testUsGeometryDisplayTools.cpp

USTK usGeometryDisplayTools test

This example tests all functions declared in the usGeometryDisplayTools namespace.

/****************************************************************************
 *
 * This file is part of the UsNeedleDetection software.
 * Copyright (C) 2013 - 2016 by Inria. All rights reserved.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License ("GPL") as
 * published by the Free Software Foundation, either version 3 of the
 * License, or (at your option) any later version.
 * See the file COPYING at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact the
 * authors at Alexandre.Krupa@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.
 *
 * Author:
 * Jason Chevrie
 *
 *****************************************************************************/
 
#include <visp3/core/vpConfig.h>
 
#include <iostream>
#include <stdlib.h>
#include <string>
#include <vector>
 
#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>
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRGBa.h>
 
#include <visp3/ustk_core/usGeometryDisplayTools.h>
 
// List of allowed command line options
#define GETOPTARGS "hlt:cd"
 
typedef enum { vpX11, vpGTK, vpGDI, vpD3D, vpCV } vpDisplayType;
 
void usage(const char *name, const char *badparam, vpDisplayType &dtype);
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &display);
 
void usage(const char *name, const char *badparam, vpDisplayType &dtype)
{
  fprintf(stdout, "\n\
Test the display functions in usGeometryDisplayTools.\n\
\n\
SYNOPSIS\n\
  %s [-t <type of video device>] [-l] [-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\
\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\
  -l\n\
     Print the list of video-devices available and exit.\n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -h\n\
     Print the help.\n\n", display.c_str());
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
 
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &display)
{
    const char *optarg_;
    int c;
    std::string sDisplayType;
    while((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1)
    {
 
        switch (c)
        {
            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], NULL, dtype);
                return false;
                break;
 
            case 'c':
                break;
 
            case 'd':
                display = false;
                break;
 
            default:
                usage(argv[0], optarg_, dtype);
                return false;
                break;
        }
    }
 
    if((c == 1) || (c == -1))
    {
        // standalone param or error
        usage(argv[0], NULL, 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)
{
    bool opt_list = false;   // To print the list of video devices
    vpDisplayType opt_dtype; // Type of display to use
    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
 
    // Read the command line options
    if(!getOptions(argc, argv, opt_dtype, opt_list, opt_display)) exit(-1);
 
    // 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 (0);
    }
 
    vpImage<unsigned char> I1(700, 500, 255);
    vpImage<vpRGBa> I2(700, 500, vpRGBa(255,255,255,255));
    
    vpDisplay *display1 = nullptr;
    vpDisplay *display2 = nullptr;
 
    if(opt_display)
    {
      switch (opt_dtype)
      {
        case vpX11:
            std::cout << "Requested X11 display functionnalities..." << std::endl;
#if defined VISP_HAVE_X11
            display1 = new vpDisplayX;
            display2 = 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 0;
#endif
            break;
        case vpGTK:
            std::cout << "Requested GTK display functionnalities..." << std::endl;
#if defined VISP_HAVE_GTK
            display1 = new vpDisplayGTK;
            display2 = 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 0;
#endif
            break;
        case vpGDI:
            std::cout << "Requested GDI display functionnalities..." << std::endl;
#if defined VISP_HAVE_GDI
            display1 = new vpDisplayGDI;
            display2 = 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 0;
#endif
            break;
        case vpD3D:
            std::cout << "Requested D3D display functionnalities..." << std::endl;
#if defined VISP_HAVE_D3D9
            display1 = new vpDisplayD3D;
            display2 = 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 0;
#endif
            break;
        case vpCV:
            std::cout << "Requested OpenCV display functionnalities..." << std::endl;
#if defined(VISP_HAVE_OPENCV)
            display1 = new vpDisplayOpenCV;
            display2 = 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 0;
#endif
            break;
      }
    }
 
    if(opt_display)
    {
        display1->init(I1, 0,0, "Display unsigned char");
        display2->init(I2, display1->getWindowXPosition()+display1->getWidth(), display1->getWindowYPosition(), "Display vpRGBa");
    
        std::cout << "Start test testUsGeometryDisplayTools" << std::endl;
            
        usOrientedPlane3D plane(vpPoseVector(0,0,0.05, 0,M_PI/4,0));
        
        std::vector<vpColVector> points2D(4, vpColVector(2,0));
        points2D.at(0)[0] = 0.02;points2D.at(0)[1] = 0.02;
        points2D.at(1)[0] = 0.02;points2D.at(1)[1] = 0.03;
        points2D.at(2)[0] = 0.03;points2D.at(2)[1] = 0.03;
        points2D.at(3)[0] = 0.02;points2D.at(3)[1] = 0.05;
        usPolynomialCurve2D curve2D;
        curve2D.defineFromPointsAuto(points2D, points2D.back()-points2D.front(),3);
    
        std::vector<vpColVector> points3D(4, vpColVector(3,0));
        points3D.at(1)[0] = 0.02;
        points3D.at(2)[1] = 0.02;points3D.at(2)[2] = 0.03;
        points3D.at(3)[2] = 0.05;
        usPolynomialCurve3D curve3D;
        curve3D.defineFromPointsAuto(points3D, points3D.back()-points3D.front(),3);
            
        usBSpline3D spline;
        std::vector<double> lengths(3);
        lengths.at(0) = 0.02;lengths.at(1) = 0.04;lengths.at(2) = 0.04;
        spline.defineFromPoints(points3D, lengths, 3);
        
        vpHomogeneousMatrix imageMworld(0.1, 0.1, 0.1, M_PI/2, 0, 0);
    
        vpDisplay::display(I1);
        vpDisplay::display(I2);
        
        usGeometryDisplayTools::display(plane, I1, imageMworld, 3000, 3000, vpColor::green);
        std::cout << "done: usGeometryDisplayTools::display(const usOrientedPlane3D&, vpImage<unsigned char>&, const vpHomogeneousMatrix&, double, double, const vpColor&);" << std::endl;
        usGeometryDisplayTools::display(plane, I2, imageMworld, 3000, 3000, vpColor::green);
        std::cout << "done: usGeometryDisplayTools::display(const usOrientedPlane3D&, vpImage<vpRGBa>&, const vpHomogeneousMatrix&, double, double, const vpColor&);" << std::endl;
        
        usGeometryDisplayTools::display(curve2D, I1, 3000, 3000, vpColor::red, 10);
        std::cout << "done: usGeometryDisplayTools::display(const usPolynomialCurve2D&, vpImage<unsigned char>&, double, double, const vpColor&);" << std::endl;
        usGeometryDisplayTools::display(curve2D, I2, 3000, 3000, vpColor::red, 10);
        std::cout << "done: usGeometryDisplayTools::display(const usPolynomialCurve2D&, vpImage<vpRGBa>&, double, double, const vpColor&);" << std::endl;
        
        usGeometryDisplayTools::display(curve3D, I1, imageMworld, 3000, 3000, vpColor::blue, 10, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::display(const usPolynomialCurve3D&, vpImage<unsigned char>&, const vpHomogeneousMatrix&, double, double, const vpColor&, int, double);" << std::endl;
        usGeometryDisplayTools::display(curve3D, I2, imageMworld, 3000, 3000, vpColor::blue, 10, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::display(const usPolynomialCurve3D&, vpImage<vpRGBa>&, const vpHomogeneousMatrix&, double, double, const vpColor&, int, double);" << std::endl;
        
        usGeometryDisplayTools::displayLine(spline, I1, imageMworld, 3000, 3000, vpColor::orange, 10, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::displayLine(const usBSpline3D&, vpImage<unsigned char>&, const vpHomogeneousMatrix&, double, double, const vpColor&, int, double);" << std::endl;
        usGeometryDisplayTools::displayLine(spline, I2, imageMworld, 3000, 3000, vpColor::orange, 10, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::displayLine(const usBSpline3D&, vpImage<vpRGBa>&, const vpHomogeneousMatrix&, double, double, const vpColor&, int, double);" << std::endl;
        
        usGeometryDisplayTools::displayExtremities(spline, I1, imageMworld, 3000, 3000, vpColor::orange, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::displayExtremities(const usBSpline3D&, vpImage<unsigned char>&, const vpHomogeneousMatrix&, double, double, const vpColor&, double);" << std::endl;
        usGeometryDisplayTools::displayExtremities(spline, I2, imageMworld, 3000, 3000, vpColor::orange, std::numeric_limits<double>::infinity());
        std::cout << "done: usGeometryDisplayTools::displayExtremities(const usBSpline3D&, vpImage<vpRGBa>&, const vpHomogeneousMatrix&, double, double, const vpColor&, double);" << std::endl;
        
        usGeometryDisplayTools::displayCurvatureFromShape(spline, I1, imageMworld, 3000, 3000, vpColor::orange);
        std::cout << "done: usGeometryDisplayTools::displayCurvatureFromShape(const usBSpline3D&, vpImage<unsigned char>&, const vpHomogeneousMatrix&, double, double, const vpColor&);" << std::endl;
        usGeometryDisplayTools::displayCurvatureFromShape(spline, I2, imageMworld, 3000, 3000, vpColor::orange);
        std::cout << "done: usGeometryDisplayTools::displayCurvatureFromShape(const usBSpline3D&, vpImage<vpRGBa>&, const vpHomogeneousMatrix&, double, double, const vpColor&);" << std::endl;
        
        vpDisplay::flush(I1);
        vpDisplay::flush(I2);
        
        vpTime::wait(2000);
    
        if(display1) delete display1;
        if(display2) delete display2;
    }
    
    return 0;
}