vpDisplayGTK.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:
 * Image display.
 *
 * Authors:
 * Christophe Collewet
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#if (defined(VISP_HAVE_GTK))

#include <cmath> // std::fabs
#include <iostream>
#include <limits> // numeric_limits
#include <stdio.h>
#include <stdlib.h>

// Display stuff
#include <visp3/core/vpDisplay.h>
#include <visp3/gui/vpDisplayGTK.h>

// debug / exception
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpDisplayException.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpMath.h>

vpDisplayGTK::vpDisplayGTK(vpImage<unsigned char> &I, vpScaleType scaleType)
  : widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(), white(), black(),
    gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(), lightGray(),
    gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)
{
  setScale(scaleType, I.getWidth(), I.getHeight());
  init(I);
}

vpDisplayGTK::vpDisplayGTK(vpImage<unsigned char> &I, int x, int y, const std::string &title, vpScaleType scaleType)
  : widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(), white(), black(),
    gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(), lightGray(),
    gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)
{
  setScale(scaleType, I.getWidth(), I.getHeight());
  init(I, x, y, title);
}

vpDisplayGTK::vpDisplayGTK(vpImage<vpRGBa> &I, vpScaleType scaleType)
  : widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(), white(), black(),
    gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(), lightGray(),
    gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)
{
  setScale(scaleType, I.getWidth(), I.getHeight());
  init(I);
}

vpDisplayGTK::vpDisplayGTK(vpImage<vpRGBa> &I, int x, int y, const std::string &title, vpScaleType scaleType)
  : widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(), white(), black(),
    gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(), lightGray(),
    gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)
{
  setScale(scaleType, I.getWidth(), I.getHeight());
  init(I, x, y, title);
}

vpDisplayGTK::vpDisplayGTK(int x, int y, const std::string &title)
  : widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(), white(), black(),
    gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(), lightGray(),
    gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)
{
  m_windowXPosition = x;
  m_windowYPosition = y;
  m_title = title;
}

vpDisplayGTK::vpDisplayGTK()
  : vpDisplay(), widget(NULL), m_background(NULL), m_gc(NULL), blue(), red(), yellow(), green(), cyan(), orange(),
    white(), black(), gdkcolor(), lightBlue(), darkBlue(), lightRed(), darkRed(), lightGreen(), darkGreen(), purple(),
    lightGray(), gray(), darkGray(), colormap(NULL), font(NULL), vectgtk(NULL), col(NULL), ncol(0), nrow(0)

{
}

vpDisplayGTK::~vpDisplayGTK() { closeDisplay(); }

void vpDisplayGTK::init(vpImage<unsigned char> &I, int x, int y, const std::string &title)
{
  if ((I.getHeight() == 0) || (I.getWidth() == 0)) {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "Image not initialized"));
  }

  if (x != -1)
    m_windowXPosition = x;
  if (y != -1)
    m_windowYPosition = y;

  if (!title.empty())
    m_title = title;

  setScale(m_scaleType, I.getWidth(), I.getHeight());
  init(I.getWidth(), I.getHeight(), m_windowXPosition, m_windowYPosition, m_title);

  I.display = this;
  m_displayHasBeenInitialized = true;
}

void vpDisplayGTK::init(vpImage<vpRGBa> &I, int x, int y, const std::string &title)
{
  if ((I.getHeight() == 0) || (I.getWidth() == 0)) {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "Image not initialized"));
  }

  if (x != -1)
    m_windowXPosition = x;
  if (y != -1)
    m_windowYPosition = y;

  if (!title.empty())
    m_title = title;

  setScale(m_scaleType, I.getWidth(), I.getHeight());
  init(I.getWidth(), I.getHeight(), m_windowXPosition, m_windowYPosition, m_title);

  I.display = this;
  m_displayHasBeenInitialized = true;
}
void vpDisplayGTK::init(unsigned int w, unsigned int h, int x, int y, const std::string &title)
{
  /* Initialisation of thegdk et gdk_rgb library */
  int *argc = NULL;
  char **argv;

  gtk_init(argc, &argv);

  setScale(m_scaleType, w, h);

  m_width = w / m_scale;
  m_height = h / m_scale;

  /* Create the window*/
  widget = gtk_window_new(GTK_WINDOW_TOPLEVEL);

  gtk_widget_add_events(widget, GDK_BUTTON_PRESS_MASK | GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK);

  gtk_window_set_default_size(GTK_WINDOW(widget), (gint)m_width, (gint)m_height);

  if (x != -1)
    m_windowXPosition = x;
  if (y != -1)
    m_windowYPosition = y;

  gtk_window_move(GTK_WINDOW(widget), m_windowXPosition, m_windowYPosition);

  gtk_widget_show(widget);

  gdk_rgb_init();

  /* Create background pixmap */
  m_background = gdk_pixmap_new(widget->window, (gint)m_width, (gint)m_height, -1);

  /* Create graphic context */
  m_gc = gdk_gc_new(widget->window);

  /* get the colormap  */
  colormap = gdk_window_get_colormap(widget->window);

  col = new GdkColor *[vpColor::id_unknown]; // id_unknown = number of predefined colors

  /* Create color */
  gdk_color_parse("light blue", &lightBlue);
  gdk_colormap_alloc_color(colormap, &lightBlue, FALSE, TRUE);
  col[vpColor::id_lightBlue] = &lightBlue;

  gdk_color_parse("blue", &blue);
  gdk_colormap_alloc_color(colormap, &blue, FALSE, TRUE);
  col[vpColor::id_blue] = &blue;

  gdk_color_parse("dark blue", &darkBlue);
  gdk_colormap_alloc_color(colormap, &darkBlue, FALSE, TRUE);
  col[vpColor::id_darkBlue] = &darkBlue;

  gdk_color_parse("#FF8C8C", &lightRed);
  gdk_colormap_alloc_color(colormap, &lightRed, FALSE, TRUE);
  col[vpColor::id_lightRed] = &lightRed;

  gdk_color_parse("red", &red);
  gdk_colormap_alloc_color(colormap, &red, FALSE, TRUE);
  col[vpColor::id_red] = &red;

  gdk_color_parse("dark red", &darkRed);
  gdk_colormap_alloc_color(colormap, &darkRed, FALSE, TRUE);
  col[vpColor::id_darkRed] = &darkRed;

  gdk_color_parse("light green", &lightGreen);
  gdk_colormap_alloc_color(colormap, &lightGreen, FALSE, TRUE);
  col[vpColor::id_lightGreen] = &lightGreen;

  gdk_color_parse("green", &green);
  gdk_colormap_alloc_color(colormap, &green, FALSE, TRUE);
  col[vpColor::id_green] = &green;

  gdk_color_parse("dark green", &darkGreen);
  gdk_colormap_alloc_color(colormap, &darkGreen, FALSE, TRUE);
  col[vpColor::id_darkGreen] = &darkGreen;

  gdk_color_parse("yellow", &yellow);
  gdk_colormap_alloc_color(colormap, &yellow, FALSE, TRUE);
  col[vpColor::id_yellow] = &yellow;

  gdk_color_parse("cyan", &cyan);
  gdk_colormap_alloc_color(colormap, &cyan, FALSE, TRUE);
  col[vpColor::id_cyan] = &cyan;

  gdk_color_parse("orange", &orange);
  gdk_colormap_alloc_color(colormap, &orange, FALSE, TRUE);
  col[vpColor::id_orange] = &orange;

  gdk_color_parse("purple", &purple);
  gdk_colormap_alloc_color(colormap, &purple, FALSE, TRUE);
  col[vpColor::id_purple] = &purple;

  gdk_color_parse("white", &white);
  gdk_colormap_alloc_color(colormap, &white, FALSE, TRUE);
  col[vpColor::id_white] = &white;

  gdk_color_parse("black", &black);
  gdk_colormap_alloc_color(colormap, &black, FALSE, TRUE);
  col[vpColor::id_black] = &black;

  gdk_color_parse("#C0C0C0", &lightGray);
  gdk_colormap_alloc_color(colormap, &lightGray, FALSE, TRUE);
  col[vpColor::id_lightGray] = &lightGray;

  gdk_color_parse("#808080", &gray);
  gdk_colormap_alloc_color(colormap, &gray, FALSE, TRUE);
  col[vpColor::id_gray] = &gray;

  gdk_color_parse("#404040", &darkGray);
  gdk_colormap_alloc_color(colormap, &darkGray, FALSE, TRUE);
  col[vpColor::id_darkGray] = &darkGray;

  // Try to load a default font
  font = gdk_font_load("-*-times-medium-r-normal-*-16-*-*-*-*-*-*-*");
  if (font == NULL)
    font = gdk_font_load("-*-courier-bold-r-normal-*-*-140-*-*-*-*-*-*");
  if (font == NULL)
    font = gdk_font_load("-*-courier 10 pitch-medium-r-normal-*-16-*-*-*-*-*-*-*");

  m_title = title;
  if (!title.empty())
    gdk_window_set_title(widget->window, m_title.c_str());

  m_displayHasBeenInitialized = true;
}

void vpDisplayGTK::setFont(const std::string &fontname) { font = gdk_font_load((const gchar *)fontname.c_str()); }

void vpDisplayGTK::setTitle(const std::string &title)
{
  if (m_displayHasBeenInitialized) {
    m_title = title;
    if (!title.empty())
      gdk_window_set_title(widget->window, m_title.c_str());
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::setWindowPosition(int winx, int winy)
{

  if (m_displayHasBeenInitialized) {
    gtk_window_move(GTK_WINDOW(widget), winx, winy);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayImage(const vpImage<unsigned char> &I)
{

  if (m_displayHasBeenInitialized) {
    if (m_scale == 1) {
      /* Copie de l'image dans le pixmap fond */
      gdk_draw_gray_image(m_background, m_gc, 0, 0, (gint)m_width, (gint)m_height, GDK_RGB_DITHER_NONE, I.bitmap,
                          (gint)m_width);
    } else {
      vpImage<unsigned char> sampled;
      I.subsample(m_scale, m_scale, sampled);
      gdk_draw_gray_image(m_background, m_gc, 0, 0, (gint)m_width, (gint)m_height, GDK_RGB_DITHER_NONE, sampled.bitmap,
                          (gint)m_width);
    }

    /* Le pixmap background devient le fond de la zone de dessin */
    gdk_window_set_back_pixmap(widget->window, m_background, FALSE);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayImageROI(const vpImage<unsigned char> &I, const vpImagePoint &iP, unsigned int w,
                                   unsigned int h)
{
  if (m_displayHasBeenInitialized) {
    vpImage<unsigned char> Itemp;
    vpImageTools::crop(I, iP.get_i(), iP.get_j(), h, w, Itemp, m_scale, m_scale);

    /* Copie de l'image dans le pixmap fond */
    int i_min = (std::max)((int)ceil(iP.get_i() / m_scale), 0);
    int j_min = (std::max)((int)ceil(iP.get_j() / m_scale), 0);

    gdk_draw_gray_image(m_background, m_gc, (gint)j_min, (gint)i_min, (gint)Itemp.getWidth(), (gint)Itemp.getHeight(),
                        GDK_RGB_DITHER_NONE, Itemp.bitmap, (gint)Itemp.getWidth());

    /* Le pixmap background devient le fond de la zone de dessin */
    gdk_window_set_back_pixmap(widget->window, m_background, FALSE);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayImage(const vpImage<vpRGBa> &I)
{

  if (m_displayHasBeenInitialized) {
    if (m_scale == 1) {
      /* Copie de l'image dans le pixmap fond */
      gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, (gint)m_width, (gint)m_height, GDK_RGB_DITHER_NONE,
                            (unsigned char *)I.bitmap, (gint)(4 * m_width));
    } else {
      vpImage<vpRGBa> sampled;
      I.subsample(m_scale, m_scale, sampled);
      gdk_draw_rgb_32_image(m_background, m_gc, 0, 0, (gint)m_width, (gint)m_height, GDK_RGB_DITHER_NONE,
                            (unsigned char *)sampled.bitmap, (gint)(4 * m_width));
    }
    /* Permet de fermer la fenetre si besoin (cas des sequences d'images) */
    // while (g_main_iteration(FALSE));

    /* Le pixmap background devient le fond de la zone de dessin */
    gdk_window_set_back_pixmap(widget->window, m_background, FALSE);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayImageROI(const vpImage<vpRGBa> &I, const vpImagePoint &iP, unsigned int w,
                                   unsigned int h)
{
  if (m_displayHasBeenInitialized) {
    vpImage<vpRGBa> Itemp;
    vpImageTools::crop(I, iP.get_i(), iP.get_j(), h, w, Itemp, m_scale, m_scale);

    /* Copie de l'image dans le pixmap fond */
    int i_min = (std::max)((int)ceil(iP.get_i() / m_scale), 0);
    int j_min = (std::max)((int)ceil(iP.get_j() / m_scale), 0);

    gdk_draw_rgb_32_image(m_background, m_gc, (gint)j_min, (gint)i_min, (gint)Itemp.getWidth(), (gint)Itemp.getHeight(),
                          GDK_RGB_DITHER_NONE, (unsigned char *)Itemp.bitmap, (gint)Itemp.getWidth() * 4);

    /* Le pixmap background devient le fond de la zone de dessin */
    gdk_window_set_back_pixmap(widget->window, m_background, FALSE);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayImage(const unsigned char * /* I */) { vpTRACE(" not implemented "); }

void vpDisplayGTK::closeDisplay()
{
  if (col != NULL) {
    delete[] col;
    col = NULL;
  }

  if (widget != NULL) {
    gdk_window_hide(widget->window);
    gdk_window_destroy(widget->window);
    gtk_widget_destroy(widget);
    widget = NULL;
  }
  m_displayHasBeenInitialized = false;
}

void vpDisplayGTK::flushDisplay()
{
  if (m_displayHasBeenInitialized) {
    gdk_window_clear(widget->window);
    gdk_flush();
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::flushDisplayROI(const vpImagePoint & /*iP*/, const unsigned int /*width*/,
                                   const unsigned int /*height*/)
{
  if (m_displayHasBeenInitialized) {
    gdk_window_clear(widget->window);
    gdk_flush();
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::clearDisplay(const vpColor & /* color */) { vpTRACE("Not implemented"); }

void vpDisplayGTK::displayArrow(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int w,
                                unsigned int h, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    double a = ip2.get_i() - ip1.get_i();
    double b = ip2.get_j() - ip1.get_j();
    double lg = sqrt(vpMath::sqr(a) + vpMath::sqr(b));

    // if ((a==0)&&(b==0))
    if ((std::fabs(a) <= std::numeric_limits<double>::epsilon()) &&
        (std::fabs(b) <= std::numeric_limits<double>::epsilon())) {
      // DisplayCrossLarge(i1,j1,3,col) ;
    } else {
      a /= lg;
      b /= lg;

      vpImagePoint ip3;
      ip3.set_i(ip2.get_i() - w * a);
      ip3.set_j(ip2.get_j() - w * b);

      vpImagePoint ip4;
      ip4.set_i(ip3.get_i() - b * h);
      ip4.set_j(ip3.get_j() + a * h);

      if (lg > 2 * vpImagePoint::distance(ip2, ip4))
        displayLine(ip2, ip4, color, thickness);

      ip4.set_i(ip3.get_i() + b * h);
      ip4.set_j(ip3.get_j() - a * h);

      if (lg > 2 * vpImagePoint::distance(ip2, ip4))
        displayLine(ip2, ip4, color, thickness);

      displayLine(ip1, ip2, color, thickness);
    }
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color)
{
  if (m_displayHasBeenInitialized) {
    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }
    if (font != NULL)
      gdk_draw_string(m_background, font, m_gc, vpMath::round(ip.get_u() / m_scale),
                      vpMath::round(ip.get_v() / m_scale), (const gchar *)text);
    else
      std::cout << "Cannot draw string: no font is selected" << std::endl;
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}
void vpDisplayGTK::displayCircle(const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill,
                                 unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (thickness == 1)
      thickness = 0;

    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);

    if (fill == false)
      gdk_draw_arc(m_background, m_gc, FALSE, vpMath::round((center.get_u() - radius) / m_scale),
                   vpMath::round((center.get_v() - radius) / m_scale), (gint)(2. * radius / m_scale),
                   (gint)(2. * radius / m_scale), 23040, 23040); /* 23040 = 360*64 */
    else
      gdk_draw_arc(m_background, m_gc, TRUE, vpMath::round((center.get_u() - radius) / m_scale),
                   vpMath::round((center.get_v() - radius) / m_scale), (gint)(2. * radius / m_scale),
                   (gint)(2. * radius / m_scale), 23040, 23040); /* 23040 = 360*64 */
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}
void vpDisplayGTK::displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    double i = ip.get_i();
    double j = ip.get_j();
    vpImagePoint ip1, ip2;

    ip1.set_i(i - size / 2);
    ip1.set_j(j);
    ip2.set_i(i + size / 2);
    ip2.set_j(j);
    displayLine(ip1, ip2, color, thickness);

    ip1.set_i(i);
    ip1.set_j(j - size / 2);
    ip2.set_i(i);
    ip2.set_j(j + size / 2);

    displayLine(ip1, ip2, color, thickness);
  }

  else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}
void vpDisplayGTK::displayDotLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
                                  unsigned int thickness)
{

  if (m_displayHasBeenInitialized) {
    if (thickness == 1)
      thickness = 0;

    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_ON_OFF_DASH, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
    gdk_draw_line(m_background, m_gc, vpMath::round(ip1.get_u() / m_scale), vpMath::round(ip1.get_v() / m_scale),
                  vpMath::round(ip2.get_u() / m_scale), vpMath::round(ip2.get_v() / m_scale));
    gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color,
                               unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (thickness == 1)
      thickness = 0;

    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
    gdk_draw_line(m_background, m_gc, vpMath::round(ip1.get_u() / m_scale), vpMath::round(ip1.get_v() / m_scale),
                  vpMath::round(ip2.get_u() / m_scale), vpMath::round(ip2.get_v() / m_scale));
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayPoint(const vpImagePoint &ip, const vpColor &color, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    if (thickness == 1) {
      gdk_draw_point(m_background, m_gc, vpMath::round(ip.get_u() / m_scale), vpMath::round(ip.get_v() / m_scale));
    } else {
      gdk_draw_rectangle(m_background, m_gc, TRUE, vpMath::round(ip.get_u() / m_scale),
                         vpMath::round(ip.get_v() / m_scale), thickness, thickness);
    }
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayRectangle(const vpImagePoint &topLeft, unsigned int w, unsigned int h, const vpColor &color,
                                    bool fill, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (thickness == 1)
      thickness = 0;

    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }
    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);

    if (fill == false)
      gdk_draw_rectangle(m_background, m_gc, FALSE, vpMath::round(topLeft.get_u() / m_scale),
                         vpMath::round(topLeft.get_v() / m_scale), (gint)w / m_scale, (gint)h / m_scale);
    else
      gdk_draw_rectangle(m_background, m_gc, TRUE, vpMath::round(topLeft.get_u() / m_scale),
                         vpMath::round(topLeft.get_v() / m_scale), (gint)w / m_scale, (gint)h / m_scale);

    if (thickness > 1)
      gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayRectangle(const vpImagePoint &topLeft, const vpImagePoint &bottomRight, const vpColor &color,
                                    bool fill, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (thickness == 1)
      thickness = 0;

    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);

    int w = vpMath::round(bottomRight.get_u() - topLeft.get_u());
    int h = vpMath::round(bottomRight.get_v() - topLeft.get_v());

    if (fill == false)
      gdk_draw_rectangle(m_background, m_gc, FALSE, vpMath::round(topLeft.get_u() / m_scale),
                         vpMath::round(topLeft.get_v() / m_scale), w / m_scale, h / m_scale);
    else
      gdk_draw_rectangle(m_background, m_gc, TRUE, vpMath::round(topLeft.get_u() / m_scale),
                         vpMath::round(topLeft.get_v() / m_scale), w / m_scale, h / m_scale);

    if (thickness > 1)
      gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

void vpDisplayGTK::displayRectangle(const vpRect &rectangle, const vpColor &color, bool fill, unsigned int thickness)
{
  if (m_displayHasBeenInitialized) {
    if (color.id < vpColor::id_unknown)
      gdk_gc_set_foreground(m_gc, col[color.id]);
    else {
      gdkcolor.red = 256 * color.R;
      gdkcolor.green = 256 * color.G;
      gdkcolor.blue = 256 * color.B;
      gdk_colormap_alloc_color(colormap, &gdkcolor, FALSE, TRUE);
      gdk_gc_set_foreground(m_gc, &gdkcolor);
    }

    if (thickness == 1)
      thickness = 0;

    gdk_gc_set_line_attributes(m_gc, (gint)thickness, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);

    if (fill == false)
      gdk_draw_rectangle(m_background, m_gc, FALSE, vpMath::round(rectangle.getLeft() / m_scale),
                         vpMath::round(rectangle.getTop() / m_scale), vpMath::round(rectangle.getWidth() / m_scale),
                         vpMath::round(rectangle.getHeight() / m_scale));

    else
      gdk_draw_rectangle(m_background, m_gc, TRUE, vpMath::round(rectangle.getLeft() / m_scale),
                         vpMath::round(rectangle.getTop() / m_scale), vpMath::round(rectangle.getWidth() / m_scale),
                         vpMath::round(rectangle.getHeight() / m_scale));

    if (thickness > 1)
      gdk_gc_set_line_attributes(m_gc, 0, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

bool vpDisplayGTK::getClick(bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {

    //    flushDisplay() ;
    // int cpt =0;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get()) != NULL) {
        // cpt++;
        //  printf("event %d type %d on window %p My window %p\n",
        // cpt, ev->type, ev->any.window, widget->window);

        if (ev->any.window == widget->window && ev->type == GDK_BUTTON_PRESS) {
          ret = true;
          // printf("Click detection\n");
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }
    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getClick(vpImagePoint &ip, bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {

    double u, v;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get()) != NULL) {
        if (ev->any.window == widget->window && ev->type == GDK_BUTTON_PRESS) {
          u = ((GdkEventButton *)ev)->x;
          v = ((GdkEventButton *)ev)->y;
          ip.set_u(u * m_scale);
          ip.set_v(v * m_scale);
          ret = true;
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }
    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getClick(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {
    double u, v;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get())) {
        if (ev->any.window == widget->window && ev->type == GDK_BUTTON_PRESS) {
          u = ((GdkEventButton *)ev)->x;
          v = ((GdkEventButton *)ev)->y;
          ip.set_u(u * m_scale);
          ip.set_v(v * m_scale);

          switch ((int)((GdkEventButton *)ev)->button) {
          case 1:
            button = vpMouseButton::button1;
            break;
          case 2:
            button = vpMouseButton::button2;
            break;
          case 3:
            button = vpMouseButton::button3;
            break;
          }
          ret = true;
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }

    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getClickUp(vpImagePoint &ip, vpMouseButton::vpMouseButtonType &button, bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {

    // flushDisplay() ;
    double u, v;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get()) != NULL) {
        if (ev->any.window == widget->window && ev->type == GDK_BUTTON_RELEASE) {
          u = ((GdkEventButton *)ev)->x;
          v = ((GdkEventButton *)ev)->y;
          ip.set_u(u * m_scale);
          ip.set_v(v * m_scale);

          switch ((int)((GdkEventButton *)ev)->button) {
          case 1:
            button = vpMouseButton::button1;
            break;
          case 2:
            button = vpMouseButton::button2;
            break;
          case 3:
            button = vpMouseButton::button3;
            break;
          }
          ret = true;
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }

    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

/*
  \brief gets the displayed image (including the overlay plane)
  and returns an RGBa image
*/
void vpDisplayGTK::getImage(vpImage<vpRGBa> &I)
{
  // should certainly be optimized.
  if (m_displayHasBeenInitialized) {

    GdkImage *ImageGtk;
    /*
     */

    ImageGtk = gdk_image_get(m_background, 0, 0, (gint)m_width, (gint)m_height);

    I.resize(m_height, m_width);
    guint32 pixel;
    gint x, y;
    guchar OctetRouge, OctetVert, OctetBleu, mask;
    mask = 0x000000FF;

    for (y = 0; y < (gint)m_height; y++) {
      for (x = 0; x < (gint)m_width; x++) {
        pixel = gdk_image_get_pixel(ImageGtk, x, y);
        OctetBleu = (guchar)pixel & mask;
        OctetVert = (guchar)(pixel >> 8) & mask;
        OctetRouge = (guchar)(pixel >> 16) & mask;
        I[y][x].R = OctetRouge;
        I[y][x].G = OctetVert;
        I[y][x].B = OctetBleu;
        I[y][x].A = vpRGBa::alpha_default; // default opacity
      }
    }
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
}

unsigned int vpDisplayGTK::getScreenDepth()
{

  unsigned int depth;

  depth = (unsigned int)gdk_window_get_visual(widget->window)->depth;

  return (depth);
}

bool vpDisplayGTK::getKeyboardEvent(bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {

    int cpt = 0;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get()) != NULL) {
        cpt++;
        //  printf("event %d type %d on window %p My window %p\n",
        // cpt, ev->type, ev->any.window, widget->window);

        if (ev->any.window == widget->window && ev->type == GDK_KEY_PRESS) {
          ret = true;
          // printf("Key press detection\n");
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }
    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getKeyboardEvent(std::string &key, bool blocking)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {

    int cpt = 0;
    do {
      GdkEvent *ev = NULL;
      while ((ev = gdk_event_get()) != NULL) {
        cpt++;
        //  printf("event %d type %d on window %p My window %p\n",
        // cpt, ev->type, ev->any.window, widget->window);

        if (ev->any.window == widget->window && ev->type == GDK_KEY_PRESS) {
          // std::cout << "Key val: \"" << gdk_keyval_name (ev->key.keyval)
          // /*ev->key.string*/ << "\"" << std::endl;
          key = gdk_keyval_name(ev->key.keyval);
          ret = true;
          // printf("Key press detection\n");
        }
        gdk_event_free(ev);
      }
      if (blocking) {
        flushDisplay();
        vpTime::wait(100);
      }
    } while (ret == false && blocking == true);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getPointerMotionEvent(vpImagePoint &ip)
{
  bool ret = false;

  if (m_displayHasBeenInitialized) {
    GdkEvent *ev = NULL;
    if ((ev = gdk_event_get())) {
      if (ev->any.window == widget->window && ev->type == GDK_MOTION_NOTIFY) {
        double u = ((GdkEventMotion *)ev)->x;
        double v = ((GdkEventMotion *)ev)->y;
        ip.set_u(u * m_scale);
        ip.set_v(v * m_scale);

        ret = true;
      }
      gdk_event_free(ev);
    }
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }
  return ret;
}

bool vpDisplayGTK::getPointerPosition(vpImagePoint &ip)
{
  if (m_displayHasBeenInitialized) {
    int u, v;
    gdk_window_get_pointer(widget->window, &u, &v, NULL);
    ip.set_u(u * m_scale);
    ip.set_v(v * m_scale);
  } else {
    throw(vpDisplayException(vpDisplayException::notInitializedError, "GTK not initialized"));
  }

  return true;
}

void vpDisplayGTK::getScreenSize(unsigned int &w, unsigned int &h)
{
  w = h = 0;

  if (!m_displayHasBeenInitialized) {
    int *argc = NULL;
    char **argv;

    gtk_init(argc, &argv);

    GtkWidget *widget_ = gtk_window_new(GTK_WINDOW_TOPLEVEL);
    gtk_window_set_default_size(GTK_WINDOW(widget_), 100, 100);
    gtk_widget_show(widget_);

    GdkScreen *screen_ = gdk_window_get_screen(widget_->window);
    w = (unsigned int)gdk_screen_get_width(screen_);
    h = (unsigned int)gdk_screen_get_height(screen_);
    gtk_widget_destroy(widget_);
  } else {
    GdkScreen *screen_ = gdk_window_get_screen(widget->window);
    w = (unsigned int)gdk_screen_get_width(screen_);
    h = (unsigned int)gdk_screen_get_height(screen_);
  }
}

unsigned int vpDisplayGTK::getScreenWidth()
{
  unsigned int width, height;
  getScreenSize(width, height);
  return width;
}

unsigned int vpDisplayGTK::getScreenHeight()
{
  unsigned int width, height;
  getScreenSize(width, height);
  return height;
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_core.a(vpDisplayGTK.cpp.o) has no
// symbols
void dummy_vpDisplayGTK(){};
#endif