testVideoDevice.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 for image display.
 */

 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
 
#include <iostream>
#include <stdlib.h>
#include <string>
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) ||          \
     defined(VISP_HAVE_OPENCV))
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.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>
 
// List of allowed command line options
#define GETOPTARGS "i:hlt:dc"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
typedef enum
{
  vpX11,
  vpGTK,
  vpGDI,
  vpD3D,
  vpCV
} vpDisplayType;
 
void usage(const char *name, const char *badparam, const std::string &ipath, vpDisplayType &dtype);
bool getOptions(int argc, const char **argv, std::string &ipath, vpDisplayType &dtype, bool &list, bool &click_allowed,
                bool &display);

void usage(const char *name, const char *badparam, const std::string &ipath, vpDisplayType &dtype)
{
  fprintf(stdout, "\n\
Test video devices or display.\n\
\n\
SYNOPSIS\n\
  %s [-i <input image path>] \n\
     [-t <type of video device>] [-l] [-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;
  case vpCV:
    display = "CV";
    break;
  }
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                %s\n\
     Set image input path.\n\
     From this path read \"Klimt/Klimt.pgm\"\n\
     and \"Klimt/Klimt.ppm\" images.\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\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\
       \"CV\" : (OpenCV).\n\
\n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -l\n\
     Print the list of video-devices available and exit.\n\
\n\
  -h\n\
     Print the help.\n\n",
          ipath.c_str(), display.c_str());
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, std::string &ipath, vpDisplayType &dtype, bool &list, bool &click_allowed,
                bool &display)
{
  const char *optarg_;
  int c;
  std::string sDisplayType;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'i':
      ipath = optarg_;
      break;
    case 'l':
      list = true;
      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;
      }
      else if (sDisplayType.compare("CV") == 0) {
        dtype = vpCV;
      }
 
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, dtype);
      return false;
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
 
    default:
      usage(argv[0], optarg_, ipath, dtype);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, 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)
{
  try {
    std::string env_ipath;
    std::string opt_ipath;
    bool opt_list = false;   // To print the list of video devices
    vpDisplayType opt_dtype; // Type of display to use
    std::string ipath;
    std::string filename;
    bool opt_click_allowed = true;
    bool opt_display = true;
 
    // 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;
#elif defined VISP_HAVE_OPENCV
    opt_dtype = vpCV;
#endif
 
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_dtype, opt_list, opt_click_allowed, opt_display) == 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 defined VISP_HAVE_OPENCV
      std::cout << "  CV (use \"-t CV\" option to use it)\n";
      nbDevices++;
#endif
      if (!nbDevices) {
        std::cout << "  No display is available\n";
      }
      return EXIT_FAILURE;
    }
 
    // 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()) {
      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()) {
      usage(argv[0], nullptr, ipath, 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
        << std::endl;
      return EXIT_FAILURE;
    }
 
    // Create a grey level image
    vpImage<unsigned char> I;
    // Create a color image
    vpImage<vpRGBa> Irgba;
 
    // Load a grey image from the disk
    filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
    vpCTRACE << "Load " << filename << std::endl;
    vpImageIo::read(I, filename);
 
    // Load a color image from the disk
    filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
    vpCTRACE << "Load " << filename << std::endl;
    vpImageIo::read(Irgba, filename);
 
    // 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)
      display = new vpDisplayX;
#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)
      display = new vpDisplayGTK;
#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)
 
      display = new vpDisplayGDI;
#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)
      display = new vpDisplayD3D;
#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;
    case vpCV:
      std::cout << "Requested OpenCV display functionalities..." << std::endl;
#if defined(HAVE_OPENCV_HIGHGUI)
      display = new vpDisplayOpenCV;
#else
      std::cout << "  Sorry, OpenCV 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) {
 
      // We open a window using either X11 or GTK or GDI or D3D.
      // 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.
      vpDisplay::display(I);
      // Flush the display
      vpDisplay::flush(I);
      std::cout << "A click to continue...\n";
      if (opt_click_allowed)
        vpDisplay::getClick(I);
 
      display->close(I);
 
      // We open a window using either X11 or GTK or GDI or D3D
      // but using anothe function who doesn't take title.
      // Its size is automatically defined by the image (I) size
 
      display->init(I, 100, 100);
 
      // 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.
      vpDisplay::display(I);
      // Flush the display
      vpDisplay::flush(I);
      std::cout << "A click to continue...\n";
      if (opt_click_allowed)
        vpDisplay::getClick(I);
 
      display->close(I);
 
      // We open a window using either X11 or GTK or GDI or D3D.
      // Its size is automatically defined by the image (I) size
 
      display->init(Irgba, 100, 100, "Color 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.
      vpDisplay::display(Irgba);
      // Flush the display
      vpDisplay::flush(Irgba);
 
      std::cout << "A click to continue...\n";
      if (opt_click_allowed)
        vpDisplay::getClick(Irgba);
 
      display->close(Irgba);
 
      // We open a window using either X11 or GTK or GDI or D3D
      // but using anothe function who doesn't take title.
      // Its size is automatically defined by the image (I) size
 
      display->init(Irgba, 100, 100);
 
      // 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.
      vpDisplay::display(Irgba);
      // Flush the display
      vpDisplay::flush(Irgba);
 
      std::cout << "A click to exit...\n";
      if (opt_click_allowed)
        vpDisplay::getClick(Irgba);
    }
    delete display;
  }
  catch (...) {
    vpERROR_TRACE("Error while displaying the image");
    return EXIT_FAILURE;
  }
}
 
#else
int main() { vpERROR_TRACE("You do not have display functionalities..."); }
 
#endif