Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
testDisplays.cpp

Test all the displays. Draws several shapes.

/****************************************************************************
*
* 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"
static 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);
}
static 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;
}
template <typename Type> static void draw(vpImage<Type> &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);
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);
iP1.set_i(140);
iP1.set_j(10);
iP2.set_i(140);
iP2.set_j(50);
iP1.set_i(120);
iP1.set_j(180);
iP2.set_i(160);
iP2.set_j(250);
iP1.set_i(160);
iP1.set_j(280);
iP2.set_i(120);
iP2.set_j(340);
iP1.set_i(220);
iP1.set_j(400);
iP2.set_i(120);
iP2.set_j(400);
iP1.set_i(220);
iP1.set_j(480);
iP2.set_i(120);
iP2.set_j(450);
vpHomogeneousMatrix cMo(vpTranslationVector(0.15, -0.07, 0.37), vpRotationMatrix(vpRxyzVector(0.1, -0.4, 0.41)));
vpCameraParameters cam(600, 600, 320, 240);
vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
iP1.set_i(140);
iP1.set_j(80);
iP2.set_i(140);
iP2.set_j(150);
iP1.set_i(140);
iP1.set_j(400);
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);
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);
std::vector<vpImagePoint> polygon;
polygon.push_back(vpImagePoint(250, 500));
polygon.push_back(vpImagePoint(350, 600));
polygon.push_back(vpImagePoint(450, 500));
polygon.push_back(vpImagePoint(350, 400));
polygon.clear();
polygon.push_back(vpImagePoint(300, 500));
polygon.push_back(vpImagePoint(350, 550));
polygon.push_back(vpImagePoint(400, 500));
polygon.push_back(vpImagePoint(350, 450));
vpDisplay::displayPolygon(I, polygon, vpColor::cyan, 3, false);
}
template <typename Type> static void runTest(bool opt_display, bool opt_click_allowed)
{
#if defined VISP_HAVE_X11
vpDisplayX *displayX = new vpDisplayX;
Ix.init(480, 640, 255);
if (opt_display) {
displayX->init(Ix, 100, 100, "Display X11");
draw(Ix);
if (opt_click_allowed)
}
#endif
#if defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV *displayCv = new vpDisplayOpenCV;
Icv.init(480, 640, 255);
if (opt_display) {
displayCv->init(Icv, 100, 100, "Display OpenCV");
draw(Icv);
if (opt_click_allowed)
}
#endif
#if defined VISP_HAVE_GTK
vpDisplayGTK *displayGtk = new vpDisplayGTK;
Igtk.init(480, 640, 255);
if (opt_display) {
displayGtk->init(Igtk, 100, 100, "Display GTK");
draw(Igtk);
if (opt_click_allowed)
}
#endif
#if defined VISP_HAVE_GDI
vpDisplayGDI *displayGdi = new vpDisplayGDI;
Igdi.init(480, 640, 255);
if (opt_display) {
displayGdi->init(Igdi, 100, 100, "Display GDI");
draw(Igdi);
if (opt_click_allowed)
}
#endif
#if defined VISP_HAVE_D3D9
vpDisplayD3D *displayD3d = new vpDisplayD3D;
Id3d.init(480, 640, 255);
if (opt_display) {
displayD3d->init(Id3d, 100, 100, "Display Direct 3D");
draw(Id3d);
if (opt_click_allowed)
}
#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
}
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 color image for each display.
runTest<vpRGBa>(opt_display, opt_click_allowed);
// Create a grayscale image for each display.
runTest<unsigned char>(opt_display, opt_click_allowed);
} 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;
return 0;
}
#endif
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
static const vpColor black
Definition: vpColor.h:211
static const vpColor cyan
Definition: vpColor.h:226
static const vpColor none
Definition: vpColor.h:229
static const vpColor orange
Definition: vpColor.h:227
static const vpColor blue
Definition: vpColor.h:223
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
static void displayArrow(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color=vpColor::white, unsigned int w=4, unsigned int h=2, unsigned int thickness=1)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static void displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint &center, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayPolygon(const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1, bool closed=true)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:87
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
void set_j(double jj)
Definition: vpImagePoint.h:309
void set_i(double ii)
Definition: vpImagePoint.h:298
Definition of the vpImage class member functions.
Definition: vpImage.h:73
void init(unsigned int height, unsigned int width)
Set the size of the image.
Definition: vpImage.h:643
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Defines a rectangle in the plane.
Definition: vpRect.h:80
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Class that consider the case of a translation vector.