Merge branch 'master' into fix_cht_votes

CMakeLists.txt

@@ -1,7 +1,7 @@
 #############################################################################
 #
 # ViSP, open source Visual Servoing Platform software.
-# Copyright (C) 2005 - 2023 by Inria. All rights reserved.
+# 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
@@ -1896,7 +1896,7 @@ endif()
 status("")
 status("  Library dirs:")
 if(USE_EIGEN3)
-  status("    Eigen3 include dir:" "${Eigen3_DIR}")
+  status("    Eigen3 dir:" "${Eigen3_DIR}")
 endif()
 if(USE_MKL)
   status("    MKL include dir:" "${MKL_INCLUDE_DIRS}")
@@ -1910,6 +1910,16 @@ endif()
 if(USE_PCL)
   status("    PCL dir:" "${PCL_DIR}")
 endif()
+if(USE_PANDA3D)
+  if(Panda3D_DIR)
+    status("    Panda3D dir:" "${Panda3D_DIR}")
+  else()
+    status("    Panda3D dir:" "$ENV{Panda3D_DIR}")
+  endif()
+endif()
+if(USE_YARP)
+  status("    Yarp dir:" "${YARP_DIR}")
+endif()
 
 # ========================== auxiliary ==========================
 status("")

ChangeLog.txt

@@ -85,12 +85,13 @@ ViSP 3.x.x (Version in development)
     . [#1296] Unable to parse camera parameters with vpXmlParserCamera::parse() when camera name is empty
     . [#1307] Cannot set cxx standard when configuring for Visual Studio
     . [#1320] Broken links in the documentation
-    . [#1337] The pose of the automatic datageneration pipeline from blenderproc seems wrong
+    . [#1337] The pose of the automatic data generation pipeline from blenderproc seems wrong
     . [#1341] SVD computation fails with Lapack when m < n
     . [#1370] encountered compilation errors while building the ViSP library
     . [#1424] Unable to detect Yarp 3.9.0
     . [#1485] Build issue around nlohmann_json usage with VTK 9.2.0 or more recent version used as an embedded
               3rdparty by PCL
+    . [#1487] Segfault with vpCannyEdgeDetection with a certain image
     . [#1494] Memory management issue in vpArray2D::resize()
     . [#1495] vpMeLine is unable to seek extremities
 ----------------------------------------------

tutorial/imgproc/brightness/tutorial-brightness-adjustment.cpp

@@ -173,7 +173,7 @@ int main(int argc, const char **argv)
   std::stringstream ss_gray;
   ss_gray << input_name << "_adjust_alpha=" << alpha << "_beta=" << beta << "_gray.png";
   display(I_display, I_color_res, I_color_adjust, I_gray_res, I_gray_adjust, I_gray_display,
-    "Brightness and contrast adjustment. Click to continue.", ss_color.str(), ss_gray.str());
+          "Brightness and contrast adjustment. Click to continue.", ss_color.str(), ss_gray.str());
 
   //! [Gamma correction]
   if (method != VISP_NAMESPACE_NAME::GAMMA_MANUAL) {

tutorial/imgproc/hough-transform/drawingHelpers.cpp

@@ -11,6 +11,7 @@ using namespace VISP_NAMESPACE_NAME;
 bool drawingHelpers::display(vpImage< vpRGBa> &I, const std::string &title, const bool &blockingMode)
 {
   vpDisplay::display(I);
+  vpDisplay::setTitle(I, title);
   vpDisplay::displayText(I, 15, 15, "Left click to continue...", vpColor::red);
   vpDisplay::displayText(I, 35, 15, "Right click to stop...", vpColor::red);
   vpDisplay::flush(I);

tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp

@@ -22,7 +22,9 @@
 using namespace VISP_NAMESPACE_NAME;
 #endif
 
-bool run_detection(const vpImage<unsigned char> &I_src, vpImage<vpRGBa> &I_disp, vpImage<vpRGBa> &I_dispCanny, vpCircleHoughTransform &detector, const int &nbCirclesToDetect, const bool &blockingMode, const bool &displayCanny)
+bool run_detection(const vpImage<unsigned char> &I_src, vpImage<vpRGBa> &I_disp, vpImage<vpRGBa> &I_dispCanny,
+                   vpCircleHoughTransform &detector, const int &nbCirclesToDetect, const bool &blockingMode,
+                   const bool &displayCanny)
 {
   double t0 = vpTime::measureTimeMicros();
   //! [Run detection]
@@ -60,23 +62,17 @@ bool run_detection(const vpImage<unsigned char> &I_src, vpImage<vpRGBa> &I_disp,
   }
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17)
   std::optional<vpImage<bool>> opt_mask = std::nullopt;
-  std::optional<std::vector<std::vector<std::pair<unsigned int, unsigned int>>>> opt_votingPoints = std::nullopt;
-#elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  vpImage<bool> *opt_mask = nullptr;
-  std::vector<std::vector<std::pair<unsigned int, unsigned int>>> *opt_votingPoints = nullptr;
-  detector.computeVotingMask(I_src, detectedCircles, &opt_mask, &opt_votingPoints); // Get, if available, the voting points
+  std::optional<std::vector<std::vector<std::pair<unsigned int, unsigned int> > > > opt_votingPoints = std::nullopt;
 #else
-  vpImage<bool> *opt_mask = NULL;
-  std::vector<std::vector<std::pair<unsigned int, unsigned int> > > *opt_votingPoints = NULL;
+  vpImage<bool> *opt_mask = nullptr;
+  std::vector<std::vector<std::pair<unsigned int, unsigned int> > > *opt_votingPoints = nullptr;
   detector.computeVotingMask(I_src, detectedCircles, &opt_mask, &opt_votingPoints); // Get, if available, the voting points
 #endif
 
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17)
   if (opt_votingPoints)
-#elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  if (opt_votingPoints != nullptr)
 #else
-  if (opt_votingPoints != NULL)
+  if (opt_votingPoints != nullptr)
 #endif
   {
     const unsigned int crossSize = 3;
@@ -94,25 +90,14 @@ bool run_detection(const vpImage<unsigned char> &I_src, vpImage<vpRGBa> &I_disp,
     }
   }
 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_17)
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  if (opt_mask != nullptr)
-#else
-  if (opt_mask != NULL)
-#endif
-  {
+  if (opt_mask != nullptr) {
     delete opt_mask;
   }
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  if (opt_votingPoints != nullptr)
-#else
-  if (opt_votingPoints != NULL)
-#endif
-  {
+  if (opt_votingPoints != nullptr) {
     delete opt_votingPoints;
   }
 #endif
-//! [Iterate detections]
-
+  //! [Iterate detections]
   if (displayCanny) {
     vpImage<unsigned char> edgeMap = detector.getEdgeMap();
     drawingHelpers::display(edgeMap, I_dispCanny, "Edge map", blockingMode);
@@ -511,39 +496,9 @@ int main(int argc, char **argv)
   //! [Algo init]
   std::cout << detector;
 
-  //! [Display init]
   vpImage<unsigned char> I_src;
   vpImage<vpRGBa> I_disp;
   vpImage<vpRGBa> I_dispCanny;
-  // Read the (first) image
-  char *filename = new char[opt_input.size() + 50];
-  if (opt_input.find("%") != std::string::npos) {
-    // Read the first frame
-    sprintf(filename, opt_input.c_str(), 0);
-  }
-  else {
-    // Simply get the filename
-    strcpy(filename, opt_input.c_str());
-  }
-  std::string filenameAsStr(filename);
-  delete[] filename;
-  vpImageIo::read(I_src, filenameAsStr);
-  I_disp.resize(I_src.getHeight(), I_src.getWidth());
-  I_dispCanny.resize(I_src.getHeight(), I_src.getWidth());
-#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  std::shared_ptr<vpDisplay> dColor = vpDisplayFactory::createDisplay(I_disp, -1, -1, "Input image");;
-  std::shared_ptr<vpDisplay> dCanny(nullptr);
-  if (opt_displayCanny) {
-    dCanny = vpDisplayFactory::createDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
-  }
-#else
-  vpDisplay *dColor = vpDisplayFactory::allocateDisplay(I_disp, -1, -1, "Input image");;
-  vpDisplay *dCanny(nullptr);
-  if (opt_displayCanny) {
-    dCanny = vpDisplayFactory::allocateDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
-  }
-#endif
-  //! [Display init]
 
   //! [Manage video]
   if (opt_input.find("%") != std::string::npos) {
@@ -552,11 +507,38 @@ int main(int argc, char **argv)
     vpVideoReader g;
     g.setFileName(opt_input);
     g.open(I_src);
+
+    //! [Display init]
+    I_disp.resize(I_src.getHeight(), I_src.getWidth());
+    I_dispCanny.resize(I_src.getHeight(), I_src.getWidth());
+#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+    std::shared_ptr<vpDisplay> dColor = vpDisplayFactory::createDisplay(I_disp, -1, -1, "Input image");;
+    std::shared_ptr<vpDisplay> dCanny(nullptr);
+    if (opt_displayCanny) {
+      dCanny = vpDisplayFactory::createDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
+    }
+#else
+    vpDisplay *dColor = vpDisplayFactory::allocateDisplay(I_disp, -1, -1, "Input image");;
+    vpDisplay *dCanny(nullptr);
+    if (opt_displayCanny) {
+      dCanny = vpDisplayFactory::allocateDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
+    }
+#endif
+    //! [Display init]
     while (!g.end() && hasToContinue) {
       g.acquire(I_src);
       hasToContinue = run_detection(I_src, I_disp, I_dispCanny, detector, opt_nbCirclesToDetect, false, opt_displayCanny);
       vpTime::wait(40);
     }
+
+#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
+    delete dColor;
+    if (dCanny != nullptr) {
+      if (opt_displayCanny) {
+        delete dCanny;
+      }
+    }
+#endif
   }
   //! [Manage video]
   else {
@@ -567,15 +549,35 @@ int main(int argc, char **argv)
     }
     // Read the image and perform detection on it
     vpImageIo::read(I_src, opt_input);
+
+    I_disp.resize(I_src.getHeight(), I_src.getWidth());
+    I_dispCanny.resize(I_src.getHeight(), I_src.getWidth());
+#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
+    std::shared_ptr<vpDisplay> dColor = vpDisplayFactory::createDisplay(I_disp, -1, -1, "Input image");;
+    std::shared_ptr<vpDisplay> dCanny(nullptr);
+    if (opt_displayCanny) {
+      dCanny = vpDisplayFactory::createDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
+    }
+#else
+    vpDisplay *dColor = vpDisplayFactory::allocateDisplay(I_disp, -1, -1, "Input image");;
+    vpDisplay *dCanny(nullptr);
+    if (opt_displayCanny) {
+      dCanny = vpDisplayFactory::allocateDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
+    }
+#endif
+
     run_detection(I_src, I_disp, I_dispCanny, detector, opt_nbCirclesToDetect, true, opt_displayCanny);
-    //! [Manage single image]
-  }
 
 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
-  delete dColor;
-  if (dCanny != nullptr) {
-    delete dCanny;
-  }
+    delete dColor;
+    if (dCanny != nullptr) {
+      if (opt_displayCanny) {
+        delete dCanny;
+      }
+    }
 #endif
+    //! [Manage single image]
+  }
+
   return EXIT_SUCCESS;
 }