Visual Servoing Platform version 3.5.0
vpProjectionDisplay.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * Interface with the image for feature display.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpProjectionDisplay_H
40#define vpProjectionDisplay_H
41
47#include <visp3/core/vpConfig.h>
48#if defined(VISP_HAVE_DISPLAY)
49
50#include <visp3/core/vpCameraParameters.h>
51#include <visp3/core/vpColor.h>
52#include <visp3/core/vpForwardProjection.h>
53#include <visp3/core/vpImage.h>
54#include <visp3/core/vpPoint.h>
55#include <visp3/gui/vpDisplayD3D.h>
56#include <visp3/gui/vpDisplayGDI.h>
57#include <visp3/gui/vpDisplayGTK.h>
58#include <visp3/gui/vpDisplayOpenCV.h>
59#include <visp3/gui/vpDisplayX.h>
60
61#include <list>
62
68class VISP_EXPORT vpProjectionDisplay
69{
70private:
73
74#if defined VISP_HAVE_X11
75 vpDisplayX dIcam;
76 vpDisplayX dIext;
77#elif defined VISP_HAVE_GTK
78 vpDisplayGTK dIcam;
79 vpDisplayGTK dIext;
80#elif defined VISP_HAVE_GDI
81 vpDisplayGDI dIcam;
82 vpDisplayGDI dIext;
83#elif defined VISP_HAVE_OPENCV
84 vpDisplayOpenCV dIcam;
85 vpDisplayOpenCV dIext;
86#elif defined(VISP_HAVE_D3D9)
87 vpDisplayD3D dIcam;
88 vpDisplayD3D dIext;
89#endif
90public:
91 void init();
92 void init(int select);
93 void close();
94 static int internalView() { return 0x01; }
95 static int externalView() { return 0x02; }
96
99 : Icam(), Iext(),
100#if defined(VISP_HAVE_DISPLAY)
101 dIcam(), dIext(),
102#endif
103 listFp(), o(), x(), y(), z(), traj()
104 {
105 init();
106 }
107 explicit vpProjectionDisplay(int select)
108 : Icam(), Iext(),
109#if defined(VISP_HAVE_DISPLAY)
110 dIcam(), dIext(),
111#endif
112 listFp(), o(), x(), y(), z(), traj()
113 {
114 init(select);
115 }
116
117 void insert(vpForwardProjection &fp);
118 void display(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo,
119 const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj = false,
120 unsigned int thickness = 1);
121 void displayCamera(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo,
122 const vpCameraParameters &cam, unsigned int thickness = 1);
123
124private:
125 std::list<vpForwardProjection *> listFp;
126 vpPoint o;
127 vpPoint x;
128 vpPoint y;
129 vpPoint z;
130 vpMatrix traj;
131};
132
133#endif
134#endif
135
136/*
137 * Local variables:
138 * c-basic-offset: 2
139 * End:
140 */
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
Class that defines what is a generic geometric feature.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
interface with the image for feature display