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<div class="title">CDisplayWindow.h</div> </div>
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<a href="_c_display_window_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 CDisplayWindow_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CDisplayWindow_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_base_g_u_i_window_8h.html">mrpt/gui/CBaseGUIWindow.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {<span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment"> /** Classes for creating GUI windows for 2D and 3D visualization. \ingroup mrpt_gui_grp */</span>
<a name="l00037"></a>00037 <span class="keyword">namespace </span>gui
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="structmrpt_1_1gui_1_1_c_display_window_ptr.html#a83cff8037acc5520f6506fe3a1a9b5a3">00041</a> <a class="code" href="_c_object_8h.html#a0e854723702802213de8c20bf5697bff">DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE</a>(<a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a>, <a class="code" href="classmrpt_1_1gui_1_1_c_base_g_u_i_window.html" title="The base class for GUI window classes.">mrpt::gui::CBaseGUIWindow</a>, <a class="code" href="gui_2include_2mrpt_2gui_2link__pragmas_8h.html#a69a861d20c11137851da0fe69a66d7b6">GUI_IMPEXP</a>)
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** This class creates a window as a graphical user interface (GUI) for displaying images to the user.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow.</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_gui_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 class <a class="code" href="gui_2include_2mrpt_2gui_2link__pragmas_8h.html#a69a861d20c11137851da0fe69a66d7b6">GUI_IMPEXP</a> <a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a> : public mrpt::gui::<a class="code" href="classmrpt_1_1gui_1_1_c_base_g_u_i_window.html" title="The base class for GUI window classes.">CBaseGUIWindow</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#a666ee865d4531ffc207a27963bba54b5">00051</a> <a class="code" href="_c_object_8h.html#a89a1b701b9898005d954af26d92766fe" title="This declaration must be inserted in all CObject classes definition, within the class declaration...">DEFINE_MRPT_OBJECT</a>( <a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 protected:
<a name="l00054"></a>00054 <span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Enables or disables the visualization of cursor coordinates on the window caption.</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#a5474bf95db6dd1564f6de8cf058a92a9">00057</a> <span class="keywordtype">bool</span> m_enableCursorCoordinates;
<a name="l00058"></a>00058
<a name="l00059"></a>00059 public:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Constructor</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a>00062 <a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a>( const std::<span class="keywordtype">string</span> &windowCaption = std::<span class="keywordtype">string</span>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> initWidth = 400, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> initHeight = 400 );
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Class factory returning a smart pointer */</span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#afdf7af55cd1cf7e1ecc23fbb605fe58c">00065</a> static <a class="code" href="structmrpt_1_1gui_1_1_c_display_window_ptr.html">CDisplayWindowPtr</a> Create(
<a name="l00066"></a>00066 const std::<span class="keywordtype">string</span> &windowCaption = std::<span class="keywordtype">string</span>(),
<a name="l00067"></a>00067 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> initWidth = 400,
<a name="l00068"></a>00068 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> initHeight = 400 )
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1gui_1_1_c_display_window_ptr.html">CDisplayWindowPtr</a>(<span class="keyword">new</span> <a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a>(windowCaption,initWidth,initHeight));
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Destructor</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html" title="This class creates a window as a graphical user interface (GUI) for displaying images to the user...">CDisplayWindow</a>();
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Gets the last x,y pixel coordinates of the mouse. \return False if the window is closed. */</span>
<a name="l00078"></a>00078 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLastMousePosition(<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="keyword">const</span>;
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) */</span>
<a name="l00081"></a>00081 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setCursorCross(<span class="keywordtype">bool</span> cursorIsCross);
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Show a given color or grayscale image on the window and print a set of points on it.</span>
<a name="l00084"></a>00084 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a>00086 <span class="keywordtype">void</span> showImageAndPoints( <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.">CImage</a> &img, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &x, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</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> &showNumbers = <span class="keyword">false</span> );
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Show a given color or grayscale image on the window and print a set of points on it.</span>
<a name="l00089"></a>00089 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00090"></a>00090 <span class="comment"> * The class of FEATURELIST can be: mrpt::vision::CFeatureList or any STL container of entities having "x","y" and "ID" fields.</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keyword">template</span> <<span class="keyword">class</span> FEATURELIST>
<a name="l00093"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#ae28f2eb977212b6d13ffac68aa011d74">00093</a> <span class="keywordtype">void</span> showImageAndPoints( <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.">CImage</a> &img, <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> )
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00096"></a>00096 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> imgColor(1,1,<a class="code" href="_c_image_8h.html#abbb5a64a224fe607fbf2fc5ac29e31cb">CH_RGB</a>);
<a name="l00097"></a>00097 img.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#a9d8a0e07dc1ce23f067d416c10f61e53" title="Returns a RGB version of the grayscale image, or itself if it is already a RGB image.">colorImage</a>( imgColor ); <span class="comment">// Create a colorimage</span>
<a name="l00098"></a>00098 imgColor.drawFeatures(list,color,showIDs);
<a name="l00099"></a>00099 showImage(imgColor);
<a name="l00100"></a>00100 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** 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.</span>
<a name="l00104"></a>00104 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00105"></a>00105 <span class="comment"> * The class of FEATURELIST can be: mrpt::vision::CFeatureList</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keyword">template</span> <<span class="keyword">class</span> FEATURELIST>
<a name="l00108"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#a8f6e8e66fcb13dc6a5adf81f96428d7c">00108</a> <span class="keywordtype">void</span> showTiledImageAndPoints( <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.">CImage</a> &img, <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="l00109"></a>00109 {
<a name="l00110"></a>00110 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> imgColor(1,1,3);
<a name="l00113"></a>00113 img.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#a9d8a0e07dc1ce23f067d416c10f61e53" title="Returns a RGB version of the grayscale image, or itself if it is already a RGB image.">colorImage</a>( imgColor ); <span class="comment">// Create a colorimage</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">// Print the 4 tile lines</span>
<a name="l00116"></a>00116 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> w = imgColor.getWidth();
<a name="l00117"></a>00117 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> h = imgColor.getHeight();
<a name="l00118"></a>00118 imgColor.line( 0, h/2, w-1, h/2, <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a5bf90664d0b8252eb2538af5ef9c29c1" title="Predefined colors.">TColor::green</a> );
<a name="l00119"></a>00119 imgColor.line( w/4, 0, w/4, h, <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a5bf90664d0b8252eb2538af5ef9c29c1" title="Predefined colors.">TColor::green</a> );
<a name="l00120"></a>00120 imgColor.line( w/2, 0, w/2, h, <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a5bf90664d0b8252eb2538af5ef9c29c1" title="Predefined colors.">TColor::green</a> );
<a name="l00121"></a>00121 imgColor.line( 3*w/4, 0, 3*w/4, h, <a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a5bf90664d0b8252eb2538af5ef9c29c1" title="Predefined colors.">TColor::green</a> );
<a name="l00122"></a>00122
<a name="l00123"></a>00123 showImageAndPoints( imgColor, list, color );
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.</span>
<a name="l00129"></a>00129 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00130"></a>00130 <span class="comment"> * 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)</span>
<a name="l00131"></a>00131 <span class="comment"> */</span>
<a name="l00132"></a>00132 <span class="keyword">template</span> <<span class="keyword">class</span> MATCHEDLIST>
<a name="l00133"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#ab1764b812bb84b7c43b3116c97eb6d2f">00133</a> <span class="keywordtype">void</span> showImagesAndMatchedPoints( <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.">CImage</a> &img1, <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.">CImage</a> &img2, <span class="keyword">const</span> MATCHEDLIST &mList, <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="keywordtype">bool</span> showNumbers = <span class="keyword">false</span> )
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> imgColor;
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">//img1.colorImage( imgColor ); // Create a colorimage</span>
<a name="l00140"></a>00140 imgColor.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#a71a088b5ad9837496592119c1ac1ce1f" title="Joins two images side-by-side horizontally.">joinImagesHorz</a>( img1, img2 );
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> w = img1.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#ae82bff36dbdbdfefe2735d6a02ed6bc8" title="Returns the width of the image in pixels.">getWidth</a>();
<a name="l00143"></a>00143 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nf = 0;
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="keywordflow">for</span>( <span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">MATCHEDLIST::const_iterator</a> i = mList.begin(); i != mList.end(); ++i, ++nf )
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 imgColor.drawCircle( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->first->x ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->first->y ), 4, color );
<a name="l00148"></a>00148 imgColor.drawCircle( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->second->x + w ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->second->y ), 4, color );
<a name="l00149"></a>00149 <span class="comment">//imgColor.line( round( i->first->x ), round( i->first->y ), round( i->second->x + w ), round( i->second->y ), color );</span>
<a name="l00150"></a>00150 <span class="keywordflow">if</span>( showNumbers )
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 <span class="keywordtype">char</span> buf[15];
<a name="l00153"></a>00153 <a class="code" href="group__mrpt__system__os.html#gaa5c66ce41ee061c2ae514e260b29e7a6" title="An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...">mrpt::system::os::sprintf</a>( buf, 15, <span class="stringliteral">"%d[%u]"</span>, nf, (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)i->first->ID );
<a name="l00154"></a>00154 imgColor.textOut( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->first->x ) - 10, <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->first->y ), buf, color );
<a name="l00155"></a>00155 <a class="code" href="group__mrpt__system__os.html#gaa5c66ce41ee061c2ae514e260b29e7a6" title="An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...">mrpt::system::os::sprintf</a>( buf, 15, <span class="stringliteral">"%d[%u]"</span>, nf, (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)i->second->ID );
<a name="l00156"></a>00156 imgColor.textOut( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->second->x + w ) + 10, <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( i->second->y ), buf, color );
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 showImage(imgColor);
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Show a pair of given color or grayscale images (put together) on the window and print a set of matches on them.</span>
<a name="l00165"></a>00165 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00166"></a>00166 <span class="comment"> * FEATURELIST can be of the class: mrpt::vision::CFeatureList</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a>00168 <span class="keyword">template</span> <<span class="keyword">class</span> FEATURELIST>
<a name="l00169"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#a732d014f57cd543914fe2265307a6132">00169</a> <span class="keywordtype">void</span> showImagesAndMatchedPoints( <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.">CImage</a> &img1, <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.">CImage</a> &img2, <span class="keyword">const</span> FEATURELIST &leftList, <span class="keyword">const</span> FEATURELIST &rightList, <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="l00170"></a>00170 {
<a name="l00171"></a>00171 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> imgColor;
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="comment">//img1.colorImage( imgColor ); // Create a colorimage</span>
<a name="l00176"></a>00176 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>( leftList.size() == rightList.size() );
<a name="l00177"></a>00177 imgColor.joinImagesHorz( img1, img2 );
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> w = img1.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#ae82bff36dbdbdfefe2735d6a02ed6bc8" title="Returns the width of the image in pixels.">getWidth</a>();
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="keywordflow">for</span>( <span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">FEATURELIST::const_iterator</a> iL = leftList.begin(), iR = rightList.begin(); iL != leftList.end(); ++iL, ++iR )
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 imgColor.drawCircle( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iL)->x ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iL)->y ), 4, color );
<a name="l00184"></a>00184 imgColor.drawCircle( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iR)->x + w ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iR)->y ), 4, color );
<a name="l00185"></a>00185 imgColor.line( <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iL)->x ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iL)->y ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iR)->x + w ), <a class="code" href="namespacemrpt_1_1utils.html#ab7d9cdf7d271c2f41fc1c5c9fa7d0828" title="Returns the closer integer (int) to x.">round</a>( (*iR)->y ), color );
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187 showImage(imgColor);
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 <span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment"> /** Show a given color or grayscale image on the window.</span>
<a name="l00193"></a>00193 <span class="comment"> * It adapts the size of the window to that of the image.</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 <span class="keywordtype">void</span> showImage( <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.">CImage</a> &img );
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Plots a graph in MATLAB-like style.</span>
<a name="l00198"></a>00198 <span class="comment"> */</span>
<a name="l00199"></a>00199 <span class="keywordtype">void</span> plot( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &x, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> /** Plots a graph in MATLAB-like style.</span>
<a name="l00202"></a>00202 <span class="comment"> */</span>
<a name="l00203"></a>00203 <span class="keywordtype">void</span> plot( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Resizes the window, stretching the image to fit into the display area.</span>
<a name="l00206"></a>00206 <span class="comment"> */</span>
<a name="l00207"></a>00207 <span class="keywordtype">void</span> resize( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height );
<a name="l00208"></a>00208 <span class="comment"></span>
<a name="l00209"></a>00209 <span class="comment"> /** Changes the position of the window on the screen.</span>
<a name="l00210"></a>00210 <span class="comment"> */</span>
<a name="l00211"></a>00211 <span class="keywordtype">void</span> setPos( <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );
<a name="l00212"></a>00212 <span class="comment"></span>
<a name="l00213"></a>00213 <span class="comment"> /** Enables or disables the visualization of cursor coordinates on the window caption (default = enabled).</span>
<a name="l00214"></a>00214 <span class="comment"> */</span>
<a name="l00215"></a><a class="code" href="classmrpt_1_1gui_1_1_c_display_window.html#a8ece5aeb1f605a90d125e5c971181a30">00215</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> enableCursorCoordinatesVisualization(<span class="keywordtype">bool</span> enable)
<a name="l00216"></a>00216 {
<a name="l00217"></a>00217 m_enableCursorCoordinates = enable;
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /** Changes the window title text.</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <span class="keywordtype">void</span> setWindowTitle( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str );
<a name="l00223"></a>00223
<a name="l00224"></a>00224 }; <span class="comment">// End of class def.</span>
<a name="l00225"></a>00225
<a name="l00226"></a>00226 } <span class="comment">// End of namespace</span>
<a name="l00227"></a>00227
<a name="l00228"></a>00228 } <span class="comment">// End of namespace</span>
<a name="l00229"></a>00229
<a name="l00230"></a>00230 <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>
