Visual Servoing Platform  version 3.5.1 under development (2022-07-01)
vpDisplayWin32.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Windows 32 display base class
33  *
34  * Authors:
35  * Bruno Renier
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #if (defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9))
42 
43 #ifndef vpDisplayWin32_hh
44 #define vpDisplayWin32_hh
45 
46 #include <string>
47 
48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/core/vpImage.h>
50 // Include WinSock2.h before windows.h to ensure that winsock.h is not
51 // included by windows.h since winsock.h and winsock2.h are incompatible
52 #include <WinSock2.h>
53 #include <visp3/core/vpImagePoint.h>
54 #include <visp3/core/vpRect.h>
55 #include <visp3/gui/vpWin32Renderer.h>
56 #include <visp3/gui/vpWin32Window.h>
57 #include <windows.h>
58 
59 #ifndef DOXYGEN_SHOULD_SKIP_THIS
63 struct threadParam {
65  vpDisplayWin32 *vpDisp;
66 
68  int x;
69 
71  int y;
72 
74  unsigned int w;
75 
77  unsigned int h;
78 
80  std::string title;
81 };
82 #endif /* DOXYGEN_SHOULD_SKIP_THIS */
83 
96 class VISP_EXPORT vpDisplayWin32 : public vpDisplay
97 {
98 protected:
100  static const int MAX_INIT_DELAY;
101 
103  HANDLE hThread;
104 
106  DWORD threadId;
107 
109  bool iStatus;
110 
112  vpWin32Window window;
113 
115  RECT roi;
116 
118  friend void vpCreateWindow(threadParam *param);
119 
120 public:
121  explicit vpDisplayWin32(vpWin32Renderer *rend = NULL);
122 
123  vpDisplayWin32(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "");
124 
125  vpDisplayWin32(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "");
126 
127  virtual ~vpDisplayWin32();
128 
129  void clearDisplay(const vpColor &color = vpColor::white);
130  void closeDisplay();
131  void displayImage(const vpImage<vpRGBa> &I);
132  void displayImage(const vpImage<unsigned char> &I);
133 
134  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
135  unsigned int height);
136  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
137 
138  void flushDisplay();
139  void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height);
140 
141  void getImage(vpImage<vpRGBa> &I);
142  unsigned int getScreenHeight();
143  void getScreenSize(unsigned int &width, unsigned int &height);
144  unsigned int getScreenWidth();
145 
146  void init(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "");
147  void init(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "");
148  void init(unsigned int width, unsigned int height, int winx = -1, int winy = -1, const std::string &title = "");
149 
150  void setFont(const std::string &fontname);
151  void setDownScalingFactor(unsigned int scale)
152  {
153  window.setScale(scale);
154  m_scale = scale;
155  }
156  void setDownScalingFactor(vpScaleType scaleType) { m_scaleType = scaleType; }
157  void setTitle(const std::string &windowtitle);
158  void setWindowPosition(int winx, int winy);
159 
160 protected:
161  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
162  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
163 
164  void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green);
165 
166  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
167  unsigned int thickness = 1);
168 
169  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
170 
171  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
172  unsigned int thickness = 1);
173 
174  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1);
175 
176  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
177 
178  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
179  bool fill = false, unsigned int thickness = 1);
180  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
181  bool fill = false, unsigned int thickness = 1);
182  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1);
183 
184  bool getClick(bool blocking = true);
185 
186  bool getClick(vpImagePoint &ip, bool blocking = true);
187 
188  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
189 
190  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
191  bool getKeyboardEvent(bool blocking = true);
192  bool getKeyboardEvent(std::string &key, bool blocking);
195 
196  void waitForInit();
197 };
198 #endif
199 #endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor white
Definition: vpColor.h:212
static const vpColor green
Definition: vpColor.h:220
Base abstract class for Windows 32 displays. Implements the window creation in a separate thread and ...
DWORD threadId
Id of the window's thread.
vpWin32Window window
The window.
void setDownScalingFactor(vpScaleType scaleType)
vpDisplayWin32(vpImage< vpRGBa > &I, int winx=-1, int winy=-1, const std::string &title="")
vpDisplayWin32(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
HANDLE hThread
Handle of the window's thread.
bool iStatus
Initialization status.
static const int MAX_INIT_DELAY
Maximum delay for window initialization.
void setDownScalingFactor(unsigned int scale)
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static bool getKeyboardEvent(const vpImage< unsigned char > &I, bool blocking=true)
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 getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:144
static bool getClickUp(const vpImage< unsigned char > &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking=true)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
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 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)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static void setFont(const vpImage< unsigned char > &I, const std::string &font)
static void displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
static bool getPointerPosition(const vpImage< unsigned char > &I, vpImagePoint &ip)
static bool getPointerMotionEvent(const vpImage< unsigned char > &I, vpImagePoint &ip)
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 setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
Defines a rectangle in the plane.
Definition: vpRect.h:80