Visual Servoing Platform
version 3.2.0
vpPlotGraph.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Define a graph for the vpPlot class.
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*
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* Authors:
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* Nicolas Melchior
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*
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*****************************************************************************/
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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#ifndef vpPlotGraph_H
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#define vpPlotGraph_H
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#include <visp3/core/vpColor.h>
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#include <visp3/core/vpImage.h>
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#include <visp3/core/vpMouseButton.h>
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#include <visp3/gui/vpPlotCurve.h>
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#include <visp3/core/vpHomogeneousMatrix.h>
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#include <visp3/core/vpRect.h>
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#include <visp3/core/vpCameraParameters.h>
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#include <visp3/core/vpPoint.h>
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#if defined(VISP_HAVE_DISPLAY)
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class
vpPlotGraph
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{
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public
:
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double
xorg;
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double
yorg;
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double
zoomx;
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double
zoomy;
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double
xmax;
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double
ymax;
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double
xmin;
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double
ymin;
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double
xdelt;
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double
ydelt;
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bool
gridx;
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bool
gridy;
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vpColor
gridColor;
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std::string title;
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std::string unitx;
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std::string unity;
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unsigned
int
curveNbr;
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vpPlotCurve *curveList;
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bool
scaleInitialized;
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bool
firstPoint;
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int
nbDivisionx;
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int
nbDivisiony;
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// Graph complet
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vpImagePoint
topLeft;
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unsigned
int
width;
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unsigned
int
height;
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vpRect
graphZone;
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// Zone d'affichage
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vpImagePoint
dTopLeft;
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unsigned
int
dWidth;
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unsigned
int
dHeight;
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vpRect
dGraphZone;
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// Zone d'affichage
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vpImagePoint
dTopLeft3D;
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// int dWidth;
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// int dHeight;
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vpRect
dGraphZone3D;
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// 3D part
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vpCameraParameters
cam;
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vpHomogeneousMatrix
cMo;
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vpHomogeneousMatrix
cMf;
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double
w_xval;
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double
w_xsize;
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double
w_yval;
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double
w_ysize;
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double
w_zval;
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double
w_zsize;
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double
ptXorg;
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double
ptYorg;
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double
ptZorg;
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double
zoomx_3D;
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double
zoomy_3D;
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double
zoomz_3D;
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int
nbDivisionz;
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double
zorg;
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double
zoomz;
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double
zmax;
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double
zmin;
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double
zdelt;
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std::string unitz;
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vpImagePoint
old_iPr;
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vpImagePoint
old_iPz;
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bool
blockedr;
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bool
blockedz;
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bool
blocked;
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unsigned
int
epsi;
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unsigned
int
epsj;
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bool
dispUnit;
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bool
dispTitle;
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bool
dispLegend;
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unsigned
int
gridThickness;
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// private:
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//#ifndef DOXYGEN_SHOULD_SKIP_THIS
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// vpPlotGraph(const vpPlotGraph &)
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// : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
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// xmin(0), ymin(-10),
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// xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
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// curveNbr(1), curveList(NULL), scaleInitialized(false),
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// firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
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// width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
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// dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
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// cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
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// w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
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// zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
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// zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
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// old_iPz(), blockedr(false), blockedz(false), blocked(false),
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// epsi(5), epsj(6), dispUnit(false), dispTitle(false),
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// dispLegend(false), gridThickness(1)
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// {
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// throw vpException(vpException::functionNotImplementedError, "Not
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// implemented!");
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// }
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// vpPlotGraph &operator=(const vpPlotGraph &){
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// throw vpException(vpException::functionNotImplementedError, "Not
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// implemented!"); return *this;
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// }
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//#endif
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public
:
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vpPlotGraph();
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virtual
~vpPlotGraph();
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bool
check3Dline(
vpImagePoint
&iP1,
vpImagePoint
&iP2);
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bool
check3Dpoint(
vpImagePoint
&iP);
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void
clearGraphZone(
vpImage<unsigned char>
&I);
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void
computeGraphParameters();
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void
computeGraphParameters3D();
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void
initGraph(
unsigned
int
nbCurve);
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void
initSize(
vpImagePoint
topLeft,
unsigned
int
width,
unsigned
int
height,
unsigned
int
margei,
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unsigned
int
margej);
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void
initScale(
vpImage<unsigned char>
&I,
const
double
xmin,
const
double
xmax,
const
int
nbDivx,
const
double
ymin,
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const
double
ymax,
const
int
nbDivy,
const
bool
gx,
const
bool
gy);
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void
initScale(
vpImage<unsigned char>
&I,
const
double
xmin,
const
double
xmax,
const
int
nbDivx,
const
double
ymin,
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const
double
ymax,
const
int
nbDivy,
const
double
zmin,
const
double
zmax,
const
int
nbDivz,
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const
bool
gx,
const
bool
gy);
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void
displayGrid(
vpImage<unsigned char>
&I);
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void
displayUnit(
vpImage<unsigned char>
&I);
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void
displayTitle(
vpImage<unsigned char>
&I);
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void
displayLegend(
vpImage<unsigned char>
&I);
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void
displayGrid3D(
vpImage<unsigned char>
&I);
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void
findPose();
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bool
getPixelValue(
vpImage<unsigned char>
&I,
vpImagePoint
&iP);
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bool
move(
const
vpImage<unsigned char>
&I,
vpMouseButton::vpMouseButtonType
&button);
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vpHomogeneousMatrix
navigation(
const
vpImage<unsigned char>
&I,
bool
&changed,
vpMouseButton::vpMouseButtonType
&b);
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void
plot(
vpImage<unsigned char>
&I,
const
unsigned
int
curveNb,
const
double
x,
const
double
y);
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vpMouseButton::vpMouseButtonType
plot(
vpImage<unsigned char>
&I,
const
unsigned
int
curveNb,
const
double
x,
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const
double
y,
const
double
z);
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void
replot(
vpImage<unsigned char>
&I);
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void
replot3D(
vpImage<unsigned char>
&I);
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void
rescalex(
unsigned
int
side,
double
extremity);
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void
rescaley(
unsigned
int
side,
double
extremity);
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void
rescalez(
unsigned
int
side,
double
extremity);
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// void rescale(double &min, double &max, double &delta, const int nbDiv,
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// int side);
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void
resetPointList(
const
unsigned
int
curveNum);
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void
setCurveColor(
const
unsigned
int
curveNum,
const
vpColor
&color);
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void
setCurveThickness(
const
unsigned
int
curveNum,
const
unsigned
int
thickness);
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void
setGridThickness(
const
unsigned
int
thickness) { this->gridThickness = thickness; };
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void
setLegend(
const
unsigned
int
curveNum,
const
std::string &legend);
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void
setTitle(
const
std::string &title);
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void
setUnitX(
const
std::string &unitx);
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void
setUnitY(
const
std::string &unity);
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void
setUnitZ(
const
std::string &unitz);
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};
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#endif
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#endif
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#endif
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition:
vpCameraParameters.h:232
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition:
vpImagePoint.h:87
vpImage< unsigned char >
vpColor
Class to define colors available for display functionnalities.
Definition:
vpColor.h:119
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition:
vpHomogeneousMatrix.h:91
vpMouseButton::vpMouseButtonType
vpMouseButtonType
Definition:
vpMouseButton.h:51
vpRect
Defines a rectangle in the plane.
Definition:
vpRect.h:77
modules
gui
include
visp3
gui
vpPlotGraph.h
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