Visual Servoing Platform  version 3.5.1 under development (2023-03-29)
vpDisplay_uchar.cpp
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31  * Description:
32  * Display implementation.
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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<unsigned char> &I) { vp_display_close(I); }
49 
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<unsigned char> &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  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)
95 {
96  vp_display_display_camera(I, cMo, cam, size, color, thickness);
97 }
98 
112 void vpDisplay::displayCharString(const vpImage<unsigned char> &I, const vpImagePoint &ip, const char *string,
113  const vpColor &color)
114 {
115  vp_display_display_char_string(I, ip, string, color);
116 }
117 
131 void vpDisplay::displayCharString(const vpImage<unsigned char> &I, int i, int j, const char *string,
132  const vpColor &color)
133 {
134  vp_display_display_char_string(I, i, j, string, color);
135 }
136 
149 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, const vpImagePoint &center, unsigned int radius,
150  const vpColor &color, bool fill, unsigned int thickness)
151 {
152  vp_display_display_circle(I, center, radius, color, fill, thickness);
153 }
154 
167 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, int i, int j, unsigned int radius, const vpColor &color,
168  bool fill, unsigned int thickness)
169 {
170  vp_display_display_circle(I, i, j, radius, color, fill, thickness);
171 }
172 
181 void vpDisplay::displayCross(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int size,
182  const vpColor &color, unsigned int thickness)
183 {
184  vp_display_display_cross(I, ip, size, color, thickness);
185 }
186 
195 void vpDisplay::displayCross(const vpImage<unsigned char> &I, int i, int j, unsigned int size, const vpColor &color,
196  unsigned int thickness)
197 {
198  vp_display_display_cross(I, i, j, size, color, thickness);
199 }
200 
209  const vpColor &color, unsigned int thickness)
210 {
211  vp_display_display_dot_line(I, ip1, ip2, color, thickness);
212 }
213 
222 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
223  unsigned int thickness)
224 {
225  vp_display_display_dot_line(I, i1, j1, i2, j2, color, thickness);
226 }
227 
237 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips,
238  bool closeTheShape, const vpColor &color, unsigned int thickness)
239 {
240  if (ips.size() <= 1)
241  return;
242 
243  for (size_t i = 0; i < ips.size() - 1; i++)
244  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
245 
246  if (closeTheShape)
247  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
248 }
249 
259 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
260  const vpColor &color, unsigned int thickness)
261 {
262  if (ips.size() <= 1)
263  return;
264 
265  std::list<vpImagePoint>::const_iterator it = ips.begin();
266 
267  vpImagePoint ip_prev = *(it++);
268  for (; it != ips.end(); ++it) {
269  if (vpImagePoint::distance(ip_prev, *it) > 1) {
270  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
271  ip_prev = *it;
272  }
273  }
274 
275  if (closeTheShape) {
276  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
277  }
278 }
279 
316 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
317  const double &coef2, const double &coef3, bool use_normalized_centered_moments,
318  const vpColor &color, unsigned int thickness, bool display_center, bool display_arc)
319 {
320  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., 2 * M_PI, use_normalized_centered_moments, color,
321  thickness, display_center, display_arc);
322 }
323 
363 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
364  const double &coef2, const double &coef3, const double &smallalpha,
365  const double &highalpha, bool use_normalized_centered_moments, const vpColor &color,
366  unsigned int thickness, bool display_center, bool display_arc)
367 {
368  vp_display_display_ellipse(I, center, coef1, coef2, coef3, smallalpha, highalpha, use_normalized_centered_moments,
369  color, thickness, display_center, display_arc);
370 }
371 
390  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness,
391  const vpImagePoint &offset, const std::string& frameName, const vpColor& textColor, const vpImagePoint& textOffset)
392 {
393  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset, frameName, textColor, textOffset);
394 }
395 
406  const vpColor &color, unsigned int thickness, bool segment)
407 {
408  displayLine(I, static_cast<int>(ip1.get_i()), static_cast<int>(ip1.get_j()), static_cast<int>(ip2.get_i()),
409  static_cast<int>(ip2.get_j()), color, thickness, segment);
410 }
411 
422 void vpDisplay::displayLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
423  unsigned int thickness, bool segment)
424 {
425  if (segment) {
426  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
427  } else {
428  // line equation in image: i = a * j + b
429  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
430  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
431  // Test if horizontal line
432  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
433  vp_display_display_line(I, i1, 0, i1, (I.getWidth() - 1), color, thickness);
434  }
435  // Test if vertical line
436  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
437  vp_display_display_line(I, 0, j1, (I.getHeight() - 1), j1, color, thickness);
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 
486 void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips, bool closeTheShape,
487  const vpColor &color, unsigned int thickness)
488 {
489  if (ips.size() <= 1)
490  return;
491 
492  for (size_t i = 0; i < ips.size() - 1; i++)
493  vp_display_display_line(I, ips[i], ips[i + 1], color, thickness);
494 
495  if (closeTheShape)
496  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
497 }
498 
507 void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
508  const vpColor &color, unsigned int thickness)
509 {
510  if (ips.size() <= 1)
511  return;
512 
513  std::list<vpImagePoint>::const_iterator it = ips.begin();
514 
515  vpImagePoint ip_prev = *(it++);
516  for (; it != ips.end(); ++it) {
517  if (vpImagePoint::distance(ip_prev, *it) > 1) {
518  vp_display_display_line(I, ip_prev, *it, color, thickness);
519  ip_prev = *it;
520  }
521  }
522 
523  if (closeTheShape) {
524  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
525  }
526 }
527 
536  unsigned int thickness)
537 {
538  vp_display_display_point(I, ip, color, thickness);
539 }
540 
548 void vpDisplay::displayPoint(const vpImage<unsigned char> &I, int i, int j, const vpColor &color,
549  unsigned int thickness)
550 {
551  vp_display_display_point(I, i, j, color, thickness);
552 }
553 
562 void vpDisplay::displayPolygon(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
563  const vpColor &color, unsigned int thickness, bool closed)
564 {
565  vp_display_display_polygon(I, vip, color, thickness, closed);
566 }
567 
584 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &topLeft, unsigned int width,
585  unsigned int height, const vpColor &color, bool fill, unsigned int thickness)
586 {
587  vp_display_display_rectangle(I, topLeft, width, height, color, fill, thickness);
588 }
589 
604 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, int i, int j, unsigned int width, unsigned int height,
605  const vpColor &color, bool fill, unsigned int thickness)
606 {
607  vp_display_display_rectangle(I, i, j, width, height, color, fill, thickness);
608 }
609 
625 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpRect &rectangle, const vpColor &color,
626  bool fill, unsigned int thickness)
627 {
628  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
629 }
630 
644 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &center, float angle,
645  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
646 {
647  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
648 }
649 
667  const vpImagePoint &bottomRight, const vpColor &color, bool fill,
668  unsigned int thickness)
669 {
670  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
671 }
672 
686 void vpDisplay::displayRectangle(const vpImage<unsigned char> &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<unsigned char> &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<unsigned char> &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<unsigned char> &I) { vp_display_flush(I); }
757 
767 void vpDisplay::flushROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
768 
780 void vpDisplay::display(const vpImage<unsigned char> &I) { vp_display_display(I); }
781 
786 void vpDisplay::displayROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
787 
805 bool vpDisplay::getClick(const vpImage<unsigned char> &I, bool blocking) { return vp_display_get_click(I, blocking); }
806 
825 bool vpDisplay::getClick(const vpImage<unsigned char> &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 
1010 {
1011  return vp_display_get_keyboard_event(I, blocking);
1012 }
1013 
1100 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, std::string &key, bool blocking)
1101 {
1102  return vp_display_get_keyboard_event(I, key, blocking);
1103 }
1104 
1191 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, char *key, bool blocking)
1192 {
1193  return vp_display_get_keyboard_event(I, key, blocking);
1194 }
1195 
1206 {
1207  return vp_display_get_pointer_motion_event(I, ip);
1208 }
1209 
1220 {
1221  return vp_display_get_pointer_position(I, ip);
1222 }
1223 
1234 {
1235  vp_display_set_background(I, color);
1236 }
1237 
1251 void vpDisplay::setFont(const vpImage<unsigned char> &I, const std::string &fontname)
1252 {
1253  vp_display_set_font(I, fontname);
1254 }
1255 
1263 void vpDisplay::setTitle(const vpImage<unsigned char> &I, const std::string &windowtitle)
1264 {
1265  vp_display_set_title(I, windowtitle);
1266 }
1267 
1278 void vpDisplay::setWindowPosition(const vpImage<unsigned char> &I, int winx, int winy)
1279 {
1280  vp_display_set_window_position(I, winx, winy);
1281 }
1282 
1291 {
1292  return vp_display_get_down_scaling_factor(I);
1293 }
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
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 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 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:235
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 displayCircle(const vpImage< unsigned char > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
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 point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
double get_j() const
Definition: vpImagePoint.h:132
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
double get_i() const
Definition: vpImagePoint.h:121
unsigned int getWidth() const
Definition: vpImage.h:247
unsigned int getHeight() const
Definition: vpImage.h:189
Defines a rectangle in the plane.
Definition: vpRect.h:80