Visual Servoing Platform  version 3.6.1 under development (2023-12-02)
vpDisplay_rgba.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Display implementation.
33  *
34 *****************************************************************************/
35 
36 #include <visp3/core/vpDisplay.h>
37 
38 #include "vpDisplay_impl.h"
39 
40 //************************************************************************
41 // Modifications done in this file should be reported in all vpDisplay_*.cpp
42 // files that implement other types (unsigned char, vpRGB, vpRGBa)
43 //************************************************************************
44 
48 void vpDisplay::close(vpImage<vpRGBa> &I) { vp_display_close(I); }
49 
58 void vpDisplay::displayArrow(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
59  const vpColor &color, unsigned int w, unsigned int h, unsigned int thickness)
60 {
61  vp_display_display_arrow(I, ip1, ip2, color, w, h, thickness);
62 }
63 
74 void vpDisplay::displayArrow(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
75  unsigned int w, unsigned int h, unsigned int thickness)
76 {
77  vp_display_display_arrow(I, i1, j1, i2, j2, color, w, h, thickness);
78 }
79 
94  double size, const vpColor &color, unsigned int thickness)
95 {
96  vp_display_display_camera(I, cMo, cam, size, color, thickness);
97 }
98 
99 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
113 void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const char *string,
114  const vpColor &color)
115 {
116  vp_display_display_text(I, ip, string, color);
117 }
118 
132 void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, int i, int j, const char *string, const vpColor &color)
133 {
134  vp_display_display_text(I, i, j, string, color);
135 }
136 #endif
137 
150  const vpColor &color, bool fill, unsigned int thickness)
151 {
152  vp_display_display_circle(I, circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
153 }
154 
167 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, const vpImagePoint &center, unsigned int radius,
168  const vpColor &color, bool fill, unsigned int thickness)
169 {
170  vp_display_display_circle(I, center, radius, color, fill, thickness);
171 }
172 
185 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, int i, int j, unsigned int radius, const vpColor &color,
186  bool fill, unsigned int thickness)
187 {
188  vp_display_display_circle(I, i, j, radius, color, fill, thickness);
189 }
190 
199 void vpDisplay::displayCross(const vpImage<vpRGBa> &I, const vpImagePoint &ip, unsigned int size, const vpColor &color,
200  unsigned int thickness)
201 {
202  vp_display_display_cross(I, ip, size, color, thickness);
203 }
204 
213 void vpDisplay::displayCross(const vpImage<vpRGBa> &I, int i, int j, unsigned int size, const vpColor &color,
214  unsigned int thickness)
215 {
216  vp_display_display_cross(I, i, j, size, color, thickness);
217 }
218 
227  const vpColor &color, unsigned int thickness)
228 {
229  vp_display_display_dot_line(I, ip1, ip2, color, thickness);
230 }
231 
240 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
241  unsigned int thickness)
242 {
243  vp_display_display_dot_line(I, i1, j1, i2, j2, color, thickness);
244 }
245 
255 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
256  const vpColor &color, unsigned int thickness)
257 {
258  if (ips.size() <= 1)
259  return;
260 
261  for (size_t i = 0; i < ips.size() - 1; i++)
262  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
263 
264  if (closeTheShape)
265  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
266 }
267 
277 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
278  const vpColor &color, unsigned int thickness)
279 {
280  if (ips.size() <= 1)
281  return;
282 
283  std::list<vpImagePoint>::const_iterator it = ips.begin();
284 
285  vpImagePoint ip_prev = *(it++);
286  for (; it != ips.end(); ++it) {
287  if (vpImagePoint::distance(ip_prev, *it) > 1) {
288  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
289  ip_prev = *it;
290  }
291  }
292 
293  if (closeTheShape) {
294  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
295  }
296 }
297 
334 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
335  const double &coef2, const double &coef3, bool use_normalized_centered_moments,
336  const vpColor &color, unsigned int thickness, bool display_center, bool display_arc)
337 {
338  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., 2 * M_PI, use_normalized_centered_moments, color,
339  thickness, display_center, display_arc);
340 }
341 
381 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
382  const double &coef2, const double &coef3, const double &smallalpha,
383  const double &highalpha, bool use_normalized_centered_moments, const vpColor &color,
384  unsigned int thickness, bool display_center, bool display_arc)
385 {
386  vp_display_display_ellipse(I, center, coef1, coef2, coef3, smallalpha, highalpha, use_normalized_centered_moments,
387  color, thickness, display_center, display_arc);
388 }
389 
408  double size, const vpColor &color, unsigned int thickness, const vpImagePoint &offset,
409  const std::string &frameName, const vpColor &textColor, const vpImagePoint &textOffset)
410 {
411  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset, frameName, textColor, textOffset);
412 }
413 
423 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
424  const vpColor &color, unsigned int thickness, bool segment)
425 {
426  displayLine(I, static_cast<int>(ip1.get_i()), static_cast<int>(ip1.get_j()), static_cast<int>(ip2.get_i()),
427  static_cast<int>(ip2.get_j()), color, thickness, segment);
428 }
429 
440 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
441  unsigned int thickness, bool segment)
442 {
443  if (segment) {
444  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
445  }
446  else {
447  // line equation in image: i = a * j + b
448  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
449  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
450  // Test if horizontal line
451  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
452  vp_display_display_line(I, i1, 0, i1, (I.getWidth() - 1), color, thickness);
453  }
454  // Test if vertical line
455  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
456  vp_display_display_line(I, 0, j1, (I.getHeight() - 1), j1, color, thickness);
457  }
458  else {
459  double a = delta_i / delta_j;
460  double b = static_cast<double>(i1) - a * static_cast<double>(j1);
461  std::vector<vpImagePoint> vip; // Image points that intersect image borders
462  // Test intersection with vertical line j=0
463  vpImagePoint ip_left(b, 0);
464  if (ip_left.get_i() >= 0. && ip_left.get_i() <= (I.getHeight() - 1.)) {
465  vip.push_back(ip_left);
466  }
467  // Test intersection with vertical line j=width-1
468  vpImagePoint ip_right(a * (I.getWidth() - 1) + b, I.getWidth() - 1.);
469  if (ip_right.get_i() >= 0. && ip_right.get_i() <= (I.getHeight() - 1.)) {
470  vip.push_back(ip_right);
471  }
472  if (vip.size() == 2) {
473  vp_display_display_line(I, vip[0], vip[1], color, thickness);
474  return;
475  }
476  // Test intersection with horizontal line i=0
477  vpImagePoint ip_top(0, -b / a);
478  if (ip_top.get_j() >= 0. && ip_top.get_j() <= (I.getWidth() - 1.)) {
479  vip.push_back(ip_top);
480  }
481  if (vip.size() == 2) {
482  vp_display_display_line(I, vip[0], vip[1], color, thickness);
483  return;
484  }
485  // Test intersection with horizontal line i=height-1
486  vpImagePoint ip_bottom(I.getHeight() - 1., (I.getHeight() - 1. - b) / a);
487  if (ip_bottom.get_j() >= 0. && ip_bottom.get_j() <= (I.getWidth() - 1.)) {
488  vip.push_back(ip_bottom);
489  }
490  if (vip.size() == 2) {
491  vp_display_display_line(I, vip[0], vip[1], color, thickness);
492  return;
493  }
494  }
495  }
496 }
497 
507 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
508  const vpColor &color, unsigned int thickness)
509 {
510  if (ips.size() <= 1)
511  return;
512 
513  for (size_t i = 0; i < ips.size() - 1; i++)
514  vp_display_display_line(I, ips[i], ips[i + 1], color, thickness);
515 
516  if (closeTheShape)
517  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
518 }
519 
529 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
530  const vpColor &color, unsigned int thickness)
531 {
532  if (ips.size() <= 1)
533  return;
534 
535  std::list<vpImagePoint>::const_iterator it = ips.begin();
536 
537  vpImagePoint ip_prev = *(it++);
538  for (; it != ips.end(); ++it) {
539  if (vpImagePoint::distance(ip_prev, *it) > 1) {
540  vp_display_display_line(I, ip_prev, *it, color, thickness);
541  ip_prev = *it;
542  }
543  }
544 
545  if (closeTheShape) {
546  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
547  }
548 }
549 
557 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const vpColor &color,
558  unsigned int thickness)
559 {
560  vp_display_display_point(I, ip, color, thickness);
561 }
562 
570 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, int i, int j, const vpColor &color, unsigned int thickness)
571 {
572  vp_display_display_point(I, i, j, color, thickness);
573 }
574 
583 void vpDisplay::displayPolygon(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &vip, const vpColor &color,
584  unsigned int thickness, bool closed)
585 {
586  vp_display_display_polygon(I, vip, color, thickness, closed);
587 }
588 
597 void vpDisplay::displayPolygon(const vpImage<vpRGBa> &I, const vpPolygon &polygon, const vpColor &color,
598  unsigned int thickness, bool closed)
599 {
600  vp_display_display_polygon(I, polygon, color, thickness, closed);
601 }
602 
619 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, unsigned int width,
620  unsigned int height, const vpColor &color, bool fill, unsigned int thickness)
621 {
622  vp_display_display_rectangle(I, topLeft, width, height, color, fill, thickness);
623 }
624 
639 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, int i, int j, unsigned int width, unsigned int height,
640  const vpColor &color, bool fill, unsigned int thickness)
641 {
642  vp_display_display_rectangle(I, i, j, width, height, color, fill, thickness);
643 }
644 
660 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpRect &rectangle, const vpColor &color, bool fill,
661  unsigned int thickness)
662 {
663  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
664 }
665 
679 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &center, float angle, unsigned int width,
680  unsigned int height, const vpColor &color, unsigned int thickness)
681 {
682  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
683 }
684 
701 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight,
702  const vpColor &color, bool fill, unsigned int thickness)
703 {
704  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
705 }
706 
720 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, unsigned int i, unsigned int j, float angle,
721  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
722 {
723  vp_display_display_rectangle(I, i, j, angle, width, height, color, thickness);
724 }
725 
738 void vpDisplay::displayText(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const std::string &s,
739  const vpColor &color)
740 {
741  vp_display_display_text(I, ip, s, color);
742 }
743 
756 void vpDisplay::displayText(const vpImage<vpRGBa> &I, int i, int j, const std::string &s, const vpColor &color)
757 {
758  vp_display_display_text(I, i, j, s, color);
759 }
760 
790 void vpDisplay::flush(const vpImage<vpRGBa> &I) { vp_display_flush(I); }
791 
801 void vpDisplay::flushROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
802 
814 void vpDisplay::display(const vpImage<vpRGBa> &I) { vp_display_display(I); }
815 
820 void vpDisplay::displayROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
821 
839 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, bool blocking) { return vp_display_get_click(I, blocking); }
840 
859 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, vpImagePoint &ip, bool blocking)
860 {
861  return vp_display_get_click(I, ip, blocking);
862 }
863 
885  bool blocking)
886 {
887  return vp_display_get_click(I, ip, button, blocking);
888 }
889 
907 {
908  vpImagePoint ip;
909  return vpDisplay::getClick(I, ip, button, blocking);
910 }
911 
933  bool blocking)
934 {
935  return vp_display_get_click_up(I, ip, button, blocking);
936 }
937 
955 {
956  vpImagePoint ip;
957  return vpDisplay::getClickUp(I, ip, button, blocking);
958 }
959 
1042 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, bool blocking)
1043 {
1044  return vp_display_get_keyboard_event(I, blocking);
1045 }
1046 
1133 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, std::string &key, bool blocking)
1134 {
1135  return vp_display_get_keyboard_event(I, key, blocking);
1136 }
1137 
1224 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, char *key, bool blocking)
1225 {
1226  return vp_display_get_keyboard_event(I, key, blocking);
1227 }
1228 
1239 {
1240  return vp_display_get_pointer_motion_event(I, ip);
1241 }
1242 
1253 {
1254  return vp_display_get_pointer_position(I, ip);
1255 }
1256 
1266 void vpDisplay::setBackground(const vpImage<vpRGBa> &I, const vpColor &color) { vp_display_set_background(I, color); }
1267 
1281 void vpDisplay::setFont(const vpImage<vpRGBa> &I, const std::string &fontname) { vp_display_set_font(I, fontname); }
1282 
1290 void vpDisplay::setTitle(const vpImage<vpRGBa> &I, const std::string &windowtitle)
1291 {
1292  vp_display_set_title(I, windowtitle);
1293 }
1294 
1305 void vpDisplay::setWindowPosition(const vpImage<vpRGBa> &I, int winx, int winy)
1306 {
1307  vp_display_set_window_position(I, winx, winy);
1308 }
1309 
1317 unsigned int vpDisplay::getDownScalingFactor(const vpImage<vpRGBa> &I) { return vp_display_get_down_scaling_factor(I); }
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static void close(vpImage< unsigned char > &I)
static void setBackground(const vpImage< unsigned char > &I, const vpColor &color)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCircle(const vpImage< unsigned char > &I, const vpImageCircle &circle, const vpColor &color, bool fill=false, unsigned int thickness=1)
static bool getKeyboardEvent(const vpImage< unsigned char > &I, bool blocking=true)
static void displayROI(const vpImage< unsigned char > &I, const vpRect &roi)
static void display(const vpImage< unsigned char > &I)
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 displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flushROI(const vpImage< unsigned char > &I, const vpRect &roi)
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 vp_deprecated 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 flush(const vpImage< unsigned char > &I)
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 displayCamera(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:231
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 displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
static void displayPolygon(const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1, bool closed=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D circle in an image.
Definition: vpImageCircle.h:56
float getRadius() const
vpImagePoint getCenter() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
double get_j() const
Definition: vpImagePoint.h:125
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
double get_i() const
Definition: vpImagePoint.h:114
unsigned int getWidth() const
Definition: vpImage.h:240
unsigned int getHeight() const
Definition: vpImage.h:182
Defines a generic 2D polygon.
Definition: vpPolygon.h:97
Defines a rectangle in the plane.
Definition: vpRect.h:76