usImageDisplayWidgetRobotControl.h

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Authors:
 * Marc Pouliquen
 *
 *****************************************************************************/
 
#ifndef __usImageDisplayWidgetRobotControl_h_
#define __usImageDisplayWidgetRobotControl_h_
 
// VISP includes
#include <visp3/ustk_core/usConfig.h>
 
#if (defined(USTK_HAVE_VTK_QT) || defined(USTK_HAVE_QT5))
 
#include <QPushButton>
 
#include <visp3/ustk_gui/usImageDisplayWidget.h>
 
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpPlot.h>
class VISP_EXPORT usImageDisplayWidgetRobotControl : public usImageDisplayWidget
{
  Q_OBJECT
public:
  usImageDisplayWidgetRobotControl();
  ~usImageDisplayWidgetRobotControl();
 
  void enableControlArrows();
  void enableFeaturesDisplay();
  void disableControlArrows();
  void disableFeaturesDisplay();
 
  void resizeEvent(QResizeEvent *event);
 
public slots:
  void updateFrame(const vpImage<unsigned char> img);
  void updateFrame(const usImagePreScan2D<unsigned char> img);
  void updateConfidenceServoingStatus(bool);
  void updateConfidenceAngle(double sanline);
  void updateConfidenceMap(usImagePreScan2D<unsigned char> confidence);
 
signals:
  void moveLeft();
  void moveRight();
  void stopMove();
  void confidenceServoing(bool);
 
private:
  // overlay for robot control
  bool m_controlArrowsActivated;
  QPushButton m_leftArrow;
  QPushButton m_rightArrow;
  QPushButton m_confidenceServoingButton;
 
  // optionnal features displays
  bool m_useFeatureDisplay;
  usImagePreScan2D<unsigned char> m_confidence;
  vpPlot m_plot;
  double m_startTime;
#if defined(VISP_HAVE_GDI)
  vpDisplayGDI *m_display;
#elif defined(VISP_HAVE_OPENCV)
  vpDisplayOpenCV *m_display;
#endif
};
#endif // QT && ELASTOGRAPHY
#endif // __usImageDisplayWidgetRobotControl_h_