CDisplayWindow.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/gui/CBaseGUIWindow.h>
#include <mrpt/img/CImage.h>
#include <mrpt/math/CVectorDynamic.h>
#include <mrpt/system/os.h>
#include <vector>

namespace mrpt
{
/** Classes for creating GUI windows for 2D and 3D visualization.   \ingroup
 * mrpt_gui_grp */
namespace gui
{
/** This class creates a window as a graphical user interface (GUI) for
 * displaying images to the user.
 *
 *  For a list of supported events with the observer/observable pattern, see the
 * discussion in mrpt::gui::CBaseGUIWindow.
 * \ingroup mrpt_gui_grp
 */
class CDisplayWindow : public mrpt::gui::CBaseGUIWindow
{
   public:
    using Ptr = std::shared_ptr<CDisplayWindow>;
    using ConstPtr = std::shared_ptr<const CDisplayWindow>;

   protected:
    /** Enables or disables the visualization of cursor coordinates on the
     * window caption.
     */
    bool m_enableCursorCoordinates{true};

   public:
    /** Constructor
     */
    CDisplayWindow(
        const std::string& windowCaption = std::string(),
        unsigned int initWidth = 400, unsigned int initHeight = 400);

    /** Class factory returning a smart pointer */
    static CDisplayWindow::Ptr Create(
        const std::string& windowCaption, unsigned int initWidth = 400,
        unsigned int initHeight = 400);

    /** Destructor
     */
    ~CDisplayWindow() override;

    /** Gets the last x,y pixel coordinates of the mouse. \return False if the
     * window is closed. */
    bool getLastMousePosition(int& x, int& y) const override;

    /** Set cursor style to default (cursorIsCross=false) or to a cross
     * (cursorIsCross=true) */
    void setCursorCross(bool cursorIsCross) override;

    /** Show a given color or grayscale image on the window and print a set of
     * points on it.
     *  It adapts the size of the window to that of the image.
     */
    void showImageAndPoints(
        const mrpt::img::CImage& img, const mrpt::math::CVectorFloat& x,
        const mrpt::math::CVectorFloat& y,
        const mrpt::img::TColor& color = mrpt::img::TColor::red(),
        const bool& showNumbers = false);
    /** \overload */
    void showImageAndPoints(
        const mrpt::img::CImage& img, const std::vector<float>& x,
        const std::vector<float>& y,
        const mrpt::img::TColor& color = mrpt::img::TColor::red(),
        const bool& showNumbers = false);

    /** Show a given color or grayscale image on the window and print a set of
     * points on it.
     *  It adapts the size of the window to that of the image.
     *  The class of FEATURELIST can be: mrpt::vision::CFeatureList or any STL
     * container of entities having "x","y" and "ID" fields.
     */
    template <class FEATURELIST>
    void showImageAndPoints(
        const mrpt::img::CImage& img, const FEATURELIST& list,
        const mrpt::img::TColor& color = mrpt::img::TColor::red(),
        const bool& showIDs = false)
    {
        MRPT_START
        mrpt::img::CImage imgColor = img.colorImage();
        imgColor.drawFeatures(list, color, showIDs);
        showImage(imgColor);
        MRPT_END
    }

    /** Show a given color or grayscale image on the window and print a set of
     * points on it and a set of lines splitting the image in tiles.
     *  It adapts the size of the window to that of the image.
     *  The class of FEATURELIST can be: mrpt::vision::CFeatureList
     */
    template <class FEATURELIST>
    void showTiledImageAndPoints(
        const mrpt::img::CImage& img, const FEATURELIST& list,
        const mrpt::img::TColor& color = mrpt::img::TColor::red())
    {
        MRPT_START
        using mrpt::img::TColor;
        mrpt::img::CImage imgColor = img.colorImage();

        // Print the 4 tile lines
        unsigned int w = imgColor.getWidth();
        unsigned int h = imgColor.getHeight();
        imgColor.line(0, h / 2, w - 1, h / 2, TColor::green());
        imgColor.line(w / 4, 0, w / 4, h, TColor::green());
        imgColor.line(w / 2, 0, w / 2, h, TColor::green());
        imgColor.line(3 * w / 4, 0, 3 * w / 4, h, TColor::green());

        showImageAndPoints(imgColor, list, color);

        MRPT_END
    }

    /** Show a pair of given color or grayscale images (put together) on the
     * window and print a set of matches on them.
     *  It adapts the size of the window to that of the image.
     *  MATCHEDLIST can be of the class: mrpt::vision::CMatchedFeatureList, or
     * any STL container of pairs of anything having ".x" and ".y" (e.g.
     * mrpt::math::TPoint2D)
     */
    template <class MATCHEDLIST>
    void showImagesAndMatchedPoints(
        const mrpt::img::CImage& img1, const mrpt::img::CImage& img2,
        const MATCHEDLIST& mList,
        const mrpt::img::TColor& color = mrpt::img::TColor::red(),
        bool showNumbers = false)
    {
        MRPT_START

        mrpt::img::CImage imgColor;

        // img1.colorImage( imgColor ); // Create a colorimage
        imgColor.joinImagesHorz(img1, img2);

        unsigned int w = img1.getWidth();
        unsigned int nf = 0;

        for (typename MATCHEDLIST::const_iterator i = mList.begin();
             i != mList.end(); ++i, ++nf)
        {
            const auto x1 = round(i->first.keypoint.pt.x);
            const auto y1 = round(i->first.keypoint.pt.y);
            const auto x2 = round(i->second.keypoint.pt.x);
            const auto y2 = round(i->second.keypoint.pt.y);

            imgColor.drawCircle(x1, y1, 4, color);
            imgColor.drawCircle(x2 + w, y2, 4, color);

            if (showNumbers)
            {
                char buf[15];
                mrpt::system::os::sprintf(
                    buf, 15, "%d[%u]", nf, (unsigned int)i->first.keypoint.ID);
                imgColor.textOut(x1 - 10, y1, buf, color);
                mrpt::system::os::sprintf(
                    buf, 15, "%d[%u]", nf, (unsigned int)i->second.keypoint.ID);
                imgColor.textOut(x2 + w + 10, y2, buf, color);
            }
        }
        showImage(imgColor);

        MRPT_END
    }

    /** Show a pair of given color or grayscale images (put together) on the
     * window and print a set of matches on them.
     *  It adapts the size of the window to that of the image.
     *  FEATURELIST can be of the class: mrpt::vision::CFeatureList
     */
    template <class FEATURELIST>
    void showImagesAndMatchedPoints(
        const mrpt::img::CImage& img1, const mrpt::img::CImage& img2,
        const FEATURELIST& leftList, const FEATURELIST& rightList,
        const mrpt::img::TColor& color = mrpt::img::TColor::red())
    {
        MRPT_START

        mrpt::img::CImage imgColor;

        // img1.colorImage( imgColor ); // Create a colorimage
        ASSERT_(leftList.size() == rightList.size());
        imgColor.joinImagesHorz(img1, img2);

        unsigned int w = img1.getWidth();

        for (typename FEATURELIST::const_iterator iL = leftList.begin(),
                                                  iR = rightList.begin();
             iL != leftList.end(); ++iL, ++iR)
        {
            imgColor.drawCircle(round((*iL)->x), round((*iL)->y), 4, color);
            imgColor.drawCircle(round((*iR)->x + w), round((*iR)->y), 4, color);
            imgColor.line(
                round((*iL)->x), round((*iL)->y), round((*iR)->x + w),
                round((*iR)->y), color);
        }
        showImage(imgColor);

        MRPT_END
    }

    /** Show a given color or grayscale image on the window.
     *  It adapts the size of the window to that of the image.
     */
    void showImage(const mrpt::img::CImage& img);

    /** Plots a graph in MATLAB-like style.
     */
    void plot(
        const mrpt::math::CVectorFloat& x, const mrpt::math::CVectorFloat& y);

    /** Plots a graph in MATLAB-like style.
     */
    void plot(const mrpt::math::CVectorFloat& y);

    /** Resizes the window, stretching the image to fit into the display area.
     */
    void resize(unsigned int width, unsigned int height) override;

    /** Changes the position of the window on the screen.
     */
    void setPos(int x, int y) override;

    /** Enables or disables the visualization of cursor coordinates on the
     * window caption (default = enabled).
     */
    inline void enableCursorCoordinatesVisualization(bool enable)
    {
        m_enableCursorCoordinates = enable;
    }

    /** Changes the window title text.
     */
    void setWindowTitle(const std::string& str) override;

};  // End of class def.

}  // namespace gui

}  // namespace mrpt