Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
testVideoDeviceDual.cpp

Example showing how to open two video devices.

/****************************************************************************
*
* 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:
* Test for image display.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.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 <visp3/io/vpParseArgv.h>
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || \
defined(VISP_HAVE_OPENCV))
// List of allowed command line options
#define GETOPTARGS "hlt:dc"
typedef enum { vpX11, vpGTK, vpGDI, vpD3D, vpCV } vpDisplayType;
void usage(const char *name, const char *badparam, vpDisplayType &dtype);
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, vpDisplayType &dtype)
{
fprintf(stdout, "\n\
Test to open video devices or display.\n\
\n\
SYNOPSIS\n\
%s [-t <type of video device>] [-l] [-c] [-d] [-h]\n\
", name);
std::string display;
switch (dtype) {
case vpX11:
display = "X11";
break;
case vpGTK:
display = "GTK";
break;
case vpGDI:
display = "GDI";
break;
case vpD3D:
display = "D3D";
break;
case vpCV:
display = "CV";
break;
}
fprintf(stdout, "\n\
OPTIONS: Default\n\
-t <type of video device> \"%s\"\n\
String specifying the video device to use.\n\
Possible values:\n\
\"X11\": only on UNIX platforms,\n\
\"GTK\": on all plaforms,\n\
\"GDI\": only on Windows platform (Graphics Device Interface),\n\
\"D3D\": only on Windows platform (Direct3D).\n\
\"CV\" : (OpenCV).\n\
\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-l\n\
Print the list of video-devices available and exit.\n\
\n\
-h\n\
Print the help.\n\n", display.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
std::string sDisplayType;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'l':
list = true;
break;
case 't':
sDisplayType = optarg_;
// Parse the display type option
if (sDisplayType.compare("X11") == 0) {
dtype = vpX11;
} else if (sDisplayType.compare("GTK") == 0) {
dtype = vpGTK;
} else if (sDisplayType.compare("GDI") == 0) {
dtype = vpGDI;
} else if (sDisplayType.compare("D3D") == 0) {
dtype = vpD3D;
} else if (sDisplayType.compare("CV") == 0) {
dtype = vpCV;
}
break;
case 'h':
usage(argv[0], NULL, dtype);
return false;
break;
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
default:
usage(argv[0], optarg_, dtype);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, dtype);
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 {
bool opt_list = false; // To print the list of video devices
vpDisplayType opt_dtype; // Type of display to use
bool opt_click_allowed = true;
bool opt_display = true;
// Default display is one available
#if defined VISP_HAVE_GTK
opt_dtype = vpGTK;
#elif defined VISP_HAVE_X11
opt_dtype = vpX11;
#elif defined VISP_HAVE_GDI
opt_dtype = vpGDI;
#elif defined VISP_HAVE_D3D9
opt_dtype = vpD3D;
#elif defined VISP_HAVE_OPENCV
opt_dtype = vpCV;
#endif
// Read the command line options
if (getOptions(argc, argv, opt_dtype, opt_list, opt_click_allowed, opt_display) == false) {
exit(-1);
}
// Print the list of video-devices available
if (opt_list) {
unsigned nbDevices = 0;
std::cout << "List of video-devices available: \n";
#if defined VISP_HAVE_GTK
std::cout << " GTK (use \"-t GTK\" option to use it)\n";
nbDevices++;
#endif
#if defined VISP_HAVE_X11
std::cout << " X11 (use \"-t X11\" option to use it)\n";
nbDevices++;
#endif
#if defined VISP_HAVE_GDI
std::cout << " GDI (use \"-t GDI\" option to use it)\n";
nbDevices++;
#endif
#if defined VISP_HAVE_D3D9
std::cout << " D3D (use \"-t D3D\" option to use it)\n";
nbDevices++;
#endif
#if defined VISP_HAVE_OPENCV
std::cout << " CV (use \"-t CV\" option to use it)\n";
nbDevices++;
#endif
if (!nbDevices) {
std::cout << " No display is available\n";
}
return (0);
}
// Create 2 images
vpImage<unsigned char> I1(240, 320), I2(240, 320);
I1 = 128;
I2 = 255;
// Create 2 display
vpDisplay *d1 = NULL, *d2 = NULL;
// Initialize the displays
switch (opt_dtype) {
case vpX11:
std::cout << "Requested X11 display functionnalities..." << std::endl;
#if defined VISP_HAVE_X11
d1 = new vpDisplayX;
d2 = new vpDisplayX;
#else
std::cout << " Sorry, X11 video device is not available.\n";
std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
return 0;
#endif
break;
case vpGTK:
std::cout << "Requested GTK display functionnalities..." << std::endl;
#if defined VISP_HAVE_GTK
d1 = new vpDisplayGTK;
d2 = new vpDisplayGTK;
#else
std::cout << " Sorry, GTK video device is not available.\n";
std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
return 0;
#endif
break;
case vpGDI:
std::cout << "Requested GDI display functionnalities..." << std::endl;
#if defined VISP_HAVE_GDI
d1 = new vpDisplayGDI;
d2 = new vpDisplayGDI;
#else
std::cout << " Sorry, GDI video device is not available.\n";
std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
return 0;
#endif
break;
case vpD3D:
std::cout << "Requested D3D display functionnalities..." << std::endl;
#if defined VISP_HAVE_D3D9
d1 = new vpDisplayD3D;
d2 = new vpDisplayD3D;
#else
std::cout << " Sorry, D3D video device is not available.\n";
std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
return 0;
#endif
break;
case vpCV:
std::cout << "Requested OpenCV display functionnalities..." << std::endl;
#if defined(VISP_HAVE_OPENCV)
d1 = new vpDisplayOpenCV;
d2 = new vpDisplayOpenCV;
#else
std::cout << " Sorry, OpenCV video device is not available.\n";
std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
return 0;
#endif
break;
}
if (opt_display) {
int winx1 = 100, winy1 = 200;
d1->init(I1, winx1, winy1, "Display 1");
int winx2 = winx1 + 10 + (int)I1.getWidth(), winy2 = winy1;
d2->init(I2, winx2, winy2, "Display 2");
}
std::cout << "A click in display 1 to exit..." << std::endl;
if (opt_click_allowed)
delete d1;
delete d2;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int main() { vpERROR_TRACE("You do not have display functionalities..."); }
#endif