#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)

cv::Mat &	background ()

const cv::Mat &	background () const

const std::string &	backgroundFileName () const

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

template<typename T >
void	circle (T &map, const Point2D &p, int radius, const cv::Scalar &color, int thickness=1, int lineType=cv::LINE_AA) const

void	clear ()

	Figure (const Figure &)=default

	Figure (const std::string &title)
	draws the background image More...

	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::LINE_AA)

template<typename T >
void	line (T &map, const Point2D &p0, const Point2D &p1, const cv::Scalar &color, int thickness=1, int lineType=cv::LINE_AA) const

Figure &	operator= (const Figure &)=default

Figure &	operator= (Figure &&)=default

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::LINE_AA, bool bottomLeftOrigin=false)

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::LINE_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 (const Point2D &p, const cv::Scalar &color)

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

void	symbol (cv::Mat &view, 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::LINE_AA)

const std::string	title () const

cv::Mat &	view ()

const cv::Mat &	view () const

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::LINE_AA) const

template<typename T >
cv::Scalar_< T >	get (cv::Mat_< T > &map, const Point2D &p) const

int	height () const

std::string	infoHeader () const

template<typename T >
void	init (const T &metadata)

void	init (int width_pixel, int height_pixel, double min_y, double max_y, double min_x, double max_x, double rotation=0)

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::LINE_AA) const

Point2D	m2w (const Point2D &src) const

Point2D &	m2w (const Point2D &src, Point2D &des) const

Point2D	m2w (double x, double y) 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 (const Point2D &src, Point2D &des) const

Point2D	w2m (double x, double y) 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 16 of file figure.h.

Constructor & Destructor Documentation

◆ Figure() [1/3]

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.

◆ ~Figure()

virtual tuw::Figure::~Figure ( )

virtualdefault

◆ Figure() [2/3]

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

default

◆ Figure() [3/3]

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

default

Member Function Documentation

◆ appendToView()

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.

◆ background() [1/2]

cv::Mat& tuw::Figure::background ( )

Returns: the matrix related to the background canvas

◆ background() [2/2]

cv::Mat & Figure::background ( ) const

Returns: the matrix related to the background canvas

Definition at line 61 of file figure.cpp.

◆ backgroundFileName()

const std::string & Figure::backgroundFileName ( ) const

Returns: Name of the background file

Definition at line 52 of file figure.cpp.

◆ circle() [1/2]

void Figure::circle	(	const Point2D &	p,
		int	radius,
		const cv::Scalar &	color,
		int	thickness = `1`,
		int	lineType = `cv::LINE_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.

◆ circle() [2/2]

template<typename T >

void tuw::WorldScopedMaps::circle ( typename T )

inline

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

Parameters

map	opencv matrix
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 107 of file world_scoped_maps.h.

◆ clear()

void Figure::clear ( )

overwrites the foreground with the background

Definition at line 138 of file figure.cpp.

◆ drawBackground()

void Figure::drawBackground ( )

private

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

Definition at line 87 of file figure.cpp.

◆ init()

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.

◆ line() [1/2]

void Figure::line	(	const Point2D &	p0,
		const Point2D &	p1,
		const cv::Scalar &	color,
		int	thickness = `1`,
		int	lineType = `cv::LINE_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.

◆ line() [2/2]

template<typename T >

void tuw::WorldScopedMaps::line ( typename T )

inline

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

Parameters

map	opencv matrix
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 94 of file world_scoped_maps.h.

◆ operator=() [1/2]

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

default

◆ operator=() [2/2]

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

default

◆ putText() [1/2]

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::LINE_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.

◆ putText() [2/2]

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::LINE_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.

◆ setLabel()

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.

◆ setView()

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.

◆ symbol() [1/4]

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.

◆ symbol() [2/4]

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

◆ symbol() [3/4]

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.

◆ symbol() [4/4]

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

◆ title()

const std::string Figure::title ( ) const

Returns: title of the window

Definition at line 156 of file figure.cpp.

◆ view() [1/2]

cv::Mat& tuw::Figure::view ( )

Returns: the matrix related to the foreground canvas

◆ view() [2/2]

cv::Mat & Figure::view ( ) const

Returns: the matrix related to the foreground canvas

Definition at line 55 of file figure.cpp.

Member Data Documentation

◆ background_

cv::Mat tuw::Figure::background_

private

canvas

Definition at line 21 of file figure.h.

◆ background_filename_

std::string tuw::Figure::background_filename_

private

background data, grid or image

Definition at line 22 of file figure.h.

◆ black

const cv::Scalar Figure::black

static

Definition at line 199 of file figure.h.

◆ blue

const cv::Scalar Figure::blue

static

Definition at line 190 of file figure.h.

◆ blue_bright

const cv::Scalar Figure::blue_bright

static

Definition at line 191 of file figure.h.

◆ blue_dark

const cv::Scalar Figure::blue_dark

static

Definition at line 192 of file figure.h.

◆ cyan

const cv::Scalar Figure::cyan

static

Definition at line 195 of file figure.h.

◆ gray

const cv::Scalar Figure::gray

static

Definition at line 198 of file figure.h.

◆ gray_bright

const cv::Scalar Figure::gray_bright

static

Definition at line 197 of file figure.h.

◆ green

const cv::Scalar Figure::green

static

color to use with the drawing functions

Definition at line 186 of file figure.h.

◆ green_bright

const cv::Scalar Figure::green_bright

static

Definition at line 187 of file figure.h.

◆ green_dark

const cv::Scalar Figure::green_dark

static

Definition at line 188 of file figure.h.

◆ grid_scale_x_

double tuw::Figure::grid_scale_x_

private

if empty no file will be used

Definition at line 23 of file figure.h.

◆ grid_scale_y_

double tuw::Figure::grid_scale_y_

private

Definition at line 23 of file figure.h.

◆ label_format_x_

std::string tuw::Figure::label_format_x_

private

window name

Definition at line 18 of file figure.h.

◆ label_format_y_

std::string tuw::Figure::label_format_y_

private

label format string

Definition at line 19 of file figure.h.

◆ magenta

const cv::Scalar Figure::magenta

static

Definition at line 196 of file figure.h.

◆ niceBlue

const cv::Scalar Figure::niceBlue

static

Definition at line 202 of file figure.h.

◆ niceDirtyPink

const cv::Scalar Figure::niceDirtyPink

static

Definition at line 215 of file figure.h.

◆ niceGreen

const cv::Scalar Figure::niceGreen

static

Definition at line 208 of file figure.h.

◆ niceGreenBlue

const cv::Scalar Figure::niceGreenBlue

static

Definition at line 205 of file figure.h.

◆ niceGreenWashed

const cv::Scalar Figure::niceGreenWashed

static

Definition at line 212 of file figure.h.

◆ niceGrey

const cv::Scalar Figure::niceGrey

static

Definition at line 209 of file figure.h.

◆ niceGreyDark

const cv::Scalar Figure::niceGreyDark

static

Definition at line 213 of file figure.h.

◆ niceGreyLight

const cv::Scalar Figure::niceGreyLight

static

Definition at line 210 of file figure.h.

◆ niceGreyPurple

const cv::Scalar Figure::niceGreyPurple

static

Definition at line 211 of file figure.h.

◆ niceLime

const cv::Scalar Figure::niceLime

static

Definition at line 214 of file figure.h.

◆ niceMagenta

const cv::Scalar Figure::niceMagenta

static

Definition at line 204 of file figure.h.

◆ niceMustard

const cv::Scalar Figure::niceMustard

static

Definition at line 203 of file figure.h.

◆ niceRed

const cv::Scalar Figure::niceRed

static

Definition at line 206 of file figure.h.

◆ niceRedDark

const cv::Scalar Figure::niceRedDark

static

Definition at line 207 of file figure.h.

◆ orange

const cv::Scalar Figure::orange

static

Definition at line 193 of file figure.h.

◆ red

const cv::Scalar Figure::red

static

Definition at line 189 of file figure.h.

◆ title_

std::string tuw::Figure::title_

private

Definition at line 17 of file figure.h.

◆ view_

cv::Mat tuw::Figure::view_

private

label format string

Definition at line 20 of file figure.h.

◆ white

const cv::Scalar Figure::white

static

Definition at line 200 of file figure.h.

◆ yellow

const cv::Scalar Figure::yellow

static

Definition at line 194 of file figure.h.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Figure() [1/3]

◆ ~Figure()

◆ Figure() [2/3]

◆ Figure() [3/3]

Member Function Documentation

◆ appendToView()

◆ background() [1/2]

◆ background() [2/2]

◆ backgroundFileName()

◆ circle() [1/2]

◆ circle() [2/2]

◆ clear()

◆ drawBackground()

◆ init()

◆ line() [1/2]

◆ line() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ putText() [1/2]

◆ putText() [2/2]

◆ setLabel()

◆ setView()

◆ symbol() [1/4]

◆ symbol() [2/4]

◆ symbol() [3/4]

◆ symbol() [4/4]

◆ title()

◆ view() [1/2]

◆ view() [2/2]

Member Data Documentation

◆ background_

◆ background_filename_

◆ black

◆ blue

◆ blue_bright

◆ blue_dark

◆ cyan

◆ gray

◆ gray_bright

◆ green

◆ green_bright

◆ green_dark

◆ grid_scale_x_

◆ grid_scale_y_

◆ label_format_x_

◆ label_format_y_

◆ magenta

◆ niceBlue

◆ niceDirtyPink

◆ niceGreen

◆ niceGreenBlue

◆ niceGreenWashed

◆ niceGrey

◆ niceGreyDark

◆ niceGreyLight

◆ niceGreyPurple

◆ niceLime

◆ niceMagenta

◆ niceMustard

◆ niceRed

◆ niceRedDark

◆ orange

◆ red

◆ title_

◆ view_

◆ white

◆ yellow