Visual Servoing Platform version 3.5.0
displayOpenCV.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Read an image on the disk and display it using OpenCV.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
47#include <iostream>
48#include <stdlib.h>
49#include <visp3/core/vpConfig.h>
50#include <visp3/core/vpDebug.h>
51
52#if defined(VISP_HAVE_OPENCV)
53
54#include <visp3/core/vpImage.h>
55#include <visp3/core/vpIoTools.h>
56#include <visp3/gui/vpDisplayOpenCV.h>
57#include <visp3/io/vpImageIo.h>
58#include <visp3/io/vpParseArgv.h>
59
60#include <visp3/core/vpTime.h>
61
71// List of allowed command line options
72#define GETOPTARGS "cdi:o:p:h"
73
85void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
86{
87 fprintf(stdout, "\n\
88Read an image on the disk, display it using OpenCV, display some\n\
89features (line, circle, caracters) in overlay and finaly write \n\
90the image and the overlayed features in an image on the disk.\n\
91\n\
92SYNOPSIS\n\
93 %s [-i <input image path>] [-o <output image path>]\n\
94 [-c] [-d] [-h]\n \
95", name);
96
97 fprintf(stdout, "\n\
98OPTIONS: Default\n\
99 -i <input image path> %s\n\
100 Set image input path.\n\
101 From this path read \"Klimt/Klimt.pgm\"\n\
102 image.\n\
103 Setting the VISP_INPUT_IMAGE_PATH environment\n\
104 variable produces the same behaviour than using\n\
105 this option.\n\
106\n\
107 -o <output image path> %s\n\
108 Set image output path.\n\
109 From this directory, creates the \"%s\"\n\
110 subdirectory depending on the username, where \n\
111 Klimt_grey.overlay.ppm output image is written.\n\
112\n\
113 -c\n\
114 Disable the mouse click. Useful to automate the \n\
115 execution of this program without humain intervention.\n\
116\n\
117 -d \n\
118 Disable the image display. This can be useful \n\
119 for automatic tests using crontab under Unix or \n\
120 using the task manager under Windows.\n\
121\n\
122 -h\n\
123 Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str());
124
125 if (badparam) {
126 fprintf(stderr, "ERROR: \n");
127 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
128 }
129}
130
149bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
150 const std::string &user, bool &display)
151{
152 const char *optarg_;
153 int c;
154 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
155
156 switch (c) {
157 case 'c':
158 click_allowed = false;
159 break;
160 case 'd':
161 display = false;
162 break;
163 case 'i':
164 ipath = optarg_;
165 break;
166 case 'o':
167 opath = optarg_;
168 break;
169 case 'h':
170 usage(argv[0], NULL, ipath, opath, user);
171 return false;
172 break;
173
174 default:
175 usage(argv[0], optarg_, ipath, opath, user);
176 return false;
177 break;
178 }
179 }
180
181 if ((c == 1) || (c == -1)) {
182 // standalone param or error
183 usage(argv[0], NULL, ipath, opath, user);
184 std::cerr << "ERROR: " << std::endl;
185 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
186 return false;
187 }
188
189 return true;
190}
191
192int main(int argc, const char **argv)
193{
194 try {
195 std::string env_ipath;
196 std::string opt_ipath;
197 std::string opt_opath;
198 std::string ipath;
199 std::string opath;
200 std::string filename;
201 std::string username;
202 bool opt_click_allowed = true;
203 bool opt_display = true;
204
205 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
206 // environment variable value
208
209 // Set the default input path
210 if (!env_ipath.empty())
211 ipath = env_ipath;
212
213// Set the default output path
214#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
215 opt_opath = "/tmp";
216#elif defined(_WIN32)
217 opt_opath = "C:\\temp";
218#endif
219
220 // Get the user login name
221 vpIoTools::getUserName(username);
222
223 // Read the command line options
224 if (getOptions(argc, argv, opt_ipath, opt_opath, opt_click_allowed, username, opt_display) == false) {
225 exit(-1);
226 }
227
228 // Get the option values
229 if (!opt_ipath.empty())
230 ipath = opt_ipath;
231 if (!opt_opath.empty())
232 opath = opt_opath;
233
234 // Append to the output path string, the login name of the user
235 std::string odirname = vpIoTools::createFilePath(opath, username);
236
237 // Test if the output path exist. If no try to create it
238 if (vpIoTools::checkDirectory(odirname) == false) {
239 try {
240 // Create the dirname
241 vpIoTools::makeDirectory(odirname);
242 } catch (...) {
243 usage(argv[0], NULL, ipath, opath, username);
244 std::cerr << std::endl << "ERROR:" << std::endl;
245 std::cerr << " Cannot create " << odirname << std::endl;
246 std::cerr << " Check your -o " << opath << " option " << std::endl;
247 exit(-1);
248 }
249 }
250
251 // Compare ipath and env_ipath. If they differ, we take into account
252 // the input path comming from the command line option
253 if (!opt_ipath.empty() && !env_ipath.empty()) {
254 if (ipath != env_ipath) {
255 std::cout << std::endl << "WARNING: " << std::endl;
256 std::cout << " Since -i <visp image path=" << ipath << "> "
257 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
258 << " we skip the environment variable." << std::endl;
259 }
260 }
261
262 // Test if an input path is set
263 if (opt_ipath.empty() && env_ipath.empty()) {
264 usage(argv[0], NULL, ipath, opath, username);
265 std::cerr << std::endl << "ERROR:" << std::endl;
266 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
267 << " environment variable to specify the location of the " << std::endl
268 << " image path where test images are located." << std::endl
269 << std::endl;
270 exit(-1);
271 }
272
273 // Create a grey level image
275 vpImagePoint ip, ip1, ip2;
276
277 // Load a grey image from the disk
278 filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
279 vpImageIo::read(I, filename);
280
281 // Create a display using X11
282 vpDisplayOpenCV display;
283
284 if (opt_display) {
285 // For this grey level image, open a X11 display at position 100,100
286 // in the screen, and with title "X11 display"
287 display.init(I, 100, 100, "X11 display");
288
289 // Display the image
291
292 // Display in overlay a red cross at position 10,10 in the
293 // image. The lines are 10 pixels long
294 ip.set_i(100);
295 ip.set_j(10);
296
298
299 // Display in overlay horizontal red lines
300 for (unsigned i = 0; i < I.getHeight(); i += 20) {
301 ip1.set_i(i);
302 ip1.set_j(0);
303 ip2.set_i(i);
304 ip2.set_j(I.getWidth());
306 }
307
308 // Display a ligne in the diagonal
309 ip1.set_i(-10);
310 ip1.set_j(-10);
311 ip2.set_i(I.getHeight() + 10);
312 ip2.set_j(I.getWidth() + 10);
313
315
316 // Display in overlay vertical green dot lines
317 for (unsigned i = 0; i < I.getWidth(); i += 20) {
318 ip1.set_i(0);
319 ip1.set_j(i);
320 ip2.set_i(I.getWidth());
321 ip2.set_j(i);
323 }
324
325 // Display a transparent rectangle
326 ip.set_i(I.getHeight() - 45);
327 ip.set_j(-10);
328 vpDisplay::displayRectangle(I, ip, 60, 80, vpColor(vpColor::orange, 127), true, 2U);
329
330 // Display a transparent circle onto the image
331 vpColor transparent_red(vpColor::red, 127);
333 transparent_red, true);
334
335 // Display a second transparent circle
336 vpColor very_transparent_blue(0, 0, 255, 63);
337 vpDisplay::displayCircle(I, vpImagePoint(2 * I.getHeight() / 3, I.getWidth() / 2), I.getHeight() / 4,
338 very_transparent_blue, true);
339
340 // Display in overlay a blue arrow
341 ip1.set_i(0);
342 ip1.set_j(0);
343 ip2.set_i(100);
344 ip2.set_j(100);
346
347 // Display in overlay some circles. The position of the center is 200,
348 // 200 the radius is increased by 20 pixels for each circle
349
350 for (unsigned int i = 0; i < 100; i += 20) {
351 ip.set_i(80);
352 ip.set_j(80);
354 }
355
356 ip.set_i(-10);
357 ip.set_j(300);
359
360 // Display in overlay a yellow string
361 ip.set_i(85);
362 ip.set_j(100);
363 vpDisplay::displayText(I, ip, "ViSP is a marvelous software", vpColor::yellow);
364 // Flush the display
366
367 // Create a color image
368 vpImage<vpRGBa> Ioverlay;
369 // Updates the color image with the original loaded image and the
370 // overlay
371 vpDisplay::getImage(I, Ioverlay);
372
373 // Write the color image on the disk
374 filename = vpIoTools::createFilePath(odirname, "Klimt_grey.overlay.ppm");
375 vpImageIo::write(Ioverlay, filename);
376
377 // If click is allowed, wait for a mouse click to close the display
378 if (opt_click_allowed) {
379 std::cout << "\nA click to close the windows..." << std::endl;
380 // Wait for a blocking mouse click
382 }
383
384 // Close the display
386 }
387
388 // Create a color image
389 vpImage<vpRGBa> Irgba;
390
391 // Load a grey image from the disk and convert it to a color image
392 filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
393 vpImageIo::read(Irgba, filename);
394
395 // Create a new display
396 vpDisplayOpenCV displayRGBa;
397
398 if (opt_display) {
399 // For this color image, open a X11 display at position 100,100
400 // in the screen, and with title "X11 color display"
401 displayRGBa.init(Irgba, 100, 100, "X11 color display");
402
403 // Display the color image
404 vpDisplay::display(Irgba);
405 vpDisplay::flush(Irgba);
406
407 // If click is allowed, wait for a blocking mouse click to display a
408 // cross at the clicked pixel position
409 if (opt_click_allowed) {
410 std::cout << "\nA click to display a cross..." << std::endl;
411 // Blocking wait for a click. Get the position of the selected pixel
412 // (i correspond to the row and j to the column coordinates in the
413 // image)
414 vpDisplay::getClick(Irgba, ip);
415 // Display a red cross on the click pixel position
416 std::cout << "Cross position: " << ip << std::endl;
418 } else {
419 ip.set_i(10);
420 ip.set_j(20);
421 // Display a red cross at position i, j (i correspond to the row
422 // and j to the column coordinates in the image)
423 std::cout << "Cross position: " << ip << std::endl;
425 }
426 // Flush the display. Sometimes the display content is
427 // bufferized. Force to display the content that has been bufferized.
428 vpDisplay::flush(Irgba);
429
430 // Create a color image
431 vpImage<vpRGBa> Ioverlay;
432 // Updates the color image with the original loaded image and the
433 // overlay
434 vpDisplay::getImage(Irgba, Ioverlay);
435
436 // Write the color image on the disk
437 filename = vpIoTools::createFilePath(odirname, "Klimt_color.overlay.ppm");
438 vpImageIo::write(Ioverlay, filename);
439
440 // If click is allowed, wait for a blocking mouse click to exit.
441 if (opt_click_allowed) {
442 std::cout << "\nA click to exit the program..." << std::endl;
443 vpDisplay::getClick(Irgba);
444 std::cout << "Bye" << std::endl;
445 }
446 }
447 return EXIT_SUCCESS;
448 } catch (const vpException &e) {
449 std::cout << "Catch an exception: " << e << std::endl;
450 return EXIT_FAILURE;
451 }
452}
453#else
454int main()
455{
456 std::cout << "You do not have OpenCV functionalities to display images..." << std::endl;
457 std::cout << "Tip:" << std::endl;
458 std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
459 return EXIT_SUCCESS;
460}
461#endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor red
Definition: vpColor.h:217
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
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="")
static void close(vpImage< unsigned char > &I)
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 getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:144
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 displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
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)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:293
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_j(double jj)
Definition: vpImagePoint.h:177
void set_i(double ii)
Definition: vpImagePoint.h:166
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69