tuw::Figure Class Reference

#include <figure.h>

Inheritance diagram for tuw::Figure:

Public Member Functions
void	appendToView (const cv::Mat &_mat, const cv::Scalar &_colMin, const cv::Scalar &_colMax, u_int8_t _truncateLayerVal=0)
const cv::Mat &	background () const
cv::Mat &	background ()
const std::string &	backgroundFileName () const
void	circle (const Point2D &p, int radius, const cv::Scalar &color, int thickness=1, int lineType=CV_AA)
void	clear ()
	Figure (const std::string &title)
	draws the background image More...
	Figure (const Figure &)=default
	Figure (Figure &&)=default
virtual void	init (int width_pixel, int height_pixel, double min_y, double max_y, double min_x, double max_x, double rotation=0, double grid_scale_x=-1, double grid_scale_y=-1, const std::string &background_image=std::string())
void	line (const Point2D &p0, const Point2D &p1, const cv::Scalar &color, int thickness=1, int lineType=CV_AA)
Figure &	operator= (const Figure &)=default
Figure &	operator= (Figure &&)=default
void	putText (cv::Mat &view, const std::string &text, const Point2D &p, int fontFace=cv::FONT_HERSHEY_PLAIN, double fontScale=0.6, cv::Scalar color=cv::Scalar(128, 0, 0), int thickness=1, int lineType=CV_AA, bool bottomLeftOrigin=false)
void	putText (const std::string &text, const Point2D &p, int fontFace=cv::FONT_HERSHEY_PLAIN, double fontScale=0.6, cv::Scalar color=cv::Scalar(128, 0, 0), int thickness=1, int lineType=CV_AA, bool bottomLeftOrigin=false)
void	setLabel (const std::string &label_x=std::string("x=%f"), const std::string &label_y=std::string("y=%f"))
void	setView (const cv::Mat &view)
void	symbol (cv::Mat &view, const Point2D &p, const cv::Scalar &color)
void	symbol (const Point2D &p, const cv::Scalar &color)
void	symbol (cv::Mat &view, const Pose2D &p, double radius, const cv::Scalar &color, int thickness=1, int lineType=CV_AA)
void	symbol (const Pose2D &p, double radius, const cv::Scalar &color, int thickness=1, int lineType=CV_AA)
const std::string	title () const
const cv::Mat &	view () const
cv::Mat &	view ()
virtual	~Figure ()=default
Public Member Functions inherited from tuw::WorldScopedMaps
template<typename T >
void	circle (T &map, const Point2D &p, int radius, const cv::Scalar &color, int thickness=1, int lineType=CV_AA) const
template<typename T >
cv::Scalar_< T >	get (cv::Mat_< T > &map, const Point2D &p) const
int	height () const
std::string	infoHeader () const
void	init (int width_pixel, int height_pixel, double min_y, double max_y, double min_x, double max_x, double rotation=0)
template<typename T >
void	init (const T &metadata)
bool	initialized ()
template<typename T >
void	line (T &map, const Point2D &p0, const Point2D &p1, const cv::Scalar &color, int thickness=1, int lineType=CV_AA) const
Point2D	m2w (const Point2D &src) const
Point2D	m2w (double x, double y) const
Point2D &	m2w (const Point2D &src, Point2D &des) const
double	max_x () const
double	max_y () const
double	min_x () const
double	min_y () const
const cv::Matx33d &	Mm2w () const
const cv::Matx33d &	Mw2m () const
WorldScopedMaps &	operator= (const WorldScopedMaps &)=default
WorldScopedMaps &	operator= (WorldScopedMaps &&)=default
double	scale_w2m (double v) const
double	scale_x () const
double	scale_y () const
Point2D	w2m (const Point2D &src) const
Point2D	w2m (double x, double y) const
Point2D &	w2m (const Point2D &src, Point2D &des) const
int	width () const
	WorldScopedMaps ()
	WorldScopedMaps (const WorldScopedMaps &)=default
	WorldScopedMaps (WorldScopedMaps &&)=default
virtual	~WorldScopedMaps ()=default

Static Public Attributes
static const cv::Scalar	black
static const cv::Scalar	blue
static const cv::Scalar	blue_bright
static const cv::Scalar	blue_dark
static const cv::Scalar	cyan
static const cv::Scalar	gray
static const cv::Scalar	gray_bright
static const cv::Scalar	green
	color to use with the drawing functions More...
static const cv::Scalar	green_bright
static const cv::Scalar	green_dark
static const cv::Scalar	magenta
static const cv::Scalar	niceBlue
static const cv::Scalar	niceDirtyPink
static const cv::Scalar	niceGreen
static const cv::Scalar	niceGreenBlue
static const cv::Scalar	niceGreenWashed
static const cv::Scalar	niceGrey
static const cv::Scalar	niceGreyDark
static const cv::Scalar	niceGreyLight
static const cv::Scalar	niceGreyPurple
static const cv::Scalar	niceLime
static const cv::Scalar	niceMagenta
static const cv::Scalar	niceMustard
static const cv::Scalar	niceRed
static const cv::Scalar	niceRedDark
static const cv::Scalar	orange
static const cv::Scalar	red
static const cv::Scalar	white
static const cv::Scalar	yellow

Private Member Functions
void	drawBackground ()
	dimension of the drawn grid, if -1 no grid will be drawn More...

Private Attributes
cv::Mat	background_
	canvas More...
std::string	background_filename_
	background data, grid or image More...
double	grid_scale_x_
	if empty no file will be used More...
double	grid_scale_y_
std::string	label_format_x_
	window name More...
std::string	label_format_y_
	label format string More...
std::string	title_
cv::Mat	view_
	label format string More...

Detailed Description

class to visualize information using OpenCV matrices

Definition at line 17 of file figure.h.

Constructor & Destructor Documentation

Figure::Figure

(

const std::string &

title

)

draws the background image

constructor

Parameters

title

title of the displayed windows

Definition at line 42 of file figure.cpp.

virtual tuw::Figure::~Figure ( )

virtualdefault

tuw::Figure::Figure ( const Figure &  )

default

tuw::Figure::Figure ( Figure &&  )

default

Member Function Documentation

void Figure::appendToView	(	const cv::Mat &	_mat,
		const cv::Scalar &	_colMin,
		const cv::Scalar &	_colMax,
		u_int8_t	_truncateLayerVal = 0
	)

Appends the contents of a single channel CV_8U map into the foreground image as a (BGR) colour gradient on foreground pixels that were previously white (255,255,255).

Parameters

_mat	Map (CV_8U) to be appended to the foreground image
_colMin	Minimum (BGR) colour vector value of the appended map (a value of 0 in the input map will be appended with the colour _colMin)
_colMax	Maximum (BGR) colour vector value of the appended map (a value of 255 in the input map will be appended with the colour _colMax)
_truncateLayerVal	Value to be truncated from the source map. For example, a value of 10 will not append any pixels with value greater than 245 ( = 255-10 )

Definition at line 180 of file figure.cpp.

const cv::Mat & Figure::background

(

)

const

Returns

the matrix related to the background canvas

Definition at line 61 of file figure.cpp.

cv::Mat & Figure::background

(

)

Returns

the matrix related to the background canvas

Definition at line 64 of file figure.cpp.

const std::string & Figure::backgroundFileName

(

)

const

Returns

Name of the background file

Definition at line 52 of file figure.cpp.

void Figure::circle	(	const Point2D &	p,
		int	radius,
		const cv::Scalar &	color,
		int	thickness = 1,
		int	lineType = CV_AA
	)

draws a circle given in the visualization space (meter, ....) into the foreground image

Parameters

p	location
radius	radius
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 160 of file figure.cpp.

void Figure::clear

(

)

overwrites the foreground with the background

Definition at line 138 of file figure.cpp.

void Figure::drawBackground ( )

private

dimension of the drawn grid, if -1 no grid will be drawn

Definition at line 87 of file figure.cpp.

void Figure::init ( int  width_pixel, int  height_pixel, double  min_y, double  max_y, double  min_x, double  max_x, double  rotation = 0, double  grid_scale_x = -1, double  grid_scale_y = -1, const std::string &  background_image = std::string()  )

virtual

used to initialize the figure

Parameters

width_pixel	pixel size of the canvas
height_pixel	pixel size of the canvas
min_y	minimal y of the visualized space
max_y	maximal y of the visualized space
min_x	minimal x of the visualized space
max_x	maximal x of the visualized space
rotation	rotation of the visualized space
grid_scale_x	dimension of the drawn grid, if -1 no grid will be drawn
grid_scale_y	dimension of the drawn grid, if -1 no grid will be drawn
background_image	file name of an image for the background, it can be empty as well

Reimplemented in tuw::LayeredFigure.

Definition at line 79 of file figure.cpp.

void Figure::line	(	const Point2D &	p0,
		const Point2D &	p1,
		const cv::Scalar &	color,
		int	thickness = 1,
		int	lineType = CV_AA
	)

draws a line given in the visualization space (meter, ....) into the foreground image

Parameters

p0	start point
p1	end point
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 143 of file figure.cpp.

Figure& tuw::Figure::operator= ( const Figure &  )

default

Figure& tuw::Figure::operator= ( Figure &&  )

default

void Figure::putText	(	cv::Mat &	view,
		const std::string &	text,
		const Point2D &	p,
		int	fontFace = cv::FONT_HERSHEY_PLAIN,
		double	fontScale = 0.6,
		cv::Scalar	color = cv::Scalar ( 128,0,0 ),
		int	thickness = 1,
		int	lineType = CV_AA,
		bool	bottomLeftOrigin = false
	)

draws a text (pose) given in the visualization space (meter, ....) into the image

Parameters

view	image
text	text
p	location
fontFace	fontFace –>

See also

opencv

Parameters

fontScale

fontScale –>

See also

opencv

Parameters

color

color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 176 of file figure.cpp.

void Figure::putText	(	const std::string &	text,
		const Point2D &	p,
		int	fontFace = cv::FONT_HERSHEY_PLAIN,
		double	fontScale = 0.6,
		cv::Scalar	color = cv::Scalar ( 128,0,0 ),
		int	thickness = 1,
		int	lineType = CV_AA,
		bool	bottomLeftOrigin = false
	)

draws a text (pose) given in the visualization space (meter, ....) into the foreground image

Parameters

text	text
p	location
fontFace	fontFace –>

See also

opencv

Parameters

fontScale

fontScale –>

See also

opencv

Parameters

color

color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 173 of file figure.cpp.

void Figure::setLabel	(	const std::string &	label_x = std::string("x=%f"),
		const std::string &	label_y = std::string("y=%f")
	)

can be used to define the x and y label format

Parameters

label_x	format of the x label, default "x=%f"
label_y	format of the y label, default "y=%f"

Definition at line 49 of file figure.cpp.

void Figure::setView

(

const cv::Mat &

view

)

can be used to clone an image into the foreground independent to the image format (gray, color, ...)

Parameters

view	source image

Definition at line 67 of file figure.cpp.

void Figure::symbol	(	cv::Mat &	view,
		const Point2D &	p,
		const cv::Scalar &	color
	)

draws a symbol (dot) given in the visualization space (meter, ....) into a pixel map

Parameters

view	image
p	location
color	color –>

See also

opencv

Definition at line 150 of file figure.cpp.

void Figure::symbol	(	const Point2D &	p,
		const cv::Scalar &	color
	)

draws a symbol (dot) given in the visualization space (meter, ....) into the foreground image

Parameters

p	location
color	color –>

See also

opencv

Definition at line 147 of file figure.cpp.

void Figure::symbol	(	cv::Mat &	view,
		const Pose2D &	p,
		double	radius,
		const cv::Scalar &	color,
		int	thickness = 1,
		int	lineType = CV_AA
	)

draws a symbol (pose) given in the visualization space (meter, ....) into the image

Parameters

view	image
p	location
radius	radius
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 168 of file figure.cpp.

void Figure::symbol	(	const Pose2D &	p,
		double	radius,
		const cv::Scalar &	color,
		int	thickness = 1,
		int	lineType = CV_AA
	)

draws a symbol (pose) given in the visualization space (meter, ....) into the foreground image

Parameters

p	location
radius	radius
color	color –>

See also

opencv

Parameters

thickness

line thickness –>

See also

opencv

Parameters

lineType

line type –>

See also

opencv

Definition at line 164 of file figure.cpp.

const std::string Figure::title

(

)

const

Returns

title of the window

Definition at line 156 of file figure.cpp.

const cv::Mat & Figure::view

(

)

const

Returns

the matrix related to the foreground canvas

Definition at line 55 of file figure.cpp.

cv::Mat & Figure::view

(

)

Returns

the matrix related to the foreground canvas

Definition at line 58 of file figure.cpp.

Member Data Documentation

cv::Mat tuw::Figure::background_

private

canvas

Definition at line 22 of file figure.h.

std::string tuw::Figure::background_filename_

private

background data, grid or image

Definition at line 23 of file figure.h.

const cv::Scalar Figure::black

static

Definition at line 200 of file figure.h.

const cv::Scalar Figure::blue

static

Definition at line 191 of file figure.h.

const cv::Scalar Figure::blue_bright

static

Definition at line 192 of file figure.h.

const cv::Scalar Figure::blue_dark

static

Definition at line 193 of file figure.h.

const cv::Scalar Figure::cyan

static

Definition at line 196 of file figure.h.

const cv::Scalar Figure::gray

static

Definition at line 199 of file figure.h.

const cv::Scalar Figure::gray_bright

static

Definition at line 198 of file figure.h.

const cv::Scalar Figure::green

static

color to use with the drawing functions

Definition at line 187 of file figure.h.

const cv::Scalar Figure::green_bright

static

Definition at line 188 of file figure.h.

const cv::Scalar Figure::green_dark

static

Definition at line 189 of file figure.h.

double tuw::Figure::grid_scale_x_

private

if empty no file will be used

Definition at line 24 of file figure.h.

double tuw::Figure::grid_scale_y_

private

Definition at line 24 of file figure.h.

std::string tuw::Figure::label_format_x_

private

window name

Definition at line 19 of file figure.h.

std::string tuw::Figure::label_format_y_

private

label format string

Definition at line 20 of file figure.h.

const cv::Scalar Figure::magenta

static

Definition at line 197 of file figure.h.

const cv::Scalar Figure::niceBlue

static

Definition at line 203 of file figure.h.

const cv::Scalar Figure::niceDirtyPink

static

Definition at line 216 of file figure.h.

const cv::Scalar Figure::niceGreen

static

Definition at line 209 of file figure.h.

const cv::Scalar Figure::niceGreenBlue

static

Definition at line 206 of file figure.h.

const cv::Scalar Figure::niceGreenWashed

static

Definition at line 213 of file figure.h.

const cv::Scalar Figure::niceGrey

static

Definition at line 210 of file figure.h.

const cv::Scalar Figure::niceGreyDark

static

Definition at line 214 of file figure.h.

const cv::Scalar Figure::niceGreyLight

static

Definition at line 211 of file figure.h.

const cv::Scalar Figure::niceGreyPurple

static

Definition at line 212 of file figure.h.

const cv::Scalar Figure::niceLime

static

Definition at line 215 of file figure.h.

const cv::Scalar Figure::niceMagenta

static

Definition at line 205 of file figure.h.

const cv::Scalar Figure::niceMustard

static

Definition at line 204 of file figure.h.

const cv::Scalar Figure::niceRed

static

Definition at line 207 of file figure.h.

const cv::Scalar Figure::niceRedDark

static

Definition at line 208 of file figure.h.

const cv::Scalar Figure::orange

static

Definition at line 194 of file figure.h.

const cv::Scalar Figure::red

static

Definition at line 190 of file figure.h.

std::string tuw::Figure::title_

private

Definition at line 18 of file figure.h.

cv::Mat tuw::Figure::view_

private

label format string

Definition at line 21 of file figure.h.

const cv::Scalar Figure::white

static

Definition at line 201 of file figure.h.

const cv::Scalar Figure::yellow

static

Definition at line 195 of file figure.h.

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The documentation for this class was generated from the following files:

• figure.h
• figure.cpp