Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpDisplayOpenCV.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Image display.
33  *
34  * Authors:
35  * Christophe Collewet
36  * Eric Marchand
37  *
38  *****************************************************************************/
39 
40 #ifndef vpDisplayOpenCV_h
41 #define vpDisplayOpenCV_h
42 
43 #include <visp3/core/vpConfig.h>
44 #if defined(VISP_HAVE_OPENCV)
45 
46 #include <visp3/core/vpDisplay.h>
47 #include <visp3/core/vpImage.h>
48 #include <visp3/core/vpImageConvert.h>
49 
50 #if VISP_HAVE_OPENCV_VERSION >= 0x020101
51 #include <opencv2/core/core.hpp>
52 #include <opencv2/highgui/highgui.hpp>
53 #else
54 #include <cv.h>
55 #include <cxcore.h>
56 #include <highgui.h>
57 #endif
58 
142 class VISP_EXPORT vpDisplayOpenCV : public vpDisplay
143 {
144 private:
145 #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
146  IplImage *m_background;
148  CvScalar *col;
149  CvScalar cvcolor;
150  CvFont *font;
151 #else
152  cv::Mat m_background;
153  cv::Scalar *col;
154  cv::Scalar cvcolor;
155  int font;
156  float fontScale;
157 #endif
158  static std::vector<std::string> m_listTitles;
159  static unsigned int m_nbWindows;
160  int fontHeight;
161  int x_move;
162  int y_move;
163  bool move;
164  int x_lbuttondown;
165  int y_lbuttondown;
166  bool lbuttondown;
167  int x_mbuttondown;
168  int y_mbuttondown;
169  bool mbuttondown;
170  int x_rbuttondown;
171  int y_rbuttondown;
172  bool rbuttondown;
173  int x_lbuttonup;
174  int y_lbuttonup;
175  bool lbuttonup;
176  int x_mbuttonup;
177  int y_mbuttonup;
178  bool mbuttonup;
179  int x_rbuttonup;
180  int y_rbuttonup;
181  bool rbuttonup;
182 
183  // private:
184  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
185  // vpDisplayOpenCV(const vpDisplayOpenCV &)
186  // : vpDisplay(),
187  // #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
188  // background(NULL), col(NULL), cvcolor(), font(NULL),
189  // #else
190  // background(), col(NULL), cvcolor(), font(cv::FONT_HERSHEY_PLAIN),
191  // fontScale(0.8f),
192  // #endif
193  // fontHeight(10), x_move(0), y_move(0) , move(false),
194  // x_lbuttondown(0), y_lbuttondown(0), lbuttondown(false),
195  // x_mbuttondown(0), y_mbuttondown(0), mbuttondown(false),
196  // x_rbuttondown(0), y_rbuttondown(0), rbuttondown(false),
197  // x_lbuttonup(0), y_lbuttonup(0), lbuttonup(false),
198  // x_mbuttonup(0), y_mbuttonup(0), mbuttonup(false),
199  // x_rbuttonup(0), y_rbuttonup(0), rbuttonup(false)
200  // {
201  // throw vpException(vpException::functionNotImplementedError, "Not
202  // implemented!");
203  // }
204  // vpDisplayOpenCV &operator=(const vpDisplayOpenCV &){
205  // throw vpException(vpException::functionNotImplementedError, "Not
206  // implemented!"); return *this;
207  // }
208  //#endif
209 
210 public:
211  vpDisplayOpenCV();
212  vpDisplayOpenCV(int winx, int winy, const std::string &title = "");
214  vpDisplayOpenCV(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "",
215  vpScaleType type = SCALE_DEFAULT);
217  vpDisplayOpenCV(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "",
218  vpScaleType type = SCALE_DEFAULT);
219 
220  virtual ~vpDisplayOpenCV();
221 
222  void getImage(vpImage<vpRGBa> &I);
223  unsigned int getScreenHeight();
224  void getScreenSize(unsigned int &width, unsigned int &height);
225  unsigned int getScreenWidth();
226 
227  void init(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "");
228  void init(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "");
229  void init(unsigned int width, unsigned int height, int winx = -1, int winy = -1, const std::string &title = "");
230 
231 protected:
232  void setFont(const std::string &font);
233  void setTitle(const std::string &title);
234  void setWindowPosition(int winx, int winy);
235 
236  void clearDisplay(const vpColor &color = vpColor::white);
237 
238  void closeDisplay();
239 
240  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
241  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
242 
243  void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green);
244 
245  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
246  unsigned int thickness = 1);
247  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
248  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
249  unsigned int thickness = 1);
250 
251  void displayImage(const vpImage<unsigned char> &I);
252  void displayImage(const vpImage<vpRGBa> &I);
253  void displayImage(const unsigned char *I);
254 
255  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, const unsigned int width,
256  const unsigned int height);
257  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, const unsigned int width,
258  const unsigned int height);
259 
260  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1);
261  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
262 
263  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
264  bool fill = false, unsigned int thickness = 1);
265  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
266  bool fill = false, unsigned int thickness = 1);
267  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1);
268 
269  void flushDisplay();
270  void flushDisplayROI(const vpImagePoint &iP, const unsigned int width, const unsigned int height);
271 
272  bool getClick(bool blocking = true);
273  bool getClick(vpImagePoint &ip, bool blocking = true);
274  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
275  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
276 
277  bool getKeyboardEvent(bool blocking = true);
278  bool getKeyboardEvent(std::string &key, bool blocking = true);
281 
282  static void on_mouse(int event, int x, int y, int flags, void *param);
283 };
284 
285 #endif
286 #endif
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:171
static bool getPointerPosition(const vpImage< unsigned char > &I, vpImagePoint &ip)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static bool getPointerMotionEvent(const vpImage< unsigned char > &I, vpImagePoint &ip)
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
static bool getClickUp(const vpImage< unsigned char > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static const vpColor green
Definition: vpColor.h:183
static void setFont(const vpImage< unsigned char > &I, const std::string &font)
static void displayArrow(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:144
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static bool getKeyboardEvent(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCharString(const vpImage< unsigned char > &I, const vpImagePoint &ip, const char *string, const vpColor &color)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static const vpColor white
Definition: vpColor.h:175
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)