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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Define a graph for the vpPlot class.
*/
#ifndef VP_PLOT_GRAPH_H
#define VP_PLOT_GRAPH_H
#include <visp3/core/vpConfig.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMouseButton.h>
#include <visp3/gui/vpPlotCurve.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRect.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpPoint.h>
#if defined(VISP_HAVE_DISPLAY)
BEGIN_VISP_NAMESPACE
class vpPlotGraph
{
public:
double xorg;
double yorg;
double zoomx;
double zoomy;
double xmax;
double ymax;
double xmin;
double ymin;
double xdelt;
double ydelt;
bool gridx;
bool gridy;
vpColor gridColor;
std::string title;
std::string unitx;
std::string unity;
unsigned int curveNbr;
vpPlotCurve *curveList;
bool scaleInitialized;
bool firstPoint;
int nbDivisionx;
int nbDivisiony;
// Graph complet
vpImagePoint topLeft;
unsigned int width;
unsigned int height;
vpRect graphZone;
// Zone d'affichage
vpImagePoint dTopLeft;
unsigned int dWidth;
unsigned int dHeight;
vpRect dGraphZone;
// Zone d'affichage
vpImagePoint dTopLeft3D;
// int dWidth;
// int dHeight;
vpRect dGraphZone3D;
// 3D part
vpCameraParameters cam;
vpHomogeneousMatrix cMo;
vpHomogeneousMatrix cMf;
double w_xval;
double w_xsize;
double w_yval;
double w_ysize;
double w_zval;
double w_zsize;
double ptXorg;
double ptYorg;
double ptZorg;
double zoomx_3D;
double zoomy_3D;
double zoomz_3D;
int nbDivisionz;
double zorg;
double zoomz;
double zmax;
double zmin;
double zdelt;
std::string unitz;
vpImagePoint old_iPr;
vpImagePoint old_iPz;
bool blockedr;
bool blockedz;
bool blocked;
unsigned int epsi;
unsigned int epsj;
bool dispUnit;
bool dispTitle;
bool dispLegend;
unsigned int gridThickness;
// private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
// vpPlotGraph(const vpPlotGraph &)
// : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10),
// xmin(0), ymin(-10),
// xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(),
// curveNbr(1), curveList(nullptr), scaleInitialized(false),
// firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
// width(0), height(0), graphZone(), dTopLeft(), dWidth(0),
// dHeight(0), dGraphZone(), dTopLeft3D(), dGraphZone3D(), cam(),
// cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
// w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0),
// zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10),
// zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(),
// old_iPz(), blockedr(false), blockedz(false), blocked(false),
// epsi(5), epsj(6), dispUnit(false), dispTitle(false),
// dispLegend(false), gridThickness(1)
// {
// throw vpException(vpException::functionNotImplementedError, "Not
// implemented!");
// }
// vpPlotGraph &operator=(const vpPlotGraph &){
// throw vpException(vpException::functionNotImplementedError, "Not
// implemented!"); return *this;
// }
//#endif
public:
vpPlotGraph();
virtual ~vpPlotGraph();
bool check3Dline(vpImagePoint &iP1, vpImagePoint &iP2);
bool check3Dpoint(vpImagePoint &iP);
void clearGraphZone(vpImage<unsigned char> &I);
void computeGraphParameters();
void computeGraphParameters3D();
void initGraph(unsigned int nbCurve);
void initSize(vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei,
unsigned int margej);
void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
bool gx, bool gy);
void initScale(vpImage<unsigned char> &I, double xmin, double xmax, int nbDivx, double ymin, double ymax, int nbDivy,
double zmin, double zmax, int nbDivz, bool gx, bool gy);
void displayGrid(vpImage<unsigned char> &I);
void displayUnit(vpImage<unsigned char> &I);
void displayTitle(vpImage<unsigned char> &I);
void displayLegend(vpImage<unsigned char> &I);
void displayGrid3D(vpImage<unsigned char> &I);
void findPose();
bool getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP);
bool move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button);
vpHomogeneousMatrix navigation(const vpImage<unsigned char> &I, bool &changed, vpMouseButton::vpMouseButtonType &b);
void plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y);
vpMouseButton::vpMouseButtonType plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y, double z);
void replot(vpImage<unsigned char> &I);
void replot3D(vpImage<unsigned char> &I);
void rescalex(unsigned int side, double extremity);
void rescaley(unsigned int side, double extremity);
void rescalez(unsigned int side, double extremity);
// void rescale(double &min, double &max, double &delta, int nbDiv, int side);
void resetPointList(unsigned int curveNum);
void setCurveColor(unsigned int curveNum, const vpColor &color);
void setCurveThickness(unsigned int curveNum, unsigned int thickness);
void setGridThickness(unsigned int thickness) { this->gridThickness = thickness; }
void setLegend(unsigned int curveNum, const std::string &legend);
void setTitle(const std::string &title);
void setUnitX(const std::string &unitx);
void setUnitY(const std::string &unity);
void setUnitZ(const std::string &unitz);
};
END_VISP_NAMESPACE
#endif
#endif
#endif
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