Visual Servoing Platform  version 3.6.1 under development (2024-05-20)
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  size_t ips_size = ips.size();
262  for (size_t i = 0; i < (ips_size - 1); ++i) {
263  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
264  }
265 
266  if (closeTheShape) {
267  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
268  }
269 }
270 
280 void vpDisplay::displayDotLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
281  const vpColor &color, unsigned int thickness)
282 {
283  if (ips.size() <= 1) {
284  return;
285  }
286 
287  std::list<vpImagePoint>::const_iterator it = ips.begin();
288 
289  vpImagePoint ip_prev = *(++it);
290  std::list<vpImagePoint>::const_iterator ips_end = ips.end();
291  for (; it != ips_end; ++it) {
292  if (vpImagePoint::distance(ip_prev, *it) > 1) {
293  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
294  ip_prev = *it;
295  }
296  }
297 
298  if (closeTheShape) {
299  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
300  }
301 }
302 
339 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
340  const double &coef2, const double &coef3, bool use_normalized_centered_moments,
341  const vpColor &color, unsigned int thickness, bool display_center, bool display_arc)
342 {
343  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., 2 * M_PI, use_normalized_centered_moments, color,
344  thickness, display_center, display_arc);
345 }
346 
386 void vpDisplay::displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &coef1,
387  const double &coef2, const double &coef3, const double &smallalpha,
388  const double &highalpha, bool use_normalized_centered_moments, const vpColor &color,
389  unsigned int thickness, bool display_center, bool display_arc)
390 {
391  vp_display_display_ellipse(I, center, coef1, coef2, coef3, smallalpha, highalpha, use_normalized_centered_moments,
392  color, thickness, display_center, display_arc);
393 }
394 
413  double size, const vpColor &color, unsigned int thickness, const vpImagePoint &offset,
414  const std::string &frameName, const vpColor &textColor, const vpImagePoint &textOffset)
415 {
416  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset, frameName, textColor, textOffset);
417 }
418 
428 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
429  const vpColor &color, unsigned int thickness, bool segment)
430 {
431  displayLine(I, static_cast<int>(ip1.get_i()), static_cast<int>(ip1.get_j()), static_cast<int>(ip2.get_i()),
432  static_cast<int>(ip2.get_j()), color, thickness, segment);
433 }
434 
445 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, int i1, int j1, int i2, int j2, const vpColor &color,
446  unsigned int thickness, bool segment)
447 {
448  if (segment) {
449  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
450  }
451  else {
452  // line equation in image: i = a * j + b
453  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
454  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
455  // Test if horizontal line
456  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
457  vp_display_display_line(I, i1, 0, i1, (I.getWidth() - 1), color, thickness);
458  }
459  // Test if vertical line
460  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
461  vp_display_display_line(I, 0, j1, (I.getHeight() - 1), j1, color, thickness);
462  }
463  else {
464  double a = delta_i / delta_j;
465  double b = static_cast<double>(i1) - (a * static_cast<double>(j1));
466  std::vector<vpImagePoint> vip; // Image points that intersect image borders
467  // Test intersection with vertical line j=0
468  vpImagePoint ip_left(b, 0);
469  if ((ip_left.get_i() >= 0.) && (ip_left.get_i() <= (I.getHeight() - 1.))) {
470  vip.push_back(ip_left);
471  }
472  // Test intersection with vertical line j=width-1
473  vpImagePoint ip_right((a * (I.getWidth() - 1)) + b, I.getWidth() - 1.);
474  if ((ip_right.get_i() >= 0.) && (ip_right.get_i() <= (I.getHeight() - 1.))) {
475  vip.push_back(ip_right);
476  }
477  if (vip.size() == 2) {
478  vp_display_display_line(I, vip[0], vip[1], color, thickness);
479  return;
480  }
481  // Test intersection with horizontal line i=0
482  vpImagePoint ip_top(0, -b / a);
483  if ((ip_top.get_j() >= 0.) && (ip_top.get_j() <= (I.getWidth() - 1.))) {
484  vip.push_back(ip_top);
485  }
486  if (vip.size() == 2) {
487  vp_display_display_line(I, vip[0], vip[1], color, thickness);
488  return;
489  }
490  // Test intersection with horizontal line i=height-1
491  vpImagePoint ip_bottom(I.getHeight() - 1., (I.getHeight() - 1. - b) / a);
492  if ((ip_bottom.get_j() >= 0.) && (ip_bottom.get_j() <= (I.getWidth() - 1.))) {
493  vip.push_back(ip_bottom);
494  }
495  if (vip.size() == 2) {
496  vp_display_display_line(I, vip[0], vip[1], color, thickness);
497  return;
498  }
499  }
500  }
501 }
502 
512 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
513  const vpColor &color, unsigned int thickness)
514 {
515  if (ips.size() <= 1) {
516  return;
517  }
518 
519  size_t ips_size = ips.size();
520  for (size_t i = 0; i < (ips_size - 1); ++i) {
521  vp_display_display_line(I, ips[i], ips[i + 1], color, thickness);
522  }
523 
524  if (closeTheShape) {
525  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
526  }
527 }
528 
538 void vpDisplay::displayLine(const vpImage<vpRGBa> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
539  const vpColor &color, unsigned int thickness)
540 {
541  if (ips.size() <= 1) {
542  return;
543  }
544 
545  std::list<vpImagePoint>::const_iterator it = ips.begin();
546 
547  vpImagePoint ip_prev = *(++it);
548  std::list<vpImagePoint>::const_iterator ips_end = ips.end();
549  for (; it != ips_end; ++it) {
550  if (vpImagePoint::distance(ip_prev, *it) > 1) {
551  vp_display_display_line(I, ip_prev, *it, color, thickness);
552  ip_prev = *it;
553  }
554  }
555 
556  if (closeTheShape) {
557  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
558  }
559 }
560 
568 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const vpColor &color,
569  unsigned int thickness)
570 {
571  vp_display_display_point(I, ip, color, thickness);
572 }
573 
581 void vpDisplay::displayPoint(const vpImage<vpRGBa> &I, int i, int j, const vpColor &color, unsigned int thickness)
582 {
583  vp_display_display_point(I, i, j, color, thickness);
584 }
585 
594 void vpDisplay::displayPolygon(const vpImage<vpRGBa> &I, const std::vector<vpImagePoint> &vip, const vpColor &color,
595  unsigned int thickness, bool closed)
596 {
597  vp_display_display_polygon(I, vip, color, thickness, closed);
598 }
599 
608 void vpDisplay::displayPolygon(const vpImage<vpRGBa> &I, const vpPolygon &polygon, const vpColor &color,
609  unsigned int thickness, bool closed)
610 {
611  vp_display_display_polygon(I, polygon, color, thickness, closed);
612 }
613 
630 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, unsigned int width,
631  unsigned int height, const vpColor &color, bool fill, unsigned int thickness)
632 {
633  vp_display_display_rectangle(I, topLeft, width, height, color, fill, thickness);
634 }
635 
650 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, int i, int j, unsigned int width, unsigned int height,
651  const vpColor &color, bool fill, unsigned int thickness)
652 {
653  vp_display_display_rectangle(I, i, j, width, height, color, fill, thickness);
654 }
655 
671 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpRect &rectangle, const vpColor &color, bool fill,
672  unsigned int thickness)
673 {
674  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
675 }
676 
690 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &center, float angle, unsigned int width,
691  unsigned int height, const vpColor &color, unsigned int thickness)
692 {
693  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
694 }
695 
712 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, const vpImagePoint &topLeft, const vpImagePoint &bottomRight,
713  const vpColor &color, bool fill, unsigned int thickness)
714 {
715  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
716 }
717 
731 void vpDisplay::displayRectangle(const vpImage<vpRGBa> &I, unsigned int i, unsigned int j, float angle,
732  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
733 {
734  vp_display_display_rectangle(I, i, j, angle, width, height, color, thickness);
735 }
736 
749 void vpDisplay::displayText(const vpImage<vpRGBa> &I, const vpImagePoint &ip, const std::string &s,
750  const vpColor &color)
751 {
752  vp_display_display_text(I, ip, s, color);
753 }
754 
767 void vpDisplay::displayText(const vpImage<vpRGBa> &I, int i, int j, const std::string &s, const vpColor &color)
768 {
769  vp_display_display_text(I, i, j, s, color);
770 }
771 
801 void vpDisplay::flush(const vpImage<vpRGBa> &I) { vp_display_flush(I); }
802 
812 void vpDisplay::flushROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
813 
825 void vpDisplay::display(const vpImage<vpRGBa> &I) { vp_display_display(I); }
826 
831 void vpDisplay::displayROI(const vpImage<vpRGBa> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
832 
850 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, bool blocking) { return vp_display_get_click(I, blocking); }
851 
870 bool vpDisplay::getClick(const vpImage<vpRGBa> &I, vpImagePoint &ip, bool blocking)
871 {
872  return vp_display_get_click(I, ip, blocking);
873 }
874 
896  bool blocking)
897 {
898  return vp_display_get_click(I, ip, button, blocking);
899 }
900 
918 {
919  vpImagePoint ip;
920  return vpDisplay::getClick(I, ip, button, blocking);
921 }
922 
944  bool blocking)
945 {
946  return vp_display_get_click_up(I, ip, button, blocking);
947 }
948 
966 {
967  vpImagePoint ip;
968  return vpDisplay::getClickUp(I, ip, button, blocking);
969 }
970 
1053 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, bool blocking)
1054 {
1055  return vp_display_get_keyboard_event(I, blocking);
1056 }
1057 
1144 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, std::string &key, bool blocking)
1145 {
1146  return vp_display_get_keyboard_event(I, key, blocking);
1147 }
1148 
1235 bool vpDisplay::getKeyboardEvent(const vpImage<vpRGBa> &I, char *key, bool blocking)
1236 {
1237  return vp_display_get_keyboard_event(I, key, blocking);
1238 }
1239 
1250 {
1251  return vp_display_get_pointer_motion_event(I, ip);
1252 }
1253 
1264 {
1265  return vp_display_get_pointer_position(I, ip);
1266 }
1267 
1277 void vpDisplay::setBackground(const vpImage<vpRGBa> &I, const vpColor &color) { vp_display_set_background(I, color); }
1278 
1292 void vpDisplay::setFont(const vpImage<vpRGBa> &I, const std::string &fontname) { vp_display_set_font(I, fontname); }
1293 
1301 void vpDisplay::setTitle(const vpImage<vpRGBa> &I, const std::string &windowtitle)
1302 {
1303  vp_display_set_title(I, windowtitle);
1304 }
1305 
1316 void vpDisplay::setWindowPosition(const vpImage<vpRGBa> &I, int winx, int winy)
1317 {
1318  vp_display_set_window_position(I, winx, winy);
1319 }
1320 
1328 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:245
unsigned int getHeight() const
Definition: vpImage.h:184
Defines a generic 2D polygon.
Definition: vpPolygon.h:97
Defines a rectangle in the plane.
Definition: vpRect.h:76