Visual Servoing Platform  version 3.5.1 under development (2022-05-22)
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 #ifdef VISP_HAVE_X11
44 #include <visp3/core/vpDisplay.h>
45 #include <visp3/core/vpImage.h>
46 #include <visp3/core/vpRect.h>
47 
134 class VISP_EXPORT vpDisplayX : public vpDisplay
135 {
136  // private:
137  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
138  // vpDisplayX(const vpDisplayX &)
139  // : vpDisplay(), display(NULL), window(), Ximage(NULL), lut(),
140  // context(), screen(), event(), pixmap(),
141  // x_color(NULL), screen_depth(8), xcolor(), values(),
142  // ximage_data_init(false), RMask(0), GMask(0), BMask(0), RShift(0),
143  // GShift(0), BShift(0)
144  // {
145  // throw vpException(vpException::functionNotImplementedError, "Not
146  // implemented!");
147  // }
148  // vpDisplayX &operator=(const vpDisplayX &){
149  // throw vpException(vpException::functionNotImplementedError, "Not
150  // implemented!"); return *this;
151  // }
152  //#endif
153 
154 public:
155  vpDisplayX();
156  vpDisplayX(int winx, int winy, const std::string &title = "");
158  vpDisplayX(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "",
159  vpScaleType type = SCALE_DEFAULT);
161  vpDisplayX(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "",
162  vpScaleType type = SCALE_DEFAULT);
163 
164  virtual ~vpDisplayX();
165 
166  void getImage(vpImage<vpRGBa> &I);
167  unsigned int getScreenDepth();
168  unsigned int getScreenHeight();
169  void getScreenSize(unsigned int &width, unsigned int &height);
170  unsigned int getScreenWidth();
171 
172  void init(vpImage<unsigned char> &I, int win_x = -1, int win_y = -1, const std::string &win_title = "");
173  void init(vpImage<vpRGBa> &I, int win_x = -1, int win_y = -1, const std::string &win_title = "");
174  void init(unsigned int win_width, unsigned int win_height, int win_x = -1, int win_y = -1,
175  const std::string &win_title = "");
176 
177 protected:
178  void clearDisplay(const vpColor &color = vpColor::white);
179 
180  void closeDisplay();
181 
182  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
183  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
184 
185  void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green);
186 
187  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
188  unsigned int thickness = 1);
189  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
190  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
191  unsigned int thickness = 1);
192 
193  void displayImage(const vpImage<unsigned char> &I);
194  void displayImage(const vpImage<vpRGBa> &I);
195  void displayImage(const unsigned char *I);
196 
197  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
198  unsigned int height);
199  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
200 
201  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1);
202  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
203 
204  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
205  bool fill = false, unsigned int thickness = 1);
206  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
207  bool fill = false, unsigned int thickness = 1);
208  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1);
209 
210  void flushDisplay();
211  void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height);
212 
213  bool getClick(bool blocking = true);
214  bool getClick(vpImagePoint &ip, bool blocking = true);
215  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
216  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
217 
218  bool getKeyboardEvent(bool blocking = true);
219  bool getKeyboardEvent(std::string &key, bool blocking = true);
220 
223 
224  void setFont(const std::string &font);
225  void setTitle(const std::string &title);
226  void setWindowPosition(int win_x, int win_y);
227 
228 private:
229  // Implementation
230  class Impl;
231  Impl *m_impl;
232 };
233 
234 #endif
235 #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:134
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 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: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: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)