Merge pull request #1498 from fspindle/feat_various

Introduce various improvements

3rdparty/simdlib/CMakeLists.txt

@@ -1,5 +1,8 @@
 project(${SIMD_LIBRARY})
 
+# SIMD_VERSION should math the version set in Simd/SimdVersion.h
+set(SIMD_VERSION "4.9.109"  PARENT_SCOPE)
+
 vp_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 set(COMMON_CXX_FLAGS "${CMAKE_CXX_FLAGS}")

CMakeLists.txt

@@ -1777,7 +1777,7 @@ status("    \\- Use ZLIB:"           USE_ZLIB         THEN "yes (ver ${ZLIB_VERS
 status("    Use OpenCV:"             USE_OPENCV       THEN "yes (ver ${OpenCV_VERSION})" ELSE "no")
 status("    Use stb_image (built-in):" WITH_STBIMAGE  THEN "yes (ver ${STBIMAGE_VERSION})" ELSE "no")
 status("    Use TinyEXR (built-in):" WITH_TINYEXR     THEN "yes (ver ${TINYEXR_VERSION})" ELSE "no")
-status("    Use simdlib (built-in):" WITH_SIMDLIB     THEN "yes" ELSE "no")
+status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes (ver ${SIMD_VERSION})" ELSE "no")
 status("    Use npz I/O (built-in):" WITH_MINIZ       THEN "yes" ELSE "no")
 status("")
 status("  Real robots: ")
@@ -1863,10 +1863,10 @@ status("    Use json (nlohmann system):"  USE_NLOHMANN_JSON THEN "yes (ver ${nlo
 endif()
 status("")
 status("  Optimization: ")
-status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
+status("    Use OpenMP:"             USE_OPENMP         THEN "yes (ver ${OpenMP_CXX_VERSION})" ELSE "no")
 status("    Use std::thread:"        USE_THREADS        THEN "yes" ELSE "no")
 status("    Use pthread:"            USE_PTHREAD        THEN "yes" ELSE "no")
-status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes" ELSE "no")
+status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes (ver ${SIMD_VERSION})" ELSE "no")
 status("")
 status("  DNN: ")
 status("    Use CUDA Toolkit:"       USE_TENSORRT AND CUDA_FOUND  THEN "yes (ver ${CUDA_VERSION})" ELSE "no")
@@ -1875,7 +1875,7 @@ status("    Use TensorRT:"           USE_TENSORRT       THEN "yes (ver ${TENSORR
 # ========================== documentation ==========================
 status("")
 status("  Documentation: ")
-status("    Use doxygen:"            DOXYGEN_FOUND    THEN "yes" ELSE "no")
+status("    Use doxygen:"            DOXYGEN_FOUND    THEN "yes (ver ${DOXYGEN_VERSION})" ELSE "no")
 status("    \\- Use mathjax:"        USE_MATHJAX      THEN "yes" ELSE "no")
 
 # ========================== samples and tests ==========================

ChangeLog.txt

@@ -44,6 +44,8 @@ ViSP 3.x.x (Version in development)
     . Update tinyexr 3rdparty to 1.0.9 release
     . Update stb_image 3rdparty to 2.30 version
     . Update Catch2 3rdparty to 3.7.1 version
+    . Add compatibility with Yolo v11 in vpDetectorDNNOpenCV a wrapper over the OpenCV DNN module that allows
+      to detect objects
   - Applications
     . Migrate eye-to-hand tutorials in apps
   - Tutorials

modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp

@@ -198,16 +198,22 @@ void vpPanda3DGeometryRenderer::getRender(vpImage<vpRGBf> &normals, vpImage<floa
   if (numComponents != 4) {
     throw vpException(vpException::dimensionError, "Expected panda texture to have 4 components!");
   }
+
+  int image_width = static_cast<int>(m_renderParameters.getImageWidth());
   for (unsigned int i = 0; i < m_renderParameters.getImageHeight(); ++i) {
     const float *const rowData = data - i * rowIncrement;
     vpRGBf *normalRow = normals[top + i];
     float *depthRow = depth[top + i];
-#pragma omp simd
-    for (unsigned int j = 0; j < m_renderParameters.getImageWidth(); ++j) {
-      normalRow[left + j].R = (rowData[j * 4]);
-      normalRow[left + j].G = (rowData[j * 4 + 1]);
-      normalRow[left + j].B = (rowData[j * 4 + 2]);
-      depthRow[left + j] = (rowData[j * 4 + 3]);
+#if defined(VISP_HAVE_OPENMP)
+#pragma omp parallel for
+#endif
+    for (int j = 0; j < image_width; ++j) {
+      int left_j = left + j;
+      int j_4 = j * 4;
+      normalRow[left_j].R = (rowData[j_4]);
+      normalRow[left_j].G = (rowData[j_4 + 1]);
+      normalRow[left_j].B = (rowData[j_4 + 2]);
+      depthRow[left_j] = (rowData[j_4 + 3]);
     }
   }
 }