Demonstration of the wireframe simulator.
#include <stdlib.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.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/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpWireFrameSimulator.h>
#define GETOPTARGS "cdh"
#ifdef VISP_HAVE_DISPLAY
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &display, bool &click);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Demonstration of the wireframe simulator.\n\
\n\
The goal of this example is to present the basic functionalities of the wire frame simulator.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c \n\
Disable mouse click.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, bool &display, bool &click)
{
const char *optarg_;
int c;
switch (c) {
case 'c':
click = false;
break;
case 'd':
display = false;
break;
case 'h':
usage(argv[0], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL);
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_display = true;
bool opt_click = true;
if (getOptions(argc, argv, opt_display, opt_click) == false) {
exit(-1);
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_OPENCV
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_D3D9
#elif defined VISP_HAVE_GTK
#endif
if (opt_display) {
display[0].
init(Iint, 100, 100,
"The internal view");
display[1].
init(Iext1, 100, 100,
"The first external view");
display[2].
init(Iext2, 100, 100,
"The second external view");
}
if (opt_display) {
}
std::cout << std::endl;
std::cout << "Here are presented the effect of the basic functions of "
"the simulator"
<< std::endl;
std::cout << std::endl;
if (opt_display) {
if (opt_click) {
std::cout << "Click on the internal view window to continue. the "
"object will move. The external cameras are fixed. The "
"main camera moves too because the homogeneous matrix "
"cMo didn't change."
<< std::endl;
}
}
if (opt_display) {
}
std::cout << std::endl;
if (opt_display) {
if (opt_click) {
std::cout << "Click on the internal view window to continue" << std::endl;
}
}
std::cout << std::endl;
std::cout << "Now you can move the main external camera. Click inside "
"the corresponding window with one of the three buttons of "
"your mouse and move the pointer."
<< std::endl;
std::cout << std::endl;
std::cout << "Click on the internal view window when you are finished" << std::endl;
if (opt_display && opt_click) {
}
}
std::cout << std::endl;
std::cout << "You have seen the main capabilities of the simulator. "
"Other specific functionalities are available. Please "
"refers to the html documentation to access the list of all "
"functions"
<< std::endl;
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_SUCCESS;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif