CDisplayWindow.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CDisplayWindow_H
#define CDisplayWindow_H

#include <mrpt/gui/CBaseGUIWindow.h>
#include <mrpt/utils/CImage.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;

   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
         */
        virtual ~CDisplayWindow();

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

        /** Set cursor style to default (cursorIsCross=false) or to a cross
         * (cursorIsCross=true) */
        virtual 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::utils::CImage& img, const mrpt::math::CVectorFloat& x,
                const mrpt::math::CVectorFloat& y,
                const mrpt::utils::TColor& color = mrpt::utils::TColor::red(),
                const bool& showNumbers = false);
        /** \overload */
        void showImageAndPoints(
                const mrpt::utils::CImage& img, const std::vector<float>& x,
                const std::vector<float>& y,
                const mrpt::utils::TColor& color = mrpt::utils::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::utils::CImage& img, const FEATURELIST& list,
                const mrpt::utils::TColor& color = mrpt::utils::TColor::red(),
                const bool& showIDs = false)
        {
                MRPT_START
                mrpt::utils::CImage imgColor(1, 1, CH_RGB);
                img.colorImage(imgColor);  // Create a 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::utils::CImage& img, const FEATURELIST& list,
                const mrpt::utils::TColor& color = mrpt::utils::TColor::red())
        {
                MRPT_START
                using mrpt::utils::TColor;
                mrpt::utils::CImage imgColor(1, 1, 3);
                img.colorImage(imgColor);  // Create a 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::utils::CImage& img1, const mrpt::utils::CImage& img2,
                const MATCHEDLIST& mList,
                const mrpt::utils::TColor& color = mrpt::utils::TColor::red(),
                bool showNumbers = false)
        {
                MRPT_START

                mrpt::utils::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)
                {
                        imgColor.drawCircle(
                                round(i->first->x), round(i->first->y), 4, color);
                        imgColor.drawCircle(
                                round(i->second->x + w), round(i->second->y), 4, color);
                        // imgColor.line( round( i->first->x ), round( i->first->y ), round(
                        // i->second->x + w ), round( i->second->y ), color );
                        if (showNumbers)
                        {
                                char buf[15];
                                mrpt::system::os::sprintf(
                                        buf, 15, "%d[%u]", nf, (unsigned int)i->first->ID);
                                imgColor.textOut(
                                        round(i->first->x) - 10, round(i->first->y), buf, color);
                                mrpt::system::os::sprintf(
                                        buf, 15, "%d[%u]", nf, (unsigned int)i->second->ID);
                                imgColor.textOut(
                                        round(i->second->x + w) + 10, round(i->second->y), 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::utils::CImage& img1, const mrpt::utils::CImage& img2,
                const FEATURELIST& leftList, const FEATURELIST& rightList,
                const mrpt::utils::TColor& color = mrpt::utils::TColor::red())
        {
                MRPT_START

                mrpt::utils::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::utils::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.

}  // End of namespace

}  // End of namespace

#endif