/*!
Display a dashed line from image point \e ip1 to image point \e ip2.
\warning Dot lines are not yet implemented in OpenCV. We display a
normal line instead.
\param ip1,ip2 : Initial and final image points.
\param color : Line color.
\param thickness : Line thickness.
*/
void
vpDisplayOpenCV::displayDotLine(const vpImagePoint &ip1,
const vpImagePoint &ip2,
const vpColor &color,
unsigned int thickness)
{
if (displayHasBeenInitialized)
{
vpTRACE("Dot lines are not yet implemented");
if (color.id < vpColor::id_unknown) {
cvLine( background,
cvPoint( vpMath::round( ip1.get_u() ),
vpMath::round( ip1.get_v() ) ),
cvPoint( vpMath::round( ip2.get_u() ),
vpMath::round( ip2.get_v() ) ),
col[color.id], (int) thickness);
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvLine( background,
cvPoint( vpMath::round( ip1.get_u() ),
vpMath::round( ip1.get_v() ) ),
cvPoint( vpMath::round( ip2.get_u() ),
vpMath::round( ip2.get_v() ) ),
cvcolor, (int) thickness);
}
}
else
{
vpERROR_TRACE("OpenCV not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"OpenCV not initialized")) ;
}
}
/*!
Display a line from image point \e ip1 to image point \e ip2.
\param ip1,ip2 : Initial and final image points.
\param color : Line color.
\param thickness : Line thickness.
*/
void vpDisplayGTK::displayLine ( const vpImagePoint &ip1,
const vpImagePoint &ip2,
const vpColor &color,
unsigned int thickness )
{
if (displayHasBeenInitialized)
{
if ( thickness == 1 ) thickness = 0;
if (color.id < vpColor::id_unknown)
gdk_gc_set_foreground(gc, col[color.id]);
else {
gdkcolor.red = 256 * color.R;
gdkcolor.green = 256 * color.G;
gdkcolor.blue = 256 * color.B;
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
gdk_gc_set_line_attributes(gc, (gint)thickness,
GDK_LINE_SOLID, GDK_CAP_BUTT,
GDK_JOIN_BEVEL) ;
gdk_draw_line(background, gc,
vpMath::round( ip1.get_u() ),
vpMath::round( ip1.get_v() ),
vpMath::round( ip2.get_u() ),
vpMath::round( ip2.get_v() ) );
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Display a string at the image point \e ip location.
To select the font used to display the string, use setFont().
\param ip : Upper left image point location of the string in the display.
\param text : String to display in overlay.
\param color : String color.
\sa setFont()
*/
void vpDisplayOpenCV::displayCharString( const vpImagePoint &ip,
const char *text,
const vpColor &color )
{
if (displayHasBeenInitialized)
{
if (color.id < vpColor::id_unknown) {
cvPutText( background, text,
cvPoint( vpMath::round( ip.get_u() ),
vpMath::round( ip.get_v()+fontHeight ) ),
font, col[color.id] );
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvPutText( background, text,
cvPoint( vpMath::round( ip.get_u() ),
vpMath::round( ip.get_v()+fontHeight ) ),
font, cvcolor );
}
}
else
{
vpERROR_TRACE("OpenCV not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"OpenCV not initialized")) ;
}
}
/*!
\brief flush the Win32 buffer
It's necessary to use this function to see the results of any drawing
*/
void vpDisplayWin32::flushDisplayROI(const vpImagePoint &iP, const unsigned int width, const unsigned int height)
{
//waits if the window is not initialized
waitForInit();
/*
Under windows, flushing an ROI takes more time than
flushing the whole image.
Therefore, we update the maximum area even when asked to update a region.
*/
#ifdef FLUSH_ROI
typedef struct _half_rect_t{
unsigned short left_top;
unsigned short right_bottom;
} half_rect_t;
half_rect_t hr1;
half_rect_t hr2;
hr1.left_top = (unsigned short)iP.get_u();
hr1.right_bottom = (unsigned short)(iP.get_u()+width-1);
hr2.left_top = (unsigned short)iP.get_v();
hr2.right_bottom = (unsigned short)(iP.get_v()+height-1);
//sends a message to the window
WPARAM wp=*((WPARAM*)(&hr1));
LPARAM lp=*((WPARAM*)(&hr2));
PostMessage(window.getHWnd(), vpWM_DISPLAY_ROI, wp,lp);
#else
PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
#endif
}
/*!
Constructs a rectangle with \e topLeft the top-left corner location
and \e bottomRight the bottom-right corner.
*/
vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
{
this->left = topLeft.get_u();
this->top = topLeft.get_v();
setBottom( bottomRight.get_v() );
setRight( bottomRight.get_u() );
};
bool
vpImageSimulator::getPixel(const vpImagePoint &iP, unsigned char &Ipixelplan)
{
// std::cout << "In get Pixel" << std::endl;
//test si pixel dans zone projetee
bool inside = false;
for(unsigned int i = 0 ; i < listTriangle.size() ; i++)
if(listTriangle[i].inTriangle(iP)){
inside = true;
break;
}
if(!inside) return false;
// if(!T1.inTriangle(iP) && !T2.inTriangle(iP)){
//// std::cout << "The pixel is inside the projected area" << std::endl;
// return false;}
//methoed algebrique
double z;
//calcul de la profondeur de l'intersection
z = distance/(normal_Cam_optim[0]*iP.get_u()+normal_Cam_optim[1]*iP.get_v()+normal_Cam_optim[2]);
//calcul coordonnees 3D intersection
Xinter_optim[0]=iP.get_u()*z;
Xinter_optim[1]=iP.get_v()*z;
Xinter_optim[2]=z;
//recuperation des coordonnes de l'intersection dans le plan objet
//repere plan object :
// centre = X0_2_optim[i] (premier point definissant le plan)
// base = u:(X[1]-X[0]) et v:(X[3]-X[0])
//ici j'ai considere que le plan est un rectangle => coordonnees sont simplement obtenu par un produit scalaire
double u = 0, v = 0;
for(unsigned int i = 0; i < 3; i++)
{
double diff = (Xinter_optim[i]-X0_2_optim[i]);
u += diff*vbase_u_optim[i];
v += diff*vbase_v_optim[i];
}
u = u/(euclideanNorm_u*euclideanNorm_u);
v = v/(euclideanNorm_v*euclideanNorm_v);
if( u > 0 && v > 0 && u < 1. && v < 1.)
{
double i2,j2;
i2=v*(Ig.getHeight()-1);
j2=u*(Ig.getWidth()-1);
if (interp == BILINEAR_INTERPOLATION)
Ipixelplan = Ig.getValue(i2,j2);
else if (interp == SIMPLE)
Ipixelplan = Ig[(unsigned int)i2][(unsigned int)j2];
return true;
}
else
return false;
}
/*!
Display a rectangle.
\param topLeft : Top-left corner of the rectangle.
\param bottomRight : Bottom-right corner of the rectangle.
\param color : Rectangle color.
\param fill : When set to true fill the rectangle.
\param thickness : Thickness of the four lines used to display the
rectangle. This parameter is only useful when \e fill is set to
false.
*/
void
vpDisplayGTK::displayRectangle ( const vpImagePoint &topLeft,
const vpImagePoint &bottomRight,
const vpColor &color, bool fill,
unsigned int thickness )
{
if (displayHasBeenInitialized)
{
if ( thickness == 1 ) thickness = 0;
if (color.id < vpColor::id_unknown)
gdk_gc_set_foreground(gc, col[color.id]);
else {
gdkcolor.red = 256 * color.R;
gdkcolor.green = 256 * color.G;
gdkcolor.blue = 256 * color.B;
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
gdk_gc_set_line_attributes(gc, (gint)thickness,
GDK_LINE_SOLID, GDK_CAP_BUTT,
GDK_JOIN_BEVEL) ;
int w = vpMath::round( bottomRight.get_u() - topLeft.get_u() );
int h = vpMath::round( bottomRight.get_v() - topLeft.get_v() );
if (fill == false)
gdk_draw_rectangle(background, gc, FALSE,
vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ),
w-1,h-1);
else
gdk_draw_rectangle(background, gc, TRUE,
vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ),
w, h);
if (thickness > 1)
gdk_gc_set_line_attributes(gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT,
GDK_JOIN_BEVEL) ;
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Display a point at the image point \e ip location.
\param ip : Point location.
\param color : Point color.
*/
void vpDisplayGTK::displayPoint ( const vpImagePoint &ip,
const vpColor &color )
{
if (displayHasBeenInitialized)
{
if (color.id < vpColor::id_unknown)
gdk_gc_set_foreground(gc, col[color.id]);
else {
gdkcolor.red = 256 * color.R;
gdkcolor.green = 256 * color.G;
gdkcolor.blue = 256 * color.B;
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
gdk_draw_point(background,gc,
vpMath::round( ip.get_u() ),
vpMath::round( ip.get_v() ) );
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Display a selection of the gray level image \e I (8bits).
\warning Display has to be initialized.
\warning Suppress the overlay drawing in the region of interest.
\param I : Image to display.
\param iP : Top left corner of the region of interest
\param w : Width of the region of interest
\param h : Height of the region of interest
\sa init(), closeDisplay()
*/
void vpDisplayGTK::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int w, const unsigned int h )
{
if (displayHasBeenInitialized)
{
vpImage<unsigned char> Itemp;
vpImageTools::crop(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(), h, w,Itemp);
/* Copie de l'image dans le pixmap fond */
gdk_draw_gray_image(background,
gc, (gint)iP.get_u(), (gint)iP.get_v(), (gint)w, (gint)h,
GDK_RGB_DITHER_NONE,
I.bitmap,
(gint)w);
/* Le pixmap background devient le fond de la zone de dessin */
gdk_window_set_back_pixmap(widget->window, background, FALSE);
/* Affichage */
//gdk_window_clear(GTK_WINDOW(widget));
//gdk_flush();
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Display a string at the image point \e ip location.
To select the font used to display the string, use setFont().
\param ip : Upper left image point location of the string in the display.
\param text : String to display in overlay.
\param color : String color.
\sa setFont()
*/
void vpDisplayGTK::displayCharString ( const vpImagePoint &ip,
const char *text,
const vpColor &color )
{
if (displayHasBeenInitialized)
{
if (color.id < vpColor::id_unknown)
gdk_gc_set_foreground(gc, col[color.id]);
else {
gdkcolor.red = 256 * color.R;
gdkcolor.green = 256 * color.G;
gdkcolor.blue = 256 * color.B;
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
if (font != NULL)
gdk_draw_string(background, font, gc,
vpMath::round( ip.get_u() ),
vpMath::round( ip.get_v() ),
(const gchar *)text);
else
std::cout << "Cannot draw string: no font is selected" << std::endl;
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Constructs a rectangle with \e topLeft the top-left corner location
and \e width and \e height the rectangle size.
*/
vpRect::vpRect(const vpImagePoint &topLeft, double width, double height)
{
this->left = topLeft.get_u();
this->top = topLeft.get_v();
this->width = width;
this->height = height;
};
/*!
Display a selection of the color image \e I in RGBa format (32bits).
\warning Display has to be initialized.
\warning Suppress the overlay drawing in the region of interest.
\param I : Image to display.
\param iP : Top left corner of the region of interest
\param w : Width of the region of interest
\param h : Height of the region of interest
\sa init(), closeDisplay()
*/
void vpDisplayGTK::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int w, const unsigned int h )
{
if (displayHasBeenInitialized)
{
vpImage<vpRGBa> Itemp;
vpImageTools::crop(I,(unsigned int)iP.get_i(), (unsigned int)iP.get_j(), h, w, Itemp);
/* Copie de l'image dans le pixmap fond */
gdk_draw_rgb_32_image(background,
gc, (gint)iP.get_u(), (gint)iP.get_v(), (gint)w, (gint)h,
GDK_RGB_DITHER_NONE,
(unsigned char *)Itemp.bitmap,
(gint)(4*w));
/* Permet de fermer la fenetre si besoin (cas des sequences d'images) */
//while (g_main_iteration(FALSE));
/* Le pixmap background devient le fond de la zone de dessin */
gdk_window_set_back_pixmap(widget->window, background, FALSE);
/* Affichage */
//gdk_window_clear(GTK_WINDOW(widget));
//flushDisplay() ;
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
Display a circle.
\param center : Circle center position.
\param radius : Circle radius.
\param color : Circle color.
\param fill : When set to true fill the circle.
\param thickness : Thickness of the circle. This parameter is only useful
when \e fill is set to false.
*/
void vpDisplayOpenCV::displayCircle(const vpImagePoint ¢er,
unsigned int radius,
const vpColor &color,
bool fill ,
unsigned int thickness)
{
if (displayHasBeenInitialized)
{
if (fill == false) {
if (color.id < vpColor::id_unknown) {
cvCircle( background,
cvPoint( vpMath::round( center.get_u() ),
vpMath::round( center.get_v() ) ),
(int)radius, col[color.id], (int)thickness);
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvCircle( background,
cvPoint( vpMath::round( center.get_u() ),
vpMath::round( center.get_v() ) ),
(int)radius, cvcolor, (int)thickness);
}
}
else {
if (color.id < vpColor::id_unknown) {
cvCircle( background,
cvPoint( vpMath::round( center.get_u() ),
vpMath::round( center.get_v() ) ),
(int)radius, col[color.id], CV_FILLED);
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvCircle( background,
cvPoint( vpMath::round( center.get_u() ),
vpMath::round( center.get_v() ) ),
(int)radius, cvcolor, CV_FILLED);
}
}
}
else
{
vpERROR_TRACE("OpenCV not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"OpenCV not initialized")) ;
}
}
/*!
Display a rectangle with \e topLeft as the top-left corner and \e
width and \e height the rectangle size.
\param topLeft : Top-left corner of the rectangle.
\param width,height : Rectangle size.
\param color : Rectangle color.
\param fill : When set to true fill the rectangle.
\param thickness : Thickness of the four lines used to display the
rectangle. This parameter is only useful when \e fill is set to
false.
*/
void
vpDisplayOpenCV::displayRectangle(const vpImagePoint &topLeft,
unsigned int width, unsigned int height,
const vpColor &color, bool fill,
unsigned int thickness)
{
if (displayHasBeenInitialized)
{
if (fill == false) {
if (color.id < vpColor::id_unknown) {
cvRectangle( background,
cvPoint( vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ) ),
cvPoint( vpMath::round( topLeft.get_u()+width ),
vpMath::round( topLeft.get_v()+height ) ),
col[color.id], (int)thickness);
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvRectangle( background,
cvPoint( vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ) ),
cvPoint( vpMath::round( topLeft.get_u()+width ),
vpMath::round( topLeft.get_v()+height ) ),
cvcolor, (int)thickness);
}
}
else {
if (color.id < vpColor::id_unknown) {
cvRectangle( background,
cvPoint( vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ) ),
cvPoint( vpMath::round( topLeft.get_u()+width ),
vpMath::round( topLeft.get_v()+height ) ),
col[color.id], CV_FILLED);
}
else {
cvcolor = CV_RGB(color.R, color.G, color.B) ;
cvRectangle( background,
cvPoint( vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ) ),
cvPoint( vpMath::round( topLeft.get_u()+width ),
vpMath::round( topLeft.get_v()+height ) ),
cvcolor, CV_FILLED);
}
}
}
else
{
vpERROR_TRACE("OpenCV not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"OpenCV not initialized")) ;
}
}
bool
vpImageSimulator::getPixelDepth(const vpImagePoint iP,double &Zpixelplan)
{
//test si pixel dans zone projetee
if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
return false;
Zpixelplan = distance/(normal_Cam_optim[0]*iP.get_u()+normal_Cam_optim[1]*iP.get_v()+normal_Cam_optim[2]);
return true;
}
/*!
Display a circle.
\param center : Circle center position.
\param radius : Circle radius.
\param color : Circle color.
\param fill : When set to true fill the circle.
\param thickness : Thickness of the circle. This parameter is only useful
when \e fill is set to false.
*/
void vpDisplayGTK::displayCircle ( const vpImagePoint ¢er,
unsigned int radius,
const vpColor &color,
bool fill,
unsigned int thickness )
{
if (displayHasBeenInitialized)
{
if ( thickness == 1 ) thickness = 0;
if (color.id < vpColor::id_unknown)
gdk_gc_set_foreground(gc, col[color.id]);
else {
gdkcolor.red = 256 * color.R;
gdkcolor.green = 256 * color.G;
gdkcolor.blue = 256 * color.B;
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
gdk_gc_set_line_attributes(gc, (gint)thickness,
GDK_LINE_SOLID, GDK_CAP_BUTT,
GDK_JOIN_BEVEL) ;
if (fill == false)
gdk_draw_arc(background, gc, FALSE,
vpMath::round( center.get_u()-radius ),
vpMath::round( center.get_v()-radius ),
(gint)(2*radius), (gint)(2*radius), 23040, 23040) ; /* 23040 = 360*64 */
else
gdk_draw_arc(background, gc, TRUE,
vpMath::round( center.get_u()-radius ),
vpMath::round( center.get_v()-radius ),
(gint)(2*radius), (gint)(2*radius), 23040, 23040) ; /* 23040 = 360*64 */
}
else
{
vpERROR_TRACE("GTK not initialized " ) ;
throw(vpDisplayException(vpDisplayException::notInitializedError,
"GTK not initialized")) ;
}
}
/*!
\brief flush the Win32 buffer
It's necessary to use this function to see the results of any drawing
*/
void vpDisplayWin32::flushDisplayROI(const vpImagePoint &iP, const unsigned int width, const unsigned int height)
{
//waits if the window is not initialized
waitForInit();
/*
Under windows, flushing an ROI takes more time than
flushing the whole image.
Therefore, we update the maximum area even when asked to update a region.
*/
WORD left = (WORD)iP.get_u();
WORD right = (WORD)(iP.get_u()+width-1);
WORD top = (WORD)iP.get_v();
WORD bottom = (WORD)(iP.get_v()+height-1);
//sends a message to the window
WPARAM wp = MAKEWPARAM(left, right);
LPARAM lp = MAKELPARAM(top, bottom);
PostMessage(window.getHWnd(), vpWM_DISPLAY_ROI, wp,lp);
}
/*!
Train the classifier on a region of the entire image. The region is a
rectangle defined by its top left corner, its height and its width. The
parameters of this rectangle must be given in pixel. It also includes the
training of the fern classifier.
\param _I : The image use to train the classifier.
\param _iP : The top left corner of the rectangle defining the region of interest (ROI).
\param _height : The height of the ROI.
\param _width : The width of the ROI.
\return the number of reference points
*/
unsigned int
vpPlanarObjectDetector::buildReference(const vpImage<unsigned char> &_I,
const vpImagePoint &_iP,
unsigned int _height, unsigned int _width)
{
unsigned int res = fern.buildReference(_I, _iP, _height, _width);
modelROI.x = (int)_iP.get_u();
modelROI.y = (int)_iP.get_v();
modelROI.width = (int)_width;
modelROI.height = (int)_height;
initialiseRefCorners(modelROI);
return res;
}
bool
vpImageSimulator::getPixelDepth(const vpImagePoint &iP, double &Zpixelplan)
{
//test si pixel dans zone projetee
bool inside = false;
for(unsigned int i = 0 ; i < listTriangle.size() ; i++)
if(listTriangle[i].inTriangle(iP)){
inside = true;
break;
}
if(!inside) return false;
// if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
// return false;
Zpixelplan = distance/(normal_Cam_optim[0]*iP.get_u()+normal_Cam_optim[1]*iP.get_v()+normal_Cam_optim[2]);
return true;
}
/*!
Unary function to convert a vpImagePoint to a cv::Point2d.
\param point : Image point to convert.
\return A cv::Point2d with the 2D coordinates stored in vpImagePoint.
*/
cv::Point2d vpConvert::vpImagePointToPoint2d(const vpImagePoint &point) {
return cv::Point2d(point.get_u(), point.get_v());
}
/*!
Unary function to convert a vpImagePoint to a cv::Point2f.
\param point : Image point to convert.
\return A cv::Point2f with the 2D coordinates stored in vpImagePoint.
*/
cv::Point2f vpConvert::vpImagePointToPoint2f(const vpImagePoint &point) {
return cv::Point2f((float) point.get_u(), (float) point.get_v());
}
