testMouseEvent.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:
 * Read an image sequence from the disk and display it.
 */

 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
 
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
 
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9))
 
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
 
#include <visp3/core/vpMouseButton.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
 
#include <visp3/core/vpTime.h>
 
// List of allowed command line options
#define GETOPTARGS "cdi:Lp:ht:f:l:s:w"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
typedef enum
{
  vpX11,
  vpGTK,
  vpGDI,
  vpD3D,
} vpDisplayType;
 
 
void usage(const char *name, const char *badparam, const std::string &ipath, const std::string &ppath, unsigned first,
           unsigned last, unsigned step, vpDisplayType &dtype);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, vpDisplayType &dtype, bool &list, bool &display, bool &click, bool &wait);

void usage(const char *name, const char *badparam, const std::string &ipath, const std::string &ppath,
           unsigned first, unsigned last, unsigned step, vpDisplayType &dtype)
{
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
#else
  // We suppose that the user will download a recent dataset
  std::string ext("png");
#endif
 
  fprintf(stdout, "\n\
Read an image sequence from the disk and display it.\n\
The sequence is made of separate images. Each image corresponds\n\
to a PGM file.\n\
\n\
SYNOPSIS\n\
  %s [-i <test image path>] [-p <personal image path>]\n\
     [-f <first image>] [-l <last image>] [-s <step>] \n\
     [-t <type of video device>] [-L] [-w] [-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;
  }
 
  fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
  -i <test image path>                                %s\n\
     Set image input path.\n\
     From this path read \"cube/image.%%04d.%s\"\n\
     images. These images come from ViSP-images-x.y.z.tar.gz\n\
     available on the ViSP website.\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\n\
 \n\
  -p <personal image path>                             %s\n\
     Specify a personal sequence containing images \n\
     to process.\n\
     By image sequence, we mean one file per image.\n\
     The format is selected by analyzing the filename extension.\n\
     Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
     %%04d is for the image numbering.\n\
 \n\
  -f <first image>                                     %u\n\
     First image number of the sequence.\n\
 \n\
  -l <last image>                                %u\n\
     Last image number of the sequence.\n\
 \n\
  -s <step>                                            %u\n\
     Step between two images.\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\
\n\
  -L\n\
     Print the list of video-devices available and exit.\n\
\n\
  -c\n\
     Disable mouse click.\n\
\n\
  -d\n\
     Disable the image display. This can be useful \n\
     for automatic tests using crontab under Unix or \n\
     using the task manager under Windows.\n\
\n\
  -w\n\
     Wait for a mouse click between two images.\n\
     If the image display is disabled (using -d)\n\
     this option is without effect.\n\
\n\
  -h\n\
     Print the help.\n\n",
          ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step, display.c_str());
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, vpDisplayType &dtype, bool &list, bool &display, bool &click, bool &wait)
{
  const char *optarg_;
  int c;
  std::string sDisplayType;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'c':
      click = false;
      break;
    case 'd':
      display = false;
      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;
      }
 
      break;
    case 'i':
      ipath = optarg_;
      break;
    case 'L':
      list = true;
      break;
    case 'p':
      ppath = optarg_;
      break;
    case 'f':
      first = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'l':
      last = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 's':
      step = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'w':
      wait = true;
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, ppath, first, last, step, dtype);
      return false;
 
    default:
      usage(argv[0], optarg_, ipath, ppath, first, last, step, dtype);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, ppath, first, last, step, 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)
{
  std::string env_ipath;
  std::string opt_ipath;
  std::string ipath;
  std::string opt_ppath;
  std::string dirname;
  std::string filename;
  unsigned opt_first = 30;
  unsigned opt_last = 40;
  unsigned opt_step = 1;
  vpDisplayType opt_dtype; // Type of display to use
  bool opt_list = false;   // To print the list of video devices
  bool opt_display = true;
  bool opt_click = true;
  bool opt_click_blocking = false;
 
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
#else
  // We suppose that the user will download a recent dataset
  std::string ext("png");
#endif
 
  // 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;
#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_ppath, opt_first, opt_last, opt_step, opt_dtype, opt_list, opt_display,
                 opt_click, opt_click_blocking) == 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 (!nbDevices) {
      std::cout << "  No display is available\n";
    }
    return EXIT_FAILURE;
  }
 
  if (!opt_display)
    opt_click_blocking = false; // turn off the waiting
 
  // 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() && opt_ppath.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() && opt_ppath.empty()) {
    usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, opt_step, 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
      << "  Use -p <personal image path> option if you want to " << std::endl
      << "  use personal images." << std::endl
      << std::endl;
 
    return EXIT_FAILURE;
  }
 
  // Declare an image, this is a gray level image (unsigned char)
  // it size is not defined yet, it will be defined when the image will
  // read on the disk
  vpImage<unsigned char> I;
 
  unsigned iter = opt_first;
 
  if (opt_ppath.empty()) {
    // Warning : the datset is available on https://visp.inria.fr/download/
    dirname = vpIoTools::createFilePath(ipath, "cube");
 
    // Build the name of the image file
    std::string name = vpIoTools::formatString("image.%04d." + ext, iter);
    filename = vpIoTools::createFilePath(dirname, name);
  }
  else {
    filename = vpIoTools::formatString(opt_ppath, iter);
  }
  // Read image named "filename" and put the bitmap in I
  try {
    vpImageIo::read(I, filename);
  }
  catch (...) {
    std::cerr << std::endl << "ERROR:" << std::endl;
    std::cerr << "  Cannot read " << filename << std::endl;
    std::cerr << "  Check your -i " << ipath << " option, " << std::endl
      << "  or your -p " << opt_ppath << " option " << std::endl
      << "  or VISP_INPUT_IMAGE_PATH environment variable" << std::endl;
    return EXIT_FAILURE;
  }
  // 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;
  }
 
  if (opt_display) {
    try {
      // We open a window using either X11 or GTK or GDI.
      // 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);
      vpDisplay::flush(I);
    }
    catch (...) {
      vpERROR_TRACE("Error while displaying the image");
      delete display;
      return EXIT_FAILURE;
    }
  }
 
  // this is the loop over the image sequence
  while (iter < opt_last) {
    try {
      double tms = vpTime::measureTimeMs();
 
      // set the new image name
      if (opt_ppath.empty()) {
        std::string name = vpIoTools::formatString("image.%04d." + ext, iter);
        filename = vpIoTools::createFilePath(dirname, name);
      }
      else {
        filename = vpIoTools::formatString(opt_ppath, iter);
      }
 
      std::cout << "read : " << filename << std::endl;
      // read the image
      vpImageIo::read(I, filename);
      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
        // Flush the display
        vpDisplay::flush(I);
 
        if (opt_click_blocking) {
          std::cout << "A click in the image to continue..." << std::endl;
        }
        vpImagePoint ip;
 
        if (opt_click) {
          vpMouseButton::vpMouseButtonType button;
          bool pressed = vpDisplay::getClick(I, ip, button, opt_click_blocking);
          if (pressed) {
            switch (button) {
            case vpMouseButton::button1:
              std::cout << "Left button was pressed." << std::endl;
              break;
            case vpMouseButton::button2:
              std::cout << "Middle button was pressed." << std::endl;
              break;
            case vpMouseButton::button3:
              std::cout << "Right button was pressed. Bye. " << std::endl;
              delete display;
              return EXIT_SUCCESS;
              break;
            case vpMouseButton::none:
              break;
            }
          }
        }
        vpTime::wait(tms, 1000);
      }
      else {
     // Synchronise the loop to 40 ms
        vpTime::wait(tms, 40);
      }
    }
    catch (...) {
      delete display;
      return EXIT_FAILURE;
    }
    iter += opt_step;
  }
  delete display;
}
#else
int main() { vpERROR_TRACE("You do not have X11 or GTK display functionalities..."); }
 
#endif