m_background, m_gc, j_min, i_min, width, height, GDK_RGB_DITHER_NONE,
253 (
unsigned char *)I.
bitmap, width * 4);
256 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
266 if (m_widget != NULL) {
267 gdk_window_hide(m_widget->window);
268 gdk_window_destroy(m_widget->window);
269 gtk_widget_destroy(m_widget);
276 gdk_window_clear(m_widget->window);
283 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
285 m_gdkcolor.red = 256 * color.
R;
286 m_gdkcolor.green = 256 * color.
G;
287 m_gdkcolor.blue = 256 * color.
B;
288 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
289 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
293 (
const gchar *)text);
295 std::cout <<
"Cannot draw string: no font is selected" << std::endl;
299 unsigned int thickness,
unsigned int scale)
302 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
304 m_gdkcolor.red = 256 * color.
R;
305 m_gdkcolor.green = 256 * color.
G;
306 m_gdkcolor.blue = 256 * color.
B;
307 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
308 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
311 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
314 gdk_draw_arc(m_background, m_gc, FALSE,
vpMath::round((center.
get_u() - radius) / scale),
315 vpMath::round((center.
get_v() - radius) / scale),
static_cast<gint
>(2. * radius / scale),
316 static_cast<gint
>(2. * radius / scale), 23040, 23040);
318 gdk_draw_arc(m_background, m_gc, TRUE,
vpMath::round((center.
get_u() - radius) / scale),
319 vpMath::round((center.
get_v() - radius) / scale),
static_cast<gint
>(2. * radius / scale),
320 static_cast<gint
>(2. * radius / scale), 23040, 23040);
327 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
329 m_gdkcolor.red = 256 * color.
R;
330 m_gdkcolor.green = 256 * color.
G;
331 m_gdkcolor.blue = 256 * color.
B;
332 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
333 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
336 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_ON_OFF_DASH, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
339 gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
346 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
348 m_gdkcolor.red = 256 * color.
R;
349 m_gdkcolor.green = 256 * color.
G;
350 m_gdkcolor.blue = 256 * color.
B;
351 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
352 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
355 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
363 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
365 m_gdkcolor.red = 256 * color.
R;
366 m_gdkcolor.green = 256 * color.
G;
367 m_gdkcolor.blue = 256 * color.
B;
368 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
369 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
372 if (thickness == 1) {
376 static_cast<gint
>(thickness),
static_cast<gint
>(thickness));
381 unsigned int thickness,
unsigned int scale)
384 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
386 m_gdkcolor.red = 256 * color.
R;
387 m_gdkcolor.green = 256 * color.
G;
388 m_gdkcolor.blue = 256 * color.
B;
389 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
390 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
392 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
397 static_cast<gint
>(h / scale));
401 static_cast<gint
>(h / scale));
404 gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
408 const GdkEventType &event_type)
413 while ((ev = gdk_event_get())) {
414 if (ev->any.window == m_widget->window && ev->type == event_type) {
415 double u = ((GdkEventButton *)ev)->x;
416 double v = ((GdkEventButton *)ev)->y;
420 switch (
static_cast<int>(((GdkEventButton *)ev)->button)) {
440 }
while (ret ==
false && blocking ==
true);
447 ImageGtk = gdk_image_get(m_background, 0, 0, width, height);
452 guchar OctetRouge, OctetVert, OctetBleu, mask;
455 for (gint y = 0; y < height; y++) {
456 for (gint x = 0; x < width; x++) {
457 pixel = gdk_image_get_pixel(ImageGtk, x, y);
458 OctetBleu =
static_cast<guchar
>(pixel) & mask;
459 OctetVert =
static_cast<guchar
>(pixel >> 8) & mask;
460 OctetRouge =
static_cast<guchar
>(pixel >> 16) & mask;
461 I[y][x].R = OctetRouge;
462 I[y][x].G = OctetVert;
463 I[y][x].B = OctetBleu;
469 unsigned int getScreenDepth() {
return static_cast<unsigned int>(gdk_window_get_visual(m_widget->window)->depth); }
477 while ((ev = gdk_event_get()) != NULL) {
482 if (ev->any.window == m_widget->window && ev->type == GDK_KEY_PRESS) {
485 key = gdk_keyval_name(ev->key.keyval);
495 }
while (ret ==
false && blocking ==
true);
503 if ((ev = gdk_event_get())) {
504 if (ev->any.window == m_widget->window && ev->type == GDK_MOTION_NOTIFY) {
505 double u = ((GdkEventMotion *)ev)->x;
506 double v = ((GdkEventMotion *)ev)->y;
520 gdk_window_get_pointer(m_widget->window, &u, &v, NULL);
521 ip.
set_u(
static_cast<double>(u) * scale);
522 ip.
set_v(
static_cast<double>(v) * scale);
525 void getScreenSize(
bool is_init,
unsigned int &w,
unsigned int &h)
531 gtk_init(argc, &argv);
533 GtkWidget *widget_ = gtk_window_new(GTK_WINDOW_TOPLEVEL);
534 gtk_window_set_default_size(GTK_WINDOW(widget_), 100, 100);
535 gtk_widget_show(widget_);
537 GdkScreen *screen_ = gdk_window_get_screen(widget_->window);
538 w =
static_cast<unsigned int>(gdk_screen_get_width(screen_));
539 h =
static_cast<unsigned int>(gdk_screen_get_height(screen_));
540 gtk_widget_destroy(widget_);
542 GdkScreen *screen_ = gdk_window_get_screen(m_widget->window);
543 w =
static_cast<unsigned int>(gdk_screen_get_width(screen_));
544 h =
static_cast<unsigned int>(gdk_screen_get_height(screen_));
550 GdkPixmap *m_background;
552 GdkColor m_blue, m_red, m_yellow, m_green, m_cyan, m_orange, m_white, m_black, m_gdkcolor;
553 GdkColor m_lightBlue, m_darkBlue, m_lightRed, m_darkRed, m_lightGreen, m_darkGreen, m_purple;
554 GdkColor m_lightGray, m_gray, m_darkGray;
555 GdkColormap *m_colormap;
619 init(I, win_x, win_y, win_title);
673 init(I, win_x, win_y, win_title);
754 if (!win_title.empty())
784 if (!win_title.empty())
803 const std::string &win_title)
844 if (!title.empty()) {
845 m_impl->setTitle(title);
864 m_impl->setWindowPosition(win_x, win_y);
915 int i_min = (std::max)(
static_cast<int>(ceil(iP.
get_i() /
m_scale)), 0);
916 int j_min = (std::max)(
static_cast<int>(ceil(iP.
get_j() /
m_scale)), 0);
918 m_impl->displayImageROI(Itemp,
static_cast<gint
>(j_min),
static_cast<gint
>(i_min),
969 int i_min = (std::max)(
static_cast<int>(ceil(iP.
get_i() /
m_scale)), 0);
970 int j_min = (std::max)(
static_cast<int>(ceil(iP.
get_j() /
m_scale)), 0);
972 m_impl->displayImageROI(Itemp,
static_cast<gint
>(j_min),
static_cast<gint
>(i_min),
994 m_impl->closeDisplay();
1007 m_impl->flushDisplay();
1018 const unsigned int )
1021 m_impl->flushDisplay();
1040 unsigned int h,
unsigned int thickness)
1047 if ((std::fabs(a) > std::numeric_limits<double>::epsilon()) &&
1048 (std::fabs(b) > std::numeric_limits<double>::epsilon())) {
1090 m_impl->displayCharString(ip, text, color,
m_scale);
1105 unsigned int thickness)
1111 m_impl->displayCircle(center, radius, color, fill, thickness,
m_scale);
1126 double i = ip.
get_i();
1127 double j = ip.
get_j();
1130 ip1.
set_i(i - size / 2);
1132 ip2.
set_i(i + size / 2);
1137 ip1.
set_j(j - size / 2);
1139 ip2.
set_j(j + size / 2);
1155 unsigned int thickness)
1162 m_impl->displayDotLine(ip1, ip2, color, thickness,
m_scale);
1175 unsigned int thickness)
1181 m_impl->displayLine(ip1, ip2, color, thickness,
m_scale);
1196 m_impl->displayPoint(ip, color, thickness,
m_scale);
1216 bool fill,
unsigned int thickness)
1222 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1241 bool fill,
unsigned int thickness)
1250 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1277 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1305 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1334 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1365 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1400 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_RELEASE);
1415 m_impl->getImage(I,
static_cast<gint
>(
m_width),
static_cast<gint
>(
m_height));
1428 unsigned int depth = m_impl->getScreenDepth();
1454 ret = m_impl->getKeyboardEvent(key, blocking);
1485 ret = m_impl->getKeyboardEvent(key, blocking);
1509 ret = m_impl->getPointerMotionEvent(ip,
m_scale);
1529 m_impl->getPointerPosition(ip,
m_scale);
1553 unsigned int width, height;
1563 unsigned int width, height;
1568 #elif !defined(VISP_BUILD_SHARED_LIBS)
1571 void dummy_vpDisplayGTK(){};
Class to define RGB colors available for display functionnalities.
Error that can be emited by the vpDisplay class and its derivates.
void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
void setFont(const std::string &fontname)
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
void displayImageROI(const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int width, unsigned int height)
void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height)
void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
bool getClick(bool blocking=true)
bool getKeyboardEvent(bool blocking=true)
bool getPointerMotionEvent(vpImagePoint &ip)
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)
bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)
void getScreenSize(unsigned int &screen_width, unsigned int &screen_height)
void getImage(vpImage< vpRGBa > &I)
get the window pixmap and put it in vpRGBa image
void clearDisplay(const vpColor &color=vpColor::white)
void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
unsigned int getScreenDepth()
get the window depth (8,16,24,32)
unsigned int getScreenWidth()
void setTitle(const std::string &win_title)
bool getPointerPosition(vpImagePoint &ip)
unsigned int getScreenHeight()
void setWindowPosition(int win_x, int win_y)
void displayImage(const vpImage< vpRGBa > &I)
void displayCircle(const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color=vpColor::green)
Class that defines generic functionnalities for display.
int m_windowXPosition
display position
int m_windowYPosition
display position
bool m_displayHasBeenInitialized
display has been initialized
void setScale(vpScaleType scaleType, unsigned int width, unsigned int height)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
void subsample(unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
unsigned int getWidth() const
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Type * bitmap
points toward the bitmap
unsigned int getHeight() const
static double sqr(double x)
static int round(double x)
unsigned char B
Blue component.
unsigned char R
Red component.
unsigned char G
Green component.
Defines a rectangle in the plane.
vpImagePoint getTopLeft() const
VISP_EXPORT int wait(double t0, double t)