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displayOpenCV.cpp
1 /****************************************************************************
2  *
3  * $Id: displayOpenCV.cpp 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Read an image on the disk and display it using OpenCV.
36  *
37  * Authors:
38  * Nicolas Melchior
39  *
40  *****************************************************************************/
50 #include <visp/vpDebug.h>
51 #include <visp/vpConfig.h>
52 #include <stdlib.h>
53 #ifdef VISP_HAVE_OPENCV
54 
55 #include <visp/vpImage.h>
56 #include <visp/vpImageIo.h>
57 #include <visp/vpDisplayOpenCV.h>
58 #include <visp/vpParseArgv.h>
59 #include <visp/vpIoTools.h>
60 
61 #include <visp/vpTime.h>
62 
72 // List of allowed command line options
73 #define GETOPTARGS "cdi:o:p:h"
74 
86 void usage(const char *name, const char *badparam, std::string ipath,
87  std::string opath, std::string user)
88 {
89  fprintf(stdout, "\n\
90 Read an image on the disk, display it using OpenCV, display some\n\
91 features (line, circle, caracters) in overlay and finaly write \n\
92 the image and the overlayed features in an image on the disk.\n\
93 \n\
94 SYNOPSIS\n\
95  %s [-i <input image path>] [-o <output image path>]\n\
96  [-c] [-d] [-h]\n \
97 ", name);
98 
99  fprintf(stdout, "\n\
100 OPTIONS: Default\n\
101  -i <input image path> %s\n\
102  Set image input path.\n\
103  From this path read \"ViSP-images/Klimt/Klimt.pgm\"\n\
104  image.\n\
105  Setting the VISP_INPUT_IMAGE_PATH environment\n\
106  variable produces the same behaviour than using\n\
107  this option.\n\
108 \n\
109  -o <output image path> %s\n\
110  Set image output path.\n\
111  From this directory, creates the \"%s\"\n\
112  subdirectory depending on the username, where \n\
113  Klimt_grey.overlay.ppm output image is written.\n\
114 \n\
115  -c\n\
116  Disable the mouse click. Useful to automate the \n\
117  execution of this program without humain intervention.\n\
118 \n\
119  -d \n\
120  Disable the image display. This can be useful \n\
121  for automatic tests using crontab under Unix or \n\
122  using the task manager under Windows.\n\
123 \n\
124  -h\n\
125  Print the help.\n\n",
126  ipath.c_str(), opath.c_str(), user.c_str());
127 
128  if (badparam) {
129  fprintf(stderr, "ERROR: \n" );
130  fprintf(stderr, "\nBad parameter [%s]\n", badparam);
131  }
132 
133 }
134 
153 bool getOptions(int argc, const char **argv,
154  std::string &ipath, std::string &opath, bool &click_allowed,
155  std::string user, bool &display)
156 {
157  const char *optarg;
158  int c;
159  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
160 
161  switch (c) {
162  case 'c': click_allowed = false; break;
163  case 'd': display = false; break;
164  case 'i': ipath = optarg; break;
165  case 'o': opath = optarg; break;
166  case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
167 
168  default:
169  usage(argv[0], optarg, ipath, opath, user); return false; break;
170  }
171  }
172 
173  if ((c == 1) || (c == -1)) {
174  // standalone param or error
175  usage(argv[0], NULL, ipath, opath, user);
176  std::cerr << "ERROR: " << std::endl;
177  std::cerr << " Bad argument " << optarg << std::endl << std::endl;
178  return false;
179  }
180 
181  return true;
182 }
183 
184 int
185 main(int argc, const char ** argv)
186 {
187  std::string env_ipath;
188  std::string opt_ipath;
189  std::string opt_opath;
190  std::string ipath;
191  std::string opath;
192  std::string filename;
193  std::string username;
194  bool opt_click_allowed = true;
195  bool opt_display = true;
196 
197  // Get the VISP_IMAGE_PATH environment variable value
198  char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
199  if (ptenv != NULL)
200  env_ipath = ptenv;
201  // std::cout << "env_ipath: " << env_ipath << std::endl;
202 
203  // Set the default input path
204  if (! env_ipath.empty())
205  ipath = env_ipath;
206 
207  // Set the default output path
208 #ifdef UNIX
209  opt_opath = "/tmp";
210 #elif WIN32
211  opt_opath = "C:\\temp";
212 #endif
213 
214  // Get the user login name
215  vpIoTools::getUserName(username);
216 
217  // Read the command line options
218  if (getOptions(argc, argv, opt_ipath, opt_opath,
219  opt_click_allowed, username, opt_display) == false) {
220  exit (-1);
221  }
222 
223  // Get the option values
224  if (!opt_ipath.empty())
225  ipath = opt_ipath;
226  if (!opt_opath.empty())
227  opath = opt_opath;
228 
229  // Append to the output path string, the login name of the user
230  std::string odirname = opath + vpIoTools::path("/") + username;
231 
232  // Test if the output path exist. If no try to create it
233  if (vpIoTools::checkDirectory(odirname) == false) {
234  try {
235  // Create the dirname
236  vpIoTools::makeDirectory(odirname);
237  }
238  catch (...) {
239  usage(argv[0], NULL, ipath, opath, username);
240  std::cerr << std::endl
241  << "ERROR:" << std::endl;
242  std::cerr << " Cannot create " << odirname << std::endl;
243  std::cerr << " Check your -o " << opath << " option " << std::endl;
244  exit(-1);
245  }
246  }
247 
248  // Compare ipath and env_ipath. If they differ, we take into account
249  // the input path comming from the command line option
250  if (!opt_ipath.empty() && !env_ipath.empty()) {
251  if (ipath != env_ipath) {
252  std::cout << std::endl
253  << "WARNING: " << std::endl;
254  std::cout << " Since -i <visp image path=" << ipath << "> "
255  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
256  << " we skip the environment variable." << std::endl;
257  }
258  }
259 
260  // Test if an input path is set
261  if (opt_ipath.empty() && env_ipath.empty()){
262  usage(argv[0], NULL, ipath, opath, username);
263  std::cerr << std::endl
264  << "ERROR:" << std::endl;
265  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
266  << std::endl
267  << " environment variable to specify the location of the " << std::endl
268  << " image path where test images are located." << std::endl << std::endl;
269  exit(-1);
270  }
271 
272  // Create a grey level image
274  vpImagePoint ip, ip1, ip2;
275 
276  // Load a grey image from the disk
277  filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
278  vpImageIo::readPGM(I, filename) ;
279 
280  // Create a display using OpenCV
281  vpDisplayOpenCV display;
282 
283  if (opt_display) {
284  // For this grey level image, open a X11 display at position 100,100
285  // in the screen, and with title "X11 display"
286  display.init(I, 100, 100, "X11 display") ;
287 
288  // Display the image
289  vpDisplay::display(I) ;
290 
291  // Display in overlay a red cross at position 10,10 in the
292  // image. The lines are 10 pixels long
293  ip.set_i( 100 );
294  ip.set_j( 10 );
295 
297 
298  // Display in overlay horizontal red lines
299  for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
300  ip1.set_i( i );
301  ip1.set_j( 0 );
302  ip2.set_i( i );
303  ip2.set_j( I.getWidth() );
304  vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
305  }
306 
307  // Display a ligne in the diagonal
308  ip1.set_i( -10 );
309  ip1.set_j( -10 );
310  ip2.set_i( I.getHeight() + 10 );
311  ip2.set_j( I.getWidth() + 10 );
312 
313  vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
314 
315  // Display in overlay vertical green dot lines
316  for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
317  ip1.set_i( 0 );
318  ip1.set_j( i );
319  ip2.set_i( I.getWidth() );
320  ip2.set_j( i );
322  }
323 
324  // Display a rectangle
325  ip.set_i( I.getHeight() - 45 );
326  ip.set_j( -10 );
328 
329  // Display in overlay a blue arrow
330  ip1.set_i( 0 );
331  ip1.set_j( 0 );
332  ip2.set_i( 100 );
333  ip2.set_j( 100 );
334  vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
335 
336  // Display in overlay some circles. The position of the center is 200, 200
337  // the radius is increased by 20 pixels for each circle
338 
339  for (unsigned int i=0 ; i < 100 ; i+=20) {
340  ip.set_i( 80 );
341  ip.set_j( 80 );
343  }
344 
345  ip.set_i( -10 );
346  ip.set_j( 300 );
348 
349  // Display in overlay a yellow string
350  ip.set_i( 85 );
351  ip.set_j( 100 );
353  "ViSP is a marvelous software",
354  vpColor::yellow) ;
355  //Flush the display
356  vpDisplay::flush(I);
357 
358  // Create a color image
359  vpImage<vpRGBa> Ioverlay ;
360  // Updates the color image with the original loaded image and the overlay
361  vpDisplay::getImage(I, Ioverlay) ;
362 
363  // Write the color image on the disk
364  filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
365  vpImageIo::writePPM(Ioverlay, filename) ;
366 
367  // If click is allowed, wait for a mouse click to close the display
368  if (opt_click_allowed) {
369  std::cout << "\nA click to close the windows..." << std::endl;
370  // Wait for a blocking mouse click
372  }
373 
374  // Close the display
375  vpDisplay::close(I);
376  }
377 
378  // Create a color image
379  vpImage<vpRGBa> Irgba ;
380 
381  // Load a grey image from the disk and convert it to a color image
382  filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
383  vpImageIo::readPGM(Irgba, filename) ;
384 
385  // Create a new display
386  vpDisplayOpenCV displayRGBa;
387 
388  if (opt_display) {
389  // For this color image, open a X11 display at position 100,100
390  // in the screen, and with title "X11 color display"
391  displayRGBa.init(Irgba, 100, 100, "X11 color display");
392 
393  // Display the color image
394  vpDisplay::display(Irgba) ;
395  vpDisplay::flush(Irgba) ;
396 
397  // If click is allowed, wait for a blocking mouse click to display a cross
398  // at the clicked pixel position
399  if (opt_click_allowed) {
400  std::cout << "\nA click to display a cross..." << std::endl;
401  // Blocking wait for a click. Get the position of the selected pixel
402  // (i correspond to the row and j to the column coordinates in the image)
403  vpDisplay::getClick(Irgba, ip);
404  // Display a red cross on the click pixel position
405  std::cout << "Cross position: " << ip << std::endl;
406  vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
407  }
408  else {
409  ip.set_i( 10 );
410  ip.set_j( 20 );
411  // Display a red cross at position i, j (i correspond to the row
412  // and j to the column coordinates in the image)
413  std::cout << "Cross position: " << ip << std::endl;
414  vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
415 
416  }
417  // Flush the display. Sometimes the display content is
418  // bufferized. Force to display the content that has been bufferized.
419  vpDisplay::flush(Irgba);
420 
421  // If click is allowed, wait for a blocking mouse click to exit.
422  if (opt_click_allowed) {
423  std::cout << "\nA click to exit the program..." << std::endl;
424  vpDisplay::getClick(Irgba) ;
425  std::cout << "Bye" << std::endl;
426  }
427  }
428 }
429 #else
430 int
431 main()
432 {
433  vpERROR_TRACE("You do not have X11 functionalities to display images...");
434 }
435 
436 #endif
437