Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
displayOpenCV.cpp

Read an image on the disk, display it using vpDisplayOpenCV class, display some features (line, circle, caracters) in overlay and finaly write the image and the overlayed features in an image on the disk.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 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 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 http://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:
* Read an image on the disk and display it using OpenCV.
*
* Authors:
* Nicolas Melchior
*
*****************************************************************************/
#include <iostream>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if defined(VISP_HAVE_OPENCV)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/core/vpTime.h>
// List of allowed command line options
#define GETOPTARGS "cdi:o:p:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Read an image on the disk, display it using OpenCV, display some\n\
features (line, circle, caracters) in overlay and finaly write \n\
the image and the overlayed features in an image on the disk.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-o <output image path>]\n\
[-c] [-d] [-h]\n \
", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"Klimt/Klimt.pgm\"\n\
image.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-o <output image path> %s\n\
Set image output path.\n\
From this directory, creates the \"%s\"\n\
subdirectory depending on the username, where \n\
Klimt_grey.overlay.ppm output image is written.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Disable the image display. This can be useful \n\
for automatic tests using crontab under Unix or \n\
using the task manager under Windows.\n\
\n\
-h\n\
Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str());
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
const std::string &user, bool &display)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'o':
opath = optarg_;
break;
case 'h':
usage(argv[0], NULL, ipath, opath, user);
return false;
break;
default:
usage(argv[0], optarg_, ipath, opath, user);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string opt_opath;
std::string ipath;
std::string opath;
std::string filename;
std::string username;
bool opt_click_allowed = true;
bool opt_display = true;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Set the default output path
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
opt_opath = "/tmp";
#elif defined(_WIN32)
opt_opath = "C:\\temp";
#endif
// Get the user login name
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_opath, opt_click_allowed, username, opt_display) == false) {
exit(-1);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_opath.empty())
opath = opt_opath;
// Append to the output path string, the login name of the user
std::string odirname = vpIoTools::createFilePath(opath, username);
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(odirname) == false) {
try {
// Create the dirname
} catch (...) {
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << odirname << std::endl;
std::cerr << " Check your -o " << opath << " option " << std::endl;
exit(-1);
}
}
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
exit(-1);
}
// Create a grey level image
vpImagePoint ip, ip1, ip2;
// Load a grey image from the disk
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
vpImageIo::read(I, filename);
// Create a display using X11
vpDisplayOpenCV display;
if (opt_display) {
// For this grey level image, open a X11 display at position 100,100
// in the screen, and with title "X11 display"
display.init(I, 100, 100, "X11 display");
// Display the image
// Display in overlay a red cross at position 10,10 in the
// image. The lines are 10 pixels long
ip.set_i(100);
ip.set_j(10);
// Display in overlay horizontal red lines
for (unsigned i = 0; i < I.getHeight(); i += 20) {
ip1.set_i(i);
ip1.set_j(0);
ip2.set_i(i);
ip2.set_j(I.getWidth());
}
// Display a ligne in the diagonal
ip1.set_i(-10);
ip1.set_j(-10);
ip2.set_i(I.getHeight() + 10);
ip2.set_j(I.getWidth() + 10);
// Display in overlay vertical green dot lines
for (unsigned i = 0; i < I.getWidth(); i += 20) {
ip1.set_i(0);
ip1.set_j(i);
ip2.set_i(I.getWidth());
ip2.set_j(i);
}
// Display a rectangle
ip.set_i(I.getHeight() - 45);
ip.set_j(-10);
// Display in overlay a blue arrow
ip1.set_i(0);
ip1.set_j(0);
ip2.set_i(100);
ip2.set_j(100);
// Display in overlay some circles. The position of the center is 200,
// 200 the radius is increased by 20 pixels for each circle
for (unsigned int i = 0; i < 100; i += 20) {
ip.set_i(80);
ip.set_j(80);
}
ip.set_i(-10);
ip.set_j(300);
// Display in overlay a yellow string
ip.set_i(85);
ip.set_j(100);
vpDisplay::displayText(I, ip, "ViSP is a marvelous software", vpColor::yellow);
// Flush the display
// Create a color image
vpImage<vpRGBa> Ioverlay;
// Updates the color image with the original loaded image and the
// overlay
vpDisplay::getImage(I, Ioverlay);
// Write the color image on the disk
filename = vpIoTools::createFilePath(odirname, "Klimt_grey.overlay.ppm");
vpImageIo::write(Ioverlay, filename);
// If click is allowed, wait for a mouse click to close the display
if (opt_click_allowed) {
std::cout << "\nA click to close the windows..." << std::endl;
// Wait for a blocking mouse click
}
// Close the display
}
// Create a color image
// Load a grey image from the disk and convert it to a color image
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
vpImageIo::read(Irgba, filename);
// Create a new display
vpDisplayOpenCV displayRGBa;
if (opt_display) {
// For this color image, open a X11 display at position 100,100
// in the screen, and with title "X11 color display"
displayRGBa.init(Irgba, 100, 100, "X11 color display");
// Display the color image
// If click is allowed, wait for a blocking mouse click to display a
// cross at the clicked pixel position
if (opt_click_allowed) {
std::cout << "\nA click to display a cross..." << std::endl;
// Blocking wait for a click. Get the position of the selected pixel
// (i correspond to the row and j to the column coordinates in the
// image)
vpDisplay::getClick(Irgba, ip);
// Display a red cross on the click pixel position
std::cout << "Cross position: " << ip << std::endl;
} else {
ip.set_i(10);
ip.set_j(20);
// Display a red cross at position i, j (i correspond to the row
// and j to the column coordinates in the image)
std::cout << "Cross position: " << ip << std::endl;
}
// Flush the display. Sometimes the display content is
// bufferized. Force to display the content that has been bufferized.
// Create a color image
vpImage<vpRGBa> Ioverlay;
// Updates the color image with the original loaded image and the
// overlay
vpDisplay::getImage(Irgba, Ioverlay);
// Write the color image on the disk
filename = vpIoTools::createFilePath(odirname, "Klimt_color.overlay.ppm");
vpImageIo::write(Ioverlay, filename);
// If click is allowed, wait for a blocking mouse click to exit.
if (opt_click_allowed) {
std::cout << "\nA click to exit the program..." << std::endl;
std::cout << "Bye" << std::endl;
}
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have OpenCV functionalities to display images..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif