Visual Servoing Platform  version 3.4.1 under development (2021-10-20)
vpProjectionDisplay.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface with the image for feature display.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpProjectionDisplay_H
40 #define vpProjectionDisplay_H
41 
47 #include <visp3/core/vpConfig.h>
48 #if defined(VISP_HAVE_DISPLAY)
49 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpColor.h>
52 #include <visp3/core/vpForwardProjection.h>
53 #include <visp3/core/vpImage.h>
54 #include <visp3/core/vpPoint.h>
55 #include <visp3/gui/vpDisplayD3D.h>
56 #include <visp3/gui/vpDisplayGDI.h>
57 #include <visp3/gui/vpDisplayGTK.h>
58 #include <visp3/gui/vpDisplayOpenCV.h>
59 #include <visp3/gui/vpDisplayX.h>
60 
61 #include <list>
62 
68 class VISP_EXPORT vpProjectionDisplay
69 {
70 private:
73 
74 #if defined VISP_HAVE_X11
75  vpDisplayX dIcam;
76  vpDisplayX dIext;
77 #elif defined VISP_HAVE_GTK
78  vpDisplayGTK dIcam;
79  vpDisplayGTK dIext;
80 #elif defined VISP_HAVE_GDI
81  vpDisplayGDI dIcam;
82  vpDisplayGDI dIext;
83 #elif defined VISP_HAVE_OPENCV
84  vpDisplayOpenCV dIcam;
85  vpDisplayOpenCV dIext;
86 #elif defined(VISP_HAVE_D3D9)
87  vpDisplayD3D dIcam;
88  vpDisplayD3D dIext;
89 #endif
90 public:
91  void init();
92  void init(int select);
93  void close();
94  static int internalView() { return 0x01; }
95  static int externalView() { return 0x02; }
96 
99  : Icam(), Iext(),
100 #if defined(VISP_HAVE_DISPLAY)
101  dIcam(), dIext(),
102 #endif
103  listFp(), o(), x(), y(), z(), traj()
104  {
105  init();
106  }
107  explicit vpProjectionDisplay(int select)
108  : Icam(), Iext(),
109 #if defined(VISP_HAVE_DISPLAY)
110  dIcam(), dIext(),
111 #endif
112  listFp(), o(), x(), y(), z(), traj()
113  {
114  init(select);
115  }
116 
117  void insert(vpForwardProjection &fp);
118  void display(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo,
119  const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj = false,
120  unsigned int thickness = 1);
121  void displayCamera(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo,
122  const vpCameraParameters &cam, unsigned int thickness = 1);
123 
124 private:
125  std::list<vpForwardProjection *> listFp;
126  vpPoint o;
127  vpPoint x;
128  vpPoint y;
129  vpPoint z;
130  vpMatrix traj;
131 };
132 
133 #endif
134 #endif
135 
136 /*
137  * Local variables:
138  * c-basic-offset: 2
139  * End:
140  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
Implementation of an homogeneous matrix and operations on such kind of matrices.
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
Definition: vpDisplayD3D.h:106
Class that defines what is a generic geometric feature.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
interface with the image for feature display