vpDisplayOpenCV.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Image display.
 */
 
#ifndef VP_DISPLAY_OPENCV_H
#define VP_DISPLAY_OPENCV_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
 
#if defined(HAVE_OPENCV_HIGHGUI)
 
#include <functional>
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
 
BEGIN_VISP_NAMESPACE


class VISP_EXPORT vpDisplayOpenCV : public vpDisplay
{
public:
  vpDisplayOpenCV();
  vpDisplayOpenCV(int winx, int winy, const std::string &title = "");
  vpDisplayOpenCV(vpImage<unsigned char> &I, vpScaleType type);
  vpDisplayOpenCV(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "",
                  vpScaleType type = SCALE_DEFAULT);
  vpDisplayOpenCV(vpImage<vpRGBa> &I, vpScaleType type);
  vpDisplayOpenCV(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "",
                  vpScaleType type = SCALE_DEFAULT);
  vpDisplayOpenCV(const vpDisplayOpenCV &display);
  virtual ~vpDisplayOpenCV() VP_OVERRIDE;
  vpDisplayOpenCV &operator=(const vpDisplayOpenCV &display);
 
  void getImage(vpImage<vpRGBa> &I) VP_OVERRIDE;
  unsigned int getScreenHeight() VP_OVERRIDE;
  void getScreenSize(unsigned int &width, unsigned int &height) VP_OVERRIDE;
  unsigned int getScreenWidth() VP_OVERRIDE;
 
  void init(vpImage<unsigned char> &I, int winx = -1, int winy = -1, const std::string &title = "") VP_OVERRIDE;
  void init(vpImage<vpRGBa> &I, int winx = -1, int winy = -1, const std::string &title = "") VP_OVERRIDE;
  void init(unsigned int width, unsigned int height, int winx = -1, int winy = -1, const std::string &title = "") VP_OVERRIDE;
 
protected:
  void setFont(const std::string &font) VP_OVERRIDE;
  void setTitle(const std::string &title) VP_OVERRIDE;
  void setWindowPosition(int winx, int winy) VP_OVERRIDE;
 
  void clearDisplay(const vpColor &color = vpColor::white) VP_OVERRIDE;
 
  void closeDisplay() VP_OVERRIDE;
 
  void displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color = vpColor::white,
                    unsigned int w = 4, unsigned int h = 2, unsigned int thickness = 1) VP_OVERRIDE;
 
  void displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
                     unsigned int thickness = 1) VP_OVERRIDE;
  void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1) VP_OVERRIDE;
  void displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
                      unsigned int thickness = 1) VP_OVERRIDE;
 
  void displayImage(const vpImage<unsigned char> &I) VP_OVERRIDE;
  void displayImage(const vpImage<vpRGBa> &I) VP_OVERRIDE;
  void displayImage(const unsigned char *I);
 
  void displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
                       unsigned int height) VP_OVERRIDE;
  void displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height) VP_OVERRIDE;
 
  void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness = 1) VP_OVERRIDE;
  void displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness = 1) VP_OVERRIDE;
 
  void displayRectangle(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
                        bool fill = false, unsigned int thickness = 1) VP_OVERRIDE;
  void displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
                        bool fill = false, unsigned int thickness = 1) VP_OVERRIDE;
  void displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill = false, unsigned int thickness = 1) VP_OVERRIDE;
 
  void displayText(const vpImagePoint &ip, const std::string &text, const vpColor &color = vpColor::green) VP_OVERRIDE;
 
  void flushDisplay() VP_OVERRIDE;
  void flushDisplayROI(const vpImagePoint &iP, unsigned int width, unsigned int height) VP_OVERRIDE;
 
  bool getClick(bool blocking = true) VP_OVERRIDE;
  bool getClick(vpImagePoint &ip, bool blocking = true) VP_OVERRIDE;
  bool getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true) VP_OVERRIDE;
  bool getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking = true) VP_OVERRIDE;
 
  bool getKeyboardEvent(bool blocking = true) VP_OVERRIDE;
  bool getKeyboardEvent(std::string &key, bool blocking = true) VP_OVERRIDE;
  bool getPointerMotionEvent(vpImagePoint &ip) VP_OVERRIDE;
  bool getPointerPosition(vpImagePoint &ip) VP_OVERRIDE;
 
private:
  // Implementation
  class Impl;
  Impl *m_impl;
};
 
END_VISP_NAMESPACE
#endif
#endif