Fix compilation error related to GUI

modules/core/include/visp3/core/vpImageConvert.h

@@ -65,6 +65,7 @@
 #endif
 
 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_THREADS)
+#include <mutex>
 #include <visp3/core/vpColVector.h>
 #include <visp3/core/vpImageException.h>
 #include <visp3/core/vpPixelMeterConversion.h>

modules/gui/include/visp3/gui/vpDisplayFactory.h

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ * ViSP, open source Visual Servoing Platform software.
+ * Copyright (C) 2005 - 2024 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 [email protected]
+ *
+ * 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:
+ * Display Factory
+ *
+*****************************************************************************/
+
+#include <visp3/core/vpConfig.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>
+
+namespace vpDisplayFactory
+{
+/**
+* \brief Return a newly allocated vpDisplay specialisation
+* if a GUI library is available or nullptr otherwise.
+*
+* \return vpDisplay* A newly allocated vpDisplay specialisation
+* if a GUI library is available or nullptr otherwise.
+*/
+vpDisplay *displayFactory()
+{
+#if defined(VISP_HAVE_DISPLAY)
+#ifdef VISP_HAVE_X11
+  return new vpDisplayX();
+#elif defined(VISP_HAVE_D3D9)
+  return new vpDisplayD3D();
+#elif defined(VISP_HAVE_GDI)
+  return new vpDisplayGDI();
+#elif defined(VISP_HAVE_GTK)
+  return new vpDisplayGTK();
+#elif defined(HAVE_OPENCV_HIGHGUI)
+  return new vpDisplayOpenCV();
+#endif
+#else
+  return nullptr;
+#endif
+}
+
+/**
+* \brief Return a newly allocated vpDisplay specialisation initialized with \b I
+* if a GUI library is available or nullptr otherwise.
+*
+* \tparam T Any type that an image can handle and that can be displayed.
+* \param[in] I The image the display must be initialized with.
+*
+* \return vpDisplay* A newly allocated vpDisplay specialisation initialized with \b I
+* if a GUI library is available or nullptr otherwise.
+*/
+template<typename T>
+vpDisplay *displayFactory(vpImage<T> &I)
+{
+#if defined(VISP_HAVE_DISPLAY)
+#ifdef VISP_HAVE_X11
+  return new vpDisplayX(I);
+#elif defined(VISP_HAVE_D3D9)
+  return new vpDisplayD3D(I);
+#elif defined(VISP_HAVE_GDI)
+  return new vpDisplayGDI(I);
+#elif defined(VISP_HAVE_GTK)
+  return new vpDisplayGTK(I);
+#elif defined(HAVE_OPENCV_HIGHGUI)
+  return new vpDisplayOpenCV(I);
+#endif
+#else
+  return nullptr;
+#endif
+}
+}

tutorial/grabber/tutorial-grabber-1394-writer.cpp

@@ -1,12 +1,17 @@
 /*! \example tutorial-grabber-1394-writer.cpp */
 #include <visp3/core/vpImage.h>
-#include <visp3/gui/vpDisplayX.h>
+#include <visp3/gui/vpDisplayFactory.h>
 #include <visp3/io/vpVideoWriter.h>
 #include <visp3/sensor/vp1394TwoGrabber.h>
 
 int main(int argc, char **)
 {
 #ifdef VISP_HAVE_DC1394
+#ifdef VISP_HAVE_DISPLAY
+  vpDisplay *d = vpDisplayFactory::displayFactory();
+#else
+  std::cout << "No image viewer is available..." << std::endl;
+#endif
   try {
     bool save = false;
     if (argc == 2) {
@@ -23,36 +28,45 @@
 
     std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
 
-#ifdef VISP_HAVE_X11
-    vpDisplayX d(I);
-#else
-    std::cout << "No image viewer is available..." << std::endl;
-#endif
-
     vpVideoWriter writer;
     writer.setFileName("./I%04d.pgm");
     if (save)
       writer.open(I);
 
-    while (1) {
+#ifdef VISP_HAVE_DISPLAY
+    d->init(I);
+    while (1)
+#else
+    // for loop when no display is available to avoid infinite while loop
+    for (unsigned int i = 0; i < 1000; ++i)
+#endif
+    {
       g.acquire(I);
 
       if (save)
         writer.saveFrame(I);
 
+#ifdef VISP_HAVE_DISPLAY
       vpDisplay::display(I);
       vpDisplay::flush(I);
 
       if (vpDisplay::getClick(I, false))
         break;
+#endif
     }
 
     if (save)
       writer.close();
 
-  } catch (const vpException &e) {
+  }
+  catch (const vpException &e) {
     std::cout << "Catch an exception: " << e << std::endl;
   }
+#ifdef VISP_HAVE_DISPLAY
+  if (d != nullptr) {
+    delete d;
+  }
+#endif
 #else
   (void)argc;
 #endif

tutorial/grabber/tutorial-grabber-v4l2-threaded.cpp

@@ -3,10 +3,10 @@
 #include <iostream>
 #include <visp3/core/vpImageConvert.h>
 #include <visp3/core/vpTime.h>
-#include <visp3/gui/vpDisplayX.h>
+#include <visp3/gui/vpDisplayFactory.h>
 #include <visp3/sensor/vpV4l2Grabber.h>
 
-#if defined(VISP_HAVE_V4L2) && defined(VISP_HAVE_THREADS)
+#if defined(VISP_HAVE_V4L2) && defined(VISP_HAVE_THREADS) && defined(VISP_HAVE_DISPLAY)
 
 #include <thread>
 #include <mutex>
@@ -54,9 +54,7 @@
 
   t_CaptureState capture_state_;
   bool display_initialized_ = false;
-#if defined(VISP_HAVE_X11)
-  vpDisplayX *d_ = nullptr;
-#endif
+  vpDisplay *d_ = vpDisplayFactory::displayFactory();
 
   do {
     mutex_capture.lock();
@@ -73,11 +71,9 @@
 
       // Check if we need to initialize the display with the first frame
       if (!display_initialized_) {
-// Initialize the display
-#if defined(VISP_HAVE_X11)
-        d_ = new vpDisplayX(I_);
+      // Initialize the display
+        d_->init(I_);
         display_initialized_ = true;
-#endif
       }
 
       // Display the image
@@ -98,9 +94,7 @@
     }
   } while (capture_state_ != capture_stopped);
 
-#if defined(VISP_HAVE_X11)
   delete d_;
-#endif
 
   std::cout << "End of display thread" << std::endl;
 }
@@ -157,6 +151,8 @@
   std::cout << "You should enable V4L2 to make this example working..." << std::endl;
 #elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
   std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
+#elif !defined(VISP_HAVE_DISPLAY)
+  std::cout << "You should have at least one GUI library installed to use this example." << std::endl;
 #else
   std::cout << "Multi-threading seems not supported on this platform" << std::endl;
 #endif

tutorial/robot/mbot/raspberry/visp/mbot-apriltag-ibvs.cpp

@@ -11,7 +11,7 @@
 #include <visp3/core/vpSerial.h>
 #include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/detection/vpDetectorAprilTag.h>
-#include <visp3/gui/vpDisplayX.h>
+#include <visp3/gui/vpDisplayFactory.h>
 #include <visp3/io/vpImageIo.h>
 #include <visp3/robot/vpUnicycle.h>
 #include <visp3/sensor/vpV4l2Grabber.h>
@@ -29,10 +29,12 @@
   int nThreads = 2;
   std::string intrinsic_file = "";
   std::string camera_name = "";
-  bool display_tag = false;
   bool display_on = false;
   bool serial_off = false;
+#if defined(VISP_HAVE_DISPLAY)
+  bool display_tag = false;
   bool save_image = false; // Only possible if display_on = true
+#endif
 
   for (int i = 1; i < argc; i++) {
     if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
@@ -53,17 +55,17 @@
     else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
       camera_name = std::string(argv[i + 1]);
     }
+#if defined(VISP_HAVE_DISPLAY)
     else if (std::string(argv[i]) == "--display_tag") {
       display_tag = true;
-#if defined(VISP_HAVE_X11)
     }
     else if (std::string(argv[i]) == "--display_on") {
       display_on = true;
     }
     else if (std::string(argv[i]) == "--save_image") {
       save_image = true;
-#endif
     }
+#endif
     else if (std::string(argv[i]) == "--serial_off") {
       serial_off = true;
     }
@@ -79,7 +81,7 @@
         "TAG_36ARTOOLKIT,"
         " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5)]"
         " [--display_tag]";
-#if defined(VISP_HAVE_X11)
+#if defined(VISP_HAVE_DISPLAY)
       std::cout << " [--display_on] [--save_image]";
 #endif
       std::cout << " [--serial_off] [--help]" << std::endl;
@@ -114,9 +116,9 @@
 
     vpDisplay *d = nullptr;
     vpImage<vpRGBa> O;
-#ifdef VISP_HAVE_X11
+#ifdef VISP_HAVE_DISPLAY
     if (display_on) {
-      d = new vpDisplayX(I);
+      d = vpDisplayFactory::displayFactory(I);
     }
 #endif
 
@@ -138,14 +140,18 @@
 
     detector.setAprilTagQuadDecimate(quad_decimate);
     detector.setAprilTagNbThreads(nThreads);
+#ifdef VISP_HAVE_DISPLAY
     detector.setDisplayTag(display_tag);
+#endif
 
     vpServo task;
     vpAdaptiveGain lambda;
-    if (display_on)
+    if (display_on) {
       lambda.initStandard(2.5, 0.4, 30); // lambda(0)=2.5, lambda(oo)=0.4 and lambda'(0)=30
-    else
+    }
+    else {
       lambda.initStandard(4, 0.4, 30); // lambda(0)=4, lambda(oo)=0.4 and lambda'(0)=30
+    }
 
     vpUnicycle robot;
     task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
@@ -243,7 +249,9 @@
     for (;;) {
       g.acquire(I);
 
+#ifdef VISP_HAVE_DISPLAY
       vpDisplay::display(I);
+#endif
 
       double t = vpTime::measureTimeMs();
       std::vector<vpHomogeneousMatrix> cMo_vec;
@@ -254,7 +262,9 @@
       {
         std::stringstream ss;
         ss << "Detection time: " << t << " ms";
+#ifdef VISP_HAVE_DISPLAY
         vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
+#endif
       }
 
       if (detector.getNbObjects() == 1) {
@@ -274,14 +284,16 @@
           vec_P.push_back(P);
         }
 
-        // Display visual features
+#ifdef VISP_HAVE_DISPLAY
+// Display visual features
         vpDisplay::displayPolygon(I, vec_ip, vpColor::green, 3); // Current polygon used to compure an moment
         vpDisplay::displayCross(I, detector.getCog(0), 15, vpColor::green,
                                 3); // Current polygon used to compure an moment
         vpDisplay::displayLine(I, 0, cam.get_u0(), I.getHeight() - 1, cam.get_u0(), vpColor::red,
                                3); // Vertical line as desired x position
+#endif
 
-        // Current moments
+// Current moments
         m_obj.setType(vpMomentObject::DENSE_POLYGON); // Consider the AprilTag as a polygon
         m_obj.fromVector(vec_P);                      // Initialize the object with the points coordinates
 
@@ -339,17 +351,21 @@
         }
       }
 
+#ifdef VISP_HAVE_DISPLAY
       vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
       vpDisplay::flush(I);
 
       if (display_on && save_image) {
         vpDisplay::getImage(I, O);
         vpImageIo::write(O, "image.png");
       }
-      if (vpDisplay::getClick(I, false))
+      if (vpDisplay::getClick(I, false)) {
         break;
+      }
+#endif
     }
 
+
     if (!serial_off) {
       serial->write("LED_RING=0,0,0,0\n"); // Switch off all led
     }