Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
vpDisplay_rgba.cpp
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30  *
31  * Description:
32  * Display implementation.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpDisplay.h>
40 
41 #include "vpDisplay_impl.h"
42 
43 //************************************************************************
44 // Modifications done in this file should be reported in all vpDisplay_*.cpp
45 // files that implement other types (unsigned char, vpRGB, vpRGBa)
46 //************************************************************************
47 
51 void vpDisplay::close(vpImage<vpRGBa> &I) { vp_display_close(I); }
52 
61 void vpDisplay::displayArrow(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
62  const vpColor &color, unsigned int w, unsigned int h, unsigned int thickness)
63 {
64  vp_display_display_arrow(I, ip1, ip2, color, w, h, thickness);
65 }
66 
77 void vpDisplay::displayArrow(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
78  unsigned int w, unsigned int h, unsigned int thickness)
79 {
80  vp_display_display_arrow(I, i1, j1, i2, j2, color, w, h, thickness);
81 }
82 
97  double size, const vpColor &color, unsigned int thickness)
98 {
99  vp_display_display_camera(I, cMo, cam, size, color, thickness);
100 }
101 
115 void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const char *string,
116  const vpColor &color)
117 {
118  vp_display_display_char_string(I, ip, string, color);
119 }
120 
134 void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, int i, int j, const char *string, const vpColor &color)
135 {
136  vp_display_display_char_string(I, i, j, string, color);
137 }
138 
151 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, const vpImagePoint &center, unsigned int radius,
152  const vpColor &color, bool fill, unsigned int thickness)
153 {
154  vp_display_display_circle(I, center, radius, color, fill, thickness);
155 }
156 
169 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, int i, int j, unsigned int radius, const vpColor &color,
170  bool fill, unsigned int thickness)
171 {
172  vp_display_display_circle(I, i, j, radius, color, fill, thickness);
173 }
174 
183 void vpDisplay::displayCross(const vpImage<vpRGBa> &I, const vpImagePoint &ip, unsigned int size, const vpColor &color,
184  unsigned int thickness)
185 {
186  vp_display_display_cross(I, ip, size, color, thickness);
187 }
188 
197 void vpDisplay::displayCross(const vpImage<vpRGBa> &I, int i, int j, unsigned int size, const vpColor &color,
198  unsigned int thickness)
199 {
200  vp_display_display_cross(I, i, j, size, color, thickness);
201 }
202 
211  const vpColor &color, unsigned int thickness)
212 {
213  vp_display_display_dot_line(I, ip1, ip2, color, thickness);
214 }
215 
224 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
225  unsigned int thickness)
226 {
227  vp_display_display_dot_line(I, i1, j1, i2, j2, color, thickness);
228 }
229 
239 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
240  const vpColor &color, unsigned int thickness)
241 {
242  if (ips.size() <= 1)
243  return;
244 
245  for (size_t i = 0; i < ips.size() - 1; i++)
246  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
247 
248  if (closeTheShape)
249  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
250 }
251 
261 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
262  const vpColor &color, unsigned int thickness)
263 {
264  if (ips.size() <= 1)
265  return;
266 
267  std::list<vpImagePoint>::const_iterator it = ips.begin();
268 
269  vpImagePoint ip_prev = *(it++);
270  for (; it != ips.end(); ++it) {
271  if (vpImagePoint::distance(ip_prev, *it) > 1) {
272  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
273  ip_prev = *it;
274  }
275  }
276 
277  if (closeTheShape) {
278  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
279  }
280 }
281 
318 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
319  const double &coef2, const double &coef3, bool use_normalized_centered_moments,
320  const vpColor &color, unsigned int thickness, bool display_center, bool display_arc)
321 {
322  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., 2 * M_PI, use_normalized_centered_moments, color,
323  thickness, display_center, display_arc);
324 }
325 
365 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
366  const double &coef2, const double &coef3, const double &smallalpha, const double &highalpha,
367  bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness,
368  bool display_center, bool display_arc)
369 {
370  vp_display_display_ellipse(I, center, coef1, coef2, coef3, smallalpha, highalpha, use_normalized_centered_moments,
371  color, thickness, display_center, display_arc);
372 }
373 
390  double size, const vpColor &color, unsigned int thickness, const vpImagePoint &offset)
391 {
392  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset);
393 }
394 
404 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
405  const vpColor &color, unsigned int thickness, bool segment)
406 {
407  displayLine(I, static_cast<int>(ip1.get_i()), static_cast<int>(ip1.get_j()), static_cast<int>(ip2.get_i()), static_cast<int>(ip2.get_j()), color, thickness, segment);
408 }
409 
420 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
421  unsigned int thickness, bool segment)
422 {
423  if (segment) {
424  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
425  }
426  else {
427  // line equation in image: i = a * j + b
428  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
429  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
430  // Test if horizontal line
431  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
432  vp_display_display_line(I, i1, 0, i1, (I.getWidth()-1), color, thickness);
433  }
434  // Test if vertical line
435  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
436  vp_display_display_line(I, 0, j1, (I.getHeight()-1), j1, color, thickness);
437  }
438  else {
439  double a = delta_i / delta_j;
440  double b = static_cast<double>(i1) - a * static_cast<double>(j1);
441  std::vector<vpImagePoint> vip; // Image points that intersect image borders
442  // Test intersection with vertical line j=0
443  vpImagePoint ip_left(b, 0);
444  if (ip_left.get_i() >= 0. && ip_left.get_i() <= (I.getHeight()-1.)) {
445  vip.push_back(ip_left);
446  }
447  // Test intersection with vertical line j=width-1
448  vpImagePoint ip_right(a*(I.getWidth()-1)+b, I.getWidth()-1.);
449  if (ip_right.get_i() >= 0. && ip_right.get_i() <= (I.getHeight()-1.)) {
450  vip.push_back(ip_right);
451  }
452  if (vip.size() == 2) {
453  vp_display_display_line(I, vip[0], vip[1], color, thickness);
454  return;
455  }
456  // Test intersection with horizontal line i=0
457  vpImagePoint ip_top(0, -b/a);
458  if (ip_top.get_j() >= 0. && ip_top.get_j() <= (I.getWidth()-1.)) {
459  vip.push_back(ip_top);
460  }
461  if (vip.size() == 2) {
462  vp_display_display_line(I, vip[0], vip[1], color, thickness);
463  return;
464  }
465  // Test intersection with horizontal line i=height-1
466  vpImagePoint ip_bottom(I.getHeight()-1., (I.getHeight()-1. - b)/a);
467  if (ip_bottom.get_j() >= 0. && ip_bottom.get_j() <= (I.getWidth()-1.)) {
468  vip.push_back(ip_bottom);
469  }
470  if (vip.size() == 2) {
471  vp_display_display_line(I, vip[0], vip[1], color, thickness);
472  return;
473  }
474  }
475  }
476 }
477 
487 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
488  const vpColor &color, unsigned int thickness)
489 {
490  if (ips.size() <= 1)
491  return;
492 
493  for (size_t i = 0; i < ips.size() - 1; i++)
494  vp_display_display_line(I, ips[i], ips[i + 1], color, thickness);
495 
496  if (closeTheShape)
497  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
498 }
499 
509 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
510  const vpColor &color, unsigned int thickness)
511 {
512  if (ips.size() <= 1)
513  return;
514 
515  std::list<vpImagePoint>::const_iterator it = ips.begin();
516 
517  vpImagePoint ip_prev = *(it++);
518  for (; it != ips.end(); ++it) {
519  if (vpImagePoint::distance(ip_prev, *it) > 1) {
520  vp_display_display_line(I, ip_prev, *it, color, thickness);
521  ip_prev = *it;
522  }
523  }
524 
525  if (closeTheShape) {
526  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
527  }
528 }
529 
537 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const vpColor &color,
538  unsigned int thickness)
539 {
540  vp_display_display_point(I, ip, color, thickness);
541 }
542 
550 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, int i, int j, const vpColor &color, unsigned int thickness)
551 {
552  vp_display_display_point(I, i, j, color, thickness);
553 }
554 
563 void vpDisplay::displayPolygon(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &vip, const vpColor &color,
564  unsigned int thickness, bool closed)
565 {
566  vp_display_display_polygon(I, vip, color, thickness, closed);
567 }
568 
585 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, unsigned int width,
586  unsigned int height, const vpColor &color, bool fill, unsigned int thickness)
587 {
588  vp_display_display_rectangle(I, topLeft, width, height, color, fill, thickness);
589 }
590 
605 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, int i, int j, unsigned int width, unsigned int height,
606  const vpColor &color, bool fill, unsigned int thickness)
607 {
608  vp_display_display_rectangle(I, i, j, width, height, color, fill, thickness);
609 }
610 
626 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpRect &rectangle, const vpColor &color, bool fill,
627  unsigned int thickness)
628 {
629  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
630 }
631 
645 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &center, float angle, unsigned int width,
646  unsigned int height, const vpColor &color, unsigned int thickness)
647 {
648  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
649 }
650 
667 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight,
668  const vpColor &color, bool fill, unsigned int thickness)
669 {
670  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
671 }
672 
686 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, unsigned int i, unsigned int j, float angle,
687  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
688 {
689  vp_display_display_rectangle(I, i, j, angle, width, height, color, thickness);
690 }
691 
704 void vpDisplay::displayText(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const std::string &s,
705  const vpColor &color)
706 {
707  vp_display_display_text(I, ip, s, color);
708 }
709 
722 void vpDisplay::displayText(const vpImage<vpRGBa> &I, int i, int j, const std::string &s, const vpColor &color)
723 {
724  vp_display_display_text(I, i, j, s, color);
725 }
726 
756 void vpDisplay::flush(const vpImage<vpRGBa> &I) { vp_display_flush(I); }
757 
767 void vpDisplay::flushROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
768 
780 void vpDisplay::display(const vpImage<vpRGBa> &I) { vp_display_display(I); }
781 
786 void vpDisplay::displayROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
787 
805 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, bool blocking) { return vp_display_get_click(I, blocking); }
806 
825 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, vpImagePoint &ip, bool blocking)
826 {
827  return vp_display_get_click(I, ip, blocking);
828 }
829 
851  bool blocking)
852 {
853  return vp_display_get_click(I, ip, button, blocking);
854 }
855 
873 {
874  vpImagePoint ip;
875  return vpDisplay::getClick(I, ip, button, blocking);
876 }
877 
899  bool blocking)
900 {
901  return vp_display_get_click_up(I, ip, button, blocking);
902 }
903 
921 {
922  vpImagePoint ip;
923  return vpDisplay::getClickUp(I, ip, button, blocking);
924 }
925 
1008 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, bool blocking)
1009 {
1010  return vp_display_get_keyboard_event(I, blocking);
1011 }
1012 
1099 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, std::string &key, bool blocking)
1100 {
1101  return vp_display_get_keyboard_event(I, key, blocking);
1102 }
1103 
1190 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, char *key, bool blocking)
1191 {
1192  return vp_display_get_keyboard_event(I, key, blocking);
1193 }
1194 
1205 {
1206  return vp_display_get_pointer_motion_event(I, ip);
1207 }
1208 
1219 {
1220  return vp_display_get_pointer_position(I, ip);
1221 }
1222 
1232 void vpDisplay::setBackground(const vpImage<vpRGBa> &I, const vpColor &color) { vp_display_set_background(I, color); }
1233 
1247 void vpDisplay::setFont(const vpImage<vpRGBa> &I, const std::string &fontname) { vp_display_set_font(I, fontname); }
1248 
1256 void vpDisplay::setTitle(const vpImage<vpRGBa> &I, const std::string &windowtitle)
1257 {
1258  vp_display_set_title(I, windowtitle);
1259 }
1260 
1271 void vpDisplay::setWindowPosition(const vpImage<vpRGBa> &I, int winx, int winy)
1272 {
1273  vp_display_set_window_position(I, winx, winy);
1274 }
1275 
1285 unsigned int vpDisplay::getDownScalingFactor(const vpImage<vpRGBa> &I) { return vp_display_get_down_scaling_factor(I); }
static void displayCamera(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)
double get_i() const
Definition: vpImagePoint.h:203
static bool getPointerPosition(const vpImage< unsigned char > &I, vpImagePoint &ip)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void close(vpImage< unsigned char > &I)
static bool getPointerMotionEvent(const vpImage< unsigned char > &I, vpImagePoint &ip)
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 void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
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 void flush(const vpImage< unsigned char > &I)
static void setFont(const vpImage< unsigned char > &I, const std::string &font)
static void displayPolygon(const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1, bool closed=true)
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 double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
static void display(const vpImage< unsigned char > &I)
double get_j() const
Definition: vpImagePoint.h:214
Generic class defining intrinsic camera parameters.
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 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 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)
unsigned int getHeight() const
Definition: vpImage.h:188
static void setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
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))
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
static void setBackground(const vpImage< unsigned char > &I, const vpColor &color)
Defines a rectangle in the plane.
Definition: vpRect.h:79
static void flushROI(const vpImage< unsigned char > &I, const vpRect &roi)
static void displayROI(const vpImage< unsigned char > &I, const vpRect &roi)
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)
unsigned int getWidth() const
Definition: vpImage.h:246
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)