Visual Servoing Platform version 3.5.0
vpD3DRenderer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * D3D renderer for windows 32 display
33 *
34 * Authors:
35 * Bruno Renier
36 *
37 *****************************************************************************/
38
39#ifndef DOXYGEN_SHOULD_SKIP_THIS
40
41#include <visp3/core/vpConfig.h>
42
43#if (defined(VISP_HAVE_D3D9))
44
45#ifndef VPD3DRENDERER_HH
46#define VPD3DRENDERER_HH
47
48// Include WinSock2.h before windows.h to ensure that winsock.h is not
49// included by windows.h since winsock.h and winsock2.h are incompatible
50#include <WinSock2.h>
51#include <d3dx9.h>
52#include <visp3/core/vpDisplayException.h>
53#include <visp3/gui/vpWin32Renderer.h>
54#include <windows.h>
55
56#include <iostream>
57
65class VISP_EXPORT vpD3DRenderer : public vpWin32Renderer
66{
67
68 IDirect3D9 *pD3D;
69
70 // The d3d device we will be working with.
71 IDirect3DDevice9 *pd3dDevice;
72
73 // Sprite used to render the texture.
74 ID3DXSprite *pSprite;
75
76 // The system memory texture :
77 // The one we will be drawing on.
78 IDirect3DTexture9 *pd3dText;
79
80 // The video memory texture :
81 // The one we will use for display.
82 IDirect3DTexture9 *pd3dVideoText;
83
84 // The texture's width.
85 unsigned int textWidth;
86
87 // The window's handle.
88 HWND hWnd;
89
90 // Colors for overlay drawn with d3d directly.
91 unsigned long colors[vpColor::id_unknown];
92
93 // Colors for overlay drawn with GDI.
94 COLORREF colorsGDI[vpColor::id_unknown];
95
96 // Font used for text drawing.
97 HFONT hFont;
98
99public:
100 bool init(HWND hwnd, unsigned int width, unsigned int height);
101 bool render();
102
103 vpD3DRenderer();
104 virtual ~vpD3DRenderer();
105
106 void setImg(const vpImage<vpRGBa> &im);
107 void setImg(const vpImage<unsigned char> &im);
108 void setImgROI(const vpImage<vpRGBa> &im, const vpImagePoint &iP, unsigned int width,
109 unsigned int height);
110 void setImgROI(const vpImage<unsigned char> &im, const vpImagePoint &iP, unsigned int width,
111 unsigned int height);
112
113 void setPixel(const vpImagePoint &iP, const vpColor &color);
114
115 void drawLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness,
116 int style = PS_SOLID);
117
118 void drawRect(const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color,
119 bool fill = false, unsigned int thickness = 1);
120
121 void clear(const vpColor &color);
122
123 void drawCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill = false,
124 unsigned int thickness = 1);
125
126 void drawText(const vpImagePoint &ip, const char *text, const vpColor &color);
127
128 void drawCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness = 1);
129
130 void drawArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int w, unsigned int h,
131 unsigned int thickness = 1);
132
133 void getImage(vpImage<vpRGBa> &I);
134
135private:
136 void initView(float, float);
137
142 void subDrawCircle(int i, int j, int x, int y, vpColor col, unsigned char *buf, unsigned int pitch, unsigned int maxX,
143 unsigned int maxY);
144
145 void convert(const vpImage<vpRGBa> &I, unsigned char *imBuffer, unsigned int pitch);
146 void convert(const vpImage<unsigned char> &I, unsigned char *imBuffer, unsigned int pitch);
147 void convertROI(const vpImage<vpRGBa> &I, unsigned char *imBuffer, unsigned int pitch, int i_min, int j_min,
148 int i_max, int j_max);
149 void convertROI(const vpImage<unsigned char> &I, unsigned char *imBuffer, unsigned int pitch, int i_min, int j_min,
150 int i_max, int j_max);
151
164 inline void setBufferPixel(unsigned char *buf, unsigned int pitch, int x, int y, const vpColor &color,
165 unsigned int maxX, unsigned int maxY)
166 {
167 unsigned long c;
168 if (color.id < vpColor::id_unknown)
169 c = colors[color.id];
170 else {
171 c = D3DCOLOR_ARGB(0xFF, color.R, color.G, color.B);
172 }
173
174 if (x >= 0 && y >= 0 && x <= (int)maxX && y <= (int)maxY)
175 *(unsigned long *)(buf + (y * pitch) + (x << 2)) = c; // colors[color];
176 }
186 inline void setBufferPixel(unsigned char *buf, unsigned int pitch, int x, int y, const vpColor &color)
187 {
188 unsigned long c;
189 if (color.id < vpColor::id_unknown)
190 c = colors[color.id];
191 else {
192 c = D3DCOLOR_ARGB(0xFF, color.R, color.G, color.B);
193 }
194
195 *(unsigned long *)(buf + (y * pitch) + (x << 2)) = c; // colors[color];
196 }
197
198 unsigned int supPowerOf2(unsigned int n);
199};
200#endif
201#endif
202#endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
vpColorIdentifier id
Definition: vpColor.h:206
@ id_unknown
Definition: vpColor.h:199
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned char B
Blue component.
Definition: vpRGBa.h:150
unsigned char R
Red component.
Definition: vpRGBa.h:148
unsigned char G
Green component.
Definition: vpRGBa.h:149