Visual Servoing Platform version 3.5.0
vpGDIRenderer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
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
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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.
12 *
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
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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 * GDI renderer for windows 32 display
33 *
34 * Authors:
35 * Bruno Renier
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40
41#if (defined(VISP_HAVE_GDI))
42#ifndef vpGDIRenderer_HH
43#define vpGDIRenderer_HH
44
45#ifndef DOXYGEN_SHOULD_SKIP_THIS
46
47// Include WinSock2.h before windows.h to ensure that winsock.h is not
48// included by windows.h since winsock.h and winsock2.h are incompatible
49#include <WinSock2.h>
50#include <windows.h>
51
52#include <visp3/core/vpDisplayException.h>
53#include <visp3/core/vpImage.h>
54#include <visp3/core/vpRGBa.h>
55#include <visp3/gui/vpWin32Renderer.h>
56
57#include <visp3/core/vpMath.h>
58
59class VISP_EXPORT vpGDIRenderer : public vpWin32Renderer
60{
61 // the handle of the associated window
62 HWND m_hWnd;
63
64 // the bitmap object to display
65 HBITMAP m_bmp;
66
67 // colors for overlay
68 COLORREF m_colors[vpColor::id_unknown];
69
70 // font used to draw text
71 HFONT m_hFont;
72
73 // used to ensure that only one thread at a time is accessing bmp
74 CRITICAL_SECTION m_criticalSection;
75
76 unsigned int m_bmp_width;
77 unsigned int m_bmp_height;
78
79public:
80 double timelost;
81 vpGDIRenderer();
82 virtual ~vpGDIRenderer();
83
84 bool init(HWND hWnd, unsigned int width, unsigned int height);
85
86 bool render();
87
88 void setImg(const vpImage<vpRGBa> &I);
89 void setImg(const vpImage<unsigned char> &I);
90 void setImgROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width, unsigned int height);
91 void setImgROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
92 unsigned int height);
93
94 void setPixel(const vpImagePoint &iP, const vpColor &color);
95
96 void drawLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness,
97 int style = PS_SOLID);
98
99 void drawRect(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
100 bool fill = false, unsigned int thickness = 1);
101
102 void clear(const vpColor &color);
103
104 void drawCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
105 unsigned int thickness = 1);
106
107 void drawText(const vpImagePoint &ip, const char *text, const vpColor &color);
108
109 void drawCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
110
111 void drawArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int w, unsigned int h,
112 unsigned int thickness = 1);
113
114 void getImage(vpImage<vpRGBa> &I);
115
116private:
117 // updates the renderer hbitmaps.
118 bool updateBitmap(HBITMAP &hBmp, unsigned char *imBuffer, unsigned int w, unsigned int h);
119 // updates the renderer hbitmaps.
120 bool updateBitmapROI(unsigned char *imBuffer, int i_min, int j_min, int w, int h);
121
122 // converts a vpImage<vpRGBa> into a HBITMAP .
123 void convert(const vpImage<vpRGBa> &I, HBITMAP &hBmp);
124
125 // converst a vpImage<unsigned char> into a HBITMAP .
126 void convert(const vpImage<unsigned char> &I, HBITMAP &hBmp);
127
128 // converts a vpImage<vpRGBa> into a HBITMAP .
129 void convertROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int width,
130 unsigned int height);
131
132 // converst a vpImage<unsigned char> into a HBITMAP .
133 void convertROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int width,
134 unsigned int height);
135};
136#endif
137#endif
138#endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
@ id_unknown
Definition: vpColor.h:199
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88