Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
manDisplay.cpp

Display example.

/****************************************************************************
*
* 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:
* Display example.
*
* Authors:
* Anthony Saunier
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/io/vpImageIo.h>
int main()
{
try {
// Create a grey level image
// Create image points for pixel coordinates
vpImagePoint ip, ip1, ip2;
// Load a grey image from the disk. Klimt.ppm image is part of the ViSP
// image data set available from
// http://www.irisa.fr/lagadic/visp/download.html
std::string filename = "./Klimt.ppm";
vpImageIo::read(I, filename);
#ifdef VISP_HAVE_GTK
// Create a display using GTK
vpDisplayGTK display;
// For this grey level image, open a GTK display at position 100,100
// in the screen, and with title "GTK display"
display.init(I, 100, 100, "GTK display");
// Display the image
// Display in overlay a red cross at position 100,10 in the
// image. The lines are 20 pixels long
ip.set_i(200);
ip.set_j(200);
// Display in overlay a horizontal red line
ip1.set_i(10);
ip1.set_j(0);
ip2.set_i(10);
ip2.set_j(I.getWidth());
// Display in overlay a vertical green dot line
ip1.set_i(0);
ip1.set_j(20);
ip2.set_i(I.getWidth());
ip2.set_j(20);
// Display in overlay a blue arrow
ip1.set_i(0);
ip1.set_j(0);
ip2.set_i(100);
ip2.set_j(100);
vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue, 8, 4, 3);
// 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 i = 0; i < 5; i++) {
ip.set_i(200);
ip.set_j(200);
vpDisplay::displayCircle(I, ip, 20 * i, vpColor::white, false, 3);
}
// Display in overlay a rectangle.
// The position of the top left corner is 300, 200.
// The width is 200. The height is 100.
ip.set_i(280);
ip.set_j(150);
vpDisplay::displayRectangle(I, ip, 270, 30, vpColor::purple, false, 3);
// Display in overlay a yellow string
ip.set_i(300);
ip.set_j(160);
vpDisplay::displayText(I, ip, "ViSP is a marvelous software", vpColor::black);
// Flush the display : without this line nothing will appear on the screen
// 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 = "./Klimt.overlay.ppm";
vpImageIo::write(Ioverlay, filename);
// If click is allowed, wait for a mouse click to close the display
std::cout << "\nA click to close the windows..." << std::endl;
// Wait for a blocking mouse click
// Close the display
#endif
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}