Visual Servoing Platform  version 3.6.1 under development (2024-07-23)
vpDisplay_uchar.cpp
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Display implementation.
32  *
33 *****************************************************************************/
34 
35 #include <visp3/core/vpDisplay.h>
36 
37 #include "vpDisplay_impl.h"
38 
39 //************************************************************************
40 // Modifications done in this file should be reported in all vpDisplay_*.cpp
41 // files that implement other types (unsigned char, vpRGB, vpRGBa)
42 //************************************************************************
47 void vpDisplay::close(vpImage<unsigned char> &I) { vp_display_close(I); }
48 
58  const vpColor &color, unsigned int w, unsigned int h, unsigned int thickness)
59 {
60  vp_display_display_arrow(I, ip1, ip2, color, w, h, thickness);
61 }
62 
73 void vpDisplay::displayArrow(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
74  unsigned int w, unsigned int h, unsigned int thickness)
75 {
76  vp_display_display_arrow(I, i1, j1, i2, j2, color, w, h, thickness);
77 }
78 
93  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness)
94 {
95  vp_display_display_camera(I, cMo, cam, size, color, thickness);
96 }
97 
98 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
112 void vpDisplay::displayCharString(const vpImage<unsigned char> &I, const vpImagePoint &ip, const char *string,
113  const vpColor &color)
114 {
115  vp_display_display_text(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_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<unsigned char> &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<unsigned char> &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<unsigned char> &I, const vpImagePoint &ip, unsigned int size,
200  const vpColor &color, unsigned int thickness)
201 {
202  vp_display_display_cross(I, ip, size, color, thickness);
203 }
204 
213 void vpDisplay::displayCross(const vpImage<unsigned char> &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<unsigned char> &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<unsigned char> &I, const std::vector<vpImagePoint> &ips,
256  bool closeTheShape, const vpColor &color, unsigned int thickness)
257 {
258  if (ips.size() <= 1) {
259  return;
260  }
261 
262  size_t ips_size = ips.size();
263  for (size_t i = 0; i < (ips_size - 1); ++i) {
264  vp_display_display_dot_line(I, ips[i], ips[i + 1], color, thickness);
265  }
266 
267  if (closeTheShape) {
268  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
269  }
270 }
271 
281 void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
282  const vpColor &color, unsigned int thickness)
283 {
284  if (ips.size() <= 1) {
285  return;
286  }
287 
288  std::list<vpImagePoint>::const_iterator it = ips.begin();
289  std::list<vpImagePoint>::const_iterator it_end = ips.end();
290 
291  vpImagePoint ip_prev = *(++it);
292  for (; it != it_end; ++it) {
293  if (vpImagePoint::distance(ip_prev, *it) > 1) {
294  vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
295  ip_prev = *it;
296  }
297  }
298 
299  if (closeTheShape) {
300  vp_display_display_dot_line(I, ips.front(), ips.back(), color, thickness);
301  }
302 }
303 
340 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
341  const double &coef2, const double &coef3, bool use_normalized_centered_moments,
342  const vpColor &color, unsigned int thickness, bool display_center, bool display_arc)
343 {
344  vpDisplay::displayEllipse(I, center, coef1, coef2, coef3, 0., 2 * M_PI, use_normalized_centered_moments, color,
345  thickness, display_center, display_arc);
346 }
347 
387 void vpDisplay::displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &coef1,
388  const double &coef2, const double &coef3, const double &smallalpha,
389  const double &highalpha, bool use_normalized_centered_moments, const vpColor &color,
390  unsigned int thickness, bool display_center, bool display_arc)
391 {
392  vp_display_display_ellipse(I, center, coef1, coef2, coef3, smallalpha, highalpha, use_normalized_centered_moments,
393  color, thickness, display_center, display_arc);
394 }
395 
414  const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness,
415  const vpImagePoint &offset, const std::string &frameName, const vpColor &textColor, const vpImagePoint &textOffset)
416 {
417  vp_display_display_frame(I, cMo, cam, size, color, thickness, offset, frameName, textColor, textOffset);
418 }
419 
430  const vpColor &color, unsigned int thickness, bool segment)
431 {
432  displayLine(I, static_cast<int>(ip1.get_i()), static_cast<int>(ip1.get_j()), static_cast<int>(ip2.get_i()),
433  static_cast<int>(ip2.get_j()), color, thickness, segment);
434 }
435 
446 void vpDisplay::displayLine(const vpImage<unsigned char> &I, int i1, int j1, int i2, int j2, const vpColor &color,
447  unsigned int thickness, bool segment)
448 {
449  if (segment) {
450  vp_display_display_line(I, i1, j1, i2, j2, color, thickness);
451  }
452  else {
453  // line equation in image: i = a * j + b
454  double delta_j = static_cast<double>(j2) - static_cast<double>(j1);
455  double delta_i = static_cast<double>(i2) - static_cast<double>(i1);
456  // Test if horizontal line
457  if (std::fabs(delta_i) <= std::numeric_limits<double>::epsilon()) {
458  vp_display_display_line(I, i1, 0, i1, (I.getWidth() - 1), color, thickness);
459  }
460  // Test if vertical line
461  else if (std::fabs(delta_j) <= std::numeric_limits<double>::epsilon()) {
462  vp_display_display_line(I, 0, j1, (I.getHeight() - 1), j1, color, thickness);
463  }
464  else {
465  double a = delta_i / delta_j;
466  double b = static_cast<double>(i1) - (a * static_cast<double>(j1));
467  std::vector<vpImagePoint> vip; // Image points that intersect image borders
468  // Test intersection with vertical line j=0
469  vpImagePoint ip_left(b, 0);
470  if ((ip_left.get_i() >= 0.) && (ip_left.get_i() <= (I.getHeight() - 1.))) {
471  vip.push_back(ip_left);
472  }
473  // Test intersection with vertical line j=width-1
474  vpImagePoint ip_right((a * (I.getWidth() - 1)) + b, I.getWidth() - 1.);
475  if ((ip_right.get_i() >= 0.) && (ip_right.get_i() <= (I.getHeight() - 1.))) {
476  vip.push_back(ip_right);
477  }
478  if (vip.size() == 2) {
479  vp_display_display_line(I, vip[0], vip[1], color, thickness);
480  return;
481  }
482  // Test intersection with horizontal line i=0
483  vpImagePoint ip_top(0, -b / a);
484  if ((ip_top.get_j() >= 0.) && (ip_top.get_j() <= (I.getWidth() - 1.))) {
485  vip.push_back(ip_top);
486  }
487  if (vip.size() == 2) {
488  vp_display_display_line(I, vip[0], vip[1], color, thickness);
489  return;
490  }
491  // Test intersection with horizontal line i=height-1
492  vpImagePoint ip_bottom(I.getHeight() - 1., (I.getHeight() - 1. - b) / a);
493  if ((ip_bottom.get_j() >= 0.) && (ip_bottom.get_j() <= (I.getWidth() - 1.))) {
494  vip.push_back(ip_bottom);
495  }
496  if (vip.size() == 2) {
497  vp_display_display_line(I, vip[0], vip[1], color, thickness);
498  return;
499  }
500  }
501  }
502 }
503 
512 void vpDisplay::displayLine(const vpImage<unsigned char> &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 
537 void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ips, bool closeTheShape,
538  const vpColor &color, unsigned int thickness)
539 {
540  if (ips.size() <= 1) {
541  return;
542  }
543 
544  std::list<vpImagePoint>::const_iterator it = ips.begin();
545  std::list<vpImagePoint>::const_iterator it_end = ips.end();
546 
547  vpImagePoint ip_prev = *(++it);
548  for (; it != it_end; ++it) {
549  if (vpImagePoint::distance(ip_prev, *it) > 1) {
550  vp_display_display_line(I, ip_prev, *it, color, thickness);
551  ip_prev = *it;
552  }
553  }
554 
555  if (closeTheShape) {
556  vp_display_display_line(I, ips.front(), ips.back(), color, thickness);
557  }
558 }
559 
568  unsigned int thickness)
569 {
570  vp_display_display_point(I, ip, color, thickness);
571 }
572 
580 void vpDisplay::displayPoint(const vpImage<unsigned char> &I, int i, int j, const vpColor &color,
581  unsigned int thickness)
582 {
583  vp_display_display_point(I, i, j, color, thickness);
584 }
585 
594 void vpDisplay::displayPolygon(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
595  const vpColor &color, unsigned int thickness, bool closed)
596 {
597  vp_display_display_polygon(I, vip, color, thickness, closed);
598 }
599 
608 void vpDisplay::displayPolygon(const vpImage<unsigned char> &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<unsigned char> &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<unsigned char> &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<unsigned char> &I, const vpRect &rectangle, const vpColor &color,
672  bool fill, unsigned int thickness)
673 {
674  vp_display_display_rectangle(I, rectangle, color, fill, thickness);
675 }
676 
690 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, const vpImagePoint &center, float angle,
691  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
692 {
693  vp_display_display_rectangle(I, center, angle, width, height, color, thickness);
694 }
695 
713  const vpImagePoint &bottomRight, const vpColor &color, bool fill,
714  unsigned int thickness)
715 {
716  vp_display_display_rectangle(I, topLeft, bottomRight, color, fill, thickness);
717 }
718 
732 void vpDisplay::displayRectangle(const vpImage<unsigned char> &I, unsigned int i, unsigned int j, float angle,
733  unsigned int width, unsigned int height, const vpColor &color, unsigned int thickness)
734 {
735  vp_display_display_rectangle(I, i, j, angle, width, height, color, thickness);
736 }
737 
750 void vpDisplay::displayText(const vpImage<unsigned char> &I, const vpImagePoint &ip, const std::string &s,
751  const vpColor &color)
752 {
753  vp_display_display_text(I, ip, s, color);
754 }
755 
768 void vpDisplay::displayText(const vpImage<unsigned char> &I, int i, int j, const std::string &s, const vpColor &color)
769 {
770  vp_display_display_text(I, i, j, s, color);
771 }
772 
806 void vpDisplay::flush(const vpImage<unsigned char> &I) { vp_display_flush(I); }
807 
817 void vpDisplay::flushROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_flush_roi(I, roi); }
818 
830 void vpDisplay::display(const vpImage<unsigned char> &I) { vp_display_display(I); }
831 
836 void vpDisplay::displayROI(const vpImage<unsigned char> &I, const vpRect &roi) { vp_display_display_roi(I, roi); }
837 
855 bool vpDisplay::getClick(const vpImage<unsigned char> &I, bool blocking) { return vp_display_get_click(I, blocking); }
856 
875 bool vpDisplay::getClick(const vpImage<unsigned char> &I, vpImagePoint &ip, bool blocking)
876 {
877  return vp_display_get_click(I, ip, blocking);
878 }
879 
901  bool blocking)
902 {
903  return vp_display_get_click(I, ip, button, blocking);
904 }
905 
923 {
924  vpImagePoint ip;
925  return vpDisplay::getClick(I, ip, button, blocking);
926 }
927 
949  bool blocking)
950 {
951  return vp_display_get_click_up(I, ip, button, blocking);
952 }
953 
971 {
972  vpImagePoint ip;
973  return vpDisplay::getClickUp(I, ip, button, blocking);
974 }
975 
1064 {
1065  return vp_display_get_keyboard_event(I, blocking);
1066 }
1067 
1158 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, std::string &key, bool blocking)
1159 {
1160  return vp_display_get_keyboard_event(I, key, blocking);
1161 }
1162 
1253 bool vpDisplay::getKeyboardEvent(const vpImage<unsigned char> &I, char *key, bool blocking)
1254 {
1255  return vp_display_get_keyboard_event(I, key, blocking);
1256 }
1257 
1268 {
1269  return vp_display_get_pointer_motion_event(I, ip);
1270 }
1271 
1282 {
1283  return vp_display_get_pointer_position(I, ip);
1284 }
1285 
1296 {
1297  vp_display_set_background(I, color);
1298 }
1299 
1313 void vpDisplay::setFont(const vpImage<unsigned char> &I, const std::string &fontname)
1314 {
1315  vp_display_set_font(I, fontname);
1316 }
1317 
1325 void vpDisplay::setTitle(const vpImage<unsigned char> &I, const std::string &windowtitle)
1326 {
1327  vp_display_set_title(I, windowtitle);
1328 }
1329 
1340 void vpDisplay::setWindowPosition(const vpImage<unsigned char> &I, int winx, int winy)
1341 {
1342  vp_display_set_window_position(I, winx, winy);
1343 }
1344 
1353 {
1354  return vp_display_get_down_scaling_factor(I);
1355 }
1356 END_VISP_NAMESPACE
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
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 void close(vpImage< unsigned char > &I)
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:221
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:57
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:242
unsigned int getHeight() const
Definition: vpImage.h:181
Defines a generic 2D polygon.
Definition: vpPolygon.h:103
Defines a rectangle in the plane.
Definition: vpRect.h:79