CDisplayWindow.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  CDisplayWindow_H
#define  CDisplayWindow_H

#include <mrpt/gui/CBaseGUIWindow.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/system/os.h>
#include <vector>

namespace mrpt
{
        /** Classes for creating GUI windows for 2D and 3D visualization.   \ingroup mrpt_gui_grp */
        namespace gui
        {
                DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE(CDisplayWindow, mrpt::gui::CBaseGUIWindow, GUI_IMPEXP)

                /** This class creates a window as a graphical user interface (GUI) for displaying images to the user.
                 *
                 *  For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow.
                 * \ingroup mrpt_gui_grp
                 */
                class GUI_IMPEXP CDisplayWindow : public mrpt::gui::CBaseGUIWindow
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_MRPT_OBJECT( CDisplayWindow )

                protected:

                        /** Enables or disables the visualization of cursor coordinates on the window caption.
                          */
                        bool                    m_enableCursorCoordinates;

                public:
                        /** Constructor
                         */
                        CDisplayWindow( const std::string &windowCaption = std::string(), unsigned int initWidth = 400, unsigned int initHeight = 400 );

                        /** Class factory returning a smart pointer */
                        static CDisplayWindowPtr Create(
                                const std::string       &windowCaption,
                                unsigned int initWidth = 400,
                                unsigned int initHeight = 400  );

                        /** Destructor
                         */
                        virtual ~CDisplayWindow();

                        /** Gets the last x,y pixel coordinates of the mouse. \return False if the window is closed. */
                        virtual bool getLastMousePosition(int &x, int &y) const MRPT_OVERRIDE;

                        /** Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) */
                        virtual void setCursorCross(bool cursorIsCross) MRPT_OVERRIDE;

                        /** Show a given color or grayscale image on the window and print a set of points on it.
                         *  It adapts the size of the window to that of the image.
                         */
                        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 );
                        /** \overload */
                        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 );

                        /** Show a given color or grayscale image on the window and print a set of points on it.
                         *  It adapts the size of the window to that of the image.
                         *  The class of FEATURELIST can be: mrpt::vision::CFeatureList or any STL container of entities having "x","y" and "ID" fields.
                         */
                        template <class FEATURELIST>
                        void  showImageAndPoints( const mrpt::utils::CImage &img, const FEATURELIST &list, const mrpt::utils::TColor &color = mrpt::utils::TColor::red, const bool &showIDs = false )
                        {
                                MRPT_START
                                mrpt::utils::CImage imgColor(1,1,CH_RGB);
                                img.colorImage( imgColor );     // Create a colorimage
                                imgColor.drawFeatures(list,color,showIDs);
                                showImage(imgColor);
                                MRPT_END
                        }

                        /** 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.
                         *  It adapts the size of the window to that of the image.
                         *  The class of FEATURELIST can be: mrpt::vision::CFeatureList
                         */
                        template <class FEATURELIST>
                        void  showTiledImageAndPoints( const mrpt::utils::CImage &img, const FEATURELIST &list, const mrpt::utils::TColor &color = mrpt::utils::TColor::red )
                        {
                                MRPT_START
                                using mrpt::utils::TColor;
                                mrpt::utils::CImage imgColor(1,1,3);
                                img.colorImage( imgColor ); // Create a colorimage

                                // Print the 4 tile lines
                                unsigned int w = imgColor.getWidth();
                                unsigned int h = imgColor.getHeight();
                                imgColor.line( 0, h/2, w-1, h/2, TColor::green );
                                imgColor.line( w/4, 0, w/4, h, TColor::green );
                                imgColor.line( w/2, 0, w/2, h, TColor::green );
                                imgColor.line( 3*w/4, 0, 3*w/4, h, TColor::green );

                                showImageAndPoints( imgColor, list, color );

                                MRPT_END
                        }

                        /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.
                         *  It adapts the size of the window to that of the image.
                         *  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)
                         */
                        template <class MATCHEDLIST>
                        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 )
                        {
                                MRPT_START

                                mrpt::utils::CImage imgColor;

                                //img1.colorImage( imgColor ); // Create a colorimage
                                imgColor.joinImagesHorz( img1, img2 );

                                unsigned int w = img1.getWidth();
                                unsigned int nf = 0;

                                for( typename MATCHEDLIST::const_iterator i = mList.begin(); i != mList.end(); ++i, ++nf )
                                {
                                        imgColor.drawCircle( round( i->first->x ), round( i->first->y ), 4, color );
                                        imgColor.drawCircle( round( i->second->x + w ), round( i->second->y ), 4, color );
                                        //imgColor.line( round( i->first->x ), round( i->first->y ), round( i->second->x + w ), round( i->second->y ), color );
                                        if( showNumbers )
                                        {
                                            char buf[15];
                                            mrpt::system::os::sprintf( buf, 15, "%d[%u]", nf, (unsigned int)i->first->ID );
                        imgColor.textOut( round( i->first->x ) - 10, round( i->first->y ), buf, color );
                        mrpt::system::os::sprintf( buf, 15, "%d[%u]", nf, (unsigned int)i->second->ID );
                        imgColor.textOut( round( i->second->x + w ) + 10, round( i->second->y ), buf, color );
                    }
                                }
                                showImage(imgColor);

                                MRPT_END
                        }

                        /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.
                         *  It adapts the size of the window to that of the image.
                         *  FEATURELIST can be of the class: mrpt::vision::CFeatureList
                         */
                        template <class FEATURELIST>
                        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 )
                        {
                                MRPT_START

                                mrpt::utils::CImage imgColor;

                                //img1.colorImage( imgColor ); // Create a colorimage
                                ASSERT_( leftList.size() == rightList.size() );
                                imgColor.joinImagesHorz( img1, img2 );

                                unsigned int w = img1.getWidth();

                                for( typename FEATURELIST::const_iterator iL = leftList.begin(), iR = rightList.begin(); iL != leftList.end(); ++iL, ++iR )
                                {
                                        imgColor.drawCircle( round( (*iL)->x ), round( (*iL)->y ), 4, color );
                                        imgColor.drawCircle( round( (*iR)->x + w ), round( (*iR)->y ), 4, color );
                                        imgColor.line( round( (*iL)->x ), round( (*iL)->y ), round( (*iR)->x + w ), round( (*iR)->y ), color );
                                }
                                showImage(imgColor);

                                MRPT_END
                        }

                        /** Show a given color or grayscale image on the window.
                         *  It adapts the size of the window to that of the image.
                         */
                        void  showImage( const mrpt::utils::CImage      &img );

                        /** Plots a graph in MATLAB-like style.
                         */
                        void  plot( const  mrpt::math::CVectorFloat &x, const  mrpt::math::CVectorFloat &y );

                        /** Plots a graph in MATLAB-like style.
                         */
                        void  plot( const  mrpt::math::CVectorFloat &y );

                        /** Resizes the window, stretching the image to fit into the display area.
                         */
                        void  resize( unsigned int width, unsigned int height ) MRPT_OVERRIDE;

                        /** Changes the position of the window on the screen.
                         */
                        void  setPos( int x, int y ) MRPT_OVERRIDE;

                        /** Enables or disables the visualization of cursor coordinates on the window caption (default = enabled).
                          */
                        inline void  enableCursorCoordinatesVisualization(bool enable)
                        {
                                m_enableCursorCoordinates = enable;
                        }

                        /** Changes the window title text.
                          */
                        void  setWindowTitle( const std::string &str ) MRPT_OVERRIDE;

                }; // End of class def.
                DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE(CDisplayWindow, mrpt::gui::CBaseGUIWindow, GUI_IMPEXP)

        } // End of namespace

} // End of namespace

#endif