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mrpt::utils::CCanvas Class Reference


Detailed Description

This virtual class defines the interface of any object accepting drawing primitives on it.

A number of text fonts can be selected with CCanvas::selectTextFont(). These are the implemented font names:

For an example of each font check the corresponding wiki page.

See also:
CImage

Definition at line 63 of file CCanvas.h.

#include <mrpt/utils/CCanvas.h>

Inheritance diagram for mrpt::utils::CCanvas:
Inheritance graph
[legend]

List of all members.

Public Types

enum  TPenStyle {
  psSolid = 0, psDash, psDot, psDashDot,
  psDashDotDot
}
 

Definition of pen styles.

More...

Public Member Functions

 CCanvas ()
virtual ~CCanvas ()
 Dummy virtual destructor:
virtual void setPixel (int x, int y, size_t color)=0
 Changes the value of the pixel (x,y).
virtual size_t getWidth () const =0
 Returns the width of the image in pixels.
virtual size_t getHeight () const =0
 Returns the height of the image in pixels.
virtual void line (int x0, int y0, int x1, int y1, const mrpt::utils::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid)
 Draws a line.
void rectangle (int x0, int y0, int x1, int y1, const mrpt::utils::TColor color, unsigned int width=1)
 Draws a rectangle (an empty rectangle, without filling)
void triangle (int x0, int y0, int size, const mrpt::utils::TColor color, bool inferior=true, unsigned int width=1)
 Draws a triangle.
virtual void filledRectangle (int x0, int y0, int x1, int y1, const mrpt::utils::TColor color)
 Draws a filled rectangle.
virtual void textOut (int x0, int y0, const std::string &str, const mrpt::utils::TColor color)
 Renders 2D text using bitmap fonts.
virtual void selectTextFont (const std::string &fontName)
 Select the current font used when drawing text.
virtual void drawImage (int x, int y, const utils::CImage &img)
 Draws an image as a bitmap at a given position.
void cross (int x0, int y0, const mrpt::utils::TColor color, char type, unsigned int size=5, unsigned int width=1)
 Draw a cross.
virtual void drawImage (int x, int y, const utils::CImage &img, float rotation, float scale)
 Draws an image as a bitmap at a given position, with some custom scale and rotation changes.
virtual void drawCircle (int x, int y, int radius, const mrpt::utils::TColor color=mrpt::utils::TColor(255, 255, 255), unsigned int width=1)
 Draws a circle of a given radius.
template<class MATRIX2X2 >
void ellipseGaussian (const MATRIX2X2 *cov2D, const double mean_x, const double mean_y, double confIntervalStds=2, const mrpt::utils::TColor color=mrpt::utils::TColor(255, 255, 255), unsigned int width=1, int nEllipsePoints=20)
 Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.
template<class FEATURELIST >
void drawFeaturesSimple (const FEATURELIST &list, const TColor &color=TColor::red)
 Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields.
template<class FEATURELIST >
void drawFeatures (const FEATURELIST &list, const TColor &color=TColor::red, const bool showIDs=false, const bool showResponse=false)
 Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features.

Protected Attributes

std::string m_selectedFont
 The selected font name.
const uint32_t * m_selectedFontBitmaps
 Direct access to character bitmaps.

Member Enumeration Documentation

Definition of pen styles.

Enumerator:
psSolid 
psDash 
psDot 
psDashDot 
psDashDotDot 

Definition at line 76 of file CCanvas.h.


Constructor & Destructor Documentation

mrpt::utils::CCanvas::CCanvas (  )
virtual mrpt::utils::CCanvas::~CCanvas (  ) [inline, virtual]

Dummy virtual destructor:

Definition at line 87 of file CCanvas.h.


Member Function Documentation

void mrpt::utils::CCanvas::cross ( int  x0,
int  y0,
const mrpt::utils::TColor  color,
char  type,
unsigned int  size = 5,
unsigned int  width = 1 
)

Draw a cross.

Parameters:
x0The point x coordinate
y0The point y coordinate
colorThe color of the cross
sizeThe size of the cross
typeThe cross type. It could be: 'x', '+' or ':'(like '+' but clear at the center dot)
widthThe desired width of the cross (this is IGNORED yet)
virtual void mrpt::utils::CCanvas::drawCircle ( int  x,
int  y,
int  radius,
const mrpt::utils::TColor  color = mrpt::utils::TColor(255, 255, 255),
unsigned int  width = 1 
) [virtual]

Draws a circle of a given radius.

Parameters:
xThe center - x coordinate in pixels.
yThe center - y coordinate in pixels.
radiusThe radius - in pixels.
colorThe color of the circle.
widthThe desired width of the line (this is IGNORED in this virtual class)
template<class FEATURELIST >
void mrpt::utils::CCanvas::drawFeatures ( const FEATURELIST &  list,
const TColor color = TColor::red,
const bool  showIDs = false,
const bool  showResponse = false 
) [inline]

Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features.

The class of FEATURELIST can be mrpt::vision::CFeatureList

See also:
drawFeaturesSimple

Definition at line 327 of file CCanvas.h.

References mrpt::format(), mrpt::utils::TColor::red, and mrpt::utils::round().

template<class FEATURELIST >
void mrpt::utils::CCanvas::drawFeaturesSimple ( const FEATURELIST &  list,
const TColor color = TColor::red 
) [inline]

Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields.

The class of FEATURELIST can be, for example, std::vector<TPoint2D>, std::vector<TPixelCoordsf> or mrpt::vision::CFeatureList

See also:
drawFeatures

Definition at line 315 of file CCanvas.h.

References mrpt::utils::round().

virtual void mrpt::utils::CCanvas::drawImage ( int  x,
int  y,
const utils::CImage img 
) [virtual]

Draws an image as a bitmap at a given position.

Parameters:
x0The top-left corner x coordinates on this canvas where the image is to be drawn
y0The top-left corner y coordinates on this canvas where the image is to be drawn
imgThe image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented in mrpt::utils::CEnhancedMetaFile.

Referenced by mrpt::utils::CEnhancedMetaFile::drawImage().

virtual void mrpt::utils::CCanvas::drawImage ( int  x,
int  y,
const utils::CImage img,
float  rotation,
float  scale 
) [virtual]

Draws an image as a bitmap at a given position, with some custom scale and rotation changes.

Parameters:
x0The top-left corner x coordinates on this canvas where the image is to be drawn
y0The top-left corner y coordinates on this canvas where the image is to be drawn
rotationThe rotation in radians, positive values being anti-clockwise direction, 0 is the normal position.
scaleThe scale factor, e.g. 2 means twice the original size.
imgThe image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented in mrpt::utils::CEnhancedMetaFile.

template<class MATRIX2X2 >
void mrpt::utils::CCanvas::ellipseGaussian ( const MATRIX2X2 *  cov2D,
const double  mean_x,
const double  mean_y,
double  confIntervalStds = 2,
const mrpt::utils::TColor  color = mrpt::utils::TColor(255,255,255),
unsigned int  width = 1,
int  nEllipsePoints = 20 
) [inline]

Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.

Parameters:
mean_xThe x coordinate of the center point of the ellipse.
mean_yThe y coordinate of the center point of the ellipse.
cov2DA 2x2 covariance matrix.
confIntervalStdsHow many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)
colorThe color of the ellipse
widthThe desired width of the line (this is IGNORED in this virtual class)
nEllipsePointsThe number of points to generate to approximate the ellipse shape.
Exceptions:
std::exceptionOn an invalid matrix.

Definition at line 266 of file CCanvas.h.

References cos(), M_2PI, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::utils::round(), and sin().

virtual void mrpt::utils::CCanvas::filledRectangle ( int  x0,
int  y0,
int  x1,
int  y1,
const mrpt::utils::TColor  color 
) [virtual]

Draws a filled rectangle.

Parameters:
x0The top-left x coordinate
y0The top-left y coordinate
x1The right-bottom x coordinate
y1The right-bottom y coordinate
colorThe color of the rectangle fill This method may be redefined in some classes implementing this interface in a more appropiate manner.
See also:
rectangle
virtual size_t mrpt::utils::CCanvas::getHeight (  ) const [pure virtual]

Returns the height of the image in pixels.

Implemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.

virtual size_t mrpt::utils::CCanvas::getWidth (  ) const [pure virtual]

Returns the width of the image in pixels.

Implemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.

virtual void mrpt::utils::CCanvas::line ( int  x0,
int  y0,
int  x1,
int  y1,
const mrpt::utils::TColor  color,
unsigned int  width = 1,
TPenStyle  penStyle = psSolid 
) [virtual]

Draws a line.

Parameters:
x0The starting point x coordinate
y0The starting point y coordinate
x1The end point x coordinate
y1The end point y coordinate
colorThe color of the line
widthThe desired width of the line (this is IGNORED in this virtual class) This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.

void mrpt::utils::CCanvas::rectangle ( int  x0,
int  y0,
int  x1,
int  y1,
const mrpt::utils::TColor  color,
unsigned int  width = 1 
)

Draws a rectangle (an empty rectangle, without filling)

Parameters:
x0The top-left x coordinate
y0The top-left y coordinate
x1The right-bottom x coordinate
y1The right-bottom y coordinate
colorThe color of the line
widthThe desired width of the line.
See also:
filledRectangle

Reimplemented in mrpt::utils::CEnhancedMetaFile.

virtual void mrpt::utils::CCanvas::selectTextFont ( const std::string &  fontName ) [virtual]

Select the current font used when drawing text.

Parameters:
fontNameThe name of the font See the wiki for a list of valid font names.
See also:
textOut
virtual void mrpt::utils::CCanvas::setPixel ( int  x,
int  y,
size_t  color 
) [pure virtual]

Changes the value of the pixel (x,y).

Pixel coordinates starts at the left-top corner of the image, and start in (0,0). The meaning of the parameter "color" depends on the implementation: it will usually be a 24bit RGB value (0x00RRGGBB), but it can also be just a 8bit gray level.

You can also use a TColor() type as input and it will be automatically converted to size_t.

This method must support (x,y) values OUT of the actual image size without neither raising exceptions, nor leading to memory access errors.

Implemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.

virtual void mrpt::utils::CCanvas::textOut ( int  x0,
int  y0,
const std::string &  str,
const mrpt::utils::TColor  color 
) [virtual]

Renders 2D text using bitmap fonts.

Parameters:
x0The x coordinates
y0The y coordinates
strThe string to put. If using UNICODE characters, use UTF-8 encoding.
colorThe text color
See also:
selectTextFont

Reimplemented in mrpt::utils::CEnhancedMetaFile.

void mrpt::utils::CCanvas::triangle ( int  x0,
int  y0,
int  size,
const mrpt::utils::TColor  color,
bool  inferior = true,
unsigned int  width = 1 
)

Draws a triangle.

Parameters:
x0The triangle center x coordinate
y0The triangle center y coordinate
sizeThe size of the triangle
colorThe color of the line
inferiorThe position of the triangle
widthThe desired width of the line.
See also:
triangle

Member Data Documentation

std::string mrpt::utils::CCanvas::m_selectedFont [protected]

The selected font name.

Definition at line 66 of file CCanvas.h.

const uint32_t* mrpt::utils::CCanvas::m_selectedFontBitmaps [protected]

Direct access to character bitmaps.

Definition at line 68 of file CCanvas.h.




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