vpPlotGraph.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * 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 visp@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.
 *
 * Description:
 * Define a graph for the vpPlot class.
 */
#define FLUSH_ON_PLOT
 
#include <visp3/core/vpConfig.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/gui/vpPlotGraph.h>
 
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
 
#include <cmath>  // std::fabs
#include <limits> // numeric_limits
#include <sstream>
 
#if defined(VISP_HAVE_DISPLAY)
 
BEGIN_VISP_NAMESPACE
 
int laFonctionSansNom(double delta);
void getGrid3DPoint(double pente, vpImagePoint &iPunit, vpImagePoint &ip1, vpImagePoint &ip2, vpImagePoint &ip3);
 
vpPlotGraph::vpPlotGraph()
  : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10), xmin(0), ymin(-10), xdelt(1), ydelt(1), gridx(true),
  gridy(true), gridColor(), curveNbr(1), curveList(nullptr), scaleInitialized(false), firstPoint(true), nbDivisionx(10),
  nbDivisiony(10), topLeft(), width(0), height(0), graphZone(), dTopLeft(), dWidth(0), dHeight(0), dGraphZone(),
  dTopLeft3D(), dGraphZone3D(), cam(), cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0), w_zval(0),
  w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0), zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.), nbDivisionz(10), zorg(1.),
  zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(), old_iPz(), blockedr(false), blockedz(false), blocked(false),
  epsi(5), epsj(6), dispUnit(false), dispTitle(false), dispLegend(false), gridThickness(1)
{
  gridColor.setColor(200, 200, 200);
 
  old_iPr = vpImagePoint(-1, -1);
  old_iPz = vpImagePoint(-1, -1);
 
  gridThickness = 1;
}
 
vpPlotGraph::~vpPlotGraph()
{
  if (curveList != nullptr) {
    delete[] curveList;
    curveList = nullptr;
  }
}
 
void vpPlotGraph::initGraph(unsigned int nbCurve)
{
  curveList = new vpPlotCurve[nbCurve];
  curveNbr = nbCurve;
 
  vpColor colors[6] = { vpColor::blue, vpColor::green, vpColor::red, vpColor::cyan, vpColor::orange, vpColor::purple };
 
  for (unsigned int i = 0; i < curveNbr; ++i) {
    (curveList + i)->color = colors[i % 6];
    (curveList + i)->curveStyle = vpPlotCurve::line;
    (curveList + i)->pointListx.clear();
    (curveList + i)->pointListy.clear();
    (curveList + i)->legend.clear();
  }
}
 
void vpPlotGraph::initSize(vpImagePoint top_left, unsigned int w, unsigned int h, unsigned int margei,
                           unsigned int margej)
{
  this->topLeft = top_left;
  this->width = w;
  this->height = h;
  graphZone.setTopLeft(topLeft);
  graphZone.setWidth(width);
  graphZone.setHeight(height);
 
  this->dTopLeft = vpImagePoint(topLeft.get_i() + margei, topLeft.get_j() + margej);
  this->dWidth = width - margej - 10;
  this->dHeight = height - 2 * margei;
  dGraphZone.setTopLeft(dTopLeft);
  dGraphZone.setWidth(dWidth + 1);
  dGraphZone.setHeight(dHeight + 1);
 
  this->dTopLeft3D = vpImagePoint(topLeft.get_i() + margei, topLeft.get_j() + 10);
  dGraphZone3D.setTopLeft(dTopLeft3D);
  dGraphZone3D.setWidth(dWidth + 1);
  dGraphZone3D.setHeight(dHeight + 1);
 
  if (this->dWidth > this->dHeight) {
    w_ysize = 1.0;
    w_xsize = this->dWidth / this->dHeight;
    w_zsize = w_xsize;
 
    w_yval = w_ysize / 2.0;
    w_xval = w_xsize / 2.0;
    w_zval = w_zsize / 2.0;
  }
  else if (this->dWidth == this->dHeight) {
    w_ysize = 1.0;
    w_xsize = 1.0;
    w_zsize = 1.0;
 
    w_yval = 0.5;
    w_xval = 0.5;
    w_zval = 0.5;
  }
  else if (this->dWidth < this->dHeight) {
    w_xsize = 1.0;
    w_ysize = this->dHeight / this->dWidth;
    w_zsize = w_ysize;
 
    w_yval = w_ysize / 2.0;
    w_xval = w_xsize / 2.0;
    w_zval = w_zsize / 2.0;
  }
 
  cam.initPersProjWithoutDistortion(1000, 1000, this->dWidth / 2.0, this->dHeight / 2.0);
 
  findPose();
 
  cMf.buildFrom(0, 0, cMo[2][3], 0, 0, 0);
}
 
void vpPlotGraph::findPose()
{
  vpPoint point_[4];
  point_[0].setWorldCoordinates(-w_xval, -w_yval, -w_zval);
  point_[1].setWorldCoordinates(w_xval, -w_yval, -w_zval);
  point_[2].setWorldCoordinates(w_xval, w_yval, -w_zval);
  point_[3].setWorldCoordinates(-w_xval, w_yval, -w_zval);
 
  vpImagePoint iP[4];
  iP[0].set_ij(0, 0);
  iP[1].set_ij(0, dWidth - 1);
  iP[2].set_ij(dHeight - 1, dWidth - 1);
  iP[3].set_ij(dHeight - 1, 0);
 
  double x = 0, y = 0;
 
  // Instead of pose computation we use an approximation
  double Z = 0;
  const unsigned int val_4 = 4;
  for (unsigned int i = 0; i < val_4; ++i) {
    vpPixelMeterConversion::convertPoint(cam, iP[i], x, y);
    Z = vpMath::maximum(Z, point_[i].get_oX() / x);
    Z = vpMath::maximum(Z, point_[i].get_oY() / y);
  }
  cMo[2][3] = Z;
}
 
void vpPlotGraph::computeGraphParameters()
{
  zoomx = dWidth / (xmax - xmin);
  zoomy = dHeight / (ymax - ymin);
  xorg = dTopLeft.get_j() - (xmin * zoomx);
  yorg = dTopLeft.get_i() + (ymax * zoomy);
}
 
void vpPlotGraph::setCurveColor(unsigned int curveNum, const vpColor &color) { (curveList + curveNum)->color = color; }
 
void vpPlotGraph::setTitle(const std::string &title_)
{
  title = title_;
  dispTitle = true;
}
 
void vpPlotGraph::setUnitX(const std::string &unit_x)
{
  unitx = unit_x;
  dispUnit = true;
}
 
void vpPlotGraph::setUnitY(const std::string &unit_y)
{
  unity = unit_y;
  dispUnit = true;
}
 
void vpPlotGraph::setUnitZ(const std::string &unit_z)
{
  unitz = unit_z;
  dispUnit = true;
}
 
void vpPlotGraph::setLegend(unsigned int curveNum, const std::string &newlegend)
{
  (curveList + curveNum)->legend = newlegend;
  dispLegend = true;
}
 
void vpPlotGraph::setCurveThickness(unsigned int curveNum, unsigned int thickness)
{
  (curveList + curveNum)->thickness = thickness;
}
 
int laFonctionSansNom(double delta)
{
  double d = delta;
  int power = 0;
  if (d < 1) {
    while (d < 1) {
      d = d * 10;
      ++power;
    }
    --power;
    return power;
  }
 
  if (d >= 10) {
    while (d > 10) {
      d = d / 10;
      --power;
    }
    --power;
    return power;
  }
 
  return 0;
}
 
void vpPlotGraph::displayGrid(vpImage<unsigned char> &I)
{
  computeGraphParameters();
 
  xdelt = (xmax - xmin) / nbDivisionx;
  ydelt = (ymax - ymin) / nbDivisiony;
 
  double t;
  int power;
 
  power = laFonctionSansNom(xdelt);
  for (t = xmin; t <= xmax; t = t + xdelt) {
    double x = xorg + (zoomx * t);
    if (gridy)
      vpDisplay::displayDotLine(I, vpImagePoint(dTopLeft.get_i(), x), vpImagePoint(dTopLeft.get_i() + dHeight, x),
                                gridColor, gridThickness);
    else
      vpDisplay::displayDotLine(I, vpImagePoint(yorg, x), vpImagePoint(yorg - 3, x), vpColor::black, gridThickness);
 
    if (t + xdelt <= xmax + 1e-10) {
      double ttemp;
      if (power != 0)
        ttemp = t * pow(10.0, power);
      else
        ttemp = t;
      std::stringstream valeur;
      valeur.precision(3);
      valeur << ttemp;
#if defined(VISP_HAVE_X11)
      vpDisplay::displayText(I, vpImagePoint(yorg + 3 * epsi, x), valeur.str(), vpColor::black);
#elif defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
      vpDisplay::displayText(I, vpImagePoint(yorg + epsi, x), valeur.str(), vpColor::black);
#endif
    }
  }
  if (power != 0) {
    std::stringstream ss;
    ss << "x10e";
    ss << -power;
#if defined(VISP_HAVE_X11)
    vpDisplay::displayText(I, vpImagePoint(yorg + 4 * epsi, dTopLeft.get_j() + dWidth - 6 * epsj), ss.str(),
                           vpColor::black);
#elif defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
    vpDisplay::displayText(I, vpImagePoint(yorg + 4 * epsi, dTopLeft.get_j() + dWidth - 10 * epsj), ss.str(),
                           vpColor::black);
#endif
  }
 
  power = laFonctionSansNom(ydelt);
  for (t = ymin; t <= ymax; t = t + ydelt) {
    double y = yorg - (zoomy * t);
    if (gridx)
      vpDisplay::displayDotLine(I, vpImagePoint(y, dTopLeft.get_j()), vpImagePoint(y, dTopLeft.get_j() + dWidth),
                                gridColor, gridThickness);
    else
      vpDisplay::displayDotLine(I, vpImagePoint(y, xorg), vpImagePoint(y, xorg + 3), vpColor::black, gridThickness);
 
    double ttemp;
    if (power != 0)
      ttemp = t * pow(10.0, power);
    else
      ttemp = t;
 
    std::stringstream valeur;
    valeur.precision(3);
    valeur << ttemp;
#if defined(VISP_HAVE_X11)
    vpDisplay::displayText(I, vpImagePoint(y + epsi, topLeft.get_j() + epsj), valeur.str(), vpColor::black);
#elif defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
    vpDisplay::displayText(I, vpImagePoint(y - epsi, topLeft.get_j() + epsj), valeur.str(), vpColor::black);
#endif
  }
  if (power != 0) {
    std::stringstream ss;
    ss << "x10e";
    ss << -power;
#if defined(VISP_HAVE_X11)
    vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i() - 3 * epsi, dTopLeft.get_j() - 6 * epsj), ss.str(),
                           vpColor::black);
#elif defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
    vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i() - 3 * epsi, dTopLeft.get_j() - 6 * epsj), ss.str(),
                           vpColor::black);
#endif
  }
 
  // Ligne horizontal
  vpDisplay::displayArrow(I, vpImagePoint(yorg, dTopLeft.get_j()), vpImagePoint(yorg, dTopLeft.get_j() + dWidth),
                          vpColor::black, 4 * gridThickness, 2 * gridThickness, gridThickness);
  // Ligne verticale
  vpDisplay::displayArrow(I, vpImagePoint(dTopLeft.get_i() + dHeight, xorg), vpImagePoint(dTopLeft.get_i(), xorg),
                          vpColor::black, 4 * gridThickness, 2 * gridThickness, gridThickness);
 
  if (dispUnit)
    displayUnit(I);
  if (dispTitle)
    displayTitle(I);
  if (dispLegend)
    displayLegend(I);
 
  // vpDisplay::flushROI(I,graphZone);
}
 
void vpPlotGraph::displayUnit(vpImage<unsigned char> &
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) ||        \
    defined(VISP_HAVE_GTK)
                                  I
#endif
)
{
  unsigned int offsetx = vpMath::minimum<unsigned int>(static_cast<unsigned int>(unitx.size()), dWidth);
 
#if defined(VISP_HAVE_X11)
  vpDisplay::displayText(I, vpImagePoint(yorg - 2 * epsi, dTopLeft.get_j() + dWidth - offsetx * epsj), unitx.c_str(),
                         vpColor::black);
  vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i(), dTopLeft.get_j() + epsj), unity.c_str(), vpColor::black);
#elif defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
  vpDisplay::displayText(I, vpImagePoint(yorg - 5 * epsi, dTopLeft.get_j() + dWidth - offsetx * epsj), unitx.c_str(),
                         vpColor::black);
  vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i(), dTopLeft.get_j() + epsj), unity.c_str(), vpColor::black);
#endif
}
 
void vpPlotGraph::displayTitle(vpImage<unsigned char> &I)
{
  double size = static_cast<double>(title.size());
  size = size / 2.0;
  vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i() - 3 * epsi, dTopLeft.get_j() + dWidth / 2.0 - 4 * size),
                         title, vpColor::black);
}
 
void vpPlotGraph::displayLegend(vpImage<unsigned char> &I)
{
  size_t offsetj = 0;
  for (unsigned int i = 0; i < curveNbr; ++i) {
    size_t offset = epsj * (curveList + i)->legend.size();
    offsetj = vpMath::maximum(offset, offsetj);
  }
  if (offsetj > dWidth)
    offsetj = dWidth;
 
  for (unsigned int i = 0; i < curveNbr; ++i) {
    vpDisplay::displayText(I, vpImagePoint(dTopLeft.get_i() + i * 5 * epsi, dTopLeft.get_j() + dWidth - offsetj),
                           (curveList + i)->legend.c_str(), (curveList + i)->color);
  }
}
 
void vpPlotGraph::rescalex(unsigned int side, double extremity)
{
  switch (side) {
  case 0:
    xmin = (3 * extremity - xmax) / 2;
    break;
  case 1:
    xmax = (3 * extremity - xmin) / 2;
    break;
  }
 
  xdelt = (xmax - xmin) / static_cast<double>(nbDivisionx);
}
 
void vpPlotGraph::rescaley(unsigned int side, double extremity)
{
  switch (side) {
  case 0:
    ymin = (3 * extremity - ymax) / 2;
    break;
  case 1:
    ymax = (3 * extremity - ymin) / 2;
    break;
  }
 
  ydelt = (ymax - ymin) / static_cast<double>(nbDivisiony);
}
 
void vpPlotGraph::initScale(vpImage<unsigned char> &I, double x_min, double x_max, int nbDivx, double y_min,
                            double y_max, int nbDivy, bool gx, bool gy)
{
  this->xmin = x_min;
  this->xmax = x_max;
  this->ymin = y_min;
  this->ymax = y_max;
  this->gridx = gx;
  this->gridy = gy;
  this->nbDivisionx = nbDivx;
  this->nbDivisiony = nbDivy;
  computeGraphParameters();
  clearGraphZone(I);
  displayGrid(I);
  vpDisplay::flushROI(I, graphZone);
  scaleInitialized = true;
}
 
void vpPlotGraph::initScale(vpImage<unsigned char> &I, double x_min, double x_max, int nbDivx, double y_min,
                            double y_max, int nbDivy, double z_min, double z_max, int nbDivz, bool gx, bool gy)
{
  this->xmin = x_min;
  this->xmax = x_max;
  this->ymin = y_min;
  this->ymax = y_max;
  this->zmin = z_min;
  this->zmax = z_max;
  this->gridx = gx;
  this->gridy = gy;
  this->nbDivisionx = nbDivx;
  this->nbDivisiony = nbDivy;
  this->nbDivisionz = nbDivz;
  computeGraphParameters();
  clearGraphZone(I);
  displayGrid(I);
  vpDisplay::flushROI(I, graphZone);
  scaleInitialized = true;
}
 
void vpPlotGraph::plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y)
{
  if (!scaleInitialized) {
    if (x < 0) {
      xmax = 0;
      rescalex(0, x);
    }
    if (x > 0) {
      xmin = 0;
      rescalex(1, x);
    }
    if (y < 0) {
      ymax = 0;
      rescaley(0, y);
    }
    if (y > 0) {
      ymin = 0;
      rescaley(1, y);
    }
    scaleInitialized = true;
    computeGraphParameters();
    clearGraphZone(I);
    displayGrid(I);
    // if (y == 0)
    if (std::fabs(y) <= std::numeric_limits<double>::epsilon())
      scaleInitialized = false;
  }
 
  if (firstPoint) {
    //     clearGraphZone(I);
    //     displayGrid(I);
    //     vpDisplay::flushROI(I,graphZone);
    replot(I);
    firstPoint = false;
  }
 
  double i = yorg - (zoomy * y);
  double j = xorg + (zoomx * x);
 
  vpImagePoint iP(i, j);
 
  if (!iP.inRectangle(dGraphZone)) {
    if (x > xmax)
      rescalex(1, x);
    else if (x < xmin)
      rescalex(0, x);
 
    if (y > ymax)
      rescaley(1, y);
    else if (y < ymin)
      rescaley(0, y);
 
    computeGraphParameters();
 
    replot(I);
    i = yorg - (zoomy * y);
    j = xorg + (zoomx * x);
 
    iP.set_ij(i, j);
  }
 
  (curveList + curveNb)->plotPoint(I, iP, x, y);
#if (!defined VISP_HAVE_X11 && defined FLUSH_ON_PLOT)
  vpDisplay::flushROI(I, graphZone);
  // vpDisplay::flush(I);
#endif
}
 
void vpPlotGraph::replot(vpImage<unsigned char> &I)
{
  clearGraphZone(I);
  displayGrid(I);
  for (unsigned int i = 0; i < curveNbr; ++i)
    (curveList + i)->plotList(I, xorg, yorg, zoomx, zoomy);
  vpDisplay::flushROI(I, graphZone);
}
 
void vpPlotGraph::clearGraphZone(vpImage<unsigned char> &I) { vpDisplay::displayROI(I, graphZone); }
 
bool vpPlotGraph::getPixelValue(vpImage<unsigned char> &I, vpImagePoint &iP)
{
  if (iP.inRectangle(dGraphZone)) {
    double x = (iP.get_j() - xorg) / zoomx;
    double y = (yorg - iP.get_i()) / zoomy;
 
    vpDisplay::displayROI(I, vpRect(vpImagePoint(topLeft.get_i() + height - 20, topLeft.get_j()), width - 1, 19));
    std::stringstream ss_x;
    ss_x << " x: ";
    ss_x << x;
    vpDisplay::displayText(I, vpImagePoint(topLeft.get_i() + height - 2, topLeft.get_j() + 5 * epsj), ss_x.str(),
                           vpColor::black);
    std::stringstream ss_y;
    ss_y << " y: ";
    ss_y << y;
    vpDisplay::displayText(I, vpImagePoint(topLeft.get_i() + height - 2, topLeft.get_j() + width / 2.0), ss_x.str(),
                           vpColor::black);
    //     vpDisplay::flush(I);
    vpDisplay::flushROI(I, vpRect(vpImagePoint(topLeft.get_i() + height - 20, topLeft.get_j()), width - 1, 19));
    return true;
  }
  return false;
}
 
void vpPlotGraph::resetPointList(unsigned int curveNum)
{
  (curveList + curveNum)->pointListx.clear();
  (curveList + curveNum)->pointListy.clear();
  (curveList + curveNum)->pointListz.clear();
  (curveList + curveNum)->nbPoint = 0;
  firstPoint = true;
}
 
bool vpPlotGraph::check3Dline(vpImagePoint &iP1, vpImagePoint &iP2)
{
  bool iP1In = iP1.inRectangle(dGraphZone3D);
  bool iP2In = iP2.inRectangle(dGraphZone3D);
 
  if (!iP1In || !iP2In) {
    double dTopLeft_i = dTopLeft3D.get_i();
    double dTopLeft_j = dTopLeft3D.get_j();
    double dBottomRight_i = dTopLeft_i + dHeight;
    double dBottomRight_j = dTopLeft_j + dWidth;
 
    // Cas vertical
    if (vpImagePoint::distance(iP1, iP2) < 9)
      return false;
    if (fabs(iP2.get_j() - iP1.get_j()) <= 2) {
      if (!iP1In && !iP2In) {
        if (iP1.get_i() < dTopLeft_i && iP2.get_i() < dTopLeft_i)
          return false;
        if (iP1.get_i() > dBottomRight_i && iP2.get_i() > dBottomRight_i)
          return false;
        if (iP1.get_j() < dTopLeft_j || iP1.get_j() > dBottomRight_j)
          return false;
        if (iP1.get_i() < dTopLeft_i)
          iP1.set_i(dTopLeft_i);
        else
          iP1.set_i(dBottomRight_i);
        if (iP2.get_i() < dTopLeft_i)
          iP2.set_i(dTopLeft_i);
        else
          iP2.set_i(dBottomRight_i);
      }
      else if (!iP1In) {
        if (iP1.get_j() < dTopLeft_j)
          iP1.set_j(dTopLeft_j);
        if (iP1.get_j() > dBottomRight_j)
          iP1.set_j(dBottomRight_j);
        if (iP1.get_i() < dTopLeft_i)
          iP1.set_i(dTopLeft_i);
        if (iP1.get_i() > dBottomRight_i)
          iP1.set_i(dBottomRight_i);
        return true;
      }
      else if (!iP2In) {
        if (iP2.get_j() < dTopLeft_j)
          iP2.set_j(dTopLeft_j);
        if (iP2.get_j() > dBottomRight_j)
          iP2.set_j(dBottomRight_j);
        if (iP2.get_i() < dTopLeft_i)
          iP2.set_i(dTopLeft_i);
        if (iP2.get_i() > dBottomRight_i)
          iP2.set_i(dBottomRight_i);
        return true;
      }
    }
    // cas horizontal
    else if (fabs(iP2.get_i() - iP1.get_i()) <= 2) {
      if (!iP1In && !iP2In) {
        if (iP1.get_j() < dTopLeft_j && iP2.get_j() < dTopLeft_j)
          return false;
        if (iP1.get_j() > dBottomRight_j && iP2.get_j() > dBottomRight_j)
          return false;
        if (iP1.get_i() < dTopLeft_i || iP1.get_i() > dBottomRight_i)
          return false;
        if (iP1.get_j() < dTopLeft_j)
          iP1.set_j(dTopLeft_j);
        else
          iP1.set_j(dBottomRight_j);
        if (iP2.get_j() < dTopLeft_j)
          iP2.set_j(dTopLeft_j);
        else
          iP2.set_j(dBottomRight_j);
      }
      else if (!iP1In) {
        if (iP1.get_j() < dTopLeft_j)
          iP1.set_j(dTopLeft_j);
        if (iP1.get_j() > dBottomRight_j)
          iP1.set_j(dBottomRight_j);
        if (iP1.get_i() < dTopLeft_i)
          iP1.set_i(dTopLeft_i);
        if (iP1.get_i() > dBottomRight_i)
          iP1.set_i(dBottomRight_i);
        return true;
      }
      else if (!iP2In) {
        if (iP2.get_j() < dTopLeft_j)
          iP2.set_j(dTopLeft_j);
        if (iP2.get_j() > dBottomRight_j)
          iP2.set_j(dBottomRight_j);
        if (iP2.get_i() < dTopLeft_i)
          iP2.set_i(dTopLeft_i);
        if (iP2.get_i() > dBottomRight_i)
          iP2.set_i(dBottomRight_i);
        return true;
      }
    }
 
    double a = (iP2.get_i() - iP1.get_i()) / (iP2.get_j() - iP1.get_j());
    double b = iP1.get_i() - a * iP1.get_j();
 
    // test horizontal
    double jtop = (dTopLeft_i - b) / a;
    double jlow = (dBottomRight_i - b) / a;
    // test vertical
    double ileft = dTopLeft_j * a + b;
    double iright = (dBottomRight_j)*a + b;
 
    vpImagePoint iP[2];
    int n = 0;
 
    if (jtop >= dTopLeft_j && jtop <= dBottomRight_j) {
      iP[n].set_ij(dTopLeft_i, jtop);
      n++;
    }
    if (jlow >= dTopLeft_j && jlow <= dBottomRight_j) {
      iP[n].set_ij(dBottomRight_i, jlow);
      n++;
    }
    if (ileft >= dTopLeft_i && ileft <= dBottomRight_i && n < 2) {
      iP[n].set_ij(ileft, dTopLeft_j);
      n++;
    }
    if (iright >= dTopLeft_i && iright <= dBottomRight_i && n < 2) {
      iP[n].set_ij(iright, dBottomRight_j);
      n++;
    }
 
    if (n < 2)
      return false;
 
    if (!iP1In && !iP2In) {
      if (fabs(a) < 1) {
        if (vpMath::sign(iP1.get_j() - iP[0].get_j()) == vpMath::sign(iP2.get_j() - iP[0].get_j()))
          return false;
        int sign = vpMath::sign(iP1.get_j() - iP2.get_j());
        if (sign == vpMath::sign(iP[0].get_j() - iP[1].get_j())) {
          iP1 = iP[0];
          iP2 = iP[1];
        }
        else {
          iP1 = iP[1];
          iP2 = iP[0];
        }
      }
      else {
        if (vpMath::sign(iP1.get_i() - iP[0].get_i()) == vpMath::sign(iP2.get_i() - iP[0].get_i()))
          return false;
        int sign = vpMath::sign(iP1.get_i() - iP2.get_i());
        if (sign == vpMath::sign(iP[0].get_i() - iP[1].get_i())) {
          iP1 = iP[0];
          iP2 = iP[1];
        }
        else {
          iP1 = iP[1];
          iP2 = iP[0];
        }
      }
    }
    else if (!iP1In) {
      vpImagePoint iPtemp = iP1;
      if (fabs(a) < 1) {
        int sign = vpMath::sign(iP1.get_j() - iP2.get_j());
        if (fabs(iP[0].get_j() - iP2.get_j()) > 5) {
          if (sign == vpMath::sign(iP[0].get_j() - iP2.get_j()))
            iP1 = iP[0];
          else
            iP1 = iP[1];
        }
        else {
          if (sign == vpMath::sign(iP[1].get_j() - iP2.get_j()))
            iP1 = iP[1];
          else
            iP1 = iP[0];
        }
      }
      else {
        int sign = vpMath::sign(iP1.get_i() - iP2.get_i());
        if (fabs(iP[0].get_i() - iP2.get_i()) > 5) {
          if (sign == vpMath::sign(iP[0].get_i() - iP2.get_i()))
            iP1 = iP[0];
          else
            iP1 = iP[1];
        }
        else {
          if (sign == vpMath::sign(iP[1].get_i() - iP2.get_i()))
            iP1 = iP[1];
          else
            iP1 = iP[0];
        }
      }
      if (vpImagePoint::distance(iP1, iP2) < 9) {
        iP1 = iPtemp;
        return false;
      }
    }
    else if (!iP2In) {
      vpImagePoint iPtemp = iP2;
      if (fabs(a) < 1) {
        int sign = vpMath::sign(iP2.get_j() - iP1.get_j());
        if (fabs(iP[0].get_j() - iP1.get_j()) > 5) {
          if (sign == vpMath::sign(iP[0].get_j() - iP1.get_j()))
            iP2 = iP[0];
          else
            iP2 = iP[1];
        }
        else {
          if (sign == vpMath::sign(iP[1].get_j() - iP1.get_j()))
            iP2 = iP[1];
          else
            iP2 = iP[0];
        }
      }
      else {
        int sign = vpMath::sign(iP2.get_i() - iP1.get_i());
        if (fabs(iP[0].get_i() - iP1.get_i()) > 5) {
          if (sign == vpMath::sign(iP[0].get_i() - iP1.get_i()))
            iP2 = iP[0];
          else
            iP2 = iP[1];
        }
        else {
          if (sign == vpMath::sign(iP[1].get_i() - iP1.get_i()))
            iP2 = iP[1];
          else
            iP2 = iP[0];
        }
      }
      if (vpImagePoint::distance(iP1, iP2) < 9) {
        iP2 = iPtemp;
        return false;
      }
    }
  }
  return true;
}
 
bool vpPlotGraph::check3Dpoint(vpImagePoint &iP)
{
  if (!iP.inRectangle(dGraphZone3D)) {
    if (iP.get_i() < dTopLeft3D.get_i())
      iP.set_i(dTopLeft3D.get_i());
    else if (iP.get_i() > dTopLeft3D.get_i() + dHeight)
      iP.set_i(dTopLeft3D.get_i() + dHeight - 1);
    if (iP.get_j() < dTopLeft3D.get_j())
      iP.set_j(dTopLeft3D.get_j());
    else if (iP.get_j() > dTopLeft3D.get_j() + dWidth)
      iP.set_j(dTopLeft3D.get_j() + dWidth - 1);
    return false;
  }
  return true;
}
 
void vpPlotGraph::computeGraphParameters3D()
{
  zoomx_3D = w_xsize / (xmax - xmin);
  zoomy_3D = w_ysize / (ymax - ymin);
  zoomz_3D = w_zsize / (zmax - zmin);
  ptXorg = w_xval - zoomx_3D * xmax;
  ptYorg = w_yval + zoomy_3D * ymin;
  ptZorg = w_zval - zoomz_3D * zmax;
}
 
void getGrid3DPoint(double pente, vpImagePoint &iPunit, vpImagePoint &ip1, vpImagePoint &ip2, vpImagePoint &ip3)
{
  if (pente <= 1) {
    ip1 = iPunit - vpImagePoint(3, 0);
    ip2 = iPunit + vpImagePoint(3, 0);
    ip3 = iPunit - vpImagePoint(6, 6);
  }
  else {
    ip1 = iPunit - vpImagePoint(0, 3);
    ip2 = iPunit + vpImagePoint(0, 3);
    ip3 = iPunit + vpImagePoint(6, 6);
  }
}
 
void vpPlotGraph::displayGrid3D(vpImage<unsigned char> &I)
{
  const unsigned int nparam = 6;
  computeGraphParameters3D();
 
  xdelt = (xmax - xmin) / nbDivisionx;
  ydelt = (ymax - ymin) / nbDivisiony;
  zdelt = (zmax - zmin) / nbDivisionz;
 
  vpPoint pt[nparam];
  pt[0].setWorldCoordinates(-w_xval, ptYorg, ptZorg);
  pt[1].setWorldCoordinates(w_xval, ptYorg, ptZorg);
  pt[2].setWorldCoordinates(ptXorg, -w_yval, ptZorg);
  pt[3].setWorldCoordinates(ptXorg, w_yval, ptZorg);
  pt[4].setWorldCoordinates(ptXorg, ptYorg, -w_zval);
  pt[5].setWorldCoordinates(ptXorg, ptYorg, w_zval);
 
  vpImagePoint iP[nparam];
  for (unsigned int i = 0; i < nparam; ++i) {
    pt[i].track(cMo);
    double u = 0.0, v = 0.0;
    vpMeterPixelConversion::convertPoint(cam, pt[i].get_x(), pt[i].get_y(), u, v);
    iP[i].set_uv(u, v);
    iP[i] = iP[i] + dTopLeft3D;
  }
 
  int power;
  double t;
  vpPoint ptunit;
  vpImagePoint iPunit;
  double pente;
  vpImagePoint ip1;
  vpImagePoint ip2;
  vpImagePoint ip3;
  vpImagePoint ip4;
 
  power = laFonctionSansNom(xdelt);
  ptunit.setWorldCoordinates(-w_xval, ptYorg, ptZorg);
  // if (iP[0].get_j()-iP[1].get_j() != 0)
  if (std::fabs(iP[0].get_j() - iP[1].get_j()) >
      vpMath::maximum(std::fabs(iP[0].get_j()), std::fabs(iP[1].get_j())) * std::numeric_limits<double>::epsilon())
    pente = fabs((iP[0].get_i() - iP[1].get_i()) / (iP[0].get_j() - iP[1].get_j()));
  else
    pente = 2;
 
  unsigned int count = 1;
  for (t = xmin; t <= xmax; t = t + xdelt) {
    double x = ptXorg + (zoomx_3D * t);
    ptunit.set_oX(x);
    ptunit.track(cMo);
    double u = 0.0, v = 0.0;
    vpMeterPixelConversion::convertPoint(cam, ptunit.get_x(), ptunit.get_y(), u, v);
    iPunit.set_uv(u, v);
    iPunit = iPunit + dTopLeft3D;
 
    getGrid3DPoint(pente, iPunit, ip1, ip2, ip3);
 
    if (check3Dline(ip1, ip2)) {
      vpDisplay::displayLine(I, ip2, ip1, vpColor::black);
      if (count % 2 == 1) {
        double ttemp;
        if (power != 0)
          ttemp = t * pow(10.0, power);
        else
          ttemp = t;
        std::stringstream ss;
        ss.precision(2);
        ss << ttemp;
        vpDisplay::displayText(I, ip3, ss.str(), vpColor::black);
      }
    }
    count++;
  }
  if (power != 0) {
    ip4 = iP[1] - vpImagePoint(-15, 10);
    std::stringstream ss;
    ss << "x10e";
    ss << -power;
    if (check3Dpoint(ip4))
      vpDisplay::displayText(I, ip4, ss.str(), vpColor::black);
  }
 
  power = laFonctionSansNom(ydelt);
  ptunit.setWorldCoordinates(ptXorg, -w_yval, ptZorg);
  // if (iP[2].get_j()-iP[3].get_j() != 0)
  if (std::fabs(iP[2].get_j() - iP[3].get_j()) >
      vpMath::maximum(std::fabs(iP[2].get_j()), std::fabs(iP[3].get_j())) * std::numeric_limits<double>::epsilon())
    pente = fabs((iP[2].get_i() - iP[3].get_i()) / (iP[2].get_j() - iP[3].get_j()));
  else
    pente = 2;
  count = 0;
  for (t = ymin; t <= ymax; t = t + ydelt) {
    double y = ptYorg - (zoomy_3D * t);
    ptunit.set_oY(y);
    ptunit.track(cMo);
    double u = 0.0, v = 0.0;
    vpMeterPixelConversion::convertPoint(cam, ptunit.get_x(), ptunit.get_y(), u, v);
    iPunit.set_uv(u, v);
    iPunit = iPunit + dTopLeft3D;
 
    getGrid3DPoint(pente, iPunit, ip1, ip2, ip3);
 
    if (check3Dline(ip1, ip2)) {
      vpDisplay::displayLine(I, ip1, ip2, vpColor::black);
      if (count % 2 == 1) {
        double ttemp;
        if (power != 0)
          ttemp = t * pow(10.0, power);
        else
          ttemp = t;
        std::stringstream ss;
        ss.precision(2);
        ss << ttemp;
        vpDisplay::displayText(I, ip3, ss.str(), vpColor::black);
      }
    }
    count++;
  }
  if (power != 0) {
    ip4 = iP[2] - vpImagePoint(-15, 10);
    std::stringstream ss;
    ss << "x10e";
    ss << -power;
    if (check3Dpoint(ip4))
      vpDisplay::displayText(I, ip4, ss.str(), vpColor::black);
  }
 
  power = laFonctionSansNom(zdelt);
  ptunit.setWorldCoordinates(ptXorg, ptYorg, -w_zval);
  // if (iP[4].get_j()-iP[5].get_j() != 0)
  if (std::fabs(iP[4].get_j() - iP[5].get_j()) >
      vpMath::maximum(std::fabs(iP[4].get_j()), std::fabs(iP[5].get_j())) * std::numeric_limits<double>::epsilon())
    pente = fabs((iP[4].get_i() - iP[5].get_i()) / (iP[4].get_j() - iP[5].get_j()));
  else
    pente = 2;
  count = 0;
  for (t = zmin; t <= zmax; t = t + zdelt) {
    double z = ptZorg + (zoomz_3D * t);
    ptunit.set_oZ(z);
    ptunit.track(cMo);
    double u = 0.0, v = 0.0;
    vpMeterPixelConversion::convertPoint(cam, ptunit.get_x(), ptunit.get_y(), u, v);
    iPunit.set_uv(u, v);
    iPunit = iPunit + dTopLeft3D;
 
    getGrid3DPoint(pente, iPunit, ip1, ip2, ip3);
 
    if (check3Dline(ip1, ip2)) {
      vpDisplay::displayLine(I, ip1, ip2, vpColor::black);
      if (count % 2 == 1) {
        double ttemp;
        if (power != 0)
          ttemp = t * pow(10.0, power);
        else
          ttemp = t;
        std::stringstream ss;
        ss.precision(2);
        ss << ttemp;
        vpDisplay::displayText(I, ip3, ss.str(), vpColor::black);
      }
    }
    count++;
  }
  if (power != 0) {
    ip4 = iP[5] - vpImagePoint(-15, 10);
    std::stringstream ss;
    ss << "x10e";
    ss << -power;
    if (check3Dpoint(ip4))
      vpDisplay::displayText(I, ip4, ss.str(), vpColor::black);
  }
 
  // Ligne horizontal
  if (check3Dline(iP[0], iP[1])) {
    vpDisplay::displayArrow(I, iP[0], iP[1], vpColor::black, gridThickness);
    if (dispUnit) {
      iPunit.set_ij(iP[1].get_i(), iP[1].get_j() - 10 * epsj);
      check3Dpoint(iPunit);
      vpDisplay::displayText(I, iPunit, unitx.c_str(), vpColor::black);
    }
  }
  if (check3Dline(iP[3], iP[2])) {
    vpDisplay::displayArrow(I, iP[3], iP[2], vpColor::black, gridThickness);
    if (dispUnit) {
      iPunit.set_ij(iP[2].get_i(), iP[2].get_j() - 10 * epsj);
      check3Dpoint(iPunit);
      vpDisplay::displayText(I, iPunit, unity.c_str(), vpColor::black);
    }
  }
  if (check3Dline(iP[4], iP[5])) {
    vpDisplay::displayArrow(I, iP[4], iP[5], vpColor::black, gridThickness);
    if (dispUnit) {
      iPunit.set_ij(iP[5].get_i(), iP[5].get_j() - 10 * epsj);
      check3Dpoint(iPunit);
      vpDisplay::displayText(I, iPunit, unitz.c_str(), vpColor::black);
    }
  }
 
  if (dispTitle)
    displayTitle(I);
  if (dispLegend)
    displayLegend(I);
}
 
vpMouseButton::vpMouseButtonType vpPlotGraph::plot(vpImage<unsigned char> &I, unsigned int curveNb, double x, double y,
                                                   double z)
{
  if (!scaleInitialized) {
    if (x < 0) {
      xmax = 0;
      rescalex(0, x);
    }
    if (x > 0) {
      xmin = 0;
      rescalex(1, x);
    }
    if (y < 0) {
      ymax = 0;
      rescaley(0, y);
    }
    if (y > 0) {
      ymin = 0;
      rescaley(1, y);
    }
    if (z < 0) {
      zmax = 0;
      rescalez(0, z);
    }
    if (z > 0) {
      zmin = 0;
      rescalez(1, z);
    }
    scaleInitialized = true;
    computeGraphParameters3D();
    clearGraphZone(I);
    displayGrid3D(I);
    // if (std::fabs(y) == 0 || z == 0)
    if (std::fabs(y) <= std::numeric_limits<double>::epsilon() ||
        std::fabs(z) <= std::numeric_limits<double>::epsilon())
      scaleInitialized = false;
  }
 
  if (firstPoint) {
    clearGraphZone(I);
    displayGrid3D(I);
    vpDisplay::flushROI(I, graphZone);
    firstPoint = false;
  }
 
  bool changed = false;
  if (x > xmax) {
    rescalex(1, x);
    changed = true;
  }
  else if (x < xmin) {
    rescalex(0, x);
    changed = true;
  }
 
  if (y > ymax) {
    rescaley(1, y);
    changed = true;
  }
  else if (y < ymin) {
    rescaley(0, y);
    changed = true;
  }
 
  if (z > zmax) {
    rescalez(1, z);
    changed = true;
  }
  else if (z < zmin) {
    rescalez(0, z);
    changed = true;
  }
 
  vpMouseButton::vpMouseButtonType button = vpMouseButton::none;
 
  if (changed || move(I, button)) {
    computeGraphParameters3D();
    replot3D(I);
  }
 
  vpPoint pointPlot;
  pointPlot.setWorldCoordinates(ptXorg + (zoomx_3D * x), ptYorg - (zoomy_3D * y), ptZorg + (zoomz_3D * z));
  pointPlot.track(cMo);
  double u = 0.0, v = 0.0;
  vpMeterPixelConversion::convertPoint(cam, pointPlot.get_x(), pointPlot.get_y(), u, v);
  vpImagePoint iP;
  iP.set_uv(u, v);
  iP = iP + dTopLeft3D;
 
  if ((curveList + curveNb)->nbPoint) {
    if (check3Dline((curveList + curveNb)->lastPoint, iP))
      vpDisplay::displayLine(I, (curveList + curveNb)->lastPoint, iP, (curveList + curveNb)->color,
                             (curveList + curveNb)->thickness);
  }
#if (defined VISP_HAVE_X11 || defined VISP_HAVE_GDI)
  double top;
  double left;
  double width_;
  double height_;
 
  if (iP.get_i() <= (curveList + curveNb)->lastPoint.get_i()) {
    top = iP.get_i() - 5;
    height_ = (curveList + curveNb)->lastPoint.get_i() - top + 10;
  }
  else {
    top = (curveList + curveNb)->lastPoint.get_i() - 5;
    height_ = iP.get_i() - top + 10;
  }
  if (iP.get_j() <= (curveList + curveNb)->lastPoint.get_j()) {
    left = iP.get_j() - 5;
    width_ = (curveList + curveNb)->lastPoint.get_j() - left + 10;
  }
  else {
    left = (curveList + curveNb)->lastPoint.get_j() - 5;
    width_ = iP.get_j() - left + 10;
  }
  vpDisplay::flushROI(I, vpRect(left, top, width_, height_));
#endif
 
  (curveList + curveNb)->lastPoint = iP;
  (curveList + curveNb)->pointListx.push_back(x);
  (curveList + curveNb)->pointListy.push_back(y);
  (curveList + curveNb)->pointListz.push_back(z);
  (curveList + curveNb)->nbPoint++;
 
#if (!defined VISP_HAVE_X11 && defined FLUSH_ON_PLOT)
  vpDisplay::flushROI(I, graphZone);
#endif
  return button;
}
 
void vpPlotGraph::replot3D(vpImage<unsigned char> &I)
{
  clearGraphZone(I);
  displayGrid3D(I);
 
  for (unsigned int i = 0; i < curveNbr; ++i) {
    std::list<double>::const_iterator it_ptListx = (curveList + i)->pointListx.begin();
    std::list<double>::const_iterator it_ptListy = (curveList + i)->pointListy.begin();
    std::list<double>::const_iterator it_ptListz = (curveList + i)->pointListz.begin();
 
    unsigned int k = 0;
    vpImagePoint iP;
    vpPoint pointPlot;
    while (k < (curveList + i)->nbPoint) {
      double x = *it_ptListx;
      double y = *it_ptListy;
      double z = *it_ptListz;
      pointPlot.setWorldCoordinates(ptXorg + (zoomx_3D * x), ptYorg - (zoomy_3D * y), ptZorg + (zoomz_3D * z));
      pointPlot.track(cMo);
      double u = 0.0, v = 0.0;
      vpMeterPixelConversion::convertPoint(cam, pointPlot.get_x(), pointPlot.get_y(), u, v);
      iP.set_uv(u, v);
      iP = iP + dTopLeft3D;
 
      // vpDisplay::displayCross(I,iP,3,vpColor::cyan);
      if (k > 0) {
        if (check3Dline((curveList + i)->lastPoint, iP))
          vpDisplay::displayLine(I, (curveList + i)->lastPoint, iP, (curveList + i)->color);
        // vpDisplay::displayCross(I,iP,3,vpColor::orange);
      }
 
      (curveList + i)->lastPoint = iP;
 
      ++it_ptListx;
      ++it_ptListy;
      ++it_ptListz;
      k++;
    }
  }
  vpDisplay::flushROI(I, graphZone);
}
 
void vpPlotGraph::rescalez(unsigned int side, double extremity)
{
  switch (side) {
  case 0:
    zmin = (3 * extremity - zmax) / 2;
    break;
  case 1:
    zmax = (3 * extremity - zmin) / 2;
    break;
  }
 
  zdelt = (zmax - zmin) / static_cast<double>(nbDivisionz);
}

bool vpPlotGraph::move(const vpImage<unsigned char> &I, vpMouseButton::vpMouseButtonType &button)
{
  bool changed = false;
  vpHomogeneousMatrix displacement = navigation(I, changed, button);
 
  // if (displacement[2][3] != 0)
  if (std::fabs(displacement[2][3]) > std::numeric_limits<double>::epsilon())
    cMf = cMf * displacement;
  vpHomogeneousMatrix fMo = cMf.inverse() * cMo;
 
  cMo = cMf * displacement * fMo;
  return changed;
}
 
vpHomogeneousMatrix vpPlotGraph::navigation(const vpImage<unsigned char> &I, bool &changed,
                                            vpMouseButton::vpMouseButtonType &b)
{
  vpImagePoint iP;
  vpImagePoint trash;
  bool clicked = false;
  bool clickedUp = false;
 
  vpHomogeneousMatrix mov(0, 0, 0, 0, 0, 0);
  changed = false;
 
  // if(!blocked) vpDisplay::getClickUp(I,trash, b,false);
 
  if (!blocked)
    clicked = vpDisplay::getClick(I, iP, b, false);
 
  if (blocked)
    clickedUp = vpDisplay::getClickUp(I, trash, b, false);
 
  if (clicked) {
    if (!iP.inRectangle(graphZone))
      return mov;
  }
 
  if (clicked) {
    if (b == vpMouseButton::button1)
      blockedr = true;
    if (b == vpMouseButton::button2)
      blockedz = true;
    blocked = true;
  }
 
  else if (clickedUp) {
    if (b == vpMouseButton::button1) {
      old_iPr = vpImagePoint(-1, -1);
      blockedr = false;
    }
    if (b == vpMouseButton::button2) {
      old_iPz = vpImagePoint(-1, -1);
      blockedz = false;
    }
    if (!(blockedr || blockedz)) {
      blocked = false;
      // while (vpDisplay::getClick(I,trash,b,false)) {};
    }
  }
 
  vpTime::sleepMs(5);
  vpDisplay::getPointerPosition(I, iP);
 
  if (old_iPr != vpImagePoint(-1, -1) && blockedr) {
    double width_ = vpMath::minimum(I.getWidth(), I.getHeight());
 
    double diffi = iP.get_i() - old_iPr.get_i();
    double diffj = iP.get_j() - old_iPr.get_j();
 
    double anglei = diffi * 360 / width_;
    double anglej = diffj * 360 / width_;
    mov.buildFrom(0, 0, 0, vpMath::rad(anglei), vpMath::rad(-anglej), 0);
    changed = true;
  }
 
  if (blockedr)
    old_iPr = iP;
 
  if (old_iPz != vpImagePoint(-1, -1) && blockedz) {
    double diffi = iP.get_i() - old_iPz.get_i();
    mov.buildFrom(0, 0, diffi * 0.01, 0, 0, 0);
    changed = true;
  }
 
  if (blockedz)
    old_iPz = iP;
 
  return mov;
}
 
END_VISP_NAMESPACE
 
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_gui.a(vpPlotGraph.cpp.o) has no symbols
void dummy_vpPlotGraph() { }
#endif
#endif