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CDisplayWindow.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CDisplayWindow_H
10 #define CDisplayWindow_H
11 
13 #include <mrpt/utils/CImage.h>
14 #include <mrpt/system/os.h>
15 #include <vector>
16 
17 namespace mrpt
18 {
19  /** Classes for creating GUI windows for 2D and 3D visualization. \ingroup mrpt_gui_grp */
20  namespace gui
21  {
23 
24  /** This class creates a window as a graphical user interface (GUI) for displaying images to the user.
25  *
26  * For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow.
27  * \ingroup mrpt_gui_grp
28  */
29  class GUI_IMPEXP CDisplayWindow : public mrpt::gui::CBaseGUIWindow
30  {
31  // This must be added to any CSerializable derived class:
33 
34  protected:
35 
36  /** Enables or disables the visualization of cursor coordinates on the window caption.
37  */
38  bool m_enableCursorCoordinates;
39 
40  public:
41  /** Constructor
42  */
43  CDisplayWindow( const std::string &windowCaption = std::string(), unsigned int initWidth = 400, unsigned int initHeight = 400 );
44 
45  /** Class factory returning a smart pointer */
46  static CDisplayWindowPtr Create(
47  const std::string &windowCaption,
48  unsigned int initWidth = 400,
49  unsigned int initHeight = 400 );
50 
51  /** Destructor
52  */
53  virtual ~CDisplayWindow();
54 
55  /** Gets the last x,y pixel coordinates of the mouse. \return False if the window is closed. */
56  virtual bool getLastMousePosition(int &x, int &y) const MRPT_OVERRIDE;
57 
58  /** Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) */
59  virtual void setCursorCross(bool cursorIsCross) MRPT_OVERRIDE;
60 
61  /** Show a given color or grayscale image on the window and print a set of points on it.
62  * It adapts the size of the window to that of the image.
63  */
64  void showImageAndPoints( const mrpt::utils::CImage &img, const mrpt::math::CVectorFloat &x, const mrpt::math::CVectorFloat &y, const mrpt::utils::TColor &color = mrpt::utils::TColor::red, const bool &showNumbers = false );
65  /** \overload */
66  void showImageAndPoints( const mrpt::utils::CImage &img, const std::vector<float> &x, const std::vector<float> &y, const mrpt::utils::TColor &color = mrpt::utils::TColor::red, const bool &showNumbers = false );
67 
68  /** Show a given color or grayscale image on the window and print a set of points on it.
69  * It adapts the size of the window to that of the image.
70  * The class of FEATURELIST can be: mrpt::vision::CFeatureList or any STL container of entities having "x","y" and "ID" fields.
71  */
72  template <class FEATURELIST>
73  void showImageAndPoints( const mrpt::utils::CImage &img, const FEATURELIST &list, const mrpt::utils::TColor &color = mrpt::utils::TColor::red, const bool &showIDs = false )
74  {
76  mrpt::utils::CImage imgColor(1,1,CH_RGB);
77  img.colorImage( imgColor ); // Create a colorimage
78  imgColor.drawFeatures(list,color,showIDs);
79  showImage(imgColor);
80  MRPT_END
81  }
82 
83  /** Show a given color or grayscale image on the window and print a set of points on it and a set of lines splitting the image in tiles.
84  * It adapts the size of the window to that of the image.
85  * The class of FEATURELIST can be: mrpt::vision::CFeatureList
86  */
87  template <class FEATURELIST>
89  {
91  using mrpt::utils::TColor;
92  mrpt::utils::CImage imgColor(1,1,3);
93  img.colorImage( imgColor ); // Create a colorimage
94 
95  // Print the 4 tile lines
96  unsigned int w = imgColor.getWidth();
97  unsigned int h = imgColor.getHeight();
98  imgColor.line( 0, h/2, w-1, h/2, TColor::green );
99  imgColor.line( w/4, 0, w/4, h, TColor::green );
100  imgColor.line( w/2, 0, w/2, h, TColor::green );
101  imgColor.line( 3*w/4, 0, 3*w/4, h, TColor::green );
102 
103  showImageAndPoints( imgColor, list, color );
104 
105  MRPT_END
106  }
107 
108  /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.
109  * It adapts the size of the window to that of the image.
110  * MATCHEDLIST can be of the class: mrpt::vision::CMatchedFeatureList, or any STL container of pairs of anything having ".x" and ".y" (e.g. mrpt::math::TPoint2D)
111  */
112  template <class MATCHEDLIST>
113  void showImagesAndMatchedPoints( const mrpt::utils::CImage &img1, const mrpt::utils::CImage &img2, const MATCHEDLIST &mList, const mrpt::utils::TColor &color = mrpt::utils::TColor::red, bool showNumbers = false )
114  {
115  MRPT_START
116 
117  mrpt::utils::CImage imgColor;
118 
119  //img1.colorImage( imgColor ); // Create a colorimage
120  imgColor.joinImagesHorz( img1, img2 );
121 
122  unsigned int w = img1.getWidth();
123  unsigned int nf = 0;
124 
125  for( typename MATCHEDLIST::const_iterator i = mList.begin(); i != mList.end(); ++i, ++nf )
126  {
127  imgColor.drawCircle( round( i->first->x ), round( i->first->y ), 4, color );
128  imgColor.drawCircle( round( i->second->x + w ), round( i->second->y ), 4, color );
129  //imgColor.line( round( i->first->x ), round( i->first->y ), round( i->second->x + w ), round( i->second->y ), color );
130  if( showNumbers )
131  {
132  char buf[15];
133  mrpt::system::os::sprintf( buf, 15, "%d[%u]", nf, (unsigned int)i->first->ID );
134  imgColor.textOut( round( i->first->x ) - 10, round( i->first->y ), buf, color );
135  mrpt::system::os::sprintf( buf, 15, "%d[%u]", nf, (unsigned int)i->second->ID );
136  imgColor.textOut( round( i->second->x + w ) + 10, round( i->second->y ), buf, color );
137  }
138  }
139  showImage(imgColor);
140 
141  MRPT_END
142  }
143 
144  /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.
145  * It adapts the size of the window to that of the image.
146  * FEATURELIST can be of the class: mrpt::vision::CFeatureList
147  */
148  template <class FEATURELIST>
149  void showImagesAndMatchedPoints( const mrpt::utils::CImage &img1, const mrpt::utils::CImage &img2, const FEATURELIST &leftList, const FEATURELIST &rightList, const mrpt::utils::TColor &color = mrpt::utils::TColor::red )
150  {
151  MRPT_START
152 
153  mrpt::utils::CImage imgColor;
154 
155  //img1.colorImage( imgColor ); // Create a colorimage
156  ASSERT_( leftList.size() == rightList.size() );
157  imgColor.joinImagesHorz( img1, img2 );
158 
159  unsigned int w = img1.getWidth();
160 
161  for( typename FEATURELIST::const_iterator iL = leftList.begin(), iR = rightList.begin(); iL != leftList.end(); ++iL, ++iR )
162  {
163  imgColor.drawCircle( round( (*iL)->x ), round( (*iL)->y ), 4, color );
164  imgColor.drawCircle( round( (*iR)->x + w ), round( (*iR)->y ), 4, color );
165  imgColor.line( round( (*iL)->x ), round( (*iL)->y ), round( (*iR)->x + w ), round( (*iR)->y ), color );
166  }
167  showImage(imgColor);
168 
169  MRPT_END
170  }
171 
172  /** Show a given color or grayscale image on the window.
173  * It adapts the size of the window to that of the image.
174  */
175  void showImage( const mrpt::utils::CImage &img );
176 
177  /** Plots a graph in MATLAB-like style.
178  */
179  void plot( const mrpt::math::CVectorFloat &x, const mrpt::math::CVectorFloat &y );
180 
181  /** Plots a graph in MATLAB-like style.
182  */
183  void plot( const mrpt::math::CVectorFloat &y );
184 
185  /** Resizes the window, stretching the image to fit into the display area.
186  */
187  void resize( unsigned int width, unsigned int height ) MRPT_OVERRIDE;
188 
189  /** Changes the position of the window on the screen.
190  */
191  void setPos( int x, int y ) MRPT_OVERRIDE;
192 
193  /** Enables or disables the visualization of cursor coordinates on the window caption (default = enabled).
194  */
195  inline void enableCursorCoordinatesVisualization(bool enable)
196  {
197  m_enableCursorCoordinates = enable;
198  }
199 
200  /** Changes the window title text.
201  */
202  void setWindowTitle( const std::string &str ) MRPT_OVERRIDE;
203 
204  }; // End of class def.
206 
207  } // End of namespace
208 
209 } // End of namespace
210 
211 #endif
GLint GLint GLint GLint GLint GLint y
Definition: glew.h:1166
unsigned char red[10]
Definition: PbMapMaker.cpp:976
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A class for storing images as grayscale or RGB bitmaps.
Definition: CImage.h:101
GLubyte GLubyte GLubyte GLubyte w
Definition: glew.h:1797
void showImagesAndMatchedPoints(const mrpt::utils::CImage &img1, const mrpt::utils::CImage &img2, const FEATURELIST &leftList, const FEATURELIST &rightList, const mrpt::utils::TColor &color=mrpt::utils::TColor::red)
Show a pair of given color or grayscale images (put together) on the window and print a set of matche...
GLclampf green
Definition: glew.h:1425
void colorImage(CImage &ret) const
Returns a RGB version of the grayscale image, or itself if it is already a RGB image.
Definition: CImage.cpp:2392
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
Definition: eigen_frwds.h:35
void enableCursorCoordinatesVisualization(bool enable)
Enables or disables the visualization of cursor coordinates on the window caption (default = enabled)...
const Scalar * const_iterator
Definition: eigen_plugins.h:24
void showTiledImageAndPoints(const mrpt::utils::CImage &img, const FEATURELIST &list, const mrpt::utils::TColor &color=mrpt::utils::TColor::red)
Show a given color or grayscale image on the window and print a set of points on it and a set of line...
dynamic_vector< float > CVectorFloat
Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction...
Definition: eigen_frwds.h:35
GLint GLvoid * img
Definition: glew.h:1290
#define MRPT_END
#define CH_RGB
Definition: CImage.h:42
#define DEFINE_MRPT_OBJECT(class_name)
This declaration must be inserted in all CObject classes definition, within the class declaration...
Definition: CObject.h:172
This class creates a window as a graphical user interface (GUI) for displaying images to the user...
#define DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Definition: CObject.h:177
GLint GLint GLint GLint GLint x
Definition: glew.h:1166
A RGB color - 8bit.
Definition: TColor.h:26
void line(int x0, int y0, int x1, int y1, const mrpt::utils::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid) MRPT_OVERRIDE
Draws a line.
Definition: CImage.cpp:1301
GLuint color
Definition: glew.h:5778
GLint GLint GLint GLint GLint GLint GLsizei GLsizei height
Definition: glew.h:1166
#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Definition: CObject.h:176
static TColor red
Predefined colors.
Definition: TColor.h:65
#define MRPT_START
GLsizei const GLcharARB ** string
Definition: glew.h:3293
void showImagesAndMatchedPoints(const mrpt::utils::CImage &img1, const mrpt::utils::CImage &img2, const MATCHEDLIST &mList, const mrpt::utils::TColor &color=mrpt::utils::TColor::red, bool showNumbers=false)
Show a pair of given color or grayscale images (put together) on the window and print a set of matche...
#define ASSERT_(f)
int round(const T value)
Returns the closer integer (int) to x.
Definition: round.h:26
int BASE_IMPEXP sprintf(char *buf, size_t bufSize, const char *format,...) MRPT_NO_THROWS MRPT_printf_format_check(3
An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...
Definition: os.cpp:191
GLint GLint GLint GLint GLint GLint GLsizei width
Definition: glew.h:1166
size_t getWidth() const MRPT_OVERRIDE
Returns the width of the image in pixels.
Definition: CImage.cpp:855
The base class for GUI window classes.
void joinImagesHorz(const CImage &im1, const CImage &im2)
Joins two images side-by-side horizontally.
Definition: CImage.cpp:2437
size_t getHeight() const MRPT_OVERRIDE
Returns the height of the image in pixels.
Definition: CImage.cpp:884



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