/*!
Wait for a click from one of the mouse button and get the position
of the clicked image point.
\param ip [out] : The coordinates of the clicked image point.
\param blocking [in] : true for a blocking behaviour waiting a mouse
button click, false for a non blocking behaviour.
\return
- true if a button was clicked. This is always the case if blocking is set
to \e true.
- false if no button was clicked. This can occur if blocking is set
to \e false.
*/
bool vpDisplayWin32::getClick(vpImagePoint &ip, bool blocking)
{
//wait if the window is not initialized
waitForInit();
bool ret = false ;
double u, v;
//tells the window there has been a getclick demand
// PostMessage(window.getHWnd(), vpWM_GETCLICK, 0,0);
//waits for a click
if(blocking){
WaitForSingleObject(window.semaClick, NULL);
WaitForSingleObject(window.semaClickUp, NULL);//to erase previous events
WaitForSingleObject(window.semaClick, INFINITE);
ret = true;
}
else
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClick, NULL));
u = window.clickX;
v = window.clickY;
ip.set_u( u );
ip.set_v( v );
return ret;
}
/*!
Wait for a mouse button click release and get the position of the
image point were the click release occurs. The button used to click is
also set. Same method as getClick(unsigned int&, unsigned int&,
vpMouseButton::vpMouseButtonType &, bool).
\param ip [out] : Position of the clicked image point.
\param button [in] : Button used to click.
\param blocking [in] : true for a blocking behaviour waiting a mouse
button click, false for a non blocking behaviour.
\return
- true if a button was clicked. This is always the case if blocking is set
to \e true.
- false if no button was clicked. This can occur if blocking is set
to \e false.
\sa getClick(vpImagePoint &, vpMouseButton::vpMouseButtonType &, bool)
*/
bool vpDisplayWin32::getClickUp(vpImagePoint &ip,
vpMouseButton::vpMouseButtonType& button,
bool blocking)
{
//wait if the window is not initialized
waitForInit();
bool ret = false;
double u, v;
//tells the window there has been a getclickup demand
// PostMessage(window.getHWnd(), vpWM_GETCLICKUP, 0,0);
//waits for a click release
if(blocking){
WaitForSingleObject(window.semaClickUp, 0);
WaitForSingleObject(window.semaClick, 0);//to erase previous events
WaitForSingleObject(window.semaClickUp, INFINITE);
ret = true;
}
else
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClickUp, 0));
u = window.clickXUp;
v = window.clickYUp;
ip.set_u( u );
ip.set_v( v );
button = window.clickButtonUp;
return ret;
}
/*!
Display a point at the image point \e ip location.
\param ip : Point location.
\param color : Point color.
*/
void vpDisplayWin32::displayPoint(const vpImagePoint &ip,
const vpColor &color )
{
//wait if the window is not initialized
waitForInit();
window.renderer->setPixel(ip, color);
}
TEST_F(WorkerThreadTest, StartAndStop)
{
expectWorkerLifetimeReportingCalls();
start();
waitForInit();
m_workerThread->terminateAndWait();
}
/*!
\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
}
/*!
Displays a string.
\param ip : its top left point's coordinates
\param text : The string to display
\param color : The text's color
*/
void vpDisplayWin32::displayCharString(const vpImagePoint &ip,
const char *text,
const vpColor &color )
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawText(ip,text,color);
}
/*!
\brief flush the Win32 buffer
It's necessary to use this function to see the results of any drawing
*/
void vpDisplayWin32::flushDisplay()
{
//waits if the window is not initialized
waitForInit();
//sends a message to the window
PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
}
/*!
Display a dashed line from image point \e ip1 to image point \e ip2.
\warning This line is a dashed line only if the thickness is equal to 1.
\param ip1,ip2 : Initial and final image points.
\param color : Line color.
\param thickness : Line thickness.
*/
void vpDisplayWin32::displayDotLine(const vpImagePoint &ip1,
const vpImagePoint &ip2,
const vpColor &color,
unsigned int thickness )
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawLine(ip1,ip2,color,thickness,PS_DASHDOT);
}
/*!
Display a cross at the image point \e ip location.
\param ip : Cross location.
\param size : Size (width and height) of the cross.
\param color : Cross color.
\param thickness : Thickness of the lines used to display the cross.
*/
void vpDisplayWin32::displayCross( const vpImagePoint &ip,
unsigned int size,
const vpColor &color,
unsigned int thickness)
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawCross(ip, size, color, thickness);
}
/*!
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.
\warning The thickness can not be set if the display uses the d3d library.
*/
void vpDisplayWin32::displayRectangle( const vpImagePoint &topLeft,
unsigned int width, unsigned int height,
const vpColor &color, bool fill,
unsigned int thickness )
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawRect(topLeft,width,height,color, fill, thickness);
}
/*!
Changes the window's position.
\param winx, winy : Position of the upper-left window's border in the screen.
*/
void vpDisplayWin32::setWindowPosition(int winx, int winy)
{
//wait if the window is not initialized
waitForInit();
//cahange the window position only
SetWindowPos(window.hWnd,HWND_TOP, winx, winy, 0, 0,
SWP_ASYNCWINDOWPOS | SWP_NOACTIVATE | SWP_NOZORDER |SWP_NOSIZE);
}
/*!
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 width : Width of the region of interest
\param height : Height of the region of interest
\sa init(), closeDisplay()
*/
void vpDisplayWin32::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
{
//waits if the window is not initialized
waitForInit();
//sets the image to render
window.renderer->setImgROI(I,iP,width,height);
//sends a message to the window
//PostMessage(window.getHWnd(),vpWM_DISPLAY,0,0);
}
/*!
Display the gray level image \e I (8bits).
\warning Display has to be initialized.
\warning suppres the overlay drawing
\param I : Image to display.
\sa init(), closeDisplay()
*/
void vpDisplayWin32::displayImage(const vpImage<unsigned char> &I)
{
//wait if the window is not initialized
waitForInit();
//sets the image to render
window.renderer->setImg(I);
//sends a message to the window
//PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
}
/*!
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 vpDisplayWin32::displayCircle(const vpImagePoint ¢er,
unsigned int radius,
const vpColor &color,
bool fill,
unsigned int thickness )
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawCircle(center,radius,color,fill,thickness);
}
/*!
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.
\warning The thickness can not be set if the display uses the d3d library.
*/
void vpDisplayWin32::displayRectangle( const vpImagePoint &topLeft,
const vpImagePoint &bottomRight,
const vpColor &color, bool fill,
unsigned int thickness )
{
//wait if the window is not initialized
waitForInit();
unsigned int width = static_cast<unsigned int>( bottomRight.get_j() - topLeft.get_j() );
unsigned int height = static_cast<unsigned int>(bottomRight.get_i() - topLeft.get_i() );
window.renderer->drawRect(topLeft,width,height,color, fill, thickness);
}
/*!
Display an arrow from image point \e ip1 to image point \e ip2.
\param ip1,ip2 : Initial and final image point.
\param color : Arrow color.
\param w,h : Width and height of the arrow.
\param thickness : Thickness of the lines used to display the arrow.
*/
void vpDisplayWin32::displayArrow(const vpImagePoint &ip1,
const vpImagePoint &ip2,
const vpColor &color,
unsigned int w,unsigned int h,
unsigned int thickness)
{
//wait if the window is not initialized
waitForInit();
window.renderer->drawArrow(ip1, ip2, color, w, h, thickness);
}
/*!
Display a rectangle.
\param rectangle : Rectangle characteristics.
\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.
\warning The thickness can not be set if the display uses the d3d library.
*/
void vpDisplayWin32::displayRectangle( const vpRect &rectangle,
const vpColor &color, bool fill,
unsigned int thickness )
{
//wait if the window is not initialized
waitForInit();
vpImagePoint topLeft;
topLeft.set_i(rectangle.getTop());
topLeft.set_j(rectangle.getLeft());
window.renderer->drawRect(topLeft,
static_cast<unsigned int>( rectangle.getWidth() ),
static_cast<unsigned int>( rectangle.getHeight() ),
color, fill, thickness);
}
/*!
Closes the display.
Destroys the window.
*/
void vpDisplayWin32::closeDisplay()
{
if (displayHasBeenInitialized) {
waitForInit();
PostMessage(window.getHWnd(), vpWM_CLOSEDISPLAY, 0,0);
//if the destructor is called for a reason different than a
//problem in the thread creation
if (iStatus) {
//waits for the thread to end
WaitForSingleObject(hThread, INFINITE);
CloseHandle(hThread);
}
displayHasBeenInitialized = false ;
window.initialized = false ;
}
}
/*!
Get a keyboard event.
\param blocking [in] : Blocking behavior.
- When set to true, this method waits until a key is
pressed and then returns always true.
- When set to false, returns true only if a key is
pressed, otherwise returns false.
\return
- true if a key was pressed. This is always the case if blocking is set
to \e true.
- false if no key was pressed. This can occur if blocking is set
to \e false.
*/
bool vpDisplayWin32::getKeyboardEvent( bool blocking )
{
//wait if the window is not initialized
waitForInit();
bool ret = false ;
//waits for a keyboard event
if(blocking){
WaitForSingleObject(window.semaKey, 0); // key down
WaitForSingleObject(window.semaKey, 0); // key up
WaitForSingleObject(window.semaKey, INFINITE);
ret = true;
}
else
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaKey, 0));
return ret;
}
/*!
Get the coordinates of the mouse pointer.
\param ip [out] : The coordinates of the mouse pointer.
\return true.
\exception vpDisplayException::notInitializedError : If the display
was not initialized.
*/
bool
vpDisplayWin32::getPointerPosition (vpImagePoint &ip)
{
//wait if the window is not initialized
waitForInit();
bool ret = true ;
double u, v;
//tells the window there has been a getclick demand
//PostMessage(window.getHWnd(), vpWM_GETPOINTERMOTIONEVENT, 0,0);
u = window.coordX;
v = window.coordY;
ip.set_u( u );
ip.set_v( v );
return ret;
}
/*!
Wait for a click from one of the mouse button.
\param blocking [in] : Blocking behavior.
- When set to true, this method waits until a mouse button is
pressed and then returns always true.
- When set to false, returns true only if a mouse button is
pressed, otherwise returns false.
\return
- true if a button was clicked. This is always the case if blocking is set
to \e true.
- false if no button was clicked. This can occur if blocking is set
to \e false.
*/
bool vpDisplayWin32::getClick( bool blocking)
{
//wait if the window is not initialized
waitForInit();
bool ret = false;
//sends a message to the window
// PostMessage(window.getHWnd(), vpWM_GETCLICK, 0,0);
//waits for a button to be pressed
if(blocking){
WaitForSingleObject(window.semaClick, NULL);
WaitForSingleObject(window.semaClickUp, NULL); //to erase previous events
WaitForSingleObject(window.semaClick, INFINITE);
ret = true;
}
else
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClick, NULL));
return ret;
}
/*!
Get a keyboard event.
\param blocking [in] : Blocking behavior.
- When set to true, this method waits until a key is
pressed and then returns always true.
- When set to false, returns true only if a key is
pressed, otherwise returns false.
\param string [out]: If possible, an ISO Latin-1 character
corresponding to the keyboard key.
\return
- true if a key was pressed. This is always the case if blocking is set
to \e true.
- false if no key was pressed. This can occur if blocking is set
to \e false.
*/
bool vpDisplayWin32::getKeyboardEvent(char *string, bool blocking)
{
//wait if the window is not initialized
waitForInit();
bool ret = false ;
//waits for a keyboard event
if(blocking){
WaitForSingleObject(window.semaKey, NULL); // key down
WaitForSingleObject(window.semaKey, NULL); // key up
WaitForSingleObject(window.semaKey, INFINITE);
ret = true;
}
else {
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaKey, NULL));
}
// printf("key: %ud\n", window.key);
sprintf(string, "%s", window.lpString);
return ret;
}
/*!
\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);
}
/*!
Get a keyboard event.
\param blocking [in] : Blocking behavior.
- When set to true, this method waits until a key is
pressed and then returns always true.
- When set to false, returns true only if a key is
pressed, otherwise returns false.
\param key [out]: If possible, an ISO Latin-1 character
corresponding to the keyboard key.
\return
- true if a key was pressed. This is always the case if blocking is set
to \e true.
- false if no key was pressed. This can occur if blocking is set
to \e false.
*/
bool vpDisplayWin32::getKeyboardEvent(std::string &key, bool blocking)
{
//wait if the window is not initialized
waitForInit();
bool ret = false ;
//waits for a keyboard event
if(blocking){
WaitForSingleObject(window.semaKey, 0); // key down
WaitForSingleObject(window.semaKey, 0); // key up
WaitForSingleObject(window.semaKey, INFINITE);
ret = true;
}
else {
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaKey, 0));
}
// printf("key: %ud\n", window.key);
std::stringstream ss;
ss << window.lpString;
key = ss.str();
return ret;
}
/*!
Get the coordinates of the mouse pointer.
\param ip [out] : The coordinates of the mouse pointer.
\return true if a pointer motion event was received, false otherwise.
\exception vpDisplayException::notInitializedError : If the display
was not initialized.
*/
bool
vpDisplayWin32::getPointerMotionEvent (vpImagePoint &ip)
{
//wait if the window is not initialized
waitForInit();
bool ret = false;
ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaMove, 0));
if (ret)
{
double u, v;
std::cout << "toto";
//tells the window there has been a getclick demand
//PostMessage(window.getHWnd(), vpWM_GETPOINTERMOTIONEVENT, 0,0);
u = window.coordX;
v = window.coordY;
ip.set_u( u );
ip.set_v( v );
}
return ret;
}
void initProgram()
{
//------------------------
// start initializing crap
//------------------------
defaultExceptionHandler(); // set up the exception handler
powerON(POWER_ALL_2D); // turn on everything
#ifndef DEBUG_MODE
fb_init(); // initialize top screen video
#else
debugInit();
#endif
bg_init(); // initialize bottom screen video
setNewOrientation(ORIENTATION_0);
// set up extra vram banks to be scratch memory
vramSetBankE(VRAM_E_LCD);
vramSetBankF(VRAM_F_LCD);
vramSetBankG(VRAM_G_LCD);
vramSetBankH(VRAM_H_LCD);
vramSetBankI(VRAM_I_LCD);
fb_setBGColor(30653);
bg_setBGColor(0);
drawStartSplash();
lcdMainOnTop(); // set fb to top screen
fb_swapBuffers();
bg_swapBuffers();
// out of order for competition
irqInit(); // initialize irqs
irqSet(IRQ_VBLANK, startvBlank);
irqEnable(IRQ_VBLANK);
setMode(INITFAT);
setSoundInterrupt(); // initialize fifo irq
setGenericSound(11025, 127, 64, 1);
waitForInit(); // wait until arm7 has loaded and gone to sleep
initComplexSound(); // initialize sound variables
initWifi();
fixGautami();
setCursorProperties(0, 2, 0, 0);
initCapture();
initClipboard();
// set defaults to english in case we can't load the langauge file for
// some reason also takes care of partial translations.
initLanguage();
initRandomList();
fixAndTags();
resetKeyboard();
setDate();
if(!DRAGON_InitFiles())
{
// oops, no cf card!
setMode(DISPLAYCOW);
setFont(font_arial_11);
setColor(0xFFFF);
bg_dispSprite(96, 5, errmsg, 0);
bg_setClipping(5,25,250,181);
bg_dispString(0,0,l_nofat);
bg_swapBuffers();
while(1)
{
// wee, la la la!
// More or less, we aren't going to do nothing here
}
}
//--------------------------------------------------------------------
//finished init, now check to make sure the DSOrganize dir is there...
//--------------------------------------------------------------------
findDataDirectory();
makeDirectories();
if(DRAGON_FileExists("DSOrganize") != FE_DIR)
{
setMode(DISPLAYCOW);
// oops, not there, we must create!
DRAGON_mkdir("DSOrganize");
DRAGON_chdir("DSOrganize");
DRAGON_mkdir("DAY");
DRAGON_mkdir("HELP");
DRAGON_mkdir("LANG");
DRAGON_mkdir("RESOURCES");
DRAGON_mkdir("REMINDER");
DRAGON_mkdir("SCRIBBLE");
DRAGON_mkdir("TODO");
DRAGON_mkdir("VCARD");
DRAGON_mkdir("ICONS");
DRAGON_mkdir("CACHE");
DRAGON_mkdir("COOKIES");
DRAGON_mkdir("HOME");
DRAGON_chdir("/");
makeDefaultSettings();
setFont(font_arial_11);
setColor(0xFFFF);
bg_dispSprite(96, 5, errmsg, 0);
bg_setClipping(5,25,250,181);
bg_dispString(0,0, l_createdir);
bg_swapBuffers();
while(!keysDown())
{
scanKeys();
}
}
setMode(INITPLUGIN);
//-------------------------------------------------------------------
//finished creating dirs, now check to make sure if they extracted it
//did their extracting program actually get all the dirs?
//-------------------------------------------------------------------
DRAGON_chdir(d_base);
if(DRAGON_FileExists("Day") != FE_DIR)
{
DRAGON_mkdir("DAY");
}
if(DRAGON_FileExists("Help") != FE_DIR)
{
DRAGON_mkdir("HELP");
}
if(DRAGON_FileExists("Lang") != FE_DIR)
{
DRAGON_mkdir("LANG");
}
if(DRAGON_FileExists("Reminder") != FE_DIR)
{
DRAGON_mkdir("REMINDER");
}
if(DRAGON_FileExists("Scribble") != FE_DIR)
{
DRAGON_mkdir("SCRIBBLE");
}
if(DRAGON_FileExists("Todo") != FE_DIR)
{
DRAGON_mkdir("TODO");
}
if(DRAGON_FileExists("VCard") != FE_DIR)
{
DRAGON_mkdir("VCARD");
}
if(DRAGON_FileExists("Icons") != FE_DIR)
{
DRAGON_mkdir("ICONS");
}
if(DRAGON_FileExists("Cache") != FE_DIR)
{
DRAGON_mkdir("CACHE");
}
if(DRAGON_FileExists("Cookies") != FE_DIR)
{
DRAGON_mkdir("COOKIES");
}
if(DRAGON_FileExists("Home") != FE_DIR)
{
DRAGON_mkdir("HOME");
}
DRAGON_chdir("/");
//-------------------------------------------
//how about we load the settings for them eh?
//-------------------------------------------
loadSettings();
DRAGON_chdir(d_base);
if(DRAGON_FileExists("startup.wav") == FE_FILE)
{
char tStr[256];
sprintf(tStr, "%sstartup.wav", d_base);
loadWavToMemory();
loadSound(tStr);
}
DRAGON_chdir("/");
initStartScreen();
irqSet(IRQ_VBLANK, vBlank);
fb_setBGColor(genericFillColor);
bg_setBGColor(genericFillColor);
}
DotTracker::DotTracker(unsigned queueSize)
: queueSize_(queueSize),
nodeHandle_(),
imageTransport_(nodeHandle_),
image_(),
rectifiedImageTopic_(),
cameraInfoTopic_(),
pointCorrespondenceTopic_(),
model_prefix_(),
cameraSubscriber_(),
pointCorrespondenceSubscriber_(),
pointMsg_(),
points_(),
trackers_(),
trackers_status_(),
homography_(),
homography_pub_()
{
homography_ = cvCreateMat(3, 3, CV_64FC1);
homography_pub_ = nodeHandle_.advertise<std_msgs::Float64MultiArray>("homography", 10);
// find camera prefix name
ros::Rate rate (1);
while (rectifiedImageTopic_.empty ())
{
ros::param::get ("DotTracker/camera_topic", rectifiedImageTopic_);
ros::param::get ("DotTracker/camera_info_topic", cameraInfoTopic_);
ros::param::get ("DotTracker/point_correspondence_topic", pointCorrespondenceTopic_);
ros::param::get ("DotTracker/model_prefix", model_prefix_);
if (!ros::param::has ("DotTracker/camera_topic"))
{
ROS_WARN
("the camera_prefix parameter does not exist.\n"
"This may mean that:\n"
"- the tracker is not launched,\n"
"- the tracker and viewer are not running in the same namespace."
);
}
else if (rectifiedImageTopic_.empty ())
{
ROS_INFO
("tracker is not yet initialized, waiting...\n"
"You may want to launch the client to initialize the tracker.");
}
if (!ros::ok ())
return;
rate.sleep ();
}
ROS_INFO_STREAM("camera_topic is " << rectifiedImageTopic_);
ROS_INFO_STREAM("camera_info_topic is " << cameraInfoTopic_);
ROS_INFO_STREAM("point_correspondence_topic is " << pointCorrespondenceTopic_);
cameraSubscriber_ = imageTransport_.subscribeCamera
(rectifiedImageTopic_, queueSize_,
bindImageCallback(image_, header_, info_));
//cameraSubscriber_ = imageTransport_.subscribe(rectifiedImageTopic_, queueSize_, imageCallback);
// Wait for the image to be initialized.
//register callback for pointCorrespondance
pointCorrespondenceSubscriber_ = nodeHandle_.subscribe(pointCorrespondenceTopic_, 1, &DotTracker::pointCorrespondenceCallback, this);
//nodeHandle_.subscribe(pointCorrespondenceTopic_, 1, pointCorrespondenceCallbackGlobal);
waitForImage();
waitForInit();
}
/*!
Gets the displayed image (if overlay, if any).
\param I : Image to fill.
*/
void vpDisplayWin32::getImage(vpImage<vpRGBa> &I)
{
//wait if the window is not initialized
waitForInit();
window.renderer->getImage(I);
}
/*!
Clears the display.
\param color : the color to fill the display with
*/
void vpDisplayWin32::clearDisplay(const vpColor &color){
//wait if the window is not initialized
waitForInit();
window.renderer->clear(color);
}
/*!
Changes the window's titlebar text
\param windowtitle : Window title.
*/
void vpDisplayWin32::setTitle(const std::string &windowtitle)
{
//wait if the window is not initialized
waitForInit();
SetWindowText(window.hWnd, windowtitle.c_str());
}
