Visual Servoing Platform  version 3.6.1 under development (2024-10-13)
vpPlotGraph.h
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  * Define a graph for the vpPlot class.
32  */
33 
34 #ifndef VP_PLOT_GRAPH_H
35 #define VP_PLOT_GRAPH_H
36 
37 #include <visp3/core/vpConfig.h>
38 
39 #ifndef DOXYGEN_SHOULD_SKIP_THIS
40 
41 #include <visp3/core/vpColor.h>
42 #include <visp3/core/vpImage.h>
43 
44 #include <visp3/core/vpMouseButton.h>
45 #include <visp3/gui/vpPlotCurve.h>
46 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpRect.h>
49 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpPoint.h>
52 
53 #if defined(VISP_HAVE_DISPLAY)
54 
55 BEGIN_VISP_NAMESPACE
56 
57 class vpPlotGraph
58 {
59 public:
60  double xorg;
61  double yorg;
62  double zoomx;
63  double zoomy;
64  double xmax;
65  double ymax;
66  double xmin;
67  double ymin;
68  double xdelt;
69  double ydelt;
70  bool gridx;
71  bool gridy;
72  vpColor gridColor;
73  std::string title;
74  std::string unitx;
75  std::string unity;
76  unsigned int curveNbr;
77  vpPlotCurve *curveList;
78  bool scaleInitialized;
79  bool firstPoint;
80 
81  int nbDivisionx;
82  int nbDivisiony;
83 
84  // Graph complet
85  vpImagePoint topLeft;
86  unsigned int width;
87  unsigned int height;
88  vpRect graphZone;
89 
90  // Zone d'affichage
91  vpImagePoint dTopLeft;
92  unsigned int dWidth;
93  unsigned int dHeight;
94  vpRect dGraphZone;
95 
96  // Zone d'affichage
97  vpImagePoint dTopLeft3D;
98  // int dWidth;
99  // int dHeight;
100  vpRect dGraphZone3D;
101 
102  // 3D part
103  vpCameraParameters cam;
104  vpHomogeneousMatrix cMo;
105  vpHomogeneousMatrix cMf;
106  double w_xval;
107  double w_xsize;
108  double w_yval;
109  double w_ysize;
110  double w_zval;
111  double w_zsize;
112  double ptXorg;
113  double ptYorg;
114  double ptZorg;
115  double zoomx_3D;
116  double zoomy_3D;
117  double zoomz_3D;
118 
119  int nbDivisionz;
120 
121  double zorg;
122  double zoomz;
123  double zmax;
124  double zmin;
125  double zdelt;
126  std::string unitz;
127  vpImagePoint old_iPr;
128  vpImagePoint old_iPz;
129  bool blockedr;
130  bool blockedz;
131  bool blocked;
132 
133  unsigned int epsi;
134  unsigned int epsj;
135 
136  bool dispUnit;
137  bool dispTitle;
138  bool dispLegend;
139 
140  unsigned int gridThickness;
141 
142  // private:
143  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
144  // vpPlotGraph(const vpPlotGraph &)
145  // : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
146  // xmin(0), ymin(-10),
147  // xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
148  // curveNbr(1), curveList(nullptr), scaleInitialized(false),
149  // firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
150  // width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
151  // dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
152  // cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
153  // w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
154  // zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
155  // zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
156  // old_iPz(), blockedr(false), blockedz(false), blocked(false),
157  // epsi(5), epsj(6), dispUnit(false), dispTitle(false),
158  // dispLegend(false), gridThickness(1)
159  // {
160  // throw vpException(vpException::functionNotImplementedError, "Not
161  // implemented!");
162  // }
163  // vpPlotGraph &operator=(const vpPlotGraph &){
164  // throw vpException(vpException::functionNotImplementedError, "Not
165  // implemented!"); return *this;
166  // }
167  //#endif
168 
169 public:
170  vpPlotGraph();
171  virtual ~vpPlotGraph();
172 
173  bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
174  bool check3Dpoint(vpImagePoint &iP);
175  void clearGraphZone(vpImage<unsigned char> &I);
176  void computeGraphParameters();
177  void computeGraphParameters3D();
178 
179  void initGraph(unsigned int nbCurve);
180  void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
181  unsigned int margej);
182  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
183  bool gx, bool gy);
184  void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
185  double zmin, double zmax, int nbDivz, bool gx, bool gy);
186 
187  void displayGrid(vpImage<unsigned char> &I);
188  void displayUnit(vpImage<unsigned char> &I);
189  void displayTitle(vpImage<unsigned char> &I);
190  void displayLegend(vpImage<unsigned char> &I);
191  void displayGrid3D(vpImage<unsigned char> &I);
192 
193  void findPose();
194 
195  bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);
196 
197  bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
198  vpHomogeneousMatrix navigation(const vpImage<unsigned char> &I, bool &changed, vpMouseButton::vpMouseButtonType &b);
199 
200  void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
201  vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y, double z);
202  void replot(vpImage<unsigned char> &I);
203  void replot3D(vpImage<unsigned char> &I);
204 
205  void rescalex(unsigned int side, double extremity);
206  void rescaley(unsigned int side, double extremity);
207  void rescalez(unsigned int side, double extremity);
208  // void rescale(double &min, double &max, double &delta, int nbDiv, int side);
209  void resetPointList(unsigned int curveNum);
210 
211  void setCurveColor(unsigned int curveNum, const vpColor &color);
212  void setCurveThickness(unsigned int curveNum, unsigned int thickness);
213  void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; };
214  void setLegend(unsigned int curveNum, const std::string &legend);
215  void setTitle(const std::string &title);
216  void setUnitX(const std::string &unitx);
217  void setUnitY(const std::string &unity);
218  void setUnitZ(const std::string &unitz);
219 };
220 
221 
222 END_VISP_NAMESPACE
223 #endif
224 #endif
225 #endif
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:310
vpColor
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:221
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpRect
Defines a rectangle in the plane.
Definition: vpRect.h:79