Visual Servoing Platform version 3.6.0
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vpPlotGraph.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Define a graph for the vpPlot class.
33 *
34*****************************************************************************/
35
36#ifndef DOXYGEN_SHOULD_SKIP_THIS
37
38#ifndef vpPlotGraph_H
39#define vpPlotGraph_H
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
55class vpPlotGraph
56{
57public:
58 double xorg;
59 double yorg;
60 double zoomx;
61 double zoomy;
62 double xmax;
63 double ymax;
64 double xmin;
65 double ymin;
66 double xdelt;
67 double ydelt;
68 bool gridx;
69 bool gridy;
70 vpColor gridColor;
71 std::string title;
72 std::string unitx;
73 std::string unity;
74 unsigned int curveNbr;
75 vpPlotCurve *curveList;
76 bool scaleInitialized;
77 bool firstPoint;
78
79 int nbDivisionx;
80 int nbDivisiony;
81
82 // Graph complet
83 vpImagePoint topLeft;
84 unsigned int width;
85 unsigned int height;
86 vpRect graphZone;
87
88 // Zone d'affichage
89 vpImagePoint dTopLeft;
90 unsigned int dWidth;
91 unsigned int dHeight;
92 vpRect dGraphZone;
93
94 // Zone d'affichage
95 vpImagePoint dTopLeft3D;
96 // int dWidth;
97 // int dHeight;
98 vpRect dGraphZone3D;
99
100 // 3D part
101 vpCameraParameters cam;
102 vpHomogeneousMatrix cMo;
103 vpHomogeneousMatrix cMf;
104 double w_xval;
105 double w_xsize;
106 double w_yval;
107 double w_ysize;
108 double w_zval;
109 double w_zsize;
110 double ptXorg;
111 double ptYorg;
112 double ptZorg;
113 double zoomx_3D;
114 double zoomy_3D;
115 double zoomz_3D;
116
117 int nbDivisionz;
118
119 double zorg;
120 double zoomz;
121 double zmax;
122 double zmin;
123 double zdelt;
124 std::string unitz;
125 vpImagePoint old_iPr;
126 vpImagePoint old_iPz;
127 bool blockedr;
128 bool blockedz;
129 bool blocked;
130
131 unsigned int epsi;
132 unsigned int epsj;
133
134 bool dispUnit;
135 bool dispTitle;
136 bool dispLegend;
137
138 unsigned int gridThickness;
139
140 // private:
141 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
142 // vpPlotGraph(const vpPlotGraph &)
143 // : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
144 // xmin(0), ymin(-10),
145 // xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
146 // curveNbr(1), curveList(NULL), scaleInitialized(false),
147 // firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
148 // width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
149 // dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
150 // cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
151 // w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
152 // zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
153 // zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
154 // old_iPz(), blockedr(false), blockedz(false), blocked(false),
155 // epsi(5), epsj(6), dispUnit(false), dispTitle(false),
156 // dispLegend(false), gridThickness(1)
157 // {
158 // throw vpException(vpException::functionNotImplementedError, "Not
159 // implemented!");
160 // }
161 // vpPlotGraph &operator=(const vpPlotGraph &){
162 // throw vpException(vpException::functionNotImplementedError, "Not
163 // implemented!"); return *this;
164 // }
165 //#endif
166
167public:
168 vpPlotGraph();
169 virtual ~vpPlotGraph();
170
171 bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
172 bool check3Dpoint(vpImagePoint &iP);
173 void clearGraphZone(vpImage<unsigned char> &I);
174 void computeGraphParameters();
175 void computeGraphParameters3D();
176
177 void initGraph(unsigned int nbCurve);
178 void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
179 unsigned int margej);
180 void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
181 bool gx, bool gy);
182 void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
183 double zmin, double zmax, int nbDivz, bool gx, bool gy);
184
185 void displayGrid(vpImage<unsigned char> &I);
186 void displayUnit(vpImage<unsigned char> &I);
187 void displayTitle(vpImage<unsigned char> &I);
188 void displayLegend(vpImage<unsigned char> &I);
189 void displayGrid3D(vpImage<unsigned char> &I);
190
191 void findPose();
192
193 bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);
194
195 bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
196 vpHomogeneousMatrix navigation(const vpImage<unsigned char> &I, bool &changed, vpMouseButton::vpMouseButtonType &b);
197
198 void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
199 vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y, double z);
200 void replot(vpImage<unsigned char> &I);
201 void replot3D(vpImage<unsigned char> &I);
202
203 void rescalex(unsigned int side, double extremity);
204 void rescaley(unsigned int side, double extremity);
205 void rescalez(unsigned int side, double extremity);
206 // void rescale(double &min, double &max, double &delta, int nbDiv, int side);
207 void resetPointList(unsigned int curveNum);
208
209 void setCurveColor(unsigned int curveNum, const vpColor &color);
210 void setCurveThickness(unsigned int curveNum, unsigned int thickness);
211 void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; };
212 void setLegend(unsigned int curveNum, const std::string &legend);
213 void setTitle(const std::string &title);
214 void setUnitX(const std::string &unitx);
215 void setUnitY(const std::string &unity);
216 void setUnitZ(const std::string &unitz);
217};
218
219#endif
220#endif
221#endif