Visual Servoing Platform version 3.5.0
manDisplay.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 * Display example.
33 *
34 * Authors:
35 * Anthony Saunier
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
47#include <visp3/core/vpColor.h>
48#include <visp3/core/vpImage.h>
49#include <visp3/core/vpImagePoint.h>
50#include <visp3/gui/vpDisplayGTK.h>
51#include <visp3/io/vpImageIo.h>
52
53int main()
54{
55 try {
56 // Create a grey level image
58
59 // Create image points for pixel coordinates
60 vpImagePoint ip, ip1, ip2;
61
62 // Load a grey image from the disk. Klimt.ppm image is part of the ViSP
63 // image data set available from
64 // http://www.irisa.fr/lagadic/visp/download.html
65 std::string filename = "./Klimt.ppm";
66 vpImageIo::read(I, filename);
67
68#ifdef VISP_HAVE_GTK
69 // Create a display using GTK
70 vpDisplayGTK display;
71
72 // For this grey level image, open a GTK display at position 100,100
73 // in the screen, and with title "GTK display"
74 display.init(I, 100, 100, "GTK display");
75
76 // Display the image
78
79 // Display in overlay a red cross at position 100,10 in the
80 // image. The lines are 20 pixels long
81 ip.set_i(200);
82 ip.set_j(200);
84
85 // Display in overlay a horizontal red line
86 ip1.set_i(10);
87 ip1.set_j(0);
88 ip2.set_i(10);
89 ip2.set_j(I.getWidth());
90 vpDisplay::displayLine(I, ip1, ip2, vpColor::red, 3);
91
92 // Display in overlay a vertical green dot line
93 ip1.set_i(0);
94 ip1.set_j(20);
95 ip2.set_i(I.getWidth());
96 ip2.set_j(20);
98
99 // Display in overlay a blue arrow
100 ip1.set_i(0);
101 ip1.set_j(0);
102 ip2.set_i(100);
103 ip2.set_j(100);
104 vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue, 8, 4, 3);
105
106 // Display in overlay some circles. The position of the center is 200, 200
107 // the radius is increased by 20 pixels for each circle
108 for (unsigned i = 0; i < 5; i++) {
109 ip.set_i(200);
110 ip.set_j(200);
111 vpDisplay::displayCircle(I, ip, 20 * i, vpColor::white, false, 3);
112 }
113
114 // Display in overlay a rectangle.
115 // The position of the top left corner is 300, 200.
116 // The width is 200. The height is 100.
117 ip.set_i(280);
118 ip.set_j(150);
119 vpDisplay::displayRectangle(I, ip, 270, 30, vpColor::purple, false, 3);
120
121 // Display in overlay a yellow string
122 ip.set_i(300);
123 ip.set_j(160);
124 vpDisplay::displayText(I, ip, "ViSP is a marvelous software", vpColor::black);
125 // Flush the display : without this line nothing will appear on the screen
127
128 // Create a color image
129 vpImage<vpRGBa> Ioverlay;
130 // Updates the color image with the original loaded image and the overlay
131 vpDisplay::getImage(I, Ioverlay);
132
133 // Write the color image on the disk
134 filename = "./Klimt.overlay.ppm";
135 vpImageIo::write(Ioverlay, filename);
136
137 // If click is allowed, wait for a mouse click to close the display
138 std::cout << "\nA click to close the windows..." << std::endl;
139 // Wait for a blocking mouse click
141
142 // Close the display
144#endif
145
146 return EXIT_SUCCESS;
147 } catch (const vpException &e) {
148 std::cout << "Catch an exception: " << e << std::endl;
149 return EXIT_FAILURE;
150 }
151}
static const vpColor white
Definition: vpColor.h:212
static const vpColor red
Definition: vpColor.h:217
static const vpColor black
Definition: vpColor.h:211
static const vpColor blue
Definition: vpColor.h:223
static const vpColor purple
Definition: vpColor.h:228
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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