Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpGDIRenderer.h
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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30  *
31  * Description:
32  * GDI renderer for windows 32 display
33  *
34  * Authors:
35  * Bruno Renier
36  *
37 *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #if (defined(VISP_HAVE_GDI))
42 #ifndef vpGDIRenderer_HH
43 #define vpGDIRenderer_HH
44 
45 #ifndef DOXYGEN_SHOULD_SKIP_THIS
46 
47 // Include WinSock2.h before windows.h to ensure that winsock.h is not
48 // included by windows.h since winsock.h and winsock2.h are incompatible
49 #include <WinSock2.h>
50 #include <windows.h>
51 
52 #include <visp3/core/vpDisplayException.h>
53 #include <visp3/core/vpImage.h>
54 #include <visp3/core/vpRGBa.h>
55 #include <visp3/gui/vpWin32Renderer.h>
56 
57 #include <visp3/core/vpMath.h>
58 
59 class VISP_EXPORT vpGDIRenderer : public vpWin32Renderer
60 {
61  // the handle of the associated window
62  HWND m_hWnd;
63 
64  // the bitmap object to display
65  HBITMAP m_bmp;
66 
67  // colors for overlay
68  COLORREF m_colors[vpColor::id_unknown];
69 
70  // font used to draw text
71  HFONT m_hFont;
72 
73  // used to ensure that only one thread at a time is accessing bmp
74  CRITICAL_SECTION m_criticalSection;
75 
76  unsigned int m_bmp_width;
77  unsigned int m_bmp_height;
78 
79 public:
80  double timelost;
81  vpGDIRenderer();
82  virtual ~vpGDIRenderer();
83 
84  bool init(HWND hWnd, unsigned int width, unsigned int height);
85 
86  bool render();
87 
88  void setImg(const vpImage<vpRGBa> &I);
89  void setImg(const vpImage<unsigned char> &I);
90  void setImgROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
91  void setImgROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
92 
93  void setPixel(const vpImagePoint &iP, const vpColor &color);
94 
95  void drawLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness,
96  int style = PS_SOLID);
97 
98  void drawRect(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
99  bool fill = false, unsigned int thickness = 1);
100 
101  void clear(const vpColor &color);
102 
103  void drawCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
104  unsigned int thickness = 1);
105 
106  void drawText(const vpImagePoint &ip, const char *text, const vpColor &color);
107 
108  void drawCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
109 
110  void drawArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int w, unsigned int h,
111  unsigned int thickness = 1);
112 
113  void getImage(vpImage<vpRGBa> &I) vp_override;
114 
115 private:
116  // updates the renderer hbitmaps.
117  bool updateBitmap(HBITMAP &hBmp, unsigned char *imBuffer, unsigned int w, unsigned int h);
118  // updates the renderer hbitmaps.
119  bool updateBitmapROI(unsigned char *imBuffer, int i_min, int j_min, int w, int h);
120 
121  // converts a vpImage<vpRGBa> into a HBITMAP .
122  void convert(const vpImage<vpRGBa> &I, HBITMAP &hBmp);
123 
124  // converst a vpImage<unsigned char> into a HBITMAP .
125  void convert(const vpImage<unsigned char> &I, HBITMAP &hBmp);
126 
127  // converts a vpImage<vpRGBa> into a HBITMAP .
128  void convertROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
129 
130  // converst a vpImage<unsigned char> into a HBITMAP .
131  void convertROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
132 };
133 #endif
134 #endif
135 #endif
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
@ id_unknown
Definition: vpColor.h:193
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
void init(vpImage< unsigned char > &Iinput, vpImage< unsigned char > &IcannyVisp, vpImage< unsigned char > *p_dIx, vpImage< unsigned char > *p_dIy, vpImage< unsigned char > *p_IcannyimgFilter)
Initialize the different displays.