Visual Servoing Platform  version 3.6.1 under development (2024-06-22)
vpServoDisplay.cpp
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 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.
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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.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface with the image for feature display.
32  */
33 
39 // Servo
40 #include <visp3/vs/vpServo.h>
41 
42 // Meter/pixel conversion
43 #include <visp3/core/vpCameraParameters.h>
44 
45 // Color / image / display
46 #include <visp3/core/vpColor.h>
47 #include <visp3/core/vpImage.h>
48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/vs/vpServoDisplay.h>
50 #include <visp3/visual_features/vpBasicFeature.h>
51 
54  vpColor currentColor, vpColor desiredColor, unsigned int thickness)
55 {
56  std::list<vpBasicFeature *>::const_iterator it_s;
57  std::list<vpBasicFeature *>::const_iterator it_s_star;
58 
59  for (it_s = s.featureList.begin(), it_s_star = s.desiredFeatureList.begin(); it_s != s.featureList.end();
60  ++it_s, ++it_s_star) {
61  if (desiredColor != vpColor::none) {
62  // desired list
63  (*it_s_star)->display(cam, I, desiredColor, thickness);
64  }
65  if (currentColor != vpColor::none) {
66  // current list
67  (*it_s)->display(cam, I, currentColor, thickness);
68  }
69  }
70 }
71 
73  vpColor currentColor, vpColor desiredColor, unsigned int thickness)
74 {
75  std::list<vpBasicFeature *>::const_iterator it_s;
76  std::list<vpBasicFeature *>::const_iterator it_s_star;
77 
78  for (it_s = s.featureList.begin(), it_s_star = s.desiredFeatureList.begin(); it_s != s.featureList.end();
79  ++it_s, ++it_s_star) {
80  if (desiredColor != vpColor::none) {
81  // desired list
82  (*it_s_star)->display(cam, I, desiredColor, thickness);
83  }
84  if (currentColor != vpColor::none) {
85  // current list
86  (*it_s)->display(cam, I, currentColor, thickness);
87  }
88  }
89 }
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:153
static const vpColor none
Definition: vpColor.h:225
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
std::list< vpBasicFeature * > featureList
List of current visual features .
Definition: vpServo.h:1193
std::list< vpBasicFeature * > desiredFeatureList
List of desired visual features .
Definition: vpServo.h:1195