Visual Servoing Platform version 3.6.0
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testDisplayPolygonLines.cpp

Test display polygon lines.

/****************************************************************************
*
* 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:
* Test display polygon lines
*
*****************************************************************************/
#include <cstdlib>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpPolygon.h>
#include <visp3/core/vpRect.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/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdh"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Display polygon lines.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Disable the image display. This can be useful \n\
for automatic tests. \n\
\n\
-h\n\
Print the help.\n\n");
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click_allowed = 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)) {
// 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;
}
int main(int argc, const char **argv)
{
#ifdef VISP_HAVE_DISPLAY
bool opt_click_allowed = true;
bool opt_display = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
return EXIT_FAILURE;
}
if (opt_display && opt_click_allowed) {
vpImage<unsigned char> I(480, 640, 127);
vpImage<vpRGBa> I_color(480, 640);
#if defined(VISP_HAVE_X11)
vpDisplayX d, d2;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK d, d2;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d, d2;
#elif defined(VISP_HAVE_D3D9)
vpDisplayD3D d, d2;
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
d.init(I, 0, 0, "Grayscale image");
vpDisplay::displayText(I, 20, 20, "Left click to draw a polygon, right click when it is finished.", vpColor::red);
vpPolygon polygon;
polygon.initClick(I);
vpDisplay::displayText(I, 20, 20, "Shape is not closed. Click to display dashed lines.", vpColor::red);
vpDisplay::displayText(I, 20, 20, "Shape is closed. Click to draw on color image.", vpColor::red);
d2.init(I_color, I.getWidth(), 0, "Color image");
// Create colormap
for (unsigned int i = 0; i < I_color.getHeight(); i++) {
double hue = i / (double)I_color.getHeight(), saturation = 1.0, value = 1.0;
unsigned char rgb[3];
vpImageConvert::HSVToRGB(&hue, &saturation, &value, rgb, 1);
for (unsigned int j = 0; j < I_color.getWidth(); j++) {
I_color[i][j].R = rgb[0];
I_color[i][j].G = rgb[1];
I_color[i][j].B = rgb[2];
}
}
vpDisplay::displayText(I_color, 20, 20, "Left click to draw a polygon, right click when it is finished.",
vpDisplay::flush(I_color);
polygon.initClick(I_color);
vpDisplay::displayText(I_color, 20, 20, "Shape is closed. Click to display dashed lines.", vpColor::black);
vpDisplay::displayLine(I_color, polygon.getCorners(), true, vpColor::red, 2);
vpDisplay::flush(I_color);
vpDisplay::displayText(I_color, 20, 20, "Shape is not closed. Click to quit.", vpColor::black);
vpDisplay::displayDotLine(I_color, polygon.getCorners(), false, vpColor::red, 2);
vpDisplay::flush(I_color);
}
#else
(void)argc;
(void)argv;
#endif
return EXIT_SUCCESS;
}
static const vpColor red
Definition vpColor.h:211
static const vpColor black
Definition vpColor.h:205
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
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 flush(const vpImage< unsigned char > &I)
static void displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
static void HSVToRGB(const double *hue, const double *saturation, const double *value, unsigned char *rgb, unsigned int size)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Defines a generic 2D polygon.
Definition vpPolygon.h:97
const std::vector< vpImagePoint > & getCorners() const
Definition vpPolygon.h:147
void initClick(const vpImage< unsigned char > &I, unsigned int size=5, const vpColor &color=vpColor::red, unsigned int thickness=1)