Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
testMouseEvent.cpp

Read an image sequence from the disk and display it.

The sequence is made of separate images. Each image corresponds to a PGM file.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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:
* Read an image sequence from the disk and display it.
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9))
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpMouseButton.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpTime.h>
// List of allowed command line options
#define GETOPTARGS "cdi:Lp:ht:f:l:s:w"
typedef enum {
vpX11,
vpGTK,
vpGDI,
vpD3D,
} vpDisplayType;
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first, unsigned last,
unsigned step, vpDisplayType &dtype)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Read an image sequence from the disk and display it.\n\
The sequence is made of separate images. Each image corresponds\n\
to a PGM file.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-p <personal image path>]\n\
[-f <first image>] [-l <last image>] [-s <step>] \n\
[-t <type of video device>] [-L] [-w] [-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;
}
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <test image path> %s\n\
Set image input path.\n\
From this path read \"cube/image.%%04d.%s\"\n\
images. These images come from ViSP-images-x.y.z.tar.gz\n\
available on the ViSP website.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-p <personal image path> %s\n\
Specify a personal sequence containing images \n\
to process.\n\
By image sequence, we mean one file per image.\n\
The format is selected by analysing the filename extension.\n\
Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
%%04d is for the image numbering.\n\
\n\
-f <first image> %u\n\
First image number of the sequence.\n\
\n\
-l <last image> %u\n\
Last image number of the sequence.\n\
\n\
-s <step> %u\n\
Step between two images.\n\
\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\
\n\
-L\n\
Print the list of video-devices available and exit.\n\
\n\
-c\n\
Disable mouse click.\n\
\n\
-d\n\
Disable the image display. This can be useful \n\
for automatic tests using crontab under Unix or \n\
using the task manager under Windows.\n\
\n\
-w\n\
Wait for a mouse click between two images.\n\
If the image display is disabled (using -d)\n\
this option is without effect.\n\
\n\
-h\n\
Print the help.\n\n",
ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step, display.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
unsigned &step, vpDisplayType &dtype, bool &list, bool &display, bool &click, bool &wait)
{
const char *optarg_;
int c;
std::string sDisplayType;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click = false;
break;
case 'd':
display = false;
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;
}
break;
case 'i':
ipath = optarg_;
break;
case 'L':
list = true;
break;
case 'p':
ppath = optarg_;
break;
case 'f':
first = (unsigned)atoi(optarg_);
break;
case 'l':
last = (unsigned)atoi(optarg_);
break;
case 's':
step = (unsigned)atoi(optarg_);
break;
case 'w':
wait = true;
break;
case 'h':
usage(argv[0], nullptr, ipath, ppath, first, last, step, dtype);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath, first, last, step, dtype);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], nullptr, ipath, ppath, first, last, step, 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)
{
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string dirname;
std::string filename;
unsigned opt_first = 30;
unsigned opt_last = 40;
unsigned opt_step = 1;
vpDisplayType opt_dtype; // Type of display to use
bool opt_list = false; // To print the list of video devices
bool opt_display = true;
bool opt_click = true;
bool opt_click_blocking = false;
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
// 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;
#endif
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_dtype, opt_list, opt_display,
opt_click, opt_click_blocking) == false) {
return EXIT_FAILURE;
}
// 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 (!nbDevices) {
std::cout << " No display is available\n";
}
return EXIT_FAILURE;
}
if (!opt_display)
opt_click_blocking = false; // turn off the waiting
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// Compare ipath and env_ipath. If they differ, we take into account
// the input path coming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, opt_step, opt_dtype);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< " Use -p <personal image path> option if you want to " << std::endl
<< " use personal images." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
// Declare an image, this is a gray level image (unsigned char)
// it size is not defined yet, it will be defined when the image will
// read on the disk
unsigned iter = opt_first;
std::ostringstream s;
char cfilename[FILENAME_MAX];
if (opt_ppath.empty()) {
// Warning : the datset is available on https://visp.inria.fr/download/
dirname = vpIoTools::createFilePath(ipath, "cube");
// Build the name of the image file
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
} else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
// Read image named "filename" and put the bitmap in I
try {
vpImageIo::read(I, filename);
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " Check your -i " << ipath << " option, " << std::endl
<< " or your -p " << opt_ppath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable" << std::endl;
return EXIT_FAILURE;
}
// Create a display for the image
vpDisplay *display = nullptr;
switch (opt_dtype) {
case vpX11:
std::cout << "Requested X11 display functionalities..." << std::endl;
#if defined(VISP_HAVE_X11)
#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 EXIT_FAILURE;
#endif
break;
case vpGTK:
std::cout << "Requested GTK display functionalities..." << std::endl;
#if defined(VISP_HAVE_GTK)
#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 EXIT_FAILURE;
#endif
break;
case vpGDI:
std::cout << "Requested GDI display functionalities..." << std::endl;
#if defined(VISP_HAVE_GDI)
#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 EXIT_FAILURE;
#endif
break;
case vpD3D:
std::cout << "Requested D3D display functionalities..." << std::endl;
#if defined(VISP_HAVE_D3D9)
#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 EXIT_FAILURE;
#endif
break;
}
if (opt_display) {
try {
// We open a window using either X11 or GTK or GDI.
// Its size is automatically defined by the image (I) size
display->init(I, 100, 100, "Display...");
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
// therefore is is no longer necessary to make a reference to the
// display variable.
} catch (...) {
vpERROR_TRACE("Error while displaying the image");
delete display;
return EXIT_FAILURE;
}
}
// this is the loop over the image sequence
while (iter < opt_last) {
try {
double tms = vpTime::measureTimeMs();
// set the new image name
if (opt_ppath.empty()) {
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
} else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
std::cout << "read : " << filename << std::endl;
// read the image
vpImageIo::read(I, filename);
if (opt_display) {
// Display the image
// Flush the display
if (opt_click_blocking) {
std::cout << "A click in the image to continue..." << std::endl;
}
if (opt_click) {
bool pressed = vpDisplay::getClick(I, ip, button, opt_click_blocking);
if (pressed) {
switch (button) {
std::cout << "Left button was pressed." << std::endl;
break;
std::cout << "Middle button was pressed." << std::endl;
break;
std::cout << "Right button was pressed. Bye. " << std::endl;
delete display;
return EXIT_SUCCESS;
break;
break;
}
}
}
vpTime::wait(tms, 1000);
} else {
// Synchronise the loop to 40 ms
vpTime::wait(tms, 40);
}
} catch (...) {
delete display;
return EXIT_FAILURE;
}
iter += opt_step;
}
delete display;
}
#else
int main() { vpERROR_TRACE("You do not have X11 or GTK display functionalities..."); }
#endif
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:101
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
Class that defines generic functionalities for display.
Definition: vpDisplay.h:173
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:143
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1832
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:2195
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
#define vpERROR_TRACE
Definition: vpDebug.h:382
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()