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Visual Servoing Platform
version 3.3.0
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39 #include <visp3/core/vpConfig.h>
40 #include <visp3/core/vpDebug.h>
46 #if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || \
47 defined(VISP_HAVE_OPENCV))
49 #include <visp3/core/vpImage.h>
50 #include <visp3/core/vpIoTools.h>
51 #include <visp3/core/vpRect.h>
52 #include <visp3/io/vpImageIo.h>
53 #include <visp3/io/vpParseArgv.h>
55 #include <visp3/gui/vpDisplayD3D.h>
56 #include <visp3/gui/vpDisplayGDI.h>
57 #include <visp3/gui/vpDisplayGTK.h>
58 #include <visp3/gui/vpDisplayOpenCV.h>
59 #include <visp3/gui/vpDisplayX.h>
68 #define GETOPTARGS "hldc"
76 static void usage(
const char *name,
const char *badparam)
79 Test video devices or display.\n\
82 %s [-l] [-c] [-d] [-h]\n\
88 Disable the mouse click. Useful to automaze the \n\
89 execution of this program without humain intervention.\n\
92 Turn off the display.\n\
95 Print the list of video-devices available and exit.\n\
98 Print the help.\n\n");
101 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
114 static bool getOptions(
int argc,
const char **argv,
bool &list,
bool &click_allowed,
bool &
display)
125 usage(argv[0], NULL);
129 click_allowed =
false;
136 usage(argv[0], optarg_);
142 if ((c == 1) || (c == -1)) {
144 usage(argv[0], NULL);
145 std::cerr <<
"ERROR: " << std::endl;
146 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
243 vpRect rectangle(iP1, iP2);
250 std::vector<vpImagePoint> polygon;
265 template <
typename Type>
static void runTest(
bool opt_display,
bool opt_click_allowed)
273 #if defined VISP_HAVE_X11
275 Ix.
init(480, 640, 255);
277 displayX->
init(Ix, 100, 100,
"Display X11");
281 if (opt_click_allowed)
286 #if defined(VISP_HAVE_OPENCV)
288 Icv.
init(480, 640, 255);
290 displayCv->
init(Icv, 100, 100,
"Display OpenCV");
294 if (opt_click_allowed)
299 #if defined VISP_HAVE_GTK
301 Igtk.
init(480, 640, 255);
303 displayGtk->
init(Igtk, 100, 100,
"Display GTK");
307 if (opt_click_allowed)
312 #if defined VISP_HAVE_GDI
314 Igdi.
init(480, 640, 255);
316 displayGdi->
init(Igdi, 100, 100,
"Display GDI");
320 if (opt_click_allowed)
325 #if defined VISP_HAVE_D3D9
327 Id3d.
init(480, 640, 255);
329 displayD3d->
init(Id3d, 100, 100,
"Display Direct 3D");
333 if (opt_click_allowed)
338 #if defined VISP_HAVE_X11
342 #if defined VISP_HAVE_GTK
346 #if defined(VISP_HAVE_OPENCV)
350 #if defined VISP_HAVE_GDI
354 #if defined VISP_HAVE_D3D9
359 int main(
int argc,
const char **argv)
362 bool opt_list =
false;
363 bool opt_click_allowed =
true;
364 bool opt_display =
true;
367 if (getOptions(argc, argv, opt_list, opt_click_allowed, opt_display) ==
false) {
373 unsigned nbDevices = 0;
374 std::cout <<
"List of video-devices available: \n";
375 #if defined VISP_HAVE_GTK
376 std::cout <<
" GTK\n";
379 #if defined VISP_HAVE_X11
380 std::cout <<
" X11\n";
383 #if defined VISP_HAVE_GDI
384 std::cout <<
" GDI\n";
387 #if defined VISP_HAVE_D3D9
388 std::cout <<
" D3D\n";
391 #if defined VISP_HAVE_OPENCV
392 std::cout <<
" OpenCV\n";
396 std::cout <<
" No display is available\n";
402 runTest<vpRGBa>(opt_display, opt_click_allowed);
405 runTest<unsigned char>(opt_display, opt_click_allowed);
408 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
415 std::cout <<
"You do not have display functionalities..." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void displayDotLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
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 const vpColor orange
Generic class defining intrinsic camera parameters.
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)
Display for windows using GDI (available on any windows 32 platform).
static const vpColor yellow
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)
Class that consider the case of a translation vector.
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, 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 displayPolygon(const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1, bool closed=true)
static const vpColor cyan
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
static const vpColor green
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
Implementation of a rotation matrix and operations on such kind of matrices.
void init(unsigned int height, unsigned int width)
Set the size of the image.
static const vpColor black
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static const vpColor none
const char * getMessage(void) const
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="")
static const vpColor blue
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static void flush(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Definition of the vpImage class member functions.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
Implementation of a rotation vector as Euler angle minimal representation.
Defines a rectangle in the plane.
vpDisplayGDI()
Basic constructor.