9 #ifndef CDisplayWindow_H 10 #define CDisplayWindow_H 47 unsigned int initWidth = 400,
unsigned int initHeight = 400);
51 const std::string& windowCaption,
unsigned int initWidth = 400,
52 unsigned int initHeight = 400);
74 const bool& showNumbers =
false);
78 const std::vector<float>&
y,
80 const bool& showNumbers =
false);
88 template <
class FEATURELIST>
92 const bool& showIDs =
false)
96 img.colorImage(imgColor);
97 imgColor.drawFeatures(list,
color, showIDs);
107 template <
class FEATURELIST>
115 img.colorImage(imgColor);
137 template <
class MATCHEDLIST>
140 const MATCHEDLIST& mList,
142 bool showNumbers =
false)
155 i != mList.end(); ++i, ++nf)
167 buf, 15,
"%d[%u]", nf, (
unsigned int)i->first->ID);
171 buf, 15,
"%d[%u]", nf, (
unsigned int)i->second->ID);
173 round(i->second->x +
w) + 10,
round(i->second->y), buf,
187 template <
class FEATURELIST>
190 const FEATURELIST& leftList,
const FEATURELIST& rightList,
198 ASSERT_(leftList.size() == rightList.size());
199 imgColor.joinImagesHorz(img1, img2);
204 iR = rightList.begin();
205 iL != leftList.end(); ++iL, ++iR)
void showImageAndPoints(const mrpt::img::CImage &img, const FEATURELIST &list, const mrpt::img::TColor &color=mrpt::img::TColor::red(), const bool &showIDs=false)
Show a given color or grayscale image on the window and print a set of points on it.
void line(int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid) override
Draws a line.
bool m_enableCursorCoordinates
Enables or disables the visualization of cursor coordinates on the window caption.
virtual void setCursorCross(bool cursorIsCross) override
Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) ...
void showImagesAndMatchedPoints(const mrpt::img::CImage &img1, const mrpt::img::CImage &img2, const MATCHEDLIST &mList, const mrpt::img::TColor &color=mrpt::img::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...
virtual ~CDisplayWindow()
Destructor.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
size_t getHeight() const override
Returns the height of the image in pixels.
void enableCursorCoordinatesVisualization(bool enable)
Enables or disables the visualization of cursor coordinates on the window caption (default = enabled)...
void joinImagesHorz(const CImage &im1, const CImage &im2)
Joins two images side-by-side horizontally.
GLubyte GLubyte GLubyte GLubyte w
void setWindowTitle(const std::string &str) override
Changes the window title text.
void plot(const mrpt::math::CVectorFloat &x, const mrpt::math::CVectorFloat &y)
Plots a graph in MATLAB-like style.
#define ASSERT_(f)
Defines an assertion mechanism.
size_t getWidth() const override
Returns the width of the image in pixels.
virtual bool getLastMousePosition(int &x, int &y) const override
Gets the last x,y pixel coordinates of the mouse.
This class creates a window as a graphical user interface (GUI) for displaying images to the user...
GLsizei const GLchar ** string
void resize(unsigned int width, unsigned int height) override
Resizes the window, stretching the image to fit into the display area.
void showImagesAndMatchedPoints(const mrpt::img::CImage &img1, const mrpt::img::CImage &img2, const FEATURELIST &leftList, const FEATURELIST &rightList, const mrpt::img::TColor &color=mrpt::img::TColor::red())
Show a pair of given color or grayscale images (put together) on the window and print a set of matche...
void setPos(int x, int y) override
Changes the position of the window on the screen.
static constexpr TColor red()
Predefined colors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void showImageAndPoints(const mrpt::img::CImage &img, const mrpt::math::CVectorFloat &x, const mrpt::math::CVectorFloat &y, const mrpt::img::TColor &color=mrpt::img::TColor::red(), const bool &showNumbers=false)
Show a given color or grayscale image on the window and print a set of points on it.
void showImage(const mrpt::img::CImage &img)
Show a given color or grayscale image on the window.
CDisplayWindow(const std::string &windowCaption=std::string(), unsigned int initWidth=400, unsigned int initHeight=400)
Constructor.
static CDisplayWindow::Ptr Create(const std::string &windowCaption, unsigned int initWidth=400, unsigned int initHeight=400)
Class factory returning a smart pointer.
GLenum GLsizei GLsizei height
const Scalar * const_iterator
The base class for GUI window classes.
void showTiledImageAndPoints(const mrpt::img::CImage &img, const FEATURELIST &list, const mrpt::img::TColor &color=mrpt::img::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...
int sprintf(char *buf, size_t bufSize, const char *format,...) noexcept MRPT_printf_format_check(3
An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...
A class for storing images as grayscale or RGB bitmaps.
int round(const T value)
Returns the closer integer (int) to x.