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<div class="title">CCanvas.h</div> </div>
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<a href="_c_canvas_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CCanvas_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CCanvas_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_t_color_8h.html">mrpt/utils/TColor.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="ops__matrices_8h.html" title="This file implements miscelaneous matrix and matrix/vector operations, plus internal functions in mrp...">mrpt/math/ops_matrices.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>math
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">class </span>CMatrix;
<a name="l00041"></a>00041 <span class="keyword">class </span>CMatrixD;
<a name="l00042"></a>00042 }
<a name="l00043"></a>00043 <span class="keyword">namespace </span>utils
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">class </span>CImage;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** This virtual class defines the interface of any object accepting drawing primitives on it.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * A number of text fonts can be selected with CCanvas::selectTextFont(). These are the</span>
<a name="l00050"></a>00050 <span class="comment"> * implemented font names:</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * - "6x13"</span>
<a name="l00053"></a>00053 <span class="comment"> * - "6x13B" (bold)</span>
<a name="l00054"></a>00054 <span class="comment"> * - "6x13O" (italic)</span>
<a name="l00055"></a>00055 <span class="comment"> * - "9x15"</span>
<a name="l00056"></a>00056 <span class="comment"> * - "9x15B" (bold)</span>
<a name="l00057"></a>00057 <span class="comment"> * - "10x20"</span>
<a name="l00058"></a>00058 <span class="comment"> * - "18x18ja" (Japanese, UNICODE character values)</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * For an example of each font check the <a href="http://www.mrpt.org/Implemented_2D_Fonts">corresponding wiki page</a>.</span>
<a name="l00061"></a>00061 <span class="comment"> *</span>
<a name="l00062"></a>00062 <span class="comment"> * \sa CImage</span>
<a name="l00063"></a>00063 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CCanvas
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keyword">protected</span>:
<a name="l00068"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#aef2c3c9cc8805a0a5c4da2d867a0d422">00068</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#aef2c3c9cc8805a0a5c4da2d867a0d422" title="The selected font name.">m_selectedFont</a>; <span class="comment">//!< The selected font name.</span>
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a81aed2bab475a27dccb549681dcb0861">00070</a> <span class="keyword">const</span> uint32_t *<a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a81aed2bab475a27dccb549681dcb0861" title="Direct access to character bitmaps.">m_selectedFontBitmaps</a>; <span class="comment">//!< Direct access to character bitmaps.</span>
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="keyword">public</span>:
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html" title="This virtual class defines the interface of any object accepting drawing primitives on it...">CCanvas</a>();
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Definition of pen styles</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8">00078</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8" title="Definition of pen styles.">TPenStyle</a>
<a name="l00079"></a>00079 {
<a name="l00080"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a391a281352d3f77eefaefac24350d3b9">00080</a> psSolid = 0,
<a name="l00081"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a16d694b9f28fd2d1208971efb92bcd64">00081</a> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a16d694b9f28fd2d1208971efb92bcd64">psDash</a>, <span class="comment">/* ------- */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a91a928916fee18d19b9d033dcc359e2d">00082</a> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a91a928916fee18d19b9d033dcc359e2d">psDot</a>, <span class="comment">/* ....... */</span>
<a name="l00083"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8ac68b9d86600cc5a75642464bfe832884">00083</a> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8ac68b9d86600cc5a75642464bfe832884">psDashDot</a>, <span class="comment">/* _._._._ */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a29d01f1280922b7a59dc5069b7ba0cf8a8a447161dfa4e44225a9e35e075ecf5d">00084</a> psDashDotDot <span class="comment">/* _.._.._ */</span>
<a name="l00085"></a>00085 };
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Dummy virtual destructor:</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a9cc9425c828f11dc98bd43fc8fd4df41">00089</a> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html" title="This virtual class defines the interface of any object accepting drawing primitives on it...">CCanvas</a>()
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Changes the value of the pixel (x,y).</span>
<a name="l00094"></a>00094 <span class="comment"> * Pixel coordinates starts at the left-top corner of the image, and start in (0,0).</span>
<a name="l00095"></a>00095 <span class="comment"> * The meaning of the parameter "color" depends on the implementation: it will usually</span>
<a name="l00096"></a>00096 <span class="comment"> * be a 24bit RGB value (0x00RRGGBB), but it can also be just a 8bit gray level.</span>
<a name="l00097"></a>00097 <span class="comment"> *</span>
<a name="l00098"></a>00098 <span class="comment"> * You can also use a TColor() type as input and it will be automatically converted to size_t.</span>
<a name="l00099"></a>00099 <span class="comment"> *</span>
<a name="l00100"></a>00100 <span class="comment"> * This method must support (x,y) values OUT of the actual image size without neither</span>
<a name="l00101"></a>00101 <span class="comment"> * raising exceptions, nor leading to memory access errors.</span>
<a name="l00102"></a>00102 <span class="comment"> *</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setPixel( <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">size_t</span> color) =0;
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Returns the width of the image in pixels</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> getWidth() <span class="keyword">const</span> = 0;
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** Returns the height of the image in pixels</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a>00112 <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> getHeight() <span class="keyword">const</span> = 0;
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment"> /** Draws a line.</span>
<a name="l00115"></a>00115 <span class="comment"> * \param x0 The starting point x coordinate</span>
<a name="l00116"></a>00116 <span class="comment"> * \param y0 The starting point y coordinate</span>
<a name="l00117"></a>00117 <span class="comment"> * \param x1 The end point x coordinate</span>
<a name="l00118"></a>00118 <span class="comment"> * \param y1 The end point y coordinate</span>
<a name="l00119"></a>00119 <span class="comment"> * \param color The color of the line</span>
<a name="l00120"></a>00120 <span class="comment"> * \param width The desired width of the line (this is IGNORED in this virtual class)</span>
<a name="l00121"></a>00121 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <span class="keyword">virtual</span> <span class="keywordtype">void</span> line(
<a name="l00124"></a>00124 <span class="keywordtype">int</span> x0,
<a name="l00125"></a>00125 <span class="keywordtype">int</span> y0,
<a name="l00126"></a>00126 <span class="keywordtype">int</span> x1,
<a name="l00127"></a>00127 <span class="keywordtype">int</span> y1,
<a name="l00128"></a>00128 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,
<a name="l00129"></a>00129 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1,
<a name="l00130"></a>00130 TPenStyle penStyle = psSolid);
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Draws a rectangle (an empty rectangle, without filling)</span>
<a name="l00133"></a>00133 <span class="comment"> * \param x0 The top-left x coordinate</span>
<a name="l00134"></a>00134 <span class="comment"> * \param y0 The top-left y coordinate</span>
<a name="l00135"></a>00135 <span class="comment"> * \param x1 The right-bottom x coordinate</span>
<a name="l00136"></a>00136 <span class="comment"> * \param y1 The right-bottom y coordinate</span>
<a name="l00137"></a>00137 <span class="comment"> * \param color The color of the line</span>
<a name="l00138"></a>00138 <span class="comment"> * \param width The desired width of the line.</span>
<a name="l00139"></a>00139 <span class="comment"> * \sa filledRectangle</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a>00141 <span class="keywordtype">void</span> rectangle(
<a name="l00142"></a>00142 <span class="keywordtype">int</span> x0,
<a name="l00143"></a>00143 <span class="keywordtype">int</span> y0,
<a name="l00144"></a>00144 <span class="keywordtype">int</span> x1,
<a name="l00145"></a>00145 <span class="keywordtype">int</span> y1,
<a name="l00146"></a>00146 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,
<a name="l00147"></a>00147 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1 );
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <span class="comment">/*****************************************************AJOGD***************************************************/</span><span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment"> /** Draws a triangle</span>
<a name="l00151"></a>00151 <span class="comment"> * \param x0 The triangle center x coordinate</span>
<a name="l00152"></a>00152 <span class="comment"> * \param y0 The triangle center y coordinate</span>
<a name="l00153"></a>00153 <span class="comment"> * \param size The size of the triangle</span>
<a name="l00154"></a>00154 <span class="comment"> * \param color The color of the line</span>
<a name="l00155"></a>00155 <span class="comment"> * \param inferior The position of the triangle</span>
<a name="l00156"></a>00156 <span class="comment"> * \param width The desired width of the line.</span>
<a name="l00157"></a>00157 <span class="comment"> * \sa triangle</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keywordtype">void</span> triangle(
<a name="l00160"></a>00160 <span class="keywordtype">int</span> x0,
<a name="l00161"></a>00161 <span class="keywordtype">int</span> y0,
<a name="l00162"></a>00162 <span class="keywordtype">int</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>,
<a name="l00163"></a>00163 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,
<a name="l00164"></a>00164 <span class="keywordtype">bool</span> inferior = <span class="keyword">true</span>,
<a name="l00165"></a>00165 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1 );
<a name="l00166"></a>00166 <span class="comment">/************************************************************************************************************/</span>
<a name="l00167"></a>00167 <span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** Draws a filled rectangle.</span>
<a name="l00169"></a>00169 <span class="comment"> * \param x0 The top-left x coordinate</span>
<a name="l00170"></a>00170 <span class="comment"> * \param y0 The top-left y coordinate</span>
<a name="l00171"></a>00171 <span class="comment"> * \param x1 The right-bottom x coordinate</span>
<a name="l00172"></a>00172 <span class="comment"> * \param y1 The right-bottom y coordinate</span>
<a name="l00173"></a>00173 <span class="comment"> * \param color The color of the rectangle fill</span>
<a name="l00174"></a>00174 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00175"></a>00175 <span class="comment"> * \sa rectangle</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <span class="keyword">virtual</span> <span class="keywordtype">void</span> filledRectangle(
<a name="l00178"></a>00178 <span class="keywordtype">int</span> x0,
<a name="l00179"></a>00179 <span class="keywordtype">int</span> y0,
<a name="l00180"></a>00180 <span class="keywordtype">int</span> x1,
<a name="l00181"></a>00181 <span class="keywordtype">int</span> y1,
<a name="l00182"></a>00182 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color
<a name="l00183"></a>00183 );
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Renders 2D text using bitmap fonts.</span>
<a name="l00186"></a>00186 <span class="comment"> * \param x0 The x coordinates</span>
<a name="l00187"></a>00187 <span class="comment"> * \param y0 The y coordinates</span>
<a name="l00188"></a>00188 <span class="comment"> * \param str The string to put. If using UNICODE characters, use UTF-8 encoding.</span>
<a name="l00189"></a>00189 <span class="comment"> * \param color The text color</span>
<a name="l00190"></a>00190 <span class="comment"> *</span>
<a name="l00191"></a>00191 <span class="comment"> * \sa selectTextFont</span>
<a name="l00192"></a>00192 <span class="comment"> */</span>
<a name="l00193"></a>00193 <span class="keyword">virtual</span> <span class="keywordtype">void</span> textOut(
<a name="l00194"></a>00194 <span class="keywordtype">int</span> x0,
<a name="l00195"></a>00195 <span class="keywordtype">int</span> y0,
<a name="l00196"></a>00196 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str,
<a name="l00197"></a>00197 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color
<a name="l00198"></a>00198 );
<a name="l00199"></a>00199 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment"> /** Select the current font used when drawing text.</span>
<a name="l00201"></a>00201 <span class="comment"> * \param fontName The name of the font</span>
<a name="l00202"></a>00202 <span class="comment"> *</span>
<a name="l00203"></a>00203 <span class="comment"> * Valid font names:</span>
<a name="l00204"></a>00204 <span class="comment"> * - 5x7</span>
<a name="l00205"></a>00205 <span class="comment"> * - 6x13</span>
<a name="l00206"></a>00206 <span class="comment"> * - 6x13B</span>
<a name="l00207"></a>00207 <span class="comment"> * - 6x13O</span>
<a name="l00208"></a>00208 <span class="comment"> * - 9x15 (Default at start-up)</span>
<a name="l00209"></a>00209 <span class="comment"> * - 9x15B</span>
<a name="l00210"></a>00210 <span class="comment"> * - 10x20</span>
<a name="l00211"></a>00211 <span class="comment"> * - 18x18ja (Asian characters for UTF-8 strings - Only available if MRPT is built with MRPT_HAS_ASIAN_FONTS = true)</span>
<a name="l00212"></a>00212 <span class="comment"> *</span>
<a name="l00213"></a>00213 <span class="comment"> * <img src="sample_textFonts.png" ></span>
<a name="l00214"></a>00214 <span class="comment"> *</span>
<a name="l00215"></a>00215 <span class="comment"> * \sa textOut, The example in <a href="http://www.mrpt.org/Implemented_2D_Fonts">this page</a>.</span>
<a name="l00216"></a>00216 <span class="comment"> */</span>
<a name="l00217"></a>00217 <span class="keyword">virtual</span> <span class="keywordtype">void</span> selectTextFont( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fontName );
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /** Draws an image as a bitmap at a given position.</span>
<a name="l00220"></a>00220 <span class="comment"> * \param x0 The top-left corner x coordinates on this canvas where the image is to be drawn</span>
<a name="l00221"></a>00221 <span class="comment"> * \param y0 The top-left corner y coordinates on this canvas where the image is to be drawn</span>
<a name="l00222"></a>00222 <span class="comment"> * \param img The image to be drawn in this canvas</span>
<a name="l00223"></a>00223 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00224"></a>00224 <span class="comment"> */</span>
<a name="l00225"></a>00225 <span class="keyword">virtual</span> <span class="keywordtype">void</span> drawImage(
<a name="l00226"></a>00226 <span class="keywordtype">int</span> x,
<a name="l00227"></a>00227 <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00228"></a>00228 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">utils::CImage</a> &img );
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** Draw a cross.</span>
<a name="l00231"></a>00231 <span class="comment"> * \param x0 The point x coordinate</span>
<a name="l00232"></a>00232 <span class="comment"> * \param y0 The point y coordinate</span>
<a name="l00233"></a>00233 <span class="comment"> * \param color The color of the cross</span>
<a name="l00234"></a>00234 <span class="comment"> * \param size The size of the cross</span>
<a name="l00235"></a>00235 <span class="comment"> * \param type The cross type. It could be: 'x', '+' or ':'(like '+' but clear at the center dot)</span>
<a name="l00236"></a>00236 <span class="comment"> * \param width The desired width of the cross (this is IGNORED yet)</span>
<a name="l00237"></a>00237 <span class="comment"> */</span>
<a name="l00238"></a>00238 <span class="keywordtype">void</span> cross (<span class="keywordtype">int</span> x0,<span class="keywordtype">int</span> y0, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color,<span class="keywordtype">char</span> type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>=5, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1);
<a name="l00239"></a>00239 <span class="comment"></span>
<a name="l00240"></a>00240 <span class="comment"> /** Draws an image as a bitmap at a given position, with some custom scale and rotation changes.</span>
<a name="l00241"></a>00241 <span class="comment"> * \param x0 The top-left corner x coordinates on this canvas where the image is to be drawn</span>
<a name="l00242"></a>00242 <span class="comment"> * \param y0 The top-left corner y coordinates on this canvas where the image is to be drawn</span>
<a name="l00243"></a>00243 <span class="comment"> * \param rotation The rotation in radians, positive values being anti-clockwise direction, 0 is the normal position.</span>
<a name="l00244"></a>00244 <span class="comment"> * \param scale The scale factor, e.g. 2 means twice the original size.</span>
<a name="l00245"></a>00245 <span class="comment"> * \param img The image to be drawn in this canvas</span>
<a name="l00246"></a>00246 <span class="comment"> * This method may be redefined in some classes implementing this interface in a more appropiate manner.</span>
<a name="l00247"></a>00247 <span class="comment"> */</span>
<a name="l00248"></a>00248 <span class="keyword">virtual</span> <span class="keywordtype">void</span> drawImage(
<a name="l00249"></a>00249 <span class="keywordtype">int</span> x,
<a name="l00250"></a>00250 <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00251"></a>00251 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">utils::CImage</a> &img,
<a name="l00252"></a>00252 <span class="keywordtype">float</span> rotation,
<a name="l00253"></a>00253 <span class="keywordtype">float</span> scale );
<a name="l00254"></a>00254 <span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** Draws a circle of a given radius.</span>
<a name="l00256"></a>00256 <span class="comment"> * \param x The center - x coordinate in pixels.</span>
<a name="l00257"></a>00257 <span class="comment"> * \param y The center - y coordinate in pixels.</span>
<a name="l00258"></a>00258 <span class="comment"> * \param radius The radius - in pixels.</span>
<a name="l00259"></a>00259 <span class="comment"> * \param color The color of the circle.</span>
<a name="l00260"></a>00260 <span class="comment"> * \param width The desired width of the line (this is IGNORED in this virtual class)</span>
<a name="l00261"></a>00261 <span class="comment"> */</span>
<a name="l00262"></a>00262 <span class="keyword">virtual</span> <span class="keywordtype">void</span> drawCircle(
<a name="l00263"></a>00263 <span class="keywordtype">int</span> x,
<a name="l00264"></a>00264 <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00265"></a>00265 <span class="keywordtype">int</span> radius,
<a name="l00266"></a>00266 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color = <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a>(255,255,255),
<a name="l00267"></a>00267 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1 );
<a name="l00268"></a>00268 <span class="comment"></span>
<a name="l00269"></a>00269 <span class="comment"> /** Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.</span>
<a name="l00270"></a>00270 <span class="comment"> * \param mean_x The x coordinate of the center point of the ellipse.</span>
<a name="l00271"></a>00271 <span class="comment"> * \param mean_y The y coordinate of the center point of the ellipse.</span>
<a name="l00272"></a>00272 <span class="comment"> * \param cov2D A 2x2 covariance matrix.</span>
<a name="l00273"></a>00273 <span class="comment"> * \param confIntervalStds How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)</span>
<a name="l00274"></a>00274 <span class="comment"> * \param color The color of the ellipse</span>
<a name="l00275"></a>00275 <span class="comment"> * \param width The desired width of the line (this is IGNORED in this virtual class)</span>
<a name="l00276"></a>00276 <span class="comment"> * \param nEllipsePoints The number of points to generate to approximate the ellipse shape.</span>
<a name="l00277"></a>00277 <span class="comment"> * \exception std::exception On an invalid matrix.</span>
<a name="l00278"></a>00278 <span class="comment"> */</span>
<a name="l00279"></a>00279 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX2X2>
<a name="l00280"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#ae942977624cd3347bc4879bcec4c8721">00280</a> <span class="keywordtype">void</span> ellipseGaussian(
<a name="l00281"></a>00281 <span class="keyword">const</span> MATRIX2X2 *cov2D,
<a name="l00282"></a>00282 <span class="keyword">const</span> <span class="keywordtype">double</span> mean_x,
<a name="l00283"></a>00283 <span class="keyword">const</span> <span class="keywordtype">double</span> mean_y,
<a name="l00284"></a>00284 <span class="keywordtype">double</span> confIntervalStds = 2,
<a name="l00285"></a>00285 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a> color = <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">mrpt::utils::TColor</a>(255,255,255),
<a name="l00286"></a>00286 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width = 1,
<a name="l00287"></a>00287 <span class="keywordtype">int</span> nEllipsePoints = 20
<a name="l00288"></a>00288 )
<a name="l00289"></a>00289 {
<a name="l00290"></a>00290 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00291"></a>00291 <span class="keywordtype">int</span> x1=0,y1=0,x2=0,y2=0;
<a name="l00292"></a>00292 <span class="keywordtype">double</span> ang;
<a name="l00293"></a>00293 MATRIX2X2 eigVal,eigVec;
<a name="l00294"></a>00294 <span class="keywordtype">int</span> i;
<a name="l00295"></a>00295
<a name="l00296"></a>00296 <span class="comment">// Compute the eigen-vectors & values:</span>
<a name="l00297"></a>00297 cov2D->eigenVectors(eigVec,eigVal);
<a name="l00298"></a>00298
<a name="l00299"></a>00299 eigVal.Sqrt();
<a name="l00300"></a>00300 MATRIX2X2 M;
<a name="l00301"></a>00301 M.multiply_ABt(eigVal, eigVec);
<a name="l00302"></a>00302
<a name="l00303"></a>00303 <span class="comment">// Compute the points of the 2D ellipse:</span>
<a name="l00304"></a>00304 <span class="keywordflow">for</span> (i=0,ang=0;i<nEllipsePoints;i++,ang+= (<a class="code" href="mrpt__macros_8h.html#a4aa2c43b09c1300c334821f5507d6f71">M_2PI</a>/(nEllipsePoints-1)))
<a name="l00305"></a>00305 {
<a name="l00306"></a>00306 <span class="keywordtype">double</span> ccos = cos(ang);
<a name="l00307"></a>00307 <span class="keywordtype">double</span> ssin = sin(ang);
<a name="l00308"></a>00308
<a name="l00309"></a>00309 x2 = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( mean_x + confIntervalStds * (ccos * M(0,0) + ssin * M(1,0)) );
<a name="l00310"></a>00310 y2 = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( mean_y + confIntervalStds * (ccos * M(0,1) + ssin * M(1,1)) );
<a name="l00311"></a>00311
<a name="l00312"></a>00312 <span class="keywordflow">if</span> (i>0)
<a name="l00313"></a>00313 line( x1, y1,x2, y2,color,width );
<a name="l00314"></a>00314
<a name="l00315"></a>00315 x1 = x2;
<a name="l00316"></a>00316 y1 = y2;
<a name="l00317"></a>00317 } <span class="comment">// end for points on ellipse</span>
<a name="l00318"></a>00318
<a name="l00319"></a>00319 <a class="code" href="mrpt__macros_8h.html#aa4441d1a566657479542cee0ffb0a124">MRPT_END_WITH_CLEAN_UP</a>( \
<a name="l00320"></a>00320 std::cout << <span class="stringliteral">"Covariance matrix leading to error is:"</span> << std::endl << *cov2D << std::endl; \
<a name="l00321"></a>00321 );
<a name="l00322"></a>00322 }
<a name="l00323"></a>00323 <span class="comment"></span>
<a name="l00324"></a>00324 <span class="comment"> /** Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields.</span>
<a name="l00325"></a>00325 <span class="comment"> * The class of FEATURELIST can be, for example, std::vector<TPoint2D>, std::vector<TPixelCoordsf> or mrpt::vision::CFeatureList</span>
<a name="l00326"></a>00326 <span class="comment"> * \sa drawFeatures</span>
<a name="l00327"></a>00327 <span class="comment"> */</span>
<a name="l00328"></a>00328 <span class="keyword">template</span> <<span class="keyword">class</span> FEATURELIST>
<a name="l00329"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#a5c4ab411ff29f57c618742eefaba82db">00329</a> <span class="keywordtype">void</span> drawFeaturesSimple( <span class="keyword">const</span> FEATURELIST &<a class="code" href="classstd_1_1list.html" title="STL class.">list</a>, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a> &color = <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a889b647441f8534a0e205e387635e1c1" title="Predefined colors.">TColor::red</a> )
<a name="l00330"></a>00330 {
<a name="l00331"></a>00331 <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0;i<list.size(); ++i )
<a name="l00332"></a>00332 {
<a name="l00333"></a>00333 <span class="keyword">const</span> <span class="keywordtype">int</span> x = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( list.getFeatureX(i) );
<a name="l00334"></a>00334 <span class="keyword">const</span> <span class="keywordtype">int</span> y = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( list.getFeatureY(i) );
<a name="l00335"></a>00335 this->cross( x,y, color, <span class="charliteral">'+'</span> );
<a name="l00336"></a>00336 }
<a name="l00337"></a>00337 }
<a name="l00338"></a>00338 <span class="comment"></span>
<a name="l00339"></a>00339 <span class="comment"> /** Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features.</span>
<a name="l00340"></a>00340 <span class="comment"> * The class of FEATURELIST can be:</span>
<a name="l00341"></a>00341 <span class="comment"> * - mrpt::vision::CFeatureList</span>
<a name="l00342"></a>00342 <span class="comment"> * - mrpt::vision::TSimpleFeatureList</span>
<a name="l00343"></a>00343 <span class="comment"> *</span>
<a name="l00344"></a>00344 <span class="comment"> * \sa drawFeaturesSimple</span>
<a name="l00345"></a>00345 <span class="comment"> */</span>
<a name="l00346"></a>00346 <span class="keyword">template</span> <<span class="keyword">class</span> FEATURELIST>
<a name="l00347"></a><a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html#adb876e7085a1aa3b05932c14607085d8">00347</a> <span class="keywordtype">void</span> drawFeatures( <span class="keyword">const</span> FEATURELIST &<a class="code" href="classstd_1_1list.html" title="STL class.">list</a>, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a> &color = <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a889b647441f8534a0e205e387635e1c1" title="Predefined colors.">TColor::red</a>, <span class="keyword">const</span> <span class="keywordtype">bool</span> showIDs = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> showResponse = <span class="keyword">false</span> )
<a name="l00348"></a>00348 {
<a name="l00349"></a>00349 <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0;i<list.size(); ++i )
<a name="l00350"></a>00350 {
<a name="l00351"></a>00351 <span class="keyword">const</span> <span class="keywordtype">int</span> x = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( list.getFeatureX(i) );
<a name="l00352"></a>00352 <span class="keyword">const</span> <span class="keywordtype">int</span> y = <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( list.getFeatureY(i) );
<a name="l00353"></a>00353 this->cross(x,y, color, <span class="charliteral">'+'</span> );
<a name="l00354"></a>00354 <span class="keywordflow">if</span>( showIDs ) this->textOut(x,y, <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"%u"</span>, static_cast<unsigned int>(list.getFeatureID(i))), <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a>::red );
<a name="l00355"></a>00355 <span class="keywordflow">if</span> (showResponse) this->textOut( x,y+10, <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"R:%u"</span>, static_cast<unsigned int>(list.getFeatureResponse(i))), <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a>::red );
<a name="l00356"></a>00356 <span class="keywordflow">if</span>( ! list.isPointFeature(i) ) this->drawCircle(x,y, list.getScale(i), <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a>::red );
<a name="l00357"></a>00357 }
<a name="l00358"></a>00358 }
<a name="l00359"></a>00359
<a name="l00360"></a>00360
<a name="l00361"></a>00361
<a name="l00362"></a>00362 }; <span class="comment">// End of class</span>
<a name="l00363"></a>00363
<a name="l00364"></a><a class="code" href="namespacemrpt_1_1utils.html#ab06987e19a58ef240eba3c2fb588067c">00364</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1utils_1_1_c_canvas.html" title="This virtual class defines the interface of any object accepting drawing primitives on it...">CCanvas</a> <a class="code" href="namespacemrpt_1_1utils.html#ab06987e19a58ef240eba3c2fb588067c" title="Deprecated name.">CMRPTCanvas</a>; <span class="comment">//!< Deprecated name.</span>
<a name="l00365"></a>00365 <span class="comment"></span>
<a name="l00366"></a>00366 } <span class="comment">// end of namespace utils</span>
<a name="l00367"></a>00367
<a name="l00368"></a>00368 } <span class="comment">// end of namespace mrpt</span>
<a name="l00369"></a>00369
<a name="l00370"></a>00370 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
