Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
vpDisplayX.h
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30  *
31  * Description:
32  * Image display.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpDisplayX_h
40 #define vpDisplayX_h
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpDisplay.h>
44 #ifdef VISP_HAVE_X11
45 
46 // namespace X11name
47 //{
48 #include <X11/Xlib.h>
49 #include <X11/Xutil.h>
50 //#include <X11/Xatom.h>
51 //#include <X11/cursorfont.h>
52 //} ;
53 
54 // using namespace X11name ;
55 
56 // Work arround to use this class with Eigen3
57 #ifdef Success
58 #undef Success // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=253
59 #endif
60 
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpRect.h>
63 
150 class VISP_EXPORT vpDisplayX : public vpDisplay
151 {
152 private:
153  Display *display;
154  Window window;
155  XImage *Ximage;
156  Colormap lut;
157  GC context;
158  int screen;
159  XEvent event;
160  Pixmap pixmap;
161  unsigned long *x_color; // Array of predefined colors
162  unsigned int screen_depth;
163  unsigned short colortable[256];
164  XColor xcolor;
165  XGCValues values;
166  bool ximage_data_init;
167  unsigned int RMask, GMask, BMask;
168  int RShift, GShift, BShift;
169 
170  // private:
171  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
172  // vpDisplayX(const vpDisplayX &)
173  // : vpDisplay(), display(NULL), window(), Ximage(NULL), lut(),
174  // context(), screen(), event(), pixmap(),
175  // x_color(NULL), screen_depth(8), xcolor(), values(),
176  // ximage_data_init(false), RMask(0), GMask(0), BMask(0), RShift(0),
177  // GShift(0), BShift(0)
178  // {
179  // throw vpException(vpException::functionNotImplementedError, "Not
180  // implemented!");
181  // }
182  // vpDisplayX &operator=(const vpDisplayX &){
183  // throw vpException(vpException::functionNotImplementedError, "Not
184  // implemented!"); return *this;
185  // }
186  //#endif
187 
188 public:
189  vpDisplayX();
190  vpDisplayX(int winx, int winy, const std::string &title = "");
192  vpDisplayX(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "",
193  vpScaleType type = SCALE_DEFAULT);
195  vpDisplayX(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "",
196  vpScaleType type = SCALE_DEFAULT);
197 
198  virtual ~vpDisplayX();
199 
200  void getImage(vpImage<vpRGBa> &I);
201  unsigned int getScreenDepth();
202  unsigned int getScreenHeight();
203  void getScreenSize(unsigned int &width, unsigned int &height);
204  unsigned int getScreenWidth();
205 
206  void init(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "");
207  void init(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "");
208  void init(unsigned int width, unsigned int height, int winx = -1, int winy = -1, const std::string &title = "");
209 
210 protected:
211  void clearDisplay(const vpColor &color = vpColor::white);
212 
213  void closeDisplay();
214 
215  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
216  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
217 
218  void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green);
219 
220  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
221  unsigned int thickness = 1);
222  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
223  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
224  unsigned int thickness = 1);
225 
226  void displayImage(const vpImage<unsigned char> &I);
227  void displayImage(const vpImage<vpRGBa> &I);
228  void displayImage(const unsigned char *I);
229 
230  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
231  unsigned int height);
232  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width,
233  unsigned int height);
234 
235  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1);
236  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
237 
238  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
239  bool fill = false, unsigned int thickness = 1);
240  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
241  bool fill = false, unsigned int thickness = 1);
242  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1);
243 
244  void flushDisplay();
245  void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height);
246 
247  bool getClick(bool blocking = true);
248  bool getClick(vpImagePoint &ip, bool blocking = true);
249  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
250  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
251 
252  bool getKeyboardEvent(bool blocking = true);
253  bool getKeyboardEvent(std::string &key, bool blocking = true);
254 
255  int getMsb(unsigned int u32val);
258 
259  void setFont(const std::string &font);
260  void setTitle(const std::string &title);
261  void setWindowPosition(int winx, int winy);
262 };
263 
264 #endif
265 #endif
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:177
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 RGB colors available for display functionnalities.
Definition: vpColor.h:157
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
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:220
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)
static void display(const vpImage< unsigned char > &I)
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:79
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
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:212
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)