Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
vpDisplay_uchar.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<unsigned char> &I) { vp_display_close(I); }
52 
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<unsigned char> &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  const vpCameraParameters &cam, 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<unsigned char> &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<unsigned char> &I, int i, int j, const char *string,
135  const vpColor &color)
136 {
137  vp_display_display_char_string(I, i, j, string, color);
138 }
139 
152 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, const vpImagePoint &center, unsigned int radius,
153  const vpColor &color, bool fill, unsigned int thickness)
154 {
155  vp_display_display_circle(I, center, radius, color, fill, thickness);
156 }
157 
170 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, int i, int j, unsigned int radius, const vpColor &color,
171  bool fill, unsigned int thickness)
172 {
173  vp_display_display_circle(I, i, j, radius, color, fill, thickness);
174 }
175 
184 void vpDisplay::displayCross(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int size,
185  const vpColor &color, unsigned int thickness)
186 {
187  vp_display_display_cross(I, ip, size, color, thickness);
188 }
189 
198 void vpDisplay::displayCross(const vpImage<unsigned char> &I, int i, int j, unsigned int size, const vpColor &color,
199  unsigned int thickness)
200 {
201  vp_display_display_cross(I, i, j, size, color, thickness);
202 }
203 
212  const vpColor &color, unsigned int thickness)
213 {
214  vp_display_display_dot_line(I, ip1, ip2, color, thickness);
215 }
216 
225 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
226  unsigned int thickness)
227 {
228  vp_display_display_dot_line(I, i1, j1, i2, j2, color, thickness);
229 }
230 
240 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips,
241  bool closeTheShape, const vpColor &color, unsigned int thickness)
242 {
243  if (ips.size() <= 1)
244  return;
245 
246  for (size_t i = 0; i < ips.size() - 1; i++)
247  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
248 
249  if (closeTheShape)
250  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
251 }
252 
262 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips,
263  bool closeTheShape, const vpColor &color, unsigned int thickness)
264 {
265  if (ips.size() <= 1)
266  return;
267 
268  std::list<vpImagePoint>::const_iterator it = ips.begin();
269 
270  vpImagePoint ip_prev = *(it++);
271  for (; it != ips.end(); ++it) {
272  if (vpImagePoint::distance(ip_prev, *it) > 1) {
273  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
274  ip_prev = *it;
275  }
276  }
277 
278  if (closeTheShape) {
279  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
280  }
281 }
282 
333 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
334  const double &coef2, const double &coef3, bool use_centered_moments,
335  const vpColor &color, unsigned int thickness)
336 {
337  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., vpMath::rad(360), use_centered_moments, color,
338  thickness);
339 }
340 
396 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
397  const double &coef2, const double &coef3, const double &theta1, const double &theta2,
398  bool use_centered_moments, const vpColor &color, unsigned int thickness)
399 {
400  vp_display_display_ellipse(I, center, coef1, coef2, coef3, theta1, theta2, use_centered_moments, color, thickness);
401 }
402 
419  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness,
420  const vpImagePoint &offset)
421 {
422  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset);
423 }
424 
435  const vpColor &color, unsigned int thickness, bool segment)
436 {
437  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);
438 }
439 
450 void vpDisplay::displayLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
451  unsigned int thickness, bool segment)
452 {
453  if (segment) {
454  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
455  }
456  else {
457  // line equation in image: i = a * j + b
458  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
459  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
460  // Test if horizontal line
461  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
462  vp_display_display_line(I, i1, 0, i1, (I.getWidth()-1), color, thickness);
463  }
464  // Test if vertical line
465  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
466  vp_display_display_line(I, 0, j1, (I.getHeight()-1), j1, color, thickness);
467  }
468  else {
469  double a = delta_i / delta_j;
470  double b = static_cast<double>(i1) - a * static_cast<double>(j1);
471  std::vector<vpImagePoint> vip; // Image points that intersect image borders
472  // Test intersection with vertical line j=0
473  vpImagePoint ip_left(b, 0);
474  if (ip_left.get_i() >= 0. && ip_left.get_i() <= (I.getHeight()-1.)) {
475  vip.push_back(ip_left);
476  }
477  // Test intersection with vertical line j=width-1
478  vpImagePoint ip_right(a*(I.getWidth()-1)+b, I.getWidth()-1.);
479  if (ip_right.get_i() >= 0. && ip_right.get_i() <= (I.getHeight()-1.)) {
480  vip.push_back(ip_right);
481  }
482  if (vip.size() == 2) {
483  vp_display_display_line(I, vip[0], vip[1], color, thickness);
484  return;
485  }
486  // Test intersection with horizontal line i=0
487  vpImagePoint ip_top(0, -b/a);
488  if (ip_top.get_j() >= 0. && ip_top.get_j() <= (I.getWidth()-1.)) {
489  vip.push_back(ip_top);
490  }
491  if (vip.size() == 2) {
492  vp_display_display_line(I, vip[0], vip[1], color, thickness);
493  return;
494  }
495  // Test intersection with horizontal line i=height-1
496  vpImagePoint ip_bottom(I.getHeight()-1., (I.getHeight()-1. - b)/a);
497  if (ip_bottom.get_j() >= 0. && ip_bottom.get_j() <= (I.getWidth()-1.)) {
498  vip.push_back(ip_bottom);
499  }
500  if (vip.size() == 2) {
501  vp_display_display_line(I, vip[0], vip[1], color, thickness);
502  return;
503  }
504  }
505  }
506 }
507 
516 void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ips,
517  bool closeTheShape, const vpColor &color, unsigned int thickness)
518 {
519  if (ips.size() <= 1)
520  return;
521 
522  for (size_t i = 0; i < ips.size() - 1; i++)
523  vp_display_display_line(I, ips[i], ips[i + 1], color, thickness);
524 
525  if (closeTheShape)
526  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
527 }
528 
537 void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips,
538  bool closeTheShape, const vpColor &color, unsigned int thickness)
539 {
540  if (ips.size() <= 1)
541  return;
542 
543  std::list<vpImagePoint>::const_iterator it = ips.begin();
544 
545  vpImagePoint ip_prev = *(it++);
546  for (; it != ips.end(); ++it) {
547  if (vpImagePoint::distance(ip_prev, *it) > 1) {
548  vp_display_display_line(I, ip_prev, *it, color, thickness);
549  ip_prev = *it;
550  }
551  }
552 
553  if (closeTheShape) {
554  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
555  }
556 }
557 
566  unsigned int thickness)
567 {
568  vp_display_display_point(I, ip, color, thickness);
569 }
570 
578 void vpDisplay::displayPoint(const vpImage<unsigned char> &I, int i, int j, const vpColor &color,
579  unsigned int thickness)
580 {
581  vp_display_display_point(I, i, j, color, thickness);
582 }
583 
592 void vpDisplay::displayPolygon(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
593  const vpColor &color, unsigned int thickness, bool closed)
594 {
595  vp_display_display_polygon(I, vip, color, thickness, closed);
596 }
597 
614 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &topLeft, unsigned int width,
615  unsigned int height, const vpColor &color, bool fill, unsigned int thickness)
616 {
617  vp_display_display_rectangle(I, topLeft, width, height, color, fill, thickness);
618 }
619 
634 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, int i, int j, unsigned int width, unsigned int height,
635  const vpColor &color, bool fill, unsigned int thickness)
636 {
637  vp_display_display_rectangle(I, i, j, width, height, color, fill, thickness);
638 }
639 
655 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpRect &rectangle, const vpColor &color,
656  bool fill, unsigned int thickness)
657 {
658  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
659 }
660 
674 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &center, float angle,
675  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
676 {
677  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
678 }
679 
697  const vpImagePoint &bottomRight, const vpColor &color, bool fill,
698  unsigned int thickness)
699 {
700  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
701 }
702 
716 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, unsigned int i, unsigned int j, float angle,
717  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
718 {
719  vp_display_display_rectangle(I, i, j, angle, width, height, color, thickness);
720 }
721 
734 void vpDisplay::displayText(const vpImage<unsigned char> &I, const vpImagePoint &ip, const std::string &s,
735  const vpColor &color)
736 {
737  vp_display_display_text(I, ip, s, color);
738 }
739 
752 void vpDisplay::displayText(const vpImage<unsigned char> &I, int i, int j, const std::string &s, const vpColor &color)
753 {
754  vp_display_display_text(I, i, j, s, color);
755 }
756 
786 void vpDisplay::flush(const vpImage<unsigned char> &I) { vp_display_flush(I); }
787 
797 void vpDisplay::flushROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
798 
810 void vpDisplay::display(const vpImage<unsigned char> &I) { vp_display_display(I); }
811 
816 void vpDisplay::displayROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
817 
835 bool vpDisplay::getClick(const vpImage<unsigned char> &I, bool blocking) { return vp_display_get_click(I, blocking); }
836 
855 bool vpDisplay::getClick(const vpImage<unsigned char> &I, vpImagePoint &ip, bool blocking)
856 {
857  return vp_display_get_click(I, ip, blocking);
858 }
859 
881  bool blocking)
882 {
883  return vp_display_get_click(I, ip, button, blocking);
884 }
885 
903 {
904  vpImagePoint ip;
905  return vpDisplay::getClick(I, ip, button, blocking);
906 }
907 
929  bool blocking)
930 {
931  return vp_display_get_click_up(I, ip, button, blocking);
932 }
933 
951 {
952  vpImagePoint ip;
953  return vpDisplay::getClickUp(I, ip, button, blocking);
954 }
955 
1040 {
1041  return vp_display_get_keyboard_event(I, blocking);
1042 }
1043 
1130 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, std::string &key, bool blocking)
1131 {
1132  return vp_display_get_keyboard_event(I, key, blocking);
1133 }
1134 
1221 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, char *key, bool blocking)
1222 {
1223  return vp_display_get_keyboard_event(I, key, blocking);
1224 }
1225 
1236 {
1237  return vp_display_get_pointer_motion_event(I, ip);
1238 }
1239 
1250 {
1251  return vp_display_get_pointer_position(I, ip);
1252 }
1253 
1264 {
1265  vp_display_set_background(I, color);
1266 }
1267 
1281 void vpDisplay::setFont(const vpImage<unsigned char> &I, const std::string &fontname)
1282 {
1283  vp_display_set_font(I, fontname);
1284 }
1285 
1293 void vpDisplay::setTitle(const vpImage<unsigned char> &I, const std::string &windowtitle)
1294 {
1295  vp_display_set_title(I, windowtitle);
1296 }
1297 
1308 void vpDisplay::setWindowPosition(const vpImage<unsigned char> &I, int winx, int winy)
1309 {
1310  vp_display_set_window_position(I, winx, winy);
1311 }
1312 
1323 {
1324  return vp_display_get_down_scaling_factor(I);
1325 }
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 void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)
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 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 double rad(double deg)
Definition: vpMath.h:110
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)