Detailed Description

This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics.

If used under Linux, a ".png", non-vectorial, file will be generated instead.

Definition at line 23 of file CEnhancedMetaFile.h.

#include <mrpt/img/CEnhancedMetaFile.h>

Inheritance diagram for mrpt::img::CEnhancedMetaFile:

Public Types
enum	TPenStyle { psSolid = 0, psDash, psDot, psDashDot, psDashDotDot }
	Definition of pen styles. More...

Public Member Functions
	CEnhancedMetaFile (const std::string &targetFileName, int scaleFactor=1)
	Constructor. More...

	~CEnhancedMetaFile () override
	Destructor. More...

void	setPixel (int x, int y, size_t color) override
	Changes the value of the pixel (x,y). More...

size_t	getWidth () const override
	Returns the width of the image in pixels (this currently has no applicability for a EMF file...) More...

size_t	getHeight () const override
	Returns the height of the image in pixels (this currently has no applicability for a EMF file...) More...

void	drawImage (int x, int y, const mrpt::img::CImage &img) override
	Draws an image as a bitmap at a given position. More...

void	line (int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid) override
	Draws a line. More...

void	textOut (int x0, int y0, const std::string &str, const mrpt::img::TColor color) override
	Places a text label. More...

virtual void	selectVectorTextFont (const std::string &fontName, int fontSize, bool bold=false, bool italic=false)
	Select the current font used when drawing text. More...

void	drawImage (int x, int y, const mrpt::img::CImage &img, float rotation, float scale) override
	Draws an image as a bitmap at a given position, with some custom scale and rotation changes. More...

virtual void	rectangle (int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1)
	Draws a rectangle (an empty rectangle, without filling) More...

template<class T >
void	ellipseGaussian (mrpt::math::CMatrixDynamic< T > *cov2D, T mean_x, T mean_y, float confIntervalStds=2, const mrpt::img::TColor &color=mrpt::img::TColor(255, 255, 255), unsigned int width=1, int nEllipsePoints=20)
	Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution. More...

void	triangle (int x0, int y0, int size, const mrpt::img::TColor color, bool inferior=true, unsigned int width=1)
	Draws a triangle. More...

virtual void	filledRectangle (int x0, int y0, int x1, int y1, const mrpt::img::TColor color)
	Draws a filled rectangle. More...

virtual void	selectTextFont (const std::string &fontName)
	Select the current font used when drawing text. More...

void	drawMark (int x0, int y0, const mrpt::img::TColor color, char type, int size=5, unsigned int width=1)
	Draw a mark. More...

virtual void	drawCircle (int x, int y, int radius, const mrpt::img::TColor &color=mrpt::img::TColor(255, 255, 255), unsigned int width=1)
	Draws a circle of a given radius. More...

void	ellipseGaussian (const mrpt::math::CMatrixFixed< double, 2, 2 > &cov2D, const double mean_x, const double mean_y, double confIntervalStds=2, const mrpt::img::TColor &color=mrpt::img::TColor(255, 255, 255), unsigned int width=1, int nEllipsePoints=20)
	Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution. More...

template<class FEATURELIST >
void	drawFeaturesSimple (const FEATURELIST &list, const TColor &color=TColor::red(), const int cross_size=5)
	Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields. More...

template<class FEATURELIST >
void	drawFeatures (const FEATURELIST &list, const TColor &color=TColor::red(), const bool showIDs=false, const bool showResponse=false, const bool showScale=false, const char marker='+')
	Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features. More...

Static Public Member Functions
static void	LINUX_IMG_WIDTH (int value)
	In Linux, the size of the bitmap image that emulates the EMF (Default:800) More...

static int	LINUX_IMG_WIDTH ()

static void	LINUX_IMG_HEIGHT (int value)
	In Linux, the size of the bitmap image that emulates the EMF (Default:600) More...

static int	LINUX_IMG_HEIGHT ()

Protected Attributes
std::string	m_selectedFont {"9x15"}
	The selected font name. More...

const uint32_t *	m_selectedFontBitmaps {nullptr}
	Direct access to character bitmaps. More...

Private Attributes
void_ptr_noncopy	m_hdc

int	m_scale

void_ptr_noncopy	m_hFont {nullptr}

std::string	m_targetFile

Member Enumeration Documentation

◆ TPenStyle

enum mrpt::img::CCanvas::TPenStyle

inherited

Definition of pen styles.

Enumerator
psSolid
psDash
psDot
psDashDot
psDashDotDot

Definition at line 55 of file CCanvas.h.

Constructor & Destructor Documentation

◆ CEnhancedMetaFile()

CEnhancedMetaFile::CEnhancedMetaFile	(	const std::string &	targetFileName,
		int	scaleFactor = `1`
	)

Constructor.

Parameters

targetFileName	This file will be created and the EMF saved there.
scaleFactor	All coordinates in draw commands will be internally multiplied by this scale, to provide a way of obtaining "subpixel" drawing.

Definition at line 41 of file CEnhancedMetaFile.cpp.

References mrpt::img::CCanvas::filledRectangle(), mrpt::non_copiable_ptr_basic< T >::get(), LINUX_IMG_HEIGHT_value, LINUX_IMG_WIDTH_value, m_hdc, and THROW_EXCEPTION.

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◆ ~CEnhancedMetaFile()

CEnhancedMetaFile::~CEnhancedMetaFile ( )

override

Destructor.

Definition at line 61 of file CEnhancedMetaFile.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), m_hdc, m_hFont, and m_targetFile.

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Member Function Documentation

◆ drawCircle()

void CCanvas::drawCircle	(	int	x,
		int	y,
		int	radius,
		const mrpt::img::TColor &	color = `mrpt::img::TColor(255, 255, 255)`,
		unsigned int	width = `1`
	)

virtualinherited

Draws a circle of a given radius.

Parameters

x	The center - x coordinate in pixels.
y	The center - y coordinate in pixels.
radius	The radius - in pixels.
color	The color of the circle.
width	The desired width of the line (this is IGNORED in this virtual class)

Reimplemented in mrpt::img::CImage.

Definition at line 338 of file CCanvas.cpp.

References M_2PI, and mrpt::round().

Referenced by mrpt::img::CCanvas::drawFeatures().

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◆ drawFeatures()

template<class FEATURELIST >

void mrpt::img::CCanvas::drawFeatures	(	const FEATURELIST &	list,
		const TColor &	color = `TColor::red()`,
		const bool	showIDs = `false`,
		const bool	showResponse = `false`,
		const bool	showScale = `false`,
		const char	marker = `'+'`
	)

inlineinherited

Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features.

The class of FEATURELIST can be:

See also: drawFeaturesSimple

Definition at line 280 of file CCanvas.h.

References mrpt::img::CCanvas::drawCircle(), mrpt::img::CCanvas::drawMark(), mrpt::format(), mrpt::img::TColor::red(), mrpt::round(), and mrpt::img::CCanvas::textOut().

Referenced by mrpt::gui::CDisplayWindow::showImageAndPoints().

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◆ drawFeaturesSimple()

template<class FEATURELIST >

void mrpt::img::CCanvas::drawFeaturesSimple	(	const FEATURELIST &	list,
		const TColor &	color = `TColor::red()`,
		const int	cross_size = `5`
	)

inlineinherited

Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields.

The class of FEATURELIST can be, for example, std::vector<mrpt::math::TPoint2D>, std::vector<TPixelCoordsf> or mrpt::vision::CFeatureList

See also: drawFeatures

Definition at line 259 of file CCanvas.h.

References mrpt::img::CCanvas::drawMark(), and mrpt::round().

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◆ drawImage() [1/2]

void CEnhancedMetaFile::drawImage	(	int	x,
		int	y,
		const mrpt::img::CImage &	img
	)

overridevirtual

Draws an image as a bitmap at a given position.

Parameters

x0	The top-left corner x coordinates on this canvas where the image is to be drawn
y0	The top-left corner y coordinates on this canvas where the image is to be drawn
img	The image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented from mrpt::img::CCanvas.

Definition at line 84 of file CEnhancedMetaFile.cpp.

References ASSERT_, mrpt::non_copiable_ptr_basic< T >::get(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), m_hdc, m_scale, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage().

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◆ drawImage() [2/2]

void mrpt::img::CEnhancedMetaFile::drawImage	(	int	x,
		int	y,
		const mrpt::img::CImage &	img,
		float	rotation,
		float	scale
	)

inlineoverridevirtual

Draws an image as a bitmap at a given position, with some custom scale and rotation changes.

Parameters

x0	The top-left corner x coordinates on this canvas where the image is to be drawn
y0	The top-left corner y coordinates on this canvas where the image is to be drawn
rotation	The rotation in radians, positive values being anti-clockwise direction, 0 is the normal position.
scale	The scale factor, e.g. 2 means twice the original size.
img	The image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented from mrpt::img::CCanvas.

Definition at line 136 of file CEnhancedMetaFile.h.

References mrpt::img::CCanvas::drawImage().

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◆ drawMark()

void CCanvas::drawMark	(	int	x0,
		int	y0,
		const mrpt::img::TColor	color,
		char	type,
		int	size = `5`,
		unsigned int	width = `1`
	)

inherited

Draw a mark.

Parameters

x0	The point x coordinate
y0	The point y coordinate
color	The color of the cross
size	The size of the cross
type	The cross type. It could be: 'x', '+', ':'(like '+' but clear at the center dot), or 's' (square)
width	The desired width of the cross (this is IGNORED yet)

Definition at line 304 of file CCanvas.cpp.

References mrpt::math::size(), and THROW_EXCEPTION.

Referenced by mrpt::img::CCanvas::drawFeatures(), mrpt::img::CCanvas::drawFeaturesSimple(), and mrpt::gui::CDisplayWindow::plot().

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◆ ellipseGaussian() [1/2]

template<class T >

void mrpt::img::CEnhancedMetaFile::ellipseGaussian	(	mrpt::math::CMatrixDynamic< T > *	cov2D,
		T	mean_x,
		T	mean_y,
		float	confIntervalStds = `2`,
		const mrpt::img::TColor &	color = `mrpt::img::TColor(255, 255, 255)`,
		unsigned int	width = `1`,
		int	nEllipsePoints = `20`
	)

inline

Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.

Parameters

mean_x	The x coordinate of the center point of the ellipse.
mean_y	The y coordinate of the center point of the ellipse.
cov2D	A 2x2 covariance matrix.
confIntervalStds	How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)
color	The color of the ellipse
width	The desired width of the line (this is IGNORED in this virtual class)
nEllipsePoints	The number of points to generate to approximate the ellipse shape.

Exceptions

std::exception On an invalid matrix.

Definition at line 171 of file CEnhancedMetaFile.h.

References line(), M_2PI, MRPT_END_WITH_CLEAN_UP, MRPT_START, and mrpt::round().

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◆ ellipseGaussian() [2/2]

void CCanvas::ellipseGaussian	(	const mrpt::math::CMatrixFixed< double, 2, 2 > &	cov2D,
		const double	mean_x,
		const double	mean_y,
		double	confIntervalStds = `2`,
		const mrpt::img::TColor &	color = `mrpt::img::TColor(255, 255, 255)`,
		unsigned int	width = `1`,
		int	nEllipsePoints = `20`
	)

inherited

Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.

Parameters

mean_x	The x coordinate of the center point of the ellipse.
mean_y	The y coordinate of the center point of the ellipse.
cov2D	A 2x2 covariance matrix.
confIntervalStds	How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)
color	The color of the ellipse
width	The desired width of the line (this is IGNORED in this virtual class)
nEllipsePoints	The number of points to generate to approximate the ellipse shape.

Exceptions

std::exception On an invalid matrix.

Definition at line 452 of file CCanvas.cpp.

References mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::array(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::eig(), M_2PI, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::round(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setDiagonal(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::transpose().

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◆ filledRectangle()

void CCanvas::filledRectangle	(	int	x0,
		int	y0,
		int	x1,
		int	y1,
		const mrpt::img::TColor	color
	)

virtualinherited

Draws a filled rectangle.

Parameters

x0	The top-left x coordinate
y0	The top-left y coordinate
x1	The right-bottom x coordinate
y1	The right-bottom y coordinate
color	The color of the rectangle fill This method may be redefined in some classes implementing this interface in a more appropiate manner.

See also: rectangle

Definition at line 205 of file CCanvas.cpp.

References getHeight().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), CEnhancedMetaFile(), mrpt::opengl::CTexturedPlane::onUpdateBuffers_TexturedTriangles(), mrpt::gui::CDisplayWindow::plot(), and mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences().

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◆ getHeight()

size_t mrpt::img::CEnhancedMetaFile::getHeight ( ) const

inlineoverridevirtual

Returns the height of the image in pixels (this currently has no applicability for a EMF file...)

Implements mrpt::img::CCanvas.

Definition at line 71 of file CEnhancedMetaFile.h.

◆ getWidth()

size_t mrpt::img::CEnhancedMetaFile::getWidth ( ) const

inlineoverridevirtual

Returns the width of the image in pixels (this currently has no applicability for a EMF file...)

Implements mrpt::img::CCanvas.

Definition at line 68 of file CEnhancedMetaFile.h.

◆ line()

void CEnhancedMetaFile::line	(	int	x0,
		int	y0,
		int	x1,
		int	y1,
		const mrpt::img::TColor	color,
		unsigned int	width = `1`,
		TPenStyle	penStyle = `psSolid`
	)

overridevirtual

Draws a line.

Parameters

x0	The starting point x coordinate
y0	The starting point y coordinate
x1	The end point x coordinate
y1	The end point y coordinate
color	The color of the line
width	The desired width of the line (this is IGNORED in this virtual class) This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented from mrpt::img::CCanvas.

Definition at line 167 of file CEnhancedMetaFile.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), m_hdc, and m_scale.

Referenced by ellipseGaussian(), rectangle(), and mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage().

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◆ LINUX_IMG_HEIGHT() [1/2]

void CEnhancedMetaFile::LINUX_IMG_HEIGHT ( int value )

static

In Linux, the size of the bitmap image that emulates the EMF (Default:600)

Definition at line 33 of file CEnhancedMetaFile.cpp.

References LINUX_IMG_HEIGHT_value.

◆ LINUX_IMG_HEIGHT() [2/2]

int CEnhancedMetaFile::LINUX_IMG_HEIGHT ( )

static

Definition at line 37 of file CEnhancedMetaFile.cpp.

References LINUX_IMG_HEIGHT_value.

◆ LINUX_IMG_WIDTH() [1/2]

void CEnhancedMetaFile::LINUX_IMG_WIDTH ( int value )

static

In Linux, the size of the bitmap image that emulates the EMF (Default:800)

Definition at line 28 of file CEnhancedMetaFile.cpp.

References LINUX_IMG_WIDTH_value.

◆ LINUX_IMG_WIDTH() [2/2]

int CEnhancedMetaFile::LINUX_IMG_WIDTH ( )

static

Definition at line 32 of file CEnhancedMetaFile.cpp.

References LINUX_IMG_WIDTH_value.

◆ rectangle()

void CEnhancedMetaFile::rectangle	(	int	x0,
		int	y0,
		int	x1,
		int	y1,
		const mrpt::img::TColor	color,
		unsigned int	width = `1`
	)

virtual

Draws a rectangle (an empty rectangle, without filling)

Parameters

x0	The top-left x coordinate
y0	The top-left y coordinate
x1	The right-bottom x coordinate
y1	The right-bottom y coordinate
color	The color of the line
width	The desired width of the line.

See also: filledRectangle

Definition at line 265 of file CEnhancedMetaFile.cpp.

References line().

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◆ selectTextFont()

void CCanvas::selectTextFont ( const std::string & fontName )

virtualinherited

Select the current font used when drawing text.

Parameters

fontName The name of the font

Valid font names:

5x7
6x13
6x13B
6x13O
9x15 (Default at start-up)
9x15B
10x20
18x18ja (Asian characters for UTF-8 strings - Only available if MRPT is built with MRPT_HAS_ASIAN_FONTS = true)

See also: textOut, The example in this page.

Definition at line 220 of file CCanvas.cpp.

References FontData::data, init_fonts_list(), list_registered_fonts, FontData::prepared_to_big_endian, and mrpt::reverseBytesInPlace().

Referenced by mrpt::img::CImage::drawChessboardCorners(), and selectVectorTextFont().

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◆ selectVectorTextFont()

void CEnhancedMetaFile::selectVectorTextFont	(	const std::string &	fontName,
		int	fontSize,
		bool	bold = `false`,
		bool	italic = `false`
	)

virtual

Select the current font used when drawing text.

Parameters

fontName	The face name of a font (e.g. "Arial","System",...)
fontSize	The size of the font in pts.
bold	Whether the font is bold
italic	Whether the font is italic

See also: textOut, CCanvas::selectTextFont

Definition at line 213 of file CEnhancedMetaFile.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), m_hdc, MRPT_TRY_END, MRPT_TRY_START, mrpt::img::CCanvas::selectTextFont(), and mrpt::system::os::strcpy().

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◆ setPixel()

void CEnhancedMetaFile::setPixel	(	int	x,
		int	y,
		size_t	color
	)

overridevirtual

Changes the value of the pixel (x,y).

Pixel coordinates starts at the left-top corner of the image, and start in (0,0). The meaning of the parameter "color" depends on the implementation: it will usually be a 24bit RGB value (0x00RRGGBB), but it can also be just a 8bit gray level. This method must support (x,y) values OUT of the actual image size without neither raising exceptions, nor leading to memory access errors.

Implements mrpt::img::CCanvas.

Definition at line 253 of file CEnhancedMetaFile.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), m_hdc, and m_scale.

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◆ textOut()

void CEnhancedMetaFile::textOut	(	int	x0,
		int	y0,
		const std::string &	str,
		const mrpt::img::TColor	color
	)

overridevirtual

Places a text label.

Parameters

x0	The x coordinates
y0	The y coordinates
str	The string to put
color	The text color
fontSize	The font size, in "points" This method may be redefined in some classes implementing this interface in a more appropiate manner.

See also: rectangle

Reimplemented from mrpt::img::CCanvas.

Definition at line 194 of file CEnhancedMetaFile.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), m_hdc, and m_scale.

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◆ triangle()

void CCanvas::triangle	(	int	x0,
		int	y0,
		int	size,
		const mrpt::img::TColor	color,
		bool	inferior = `true`,
		unsigned int	width = `1`
	)

inherited

Draws a triangle.

Parameters

x0	The triangle center x coordinate
y0	The triangle center y coordinate
size	The size of the triangle
color	The color of the line
inferior	The position of the triangle
width	The desired width of the line.

See also: triangle

Definition at line 181 of file CCanvas.cpp.

References mrpt::round(), and mrpt::math::size().

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Member Data Documentation

◆ m_hdc

void_ptr_noncopy mrpt::img::CEnhancedMetaFile::m_hdc

private

Definition at line 26 of file CEnhancedMetaFile.h.

Referenced by CEnhancedMetaFile(), drawImage(), line(), selectVectorTextFont(), setPixel(), textOut(), and ~CEnhancedMetaFile().

◆ m_hFont

void_ptr_noncopy mrpt::img::CEnhancedMetaFile::m_hFont {nullptr}

private

Definition at line 28 of file CEnhancedMetaFile.h.

Referenced by ~CEnhancedMetaFile().

◆ m_scale

int mrpt::img::CEnhancedMetaFile::m_scale

private

Definition at line 27 of file CEnhancedMetaFile.h.

Referenced by drawImage(), line(), setPixel(), and textOut().

◆ m_selectedFont

std::string mrpt::img::CCanvas::m_selectedFont {"9x15"}

protectedinherited

The selected font name.

Definition at line 45 of file CCanvas.h.

◆ m_selectedFontBitmaps

const uint32_t* mrpt::img::CCanvas::m_selectedFontBitmaps {nullptr}

protectedinherited

Direct access to character bitmaps.

Definition at line 48 of file CCanvas.h.

◆ m_targetFile

std::string mrpt::img::CEnhancedMetaFile::m_targetFile

private

Definition at line 29 of file CEnhancedMetaFile.h.

Referenced by ~CEnhancedMetaFile().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Member Enumeration Documentation

◆ TPenStyle

Constructor & Destructor Documentation

◆ CEnhancedMetaFile()

◆ ~CEnhancedMetaFile()

Member Function Documentation

◆ drawCircle()

◆ drawFeatures()

◆ drawFeaturesSimple()

◆ drawImage() [1/2]

◆ drawImage() [2/2]

◆ drawMark()

◆ ellipseGaussian() [1/2]

◆ ellipseGaussian() [2/2]

◆ filledRectangle()

◆ getHeight()

◆ getWidth()

◆ line()

◆ LINUX_IMG_HEIGHT() [1/2]

◆ LINUX_IMG_HEIGHT() [2/2]

◆ LINUX_IMG_WIDTH() [1/2]

◆ LINUX_IMG_WIDTH() [2/2]

◆ rectangle()

◆ selectTextFont()

◆ selectVectorTextFont()

◆ setPixel()

◆ textOut()

◆ triangle()

Member Data Documentation

◆ m_hdc

◆ m_hFont

◆ m_scale

◆ m_selectedFont

◆ m_selectedFontBitmaps

◆ m_targetFile