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.
#include <mrpt/utils/CCanvas.h>
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, const int cross_size=5) |
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. | |
mrpt::utils::CCanvas::CCanvas | ( | ) |
|
inlinevirtual |
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.
x0 | The point x coordinate |
y0 | The point y coordinate |
color | The color of the cross |
size | The size of the cross |
type | The cross type. It could be: 'x', '+' or ':'(like '+' but clear at the center dot) |
width | The desired width of the cross (this is IGNORED yet) |
|
virtual |
Draws a circle of a given radius.
x | The center - x coordinate in pixels. |
y | The center - y coordinate in pixels. |
radius | The radius - in pixels. |
color | The color of the circle. |
width | The desired width of the line (this is IGNORED in this virtual class) |
Reimplemented in mrpt::utils::CImage.
|
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:
Definition at line 322 of file CCanvas.h.
References mrpt::format(), and mrpt::utils::round().
|
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<mrpt::math::TPoint2D>, std::vector<TPixelCoordsf> or mrpt::vision::CFeatureList
Definition at line 304 of file CCanvas.h.
References mrpt::utils::round().
|
virtual |
Draws an image as a bitmap at a given position.
x0 | The top-left corner x coordinates on this canvas where the image is to be drawn |
y0 | The top-left corner y coordinates on this canvas where the image is to be drawn |
img | The 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.
|
virtual |
Draws an image as a bitmap at a given position, with some custom scale and rotation changes.
x0 | The top-left corner x coordinates on this canvas where the image is to be drawn |
y0 | The top-left corner y coordinates on this canvas where the image is to be drawn |
rotation | The rotation in radians, positive values being anti-clockwise direction, 0 is the normal position. |
scale | The scale factor, e.g. 2 means twice the original size. |
img | The 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.
|
inline |
Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.
mean_x | The x coordinate of the center point of the ellipse. |
mean_y | The y coordinate of the center point of the ellipse. |
cov2D | A 2x2 covariance matrix. |
confIntervalStds | How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...) |
color | The color of the ellipse |
width | The desired width of the line (this is IGNORED in this virtual class) |
nEllipsePoints | The number of points to generate to approximate the ellipse shape. |
std::exception | On an invalid matrix. |
Definition at line 255 of file CCanvas.h.
References M_2PI, MRPT_END_WITH_CLEAN_UP, MRPT_START, and mrpt::utils::round().
|
virtual |
Draws a filled rectangle.
x0 | The top-left x coordinate |
y0 | The top-left y coordinate |
x1 | The right-bottom x coordinate |
y1 | The right-bottom y coordinate |
color | The color of the rectangle fill This method may be redefined in some classes implementing this interface in a more appropiate manner. |
|
pure virtual |
Returns the height of the image in pixels.
Implemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.
|
pure virtual |
Returns the width of the image in pixels.
Implemented in mrpt::utils::CEnhancedMetaFile, and mrpt::utils::CImage.
|
virtual |
Draws a line.
x0 | The starting point x coordinate |
y0 | The starting point y coordinate |
x1 | The end point x coordinate |
y1 | The end point y coordinate |
color | The color of the line |
width | The 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)
x0 | The top-left x coordinate |
y0 | The top-left y coordinate |
x1 | The right-bottom x coordinate |
y1 | The right-bottom y coordinate |
color | The color of the line |
width | The desired width of the line. |
Referenced by mrpt::maps::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks().
|
virtual |
Select the current font used when drawing text.
fontName | The name of the font |
Valid font names:
18x18ja (Asian characters for UTF-8 strings - Only available if MRPT is built with MRPT_HAS_ASIAN_FONTS = true)
|
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 |
Renders 2D text using bitmap fonts.
x0 | The x coordinates |
y0 | The y coordinates |
str | The string to put. If using UNICODE characters, use UTF-8 encoding. |
color | The text color |
Reimplemented in mrpt::utils::CEnhancedMetaFile.
Referenced by mrpt::maps::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks().
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.
x0 | The triangle center x coordinate |
y0 | The triangle center y coordinate |
size | The size of the triangle |
color | The color of the line |
inferior | The position of the triangle |
width | The desired width of the line. |
|
protected |
Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Fri Jan 20 00:45:34 UTC 2023 |