44 #include <visp3/core/vpConfig.h>
46 #if (defined(VISP_HAVE_GTK))
55 #include <visp3/core/vpDisplay.h>
56 #include <visp3/gui/vpDisplayGTK.h>
59 #include <visp3/core/vpDebug.h>
60 #include <visp3/core/vpDisplayException.h>
61 #include <visp3/core/vpImageConvert.h>
62 #include <visp3/core/vpImageTools.h>
63 #include <visp3/core/vpMath.h>
65 #ifndef DOXYGEN_SHOULD_SKIP_THIS
68 #include <gdk/gdkrgb.h>
71 class vpDisplayGTK::Impl
75 : m_widget(nullptr), m_background(nullptr), m_gc(nullptr), m_blue(), m_red(), m_yellow(), m_green(), m_cyan(), m_orange(),
76 m_white(), m_black(), m_gdkcolor(), m_lightBlue(), m_darkBlue(), m_lightRed(), m_darkRed(), m_lightGreen(),
77 m_darkGreen(), m_purple(), m_lightGray(), m_gray(), m_darkGray(), m_colormap(nullptr), m_font(nullptr), m_vectgtk(nullptr),
83 void init(
unsigned int win_width,
unsigned int win_height,
int win_x,
int win_y,
const std::string &title)
85 gint width =
static_cast<gint
>(win_width);
86 gint height =
static_cast<gint
>(win_height);
92 gtk_init(argc, &argv);
95 m_widget = gtk_window_new(GTK_WINDOW_TOPLEVEL);
97 gtk_widget_add_events(m_widget, GDK_BUTTON_PRESS_MASK | GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK);
99 gtk_window_set_default_size(GTK_WINDOW(m_widget), width, height);
101 gtk_window_move(GTK_WINDOW(m_widget), win_x, win_y);
103 gtk_widget_show(m_widget);
108 m_background = gdk_pixmap_new(m_widget->window, width, height, -1);
111 m_gc = gdk_gc_new(m_widget->window);
114 m_colormap = gdk_window_get_colormap(m_widget->window);
119 gdk_color_parse(
"light blue", &m_lightBlue);
120 gdk_colormap_alloc_color(m_colormap, &m_lightBlue, FALSE, TRUE);
123 gdk_color_parse(
"blue", &m_blue);
124 gdk_colormap_alloc_color(m_colormap, &m_blue, FALSE, TRUE);
127 gdk_color_parse(
"dark blue", &m_darkBlue);
128 gdk_colormap_alloc_color(m_colormap, &m_darkBlue, FALSE, TRUE);
131 gdk_color_parse(
"#FF8C8C", &m_lightRed);
132 gdk_colormap_alloc_color(m_colormap, &m_lightRed, FALSE, TRUE);
135 gdk_color_parse(
"red", &m_red);
136 gdk_colormap_alloc_color(m_colormap, &m_red, FALSE, TRUE);
139 gdk_color_parse(
"dark red", &m_darkRed);
140 gdk_colormap_alloc_color(m_colormap, &m_darkRed, FALSE, TRUE);
143 gdk_color_parse(
"light green", &m_lightGreen);
144 gdk_colormap_alloc_color(m_colormap, &m_lightGreen, FALSE, TRUE);
147 gdk_color_parse(
"green", &m_green);
148 gdk_colormap_alloc_color(m_colormap, &m_green, FALSE, TRUE);
151 gdk_color_parse(
"dark green", &m_darkGreen);
152 gdk_colormap_alloc_color(m_colormap, &m_darkGreen, FALSE, TRUE);
155 gdk_color_parse(
"yellow", &m_yellow);
156 gdk_colormap_alloc_color(m_colormap, &m_yellow, FALSE, TRUE);
159 gdk_color_parse(
"cyan", &m_cyan);
160 gdk_colormap_alloc_color(m_colormap, &m_cyan, FALSE, TRUE);
163 gdk_color_parse(
"orange", &m_orange);
164 gdk_colormap_alloc_color(m_colormap, &m_orange, FALSE, TRUE);
167 gdk_color_parse(
"purple", &m_purple);
168 gdk_colormap_alloc_color(m_colormap, &m_purple, FALSE, TRUE);
171 gdk_color_parse(
"white", &m_white);
172 gdk_colormap_alloc_color(m_colormap, &m_white, FALSE, TRUE);
175 gdk_color_parse(
"black", &m_black);
176 gdk_colormap_alloc_color(m_colormap, &m_black, FALSE, TRUE);
179 gdk_color_parse(
"#C0C0C0", &m_lightGray);
180 gdk_colormap_alloc_color(m_colormap, &m_lightGray, FALSE, TRUE);
183 gdk_color_parse(
"#808080", &m_gray);
184 gdk_colormap_alloc_color(m_colormap, &m_gray, FALSE, TRUE);
187 gdk_color_parse(
"#404040", &m_darkGray);
188 gdk_colormap_alloc_color(m_colormap, &m_darkGray, FALSE, TRUE);
192 m_font = gdk_font_load(
"-*-times-medium-r-normal-*-16-*-*-*-*-*-*-*");
193 if (m_font ==
nullptr)
194 m_font = gdk_font_load(
"-*-courier-bold-r-normal-*-*-140-*-*-*-*-*-*");
195 if (m_font ==
nullptr)
196 m_font = gdk_font_load(
"-*-courier 10 pitch-medium-r-normal-*-16-*-*-*-*-*-*-*");
199 gdk_window_set_title(m_widget->window, title.c_str());
202 void setFont(
const std::string &fontname) { m_font = gdk_font_load((
const gchar *)fontname.c_str()); }
204 void setTitle(
const std::string &title) { gdk_window_set_title(m_widget->window, title.c_str()); }
206 void setWindowPosition(
int win_x,
int win_y) { gtk_window_move(GTK_WINDOW(m_widget), win_x, win_y); }
212 gdk_draw_gray_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, I.
bitmap, width);
217 gdk_draw_gray_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, sampled.
bitmap, width);
221 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
228 gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE, (
unsigned char *)I.
bitmap,
234 gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, width, height, GDK_RGB_DITHER_NONE,
235 (
unsigned char *)sampled.
bitmap, 4 * width);
239 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
244 gdk_draw_gray_image(m_background, m_gc, j_min, i_min, width, height, GDK_RGB_DITHER_NONE, I.
bitmap, width);
246 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
251 gdk_draw_rgb_32_image(m_background, m_gc, j_min, i_min, width, height, GDK_RGB_DITHER_NONE,
252 (
unsigned char *)I.
bitmap, width * 4);
255 gdk_window_set_back_pixmap(m_widget->window, m_background, FALSE);
260 if (m_col !=
nullptr) {
265 if (m_widget !=
nullptr) {
266 gdk_window_hide(m_widget->window);
267 gdk_window_destroy(m_widget->window);
268 gtk_widget_destroy(m_widget);
275 gdk_window_clear(m_widget->window);
282 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
284 m_gdkcolor.red = 256 * color.
R;
285 m_gdkcolor.green = 256 * color.
G;
286 m_gdkcolor.blue = 256 * color.
B;
287 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
288 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
290 if (m_font !=
nullptr)
292 (
const gchar *)text.c_str());
294 std::cout <<
"Cannot draw string: no font is selected" << std::endl;
298 unsigned int thickness,
unsigned int scale)
301 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
303 m_gdkcolor.red = 256 * color.
R;
304 m_gdkcolor.green = 256 * color.
G;
305 m_gdkcolor.blue = 256 * color.
B;
306 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
307 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
310 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
313 gdk_draw_arc(m_background, m_gc, FALSE,
vpMath::round((center.
get_u() - radius) / scale),
314 vpMath::round((center.
get_v() - radius) / scale),
static_cast<gint
>(2. * radius / scale),
315 static_cast<gint
>(2. * radius / scale), 23040, 23040);
317 gdk_draw_arc(m_background, m_gc, TRUE,
vpMath::round((center.
get_u() - radius) / scale),
318 vpMath::round((center.
get_v() - radius) / scale),
static_cast<gint
>(2. * radius / scale),
319 static_cast<gint
>(2. * radius / scale), 23040, 23040);
326 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
328 m_gdkcolor.red = 256 * color.
R;
329 m_gdkcolor.green = 256 * color.
G;
330 m_gdkcolor.blue = 256 * color.
B;
331 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
332 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
335 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_ON_OFF_DASH, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
338 gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
345 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
347 m_gdkcolor.red = 256 * color.
R;
348 m_gdkcolor.green = 256 * color.
G;
349 m_gdkcolor.blue = 256 * color.
B;
350 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
351 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
354 gdk_gc_set_line_attributes(m_gc,
static_cast<gint
>(thickness), GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
362 gdk_gc_set_foreground(m_gc, m_col[color.
id]);
364 m_gdkcolor.red = 256 * color.
R;
365 m_gdkcolor.green = 256 * color.
G;
366 m_gdkcolor.blue = 256 * color.
B;
367 gdk_colormap_alloc_color(m_colormap, &m_gdkcolor, FALSE, TRUE);
368 gdk_gc_set_foreground(m_gc, &m_gdkcolor);
371 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)
412 GdkEvent *ev =
nullptr;
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); }
476 GdkEvent *ev =
nullptr;
477 while ((ev = gdk_event_get()) !=
nullptr) {
480 if (ev->any.window == m_widget->window && ev->type == GDK_KEY_PRESS) {
481 key = gdk_keyval_name(ev->key.keyval);
490 }
while (ret ==
false && blocking ==
true);
497 GdkEvent *ev =
nullptr;
498 if ((ev = gdk_event_get())) {
499 if (ev->any.window == m_widget->window && ev->type == GDK_MOTION_NOTIFY) {
500 double u = ((GdkEventMotion *)ev)->x;
501 double v = ((GdkEventMotion *)ev)->y;
515 gdk_window_get_pointer(m_widget->window, &u, &v,
nullptr);
516 ip.
set_u(
static_cast<double>(u) * scale);
517 ip.
set_v(
static_cast<double>(v) * scale);
520 void getScreenSize(
bool is_init,
unsigned int &w,
unsigned int &h)
526 gtk_init(argc, &argv);
528 GtkWidget *widget_ = gtk_window_new(GTK_WINDOW_TOPLEVEL);
529 gtk_window_set_default_size(GTK_WINDOW(widget_), 100, 100);
530 gtk_widget_show(widget_);
532 GdkScreen *screen_ = gdk_window_get_screen(widget_->window);
533 w =
static_cast<unsigned int>(gdk_screen_get_width(screen_));
534 h =
static_cast<unsigned int>(gdk_screen_get_height(screen_));
535 gtk_widget_destroy(widget_);
538 GdkScreen *screen_ = gdk_window_get_screen(m_widget->window);
539 w =
static_cast<unsigned int>(gdk_screen_get_width(screen_));
540 h =
static_cast<unsigned int>(gdk_screen_get_height(screen_));
546 GdkPixmap *m_background;
548 GdkColor m_blue, m_red, m_yellow, m_green, m_cyan, m_orange, m_white, m_black, m_gdkcolor;
549 GdkColor m_lightBlue, m_darkBlue, m_lightRed, m_darkRed, m_lightGreen, m_darkGreen, m_purple;
550 GdkColor m_lightGray, m_gray, m_darkGray;
551 GdkColormap *m_colormap;
615 init(I, win_x, win_y, win_title);
669 init(I, win_x, win_y, win_title);
750 if (!win_title.empty())
780 if (!win_title.empty())
799 const std::string &win_title)
840 if (!title.empty()) {
841 m_impl->setTitle(title);
861 m_impl->setWindowPosition(win_x, win_y);
914 int i_min = (std::max)(
static_cast<int>(ceil(iP.
get_i() /
m_scale)), 0);
915 int j_min = (std::max)(
static_cast<int>(ceil(iP.
get_j() /
m_scale)), 0);
917 m_impl->displayImageROI(Itemp,
static_cast<gint
>(j_min),
static_cast<gint
>(i_min),
970 int i_min = (std::max)(
static_cast<int>(ceil(iP.
get_i() /
m_scale)), 0);
971 int j_min = (std::max)(
static_cast<int>(ceil(iP.
get_j() /
m_scale)), 0);
973 m_impl->displayImageROI(Itemp,
static_cast<gint
>(j_min),
static_cast<gint
>(i_min),
996 m_impl->closeDisplay();
1009 m_impl->flushDisplay();
1021 const unsigned int )
1024 m_impl->flushDisplay();
1044 unsigned int h,
unsigned int thickness)
1051 if ((std::fabs(a) > std::numeric_limits<double>::epsilon()) &&
1052 (std::fabs(b) > std::numeric_limits<double>::epsilon())) {
1095 m_impl->displayText(ip, text, color,
m_scale);
1112 unsigned int thickness)
1118 m_impl->displayCircle(center, radius, color, fill, thickness,
m_scale);
1134 double i = ip.
get_i();
1135 double j = ip.
get_j();
1138 ip1.
set_i(i - size / 2);
1140 ip2.
set_i(i + size / 2);
1145 ip1.
set_j(j - size / 2);
1147 ip2.
set_j(j + size / 2);
1163 unsigned int thickness)
1170 m_impl->displayDotLine(ip1, ip2, color, thickness,
m_scale);
1184 unsigned int thickness)
1190 m_impl->displayLine(ip1, ip2, color, thickness,
m_scale);
1206 m_impl->displayPoint(ip, color, thickness,
m_scale);
1227 bool fill,
unsigned int thickness)
1233 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1253 bool fill,
unsigned int thickness)
1262 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1290 m_impl->displayRectangle(topLeft, w, h, color, fill, thickness,
m_scale);
1319 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1349 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1381 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_PRESS);
1417 ret = m_impl->getClick(ip, button, blocking,
m_scale, GDK_BUTTON_RELEASE);
1433 m_impl->getImage(I,
static_cast<gint
>(
m_width),
static_cast<gint
>(
m_height));
1447 unsigned int depth = m_impl->getScreenDepth();
1473 ret = m_impl->getKeyboardEvent(key, blocking);
1505 ret = m_impl->getKeyboardEvent(key, blocking);
1530 ret = m_impl->getPointerMotionEvent(ip,
m_scale);
1551 m_impl->getPointerPosition(ip,
m_scale);
1576 unsigned int width, height;
1586 unsigned int width, height;
1591 #elif !defined(VISP_BUILD_SHARED_LIBS)
1594 void dummy_vpDisplayGTK() { };
Class to define RGB colors available for display functionalities.
Error that can be emitted by the vpDisplay class and its derivatives.
@ notInitializedError
Display not initialized.
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) override
bool getClick(bool blocking=true) override
void closeDisplay() override
void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height) override
void setWindowPosition(int win_x, int win_y) override
void displayImageROI(const vpImage< unsigned char > &I, const vpImagePoint &iP, unsigned int width, unsigned int height) override
bool getKeyboardEvent(bool blocking=true) override
void displayCircle(const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1) override
void getScreenSize(unsigned int &screen_width, unsigned int &screen_height) override
void displayText(const vpImagePoint &ip, const std::string &text, const vpColor &color=vpColor::green) override
void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1) override
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") override
unsigned int getScreenWidth() override
void clearDisplay(const vpColor &color=vpColor::white) override
bool getPointerPosition(vpImagePoint &ip) override
bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true) override
void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1) override
void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1) override
unsigned int getScreenDepth()
get the window depth (8,16,24,32)
void setTitle(const std::string &win_title) override
virtual ~vpDisplayGTK() override
void displayImage(const vpImage< vpRGBa > &I) override
unsigned int getScreenHeight() override
void setFont(const std::string &fontname) override
void getImage(vpImage< vpRGBa > &I) override
Get the window pixmap and put it in vpRGBa image.
void flushDisplay() override
void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1) override
void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1) override
bool getPointerMotionEvent(vpImagePoint &ip) override
Class that defines generic functionalities 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)