vpDisplayOpenCV.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Image display.
 *
*****************************************************************************/
 
#ifndef _vpDisplayOpenCV_h_
#define _vpDisplayOpenCV_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(HAVE_OPENCV_HIGHGUI)
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#include <functional>
#endif
 
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
 
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>


 
class VISP_EXPORT vpDisplayOpenCV : public vpDisplay
{
private:
  cv::Mat m_background;
  cv::Scalar *col;
  cv::Scalar cvcolor;
  int font;
  float fontScale;
  static std::vector<std::string> m_listTitles;
  static unsigned int m_nbWindows;
  int fontHeight;
  int x_move;
  int y_move;
  bool move;
  int x_lbuttondown;
  int y_lbuttondown;
  bool lbuttondown;
  int x_mbuttondown;
  int y_mbuttondown;
  bool mbuttondown;
  int x_rbuttondown;
  int y_rbuttondown;
  bool rbuttondown;
  int x_lbuttonup;
  int y_lbuttonup;
  bool lbuttonup;
  int x_mbuttonup;
  int y_mbuttonup;
  bool mbuttonup;
  int x_rbuttonup;
  int y_rbuttonup;
  bool rbuttonup;
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpDisplayOpenCV(const vpDisplayOpenCV &)
  //    : vpDisplay(),
  //    #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
  //      background(NULL), col(NULL), cvcolor(), font(NULL),
  //    #else
  //      background(), col(NULL), cvcolor(), font(cv::FONT_HERSHEY_PLAIN),
  //      fontScale(0.8f),
  //    #endif
  //      fontHeight(10), x_move(0), y_move(0) , move(false),
  //      x_lbuttondown(0), y_lbuttondown(0), lbuttondown(false),
  //      x_mbuttondown(0), y_mbuttondown(0), mbuttondown(false),
  //      x_rbuttondown(0), y_rbuttondown(0), rbuttondown(false),
  //      x_lbuttonup(0), y_lbuttonup(0), lbuttonup(false),
  //      x_mbuttonup(0), y_mbuttonup(0), mbuttonup(false),
  //      x_rbuttonup(0), y_rbuttonup(0), rbuttonup(false)
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpDisplayOpenCV &operator=(const vpDisplayOpenCV &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif
 
public:
  vpDisplayOpenCV();
  vpDisplayOpenCV(int winx, int winy, const std::string &title = "");
  vpDisplayOpenCV(vpImage<unsigned char> &I, vpScaleType type);
  vpDisplayOpenCV(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "",
                  vpScaleType type = SCALE_DEFAULT);
  vpDisplayOpenCV(vpImage<vpRGBa> &I, vpScaleType type);
  vpDisplayOpenCV(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "",
                  vpScaleType type = SCALE_DEFAULT);
 
  virtual ~vpDisplayOpenCV();
 
  void getImage(vpImage<vpRGBa> &I);
  unsigned int getScreenHeight();
  void getScreenSize(unsigned int &width, unsigned int &height);
  unsigned int getScreenWidth();
 
  void init(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "");
  void init(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "");
  void init(unsigned int width, unsigned int height, int winx = -1, int winy = -1, const std::string &title = "");
 
protected:
  void setFont(const std::string &font);
  void setTitle(const std::string &title);
  void setWindowPosition(int winx, int winy);
 
  void clearDisplay(const vpColor &color = vpColor::white);
 
  void closeDisplay();
 
  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
                    unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1);
 
  void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color = vpColor::green);
 
  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
                     unsigned int thickness = 1);
  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
                      unsigned int thickness = 1);
 
  void displayImage(const vpImage<unsigned char> &I);
  void displayImage(const vpImage<vpRGBa> &I);
  void displayImage(const unsigned char *I);
 
  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
                       unsigned int height);
  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
 
  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1);
  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1);
 
  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
                        bool fill = false, unsigned int thickness = 1);
  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
                        bool fill = false, unsigned int thickness = 1);
  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1);
 
  void flushDisplay();
  void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height);
 
  bool getClick(bool blocking = true);
  bool getClick(vpImagePoint &ip, bool blocking = true);
  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true);
 
  bool getKeyboardEvent(bool blocking = true);
  bool getKeyboardEvent(std::string &key, bool blocking = true);
  bool getPointerMotionEvent(vpImagePoint &ip);
  bool getPointerPosition(vpImagePoint &ip);
 
  static void on_mouse(int event, int x, int y, int flags, void *param);
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  void overlay(std::function<void(cv::Mat &)> overlay_function, double opacity);
#endif
};
 
#endif
#endif