Visual Servoing Platform version 3.5.0
vpPlotGraph.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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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 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef DOXYGEN_SHOULD_SKIP_THIS
40
41#ifndef vpPlotGraph_H
42#define vpPlotGraph_H
43
44#include <visp3/core/vpColor.h>
45#include <visp3/core/vpImage.h>
46
47#include <visp3/core/vpMouseButton.h>
48#include <visp3/gui/vpPlotCurve.h>
49
50#include <visp3/core/vpHomogeneousMatrix.h>
51#include <visp3/core/vpRect.h>
52
53#include <visp3/core/vpCameraParameters.h>
54#include <visp3/core/vpPoint.h>
55
56#if defined(VISP_HAVE_DISPLAY)
57
58class vpPlotGraph
59{
60public:
61 double xorg;
62 double yorg;
63 double zoomx;
64 double zoomy;
65 double xmax;
66 double ymax;
67 double xmin;
68 double ymin;
69 double xdelt;
70 double ydelt;
71 bool gridx;
72 bool gridy;
73 vpColor gridColor;
74 std::string title;
75 std::string unitx;
76 std::string unity;
77 unsigned int curveNbr;
78 vpPlotCurve *curveList;
79 bool scaleInitialized;
80 bool firstPoint;
81
82 int nbDivisionx;
83 int nbDivisiony;
84
85 // Graph complet
86 vpImagePoint topLeft;
87 unsigned int width;
88 unsigned int height;
89 vpRect graphZone;
90
91 // Zone d'affichage
92 vpImagePoint dTopLeft;
93 unsigned int dWidth;
94 unsigned int dHeight;
95 vpRect dGraphZone;
96
97 // Zone d'affichage
98 vpImagePoint dTopLeft3D;
99 // int dWidth;
100 // int dHeight;
101 vpRect dGraphZone3D;
102
103 // 3D part
107 double w_xval;
108 double w_xsize;
109 double w_yval;
110 double w_ysize;
111 double w_zval;
112 double w_zsize;
113 double ptXorg;
114 double ptYorg;
115 double ptZorg;
116 double zoomx_3D;
117 double zoomy_3D;
118 double zoomz_3D;
119
120 int nbDivisionz;
121
122 double zorg;
123 double zoomz;
124 double zmax;
125 double zmin;
126 double zdelt;
127 std::string unitz;
128 vpImagePoint old_iPr;
129 vpImagePoint old_iPz;
130 bool blockedr;
131 bool blockedz;
132 bool blocked;
133
134 unsigned int epsi;
135 unsigned int epsj;
136
137 bool dispUnit;
138 bool dispTitle;
139 bool dispLegend;
140
141 unsigned int gridThickness;
142
143 // private:
144 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
145 // vpPlotGraph(const vpPlotGraph &)
146 // : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
147 // xmin(0), ymin(-10),
148 // xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
149 // curveNbr(1), curveList(NULL), scaleInitialized(false),
150 // firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
151 // width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
152 // dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
153 // cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
154 // w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
155 // zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
156 // zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
157 // old_iPz(), blockedr(false), blockedz(false), blocked(false),
158 // epsi(5), epsj(6), dispUnit(false), dispTitle(false),
159 // dispLegend(false), gridThickness(1)
160 // {
161 // throw vpException(vpException::functionNotImplementedError, "Not
162 // implemented!");
163 // }
164 // vpPlotGraph &operator=(const vpPlotGraph &){
165 // throw vpException(vpException::functionNotImplementedError, "Not
166 // implemented!"); return *this;
167 // }
168 //#endif
169
170public:
171 vpPlotGraph();
172 virtual ~vpPlotGraph();
173
174 bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
175 bool check3Dpoint(vpImagePoint &iP);
176 void clearGraphZone(vpImage<unsigned char> &I);
177 void computeGraphParameters();
178 void computeGraphParameters3D();
179
180 void initGraph(unsigned int nbCurve);
181 void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
182 unsigned int margej);
183 void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
184 double ymax, int nbDivy, bool gx, bool gy);
185 void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin,
186 double ymax, int nbDivy, double zmin, double zmax, int nbDivz,
187 bool gx, bool gy);
188
189 void displayGrid(vpImage<unsigned char> &I);
190 void displayUnit(vpImage<unsigned char> &I);
191 void displayTitle(vpImage<unsigned char> &I);
192 void displayLegend(vpImage<unsigned char> &I);
193 void displayGrid3D(vpImage<unsigned char> &I);
194
195 void findPose();
196
197 bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);
198
199 bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
201
202 void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
203 vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x,
204 double y, double z);
205 void replot(vpImage<unsigned char> &I);
206 void replot3D(vpImage<unsigned char> &I);
207
208 void rescalex(unsigned int side, double extremity);
209 void rescaley(unsigned int side, double extremity);
210 void rescalez(unsigned int side, double extremity);
211 // void rescale(double &min, double &max, double &delta, int nbDiv, int side);
212 void resetPointList(unsigned int curveNum);
213
214 void setCurveColor(unsigned int curveNum, const vpColor &color);
215 void setCurveThickness(unsigned int curveNum, unsigned int thickness);
216 void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; };
217 void setLegend(unsigned int curveNum, const std::string &legend);
218 void setTitle(const std::string &title);
219 void setUnitX(const std::string &unitx);
220 void setUnitY(const std::string &unity);
221 void setUnitZ(const std::string &unitz);
222};
223
224#endif
225#endif
226#endif
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Defines a rectangle in the plane.
Definition: vpRect.h:80