testDisplays.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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:
 * Anthony Saunier
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>

#include <iostream>
#include <stdlib.h>
#include <string>

#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) ||          \
     defined(VISP_HAVE_OPENCV))

#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpRect.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.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>

// List of allowed command line options
#define GETOPTARGS "hldc"

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &list, bool &click_allowed, bool &display);
void draw(vpImage<vpRGBa> &I);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Test video devices or display.\n\
\n\
SYNOPSIS\n\
  %s [-l] [-c] [-d] [-h]\n\
", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\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");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, bool &list, bool &click_allowed, bool &display)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'l':
      list = true;
      break;
    case 'h':
      usage(argv[0], NULL);
      return false;
      break;
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;

    default:
      usage(argv[0], optarg_);
      return false;
      break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}

void draw(vpImage<vpRGBa> &I)
{
  vpImagePoint iP1, iP2;
  unsigned int w, h;

  iP1.set_i(20);
  iP1.set_j(10);
  iP2.set_i(20);
  iP2.set_j(30);
  vpDisplay::displayArrow(I, iP1, iP2, vpColor::green, 4, 2, 3);

  iP1.set_i(20);
  iP1.set_j(60);
  vpDisplay::displayText(I, iP1, "Test...", vpColor::black);

  iP1.set_i(80);
  iP1.set_j(220);
  iP2.set_i(80);
  iP2.set_j(480);
  vpDisplay::displayCircle(I, iP1, 30, vpColor::red, false, 3);
  vpDisplay::displayCircle(I, iP2, 30, vpColor::red, true, 3);

  iP1.set_i(20);
  iP1.set_j(220);
  vpDisplay::displayCross(I, iP1, 5, vpColor::blue, 1);

  iP1.set_i(140);
  iP1.set_j(10);
  iP2.set_i(140);
  iP2.set_j(50);
  vpDisplay::displayDotLine(I, iP1, iP2, vpColor::blue, 3);

  iP1.set_i(120);
  iP1.set_j(180);
  iP2.set_i(160);
  iP2.set_j(250);
  vpDisplay::displayDotLine(I, iP1, iP2, vpColor::blue, 3);

  iP1.set_i(160);
  iP1.set_j(280);
  iP2.set_i(120);
  iP2.set_j(340);
  vpDisplay::displayDotLine(I, iP1, iP2, vpColor::blue, 3);

  // static void    displayFrame (const vpImage< vpRGBa > &I, const
  // vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size,
  // vpColor color)

  iP1.set_i(140);
  iP1.set_j(80);
  iP2.set_i(140);
  iP2.set_j(150);
  vpDisplay::displayLine(I, iP1, iP2, vpColor::orange, 3);

  iP1.set_i(140);
  iP1.set_j(400);
  vpDisplay::displayPoint(I, iP1, vpColor::red);

  iP1.set_i(350);
  iP1.set_j(20);
  w = 60;
  h = 50;
  vpDisplay::displayRectangle(I, iP1, w, h, vpColor::red, false, 3);

  iP1.set_i(350);
  iP1.set_j(110);
  vpDisplay::displayRectangle(I, iP1, w, h, vpColor::red, true, 3);

  iP1.set_i(350);
  iP1.set_j(200);
  iP2.set_i(400);
  iP2.set_j(260);
  vpDisplay::displayRectangle(I, iP1, iP2, vpColor::orange, false, 3);

  iP1.set_i(350);
  iP1.set_j(290);
  iP2.set_i(400);
  iP2.set_j(350);
  vpRect rectangle(iP1, iP2);
  vpDisplay::displayRectangle(I, rectangle, vpColor::yellow, false, 3);

  iP1.set_i(380);
  iP1.set_j(400);
  vpDisplay::displayRectangle(I, iP1, 45, w, h, vpColor::green, 3);
}

int main(int argc, const char **argv)
{
  try {
    bool opt_list = false; // To print the list of video devices
    bool opt_click_allowed = true;
    bool opt_display = true;

    // Read the command line options
    if (getOptions(argc, argv, 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\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_X11
      std::cout << "  X11\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_GDI
      std::cout << "  GDI\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_D3D9
      std::cout << "  D3D\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_OPENCV
      std::cout << "  OpenCV\n";
      nbDevices++;
#endif
      if (!nbDevices) {
        std::cout << "  No display is available\n";
      }
      return (0);
    }

    // Create a grey level image
    vpImage<unsigned char> I;
    // Create a color image
    vpImage<vpRGBa> Irgba;

    // Create a color image for each display.
    vpImage<vpRGBa> Ix;
    vpImage<vpRGBa> Igtk;
    vpImage<vpRGBa> Icv;
    vpImage<vpRGBa> Igdi;
    vpImage<vpRGBa> Id3d;

#if defined VISP_HAVE_X11
    vpDisplayX *displayX = NULL;
    displayX = new vpDisplayX;
    Ix.init(480, 640, 255);
    if (opt_display) {
      displayX->init(Ix, 100, 100, "Display X11");
      vpDisplay::display(Ix);
      draw(Ix);
      vpDisplay::flush(Ix);
      if (opt_click_allowed)
        vpDisplay::getClick(Ix);
    }
#endif

#if defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV *displayCv = NULL;
    displayCv = new vpDisplayOpenCV;
    Icv.init(480, 640, 255);
    if (opt_display) {
      displayCv->init(Icv, 100, 100, "Display OpenCV");
      vpDisplay::display(Icv);
      draw(Icv);
      vpDisplay::flush(Icv);
      if (opt_click_allowed)
        vpDisplay::getClick(Icv);
    }
#endif

#if defined VISP_HAVE_GTK
    vpDisplayGTK *displayGtk = NULL;
    displayGtk = new vpDisplayGTK;
    Igtk.init(480, 640, 255);
    if (opt_display) {
      displayGtk->init(Igtk, 100, 100, "Display GTK");
      vpDisplay::display(Igtk);
      draw(Igtk);
      vpDisplay::flush(Igtk);
      if (opt_click_allowed)
        vpDisplay::getClick(Igtk);
    }
#endif

#if defined VISP_HAVE_GDI
    vpDisplayGDI *displayGdi = NULL;
    displayGdi = new vpDisplayGDI;
    Igdi.init(480, 640, 255);
    if (opt_display) {
      displayGdi->init(Igdi, 100, 100, "Display GDI");
      vpDisplay::display(Igdi);
      draw(Igdi);
      vpDisplay::flush(Igdi);
      if (opt_click_allowed)
        vpDisplay::getClick(Igdi);
    }
#endif

#if defined VISP_HAVE_D3D9
    vpDisplayD3D *displayD3d = NULL;
    displayD3d = new vpDisplayD3D;
    Id3d.init(480, 640, 255);
    if (opt_display) {
      displayD3d->init(Id3d, 100, 100, "Display Direct 3D");
      vpDisplay::display(Id3d);
      draw(Id3d);
      vpDisplay::flush(Id3d);
      if (opt_click_allowed)
        vpDisplay::getClick(Id3d);
    }
#endif

#if defined VISP_HAVE_X11
    delete displayX;
#endif

#if defined VISP_HAVE_GTK
    delete displayGtk;
#endif

#if defined(VISP_HAVE_OPENCV)
    delete displayCv;
#endif

#if defined VISP_HAVE_GDI
    delete displayGdi;
#endif

#if defined VISP_HAVE_D3D9
    delete displayD3d;
#endif
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
    return (-1);
  }
}

#else
int main() { std::cout << "You do not have display functionalities..." << std::endl; }

#endif