Visual Servoing Platform  version 3.3.1 under development (2020-10-22)
vpDisplay.h
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20  * Inria Rennes - Bretagne Atlantique
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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  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpDisplay_h
41 #define vpDisplay_h
42 
43 #include <sstream>
44 #include <string>
45 #include <list>
46 
47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpColor.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpImage.h>
51 #include <visp3/core/vpImagePoint.h>
52 #include <visp3/core/vpMouseButton.h>
53 #include <visp3/core/vpRect.h>
54 
177 class VISP_EXPORT vpDisplay
178 {
179 public:
182  typedef enum {
183  SCALE_AUTO,
186  SCALE_2,
188  SCALE_3,
190  SCALE_4,
192  SCALE_5,
194  SCALE_6,
196  SCALE_7,
198  SCALE_8,
200  SCALE_9,
202  SCALE_10,
204  SCALE_DEFAULT
206  } vpScaleType;
207 
208 protected:
215  unsigned int m_width;
216  unsigned int m_height;
217  std::string m_title;
218  unsigned int m_scale;
219  vpScaleType m_scaleType;
220 
221  void setScale(vpScaleType scaleType, unsigned int width, unsigned int height);
222 
223 public:
224  vpDisplay();
225  vpDisplay(const vpDisplay &d);
226  virtual ~vpDisplay();
227 
230  unsigned int computeAutoScale(unsigned int width, unsigned int height);
235  unsigned int getDownScalingFactor() { return m_scale; }
240  inline unsigned int getHeight() const { return m_height; }
245  inline unsigned int getWidth() const { return m_width; }
246 
251  int getWindowXPosition() const { return m_windowXPosition; }
256  int getWindowYPosition() const { return m_windowYPosition; }
257 
263  inline bool isInitialised() { return m_displayHasBeenInitialized; }
264  virtual void setDownScalingFactor(unsigned int scale);
265  virtual void setDownScalingFactor(vpScaleType scaleType);
267 
268 #ifndef DOXYGEN_SHOULD_SKIP_THIS
269 
275  virtual void clearDisplay(const vpColor &color = vpColor::white) = 0;
279  virtual void closeDisplay() = 0;
280 
290  virtual void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
291  unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1) = 0;
303  virtual void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green) = 0;
313  virtual void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
314  unsigned int thickness = 1) = 0;
322  virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color,
323  unsigned int thickness = 1) = 0;
331  virtual void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
332  unsigned int thickness = 1) = 0;
340  virtual void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
341  unsigned int thickness = 1) = 0;
342 
354  virtual void displayImage(const vpImage<unsigned char> &I) = 0;
355 
367  virtual void displayImage(const vpImage<vpRGBa> &I) = 0;
368 
369  virtual void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
370  unsigned int height) = 0;
371  virtual void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width,
372  unsigned int height) = 0;
373 
380  virtual void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1) = 0;
381 
396  virtual void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height,
397  const vpColor &color, bool fill = false, unsigned int thickness = 1) = 0;
411  virtual void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
412  bool fill = false, unsigned int thickness = 1) = 0;
426  virtual void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false,
427  unsigned int thickness = 1) = 0;
428 
433  virtual void flushDisplay() = 0;
434 
439  virtual void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height) = 0;
440 
441  /* Simple interface with the mouse event */
442 
458  virtual bool getClick(bool blocking = true) = 0;
459 
475  virtual bool getClick(vpImagePoint &ip, bool blocking = true) = 0;
494  virtual bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true) = 0;
517  virtual bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true) = 0;
518 
534  virtual bool getKeyboardEvent(bool blocking = true) = 0;
554  virtual bool getKeyboardEvent(std::string &key, bool blocking = true) = 0;
565  virtual bool getPointerMotionEvent(vpImagePoint &ip) = 0;
566 
577  virtual bool getPointerPosition(vpImagePoint &ip) = 0;
578 
582  virtual unsigned int getScreenHeight() = 0;
587  virtual void getScreenSize(unsigned int &width, unsigned int &height) = 0;
591  virtual unsigned int getScreenWidth() = 0;
592 
601  virtual void init(vpImage<unsigned char> &I, int x = -1, int y = -1, const std::string &title = "") = 0;
611  virtual void init(vpImage<vpRGBa> &I, int x = -1, int y = -1, const std::string &title = "") = 0;
612 
673  virtual void init(unsigned int width, unsigned int height, int x = -1, int y = -1, const std::string &title = "") = 0;
674 
688  virtual void setFont(const std::string &font) = 0;
693  virtual void setTitle(const std::string &title) = 0;
701  virtual void setWindowPosition(int x, int y) = 0;
703 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS
704 
709  static void close(vpImage<unsigned char> &I);
710  static void display(const vpImage<unsigned char> &I);
711  static void displayArrow(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
712  const vpColor &color = vpColor::white, unsigned int w = 4, unsigned int h = 2,
713  unsigned int thickness = 1);
714  static void displayArrow(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2,
715  const vpColor &color = vpColor::white, unsigned int w = 4, unsigned int h = 2,
716  unsigned int thickness = 1);
717  static void displayCamera(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
718  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness);
719  static void displayCharString(const vpImage<unsigned char> &I, const vpImagePoint &ip, const char *string,
720  const vpColor &color);
721  static void displayCharString(const vpImage<unsigned char> &I, int i, int j, const char *string,
722  const vpColor &color);
723  static void displayCircle(const vpImage<unsigned char> &I, const vpImagePoint &center, unsigned int radius,
724  const vpColor &color, bool fill = false, unsigned int thickness = 1);
725  static void displayCircle(const vpImage<unsigned char> &I, int i, int j, unsigned int radius, const vpColor &color,
726  bool fill = false, unsigned int thickness = 1);
727  static void displayCross(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int size,
728  const vpColor &color, unsigned int thickness = 1);
729  static void displayCross(const vpImage<unsigned char> &I, int i, int j, unsigned int size, const vpColor &color,
730  unsigned int thickness = 1);
731  static void displayDotLine(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
732  const vpColor &color, unsigned int thickness = 1);
733  static void displayDotLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
734  unsigned int thickness = 1);
735  static void displayDotLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips,
736  bool closeTheShape, const vpColor &color, unsigned int thickness = 1);
737  static void displayDotLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips,
738  bool closeTheShape, const vpColor &color, unsigned int thickness = 1);
739  static void displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
740  const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color,
741  unsigned int thickness = 1);
742  static void displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
743  const double &coef2, const double &coef3, const double &theta1, const double &theta2,
744  bool use_centered_moments, const vpColor &color, unsigned int thickness = 1);
745  static void displayFrame(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
746  const vpCameraParameters &cam, double size, const vpColor &color = vpColor::none,
747  unsigned int thickness = 1, const vpImagePoint &offset = vpImagePoint(0, 0));
748  static void displayLine(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
749  const vpColor &color, unsigned int thickness = 1, bool segment = true);
750  static void displayLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
751  unsigned int thickness = 1, bool segment = true);
752  static void displayLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips,
753  bool closeTheShape, const vpColor &color, unsigned int thickness = 1);
754  static void displayLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips,
755  bool closeTheShape, const vpColor &color, unsigned int thickness = 1);
756  static void displayPoint(const vpImage<unsigned char> &I, const vpImagePoint &ip, const vpColor &color,
757  unsigned int thickness = 1);
758  static void displayPoint(const vpImage<unsigned char> &I, int i, int j, const vpColor &color,
759  unsigned int thickness = 1);
760  static void displayPolygon(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
761  const vpColor &color, unsigned int thickness = 1, bool closed = true);
762  static void displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &topLeft, unsigned int width,
763  unsigned int height, const vpColor &color, bool fill = false,
764  unsigned int thickness = 1);
765  static void displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &topLeft,
766  const vpImagePoint &bottomRight, const vpColor &color, bool fill = false,
767  unsigned int thickness = 1);
768  static void displayRectangle(const vpImage<unsigned char> &I, const vpRect &rectangle, const vpColor &color,
769  bool fill = false, unsigned int thickness = 1);
770  static void displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &center, float angle,
771  unsigned int width, unsigned int height, const vpColor &color,
772  unsigned int thickness = 1);
773  static void displayRectangle(const vpImage<unsigned char> &I, int i, int j, unsigned int width, unsigned int height,
774  const vpColor &color, bool fill = false, unsigned int thickness = 1);
775  static void displayRectangle(const vpImage<unsigned char> &I, unsigned int i, unsigned int j, float angle,
776  unsigned int width, unsigned int height, const vpColor &color,
777  unsigned int thickness = 1);
778  static void displayROI(const vpImage<unsigned char> &I, const vpRect &roi);
779  static void displayText(const vpImage<unsigned char> &I, const vpImagePoint &ip, const std::string &s,
780  const vpColor &color);
781  static void displayText(const vpImage<unsigned char> &I, int i, int j, const std::string &s, const vpColor &color);
782 
783  static void flush(const vpImage<unsigned char> &I);
784  static void flushROI(const vpImage<unsigned char> &I, const vpRect &roi);
785 
786  static bool getClick(const vpImage<unsigned char> &I, bool blocking = true);
787  static bool getClick(const vpImage<unsigned char> &I, vpImagePoint &ip, bool blocking = true);
788  static bool getClick(const vpImage<unsigned char> &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button,
789  bool blocking = true);
790  static bool getClick(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
791  static bool getClickUp(const vpImage<unsigned char> &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button,
792  bool blocking = true);
793  static bool getClickUp(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button,
794  bool blocking = true);
795  static unsigned int getDownScalingFactor(const vpImage<unsigned char> &I);
796  static void getImage(const vpImage<unsigned char> &Is, vpImage<vpRGBa> &Id);
797  static bool getKeyboardEvent(const vpImage<unsigned char> &I, bool blocking = true);
798  static bool getKeyboardEvent(const vpImage<unsigned char> &I, std::string &key, bool blocking = true);
799  static bool getKeyboardEvent(const vpImage<unsigned char> &I, char *key, bool blocking = true);
800  static bool getPointerMotionEvent(const vpImage<unsigned char> &I, vpImagePoint &ip);
801  static bool getPointerPosition(const vpImage<unsigned char> &I, vpImagePoint &ip);
802 
803  static void setBackground(const vpImage<unsigned char> &I, const vpColor &color);
804  static void setFont(const vpImage<unsigned char> &I, const std::string &font);
805  static void setTitle(const vpImage<unsigned char> &I, const std::string &windowtitle);
806  static void setWindowPosition(const vpImage<unsigned char> &I, int winx, int winy);
808 
813  static void close(vpImage<vpRGBa> &I);
814  static void display(const vpImage<vpRGBa> &I);
815  static void displayArrow(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
816  const vpColor &color = vpColor::white, unsigned int w = 4, unsigned int h = 2,
817  unsigned int thickness = 1);
818  static void displayArrow(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2,
819  const vpColor &color = vpColor::white, unsigned int w = 4, unsigned int h = 2,
820  unsigned int thickness = 1);
821  static void displayCamera(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
822  double size, const vpColor &color, unsigned int thickness);
823  static void displayCharString(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const char *string,
824  const vpColor &color);
825  static void displayCharString(const vpImage<vpRGBa> &I, int i, int j, const char *string, const vpColor &color);
826  static void displayCircle(const vpImage<vpRGBa> &I, const vpImagePoint &center, unsigned int radius,
827  const vpColor &color, bool fill = false, unsigned int thickness = 1);
828  static void displayCircle(const vpImage<vpRGBa> &I, int i, int j, unsigned int radius, const vpColor &color,
829  bool fill = false, unsigned int thickness = 1);
830  static void displayCross(const vpImage<vpRGBa> &I, const vpImagePoint &ip, unsigned int size, const vpColor &color,
831  unsigned int thickness = 1);
832  static void displayCross(const vpImage<vpRGBa> &I, int i, int j, unsigned int size, const vpColor &color,
833  unsigned int thickness = 1);
834  static void displayDotLine(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
835  const vpColor &color, unsigned int thickness = 1);
836  static void displayDotLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
837  unsigned int thickness = 1);
838  static void displayDotLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
839  const vpColor &color, unsigned int thickness = 1);
840  static void displayDotLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
841  const vpColor &color, unsigned int thickness = 1);
842  static void displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
843  const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color,
844  unsigned int thickness = 1);
845  static void displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
846  const double &coef2, const double &coef3, const double &theta1, const double &theta2,
847  bool use_centered_moments, const vpColor &color, unsigned int thickness = 1);
848  static void displayFrame(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
849  double size, const vpColor &color = vpColor::none, unsigned int thickness = 1,
850  const vpImagePoint &offset = vpImagePoint(0, 0));
851  static void displayLine(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
852  const vpColor &color, unsigned int thickness = 1, bool segment = true);
853  static void displayLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
854  unsigned int thickness = 1, bool segment = true);
855  static void displayLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
856  const vpColor &color, unsigned int thickness = 1);
857  static void displayLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
858  const vpColor &color, unsigned int thickness = 1);
859  static void displayPoint(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const vpColor &color,
860  unsigned int thickness = 1);
861  static void displayPoint(const vpImage<vpRGBa> &I, int i, int j, const vpColor &color, unsigned int thickness = 1);
862  static void displayPolygon(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &vip, const vpColor &color,
863  unsigned int thickness = 1, bool closed = true);
864  static void displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, unsigned int width,
865  unsigned int height, const vpColor &color, bool fill = false,
866  unsigned int thickness = 1);
867  static void displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight,
868  const vpColor &color, bool fill = false, unsigned int thickness = 1);
869  static void displayRectangle(const vpImage<vpRGBa> &I, const vpRect &rectangle, const vpColor &color,
870  bool fill = false, unsigned int thickness = 1);
871  static void displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &center, float angle, unsigned int width,
872  unsigned int height, const vpColor &color, unsigned int thickness = 1);
873  static void displayRectangle(const vpImage<vpRGBa> &I, int i, int j, unsigned int width, unsigned int height,
874  const vpColor &color, bool fill = false, unsigned int thickness = 1);
875  static void displayRectangle(const vpImage<vpRGBa> &I, unsigned int i, unsigned int j, float angle,
876  unsigned int width, unsigned int height, const vpColor &color,
877  unsigned int thickness = 1);
878  static void displayROI(const vpImage<vpRGBa> &I, const vpRect &roi);
879  static void displayText(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const std::string &s, const vpColor &color);
880  static void displayText(const vpImage<vpRGBa> &I, int i, int j, const std::string &s, const vpColor &color);
881 
882  static void flush(const vpImage<vpRGBa> &I);
883  static void flushROI(const vpImage<vpRGBa> &I, const vpRect &roi);
884 
885  static bool getClick(const vpImage<vpRGBa> &I, bool blocking = true);
886  static bool getClick(const vpImage<vpRGBa> &I, vpImagePoint &ip, bool blocking = true);
887  static bool getClick(const vpImage<vpRGBa> &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button,
888  bool blocking = true);
889  static bool getClick(const vpImage<vpRGBa> &I, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
890  static bool getClickUp(const vpImage<vpRGBa> &I, vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button,
891  bool blocking = true);
892  static bool getClickUp(const vpImage<vpRGBa> &I, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
893  static unsigned int getDownScalingFactor(const vpImage<vpRGBa> &I);
894  static void getImage(const vpImage<vpRGBa> &Is, vpImage<vpRGBa> &Id);
895  static bool getKeyboardEvent(const vpImage<vpRGBa> &I, bool blocking = true);
896  static bool getKeyboardEvent(const vpImage<vpRGBa> &I, std::string &key, bool blocking = true);
897  static bool getKeyboardEvent(const vpImage<vpRGBa> &I, char *key, bool blocking = true);
898  static bool getPointerMotionEvent(const vpImage<vpRGBa> &I, vpImagePoint &ip);
899  static bool getPointerPosition(const vpImage<vpRGBa> &I, vpImagePoint &ip);
900 
901  static void setBackground(const vpImage<vpRGBa> &I, const vpColor &color);
902  static void setFont(const vpImage<vpRGBa> &I, const std::string &font);
903  static void setTitle(const vpImage<vpRGBa> &I, const std::string &windowtitle);
904  static void setWindowPosition(const vpImage<vpRGBa> &I, int winx, int winy);
906 
907 private:
909  virtual void getImage(vpImage<vpRGBa> &I) = 0;
910 };
911 
912 #endif
unsigned int m_height
Definition: vpDisplay.h:216
bool isInitialised()
Definition: vpDisplay.h:263
int m_windowYPosition
display position
Definition: vpDisplay.h:214
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:177
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
static const vpColor none
Definition: vpColor.h:229
bool m_displayHasBeenInitialized
display has been initialized
Definition: vpDisplay.h:210
static const vpColor green
Definition: vpColor.h:220
int m_windowXPosition
display position
Definition: vpDisplay.h:212
unsigned int m_scale
Definition: vpDisplay.h:218
Generic class defining intrinsic camera parameters.
vpScaleType m_scaleType
Definition: vpDisplay.h:219
std::string m_title
Definition: vpDisplay.h:217
unsigned int getWidth() const
Definition: vpDisplay.h:245
int getWindowXPosition() const
Definition: vpDisplay.h:251
int getWindowYPosition() const
Definition: vpDisplay.h:256
unsigned int m_width
Definition: vpDisplay.h:215
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
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 const vpColor white
Definition: vpColor.h:212
unsigned int getHeight() const
Definition: vpDisplay.h:240