Merge branch 'master' into update_tuto_brightness_cycle_gamma_methods

lagadic · Nov 3, 2024 · ebca3c5 · ebca3c5
2 parents d1f9401 + d8ae587
commit ebca3c5
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diff --git a/.github/workflows/conda/environment_linux.yml b/.github/workflows/conda/environment_linux.yml
@@ -8,6 +8,7 @@ dependencies:
   - xorg-libx11
   - xorg-libxfixes
   - mesa-libegl-cos7-x86_64
+  - icu
   - libxml2
   - libdc1394 >=2.2.6
   - librealsense

diff --git a/.github/workflows/other-arch-isolated.yml b/.github/workflows/other-arch-isolated.yml
@@ -28,23 +28,23 @@ jobs:
           # - arch: armv6
           #   distro: bullseye
           #   target: ARMV6
-          - arch: armv7
-            distro: ubuntu_latest
-            target: ARMV7
-            endianness: (Little Endian)
+          #- arch: armv7
+          #  distro: ubuntu:latest
+          #  target: ARMV7
+          #  endianness: (Little Endian)
           - arch: aarch64
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             endianness: (Little Endian)
           - arch: riscv64
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             target: RISC-V
             endianness: (Little Endian)
           - arch: ppc64le
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             target: POWER8
             endianness: (Little Endian)
           - arch: s390x
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             target: Z13
             endianness: (Big Endian)
 
@@ -53,11 +53,15 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Run on arch
-      uses: uraimo/run-on-arch-action@v2.7.2
+      uses: uraimo/run-on-arch-action@v2
+      # See issue https://github.com/uraimo/run-on-arch-action/issues/155 for the explanation on the weird use of the arch and distro
+      # that resulted in error
+      # ERROR: failed to solve: ${arch}/ubuntu:latest: failed to resolve source metadata for docker.io/${arch}/ubuntu:latest: no match for platform in manifest: not found
       with:
         githubToken: ${{ github.token }}
-        arch: ${{ matrix.arch }}
-        distro: ${{ matrix.distro }}
+        arch: none
+        distro: none
+        base_image: "--platform=linux/${{ matrix.arch }} ${{ matrix.distro }}"
 
         run: |
           lscpu

diff --git a/.github/workflows/other-arch.yml b/.github/workflows/other-arch.yml
@@ -32,14 +32,14 @@ jobs:
           #   distro: ubuntu20.04
           #   target: ARMV7
           - arch: aarch64
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             target: ARMV8
             endianness: (Little Endian)
           # - arch: ppc64le
           #   distro: ubuntu20.04
           #   target: POWER8
           - arch: s390x
-            distro: ubuntu_latest
+            distro: ubuntu:latest
             target: Z13
             endianness: (Big Endian)
 
@@ -48,11 +48,15 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Run on arch
-      uses: uraimo/run-on-arch-action@v2.7.2
+      uses: uraimo/run-on-arch-action@v2
+      # See issue https://github.com/uraimo/run-on-arch-action/issues/155 for the explanation on the weird use of the arch and distro
+      # that resulted in error
+      # ERROR: failed to solve: ${arch}/ubuntu:latest: failed to resolve source metadata for docker.io/${arch}/ubuntu:latest: no match for platform in manifest: not found
       with:
         githubToken: ${{ github.token }}
-        arch: ${{ matrix.arch }}
-        distro: ${{ matrix.distro }}
+        arch: none
+        distro: none
+        base_image: "--platform=linux/${{ matrix.arch }} ${{ matrix.distro }}"
 
         run: |
           lscpu

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -687,6 +687,17 @@ if(USE_PCL)
   set(PCL_REQUIRED_COMPONENTS "common;filters;io;visualization;segmentation")
   # Create cmake vars corresponding to pcl components used by ViSP like VISP_HAVE_PCL_COMMON...
   vp_detect_required_pcl_components(PCL_REQUIRED_COMPONENTS)
+
+  # USE_NLOHMANN_JSON is set to ON if nlohmann_json is installed and found thanks to nlohmann_jsonConfig.cmake.
+  # VTK that is a PCL 3rd party embbed also a built in version of nlohmann_json.
+  # Here we add a specific case to consider the nlohmann version coming from VTK when the system version is not found
+  if(NOT USE_NLOHMANN_JSON)
+    if(VISP_HAVE_NLOHMANN_JSON_FROM_VTK)
+      message(WARNING "json 3rd party is detected and used as a VTK 3rd party which is itself a PCL 3rd party. Thus we enable nlohmann json usage turning USE_NLOHMANN_JSON=ON.")
+      unset(USE_NLOHMANN_JSON)
+      set(USE_NLOHMANN_JSON ON CACHE BOOL "Include nlohmann json support thanks to VTK" FORCE)
+    endif()
+  endif()
 endif()
 
 # ----------------------------------------------------------------------------
@@ -1090,7 +1101,8 @@ VP_SET(VISP_HAVE_THREADS     TRUE IF (BUILD_MODULE_visp_core AND USE_THREADS))
 VP_SET(VISP_HAVE_XML2        TRUE IF (BUILD_MODULE_visp_core AND USE_XML2))
 VP_SET(VISP_HAVE_PCL         TRUE IF (BUILD_MODULE_visp_core AND USE_PCL))
 VP_SET(VISP_HAVE_TENSORRT    TRUE IF (BUILD_MODULE_visp_core AND USE_TENSORRT))
-VP_SET(VISP_HAVE_NLOHMANN_JSON   TRUE IF (BUILD_MODULE_visp_core AND USE_NLOHMANN_JSON))
+VP_SET(VISP_HAVE_NLOHMANN_JSON          TRUE IF (BUILD_MODULE_visp_core AND USE_NLOHMANN_JSON))
+VP_SET(VISP_HAVE_NLOHMANN_JSON_FROM_VTK TRUE IF (BUILD_MODULE_visp_core AND VISP_HAVE_NLOHMANN_JSON_FROM_VTK))
 
 VP_SET(VISP_HAVE_OGRE        TRUE IF (BUILD_MODULE_visp_ar AND USE_OGRE))
 VP_SET(VISP_HAVE_OIS         TRUE IF (BUILD_MODULE_visp_ar AND USE_OIS))
@@ -1844,7 +1856,11 @@ status("  Misc: ")
 status("    Use Clipper (built-in):"  WITH_CLIPPER     THEN "yes (ver ${CLIPPER_VERSION})" ELSE "no")
 status("    Use pugixml (built-in):"  WITH_PUGIXML     THEN "yes (ver ${PUGIXML_VERSION})" ELSE "no")
 status("    Use libxml2:"             USE_XML2         THEN "yes (ver ${XML2_VERSION_STRING})" ELSE "no")
-status("    Use json (nlohmann):"     USE_NLOHMANN_JSON THEN "yes (ver ${nlohmann_json_VERSION})" ELSE "no")
+if(VISP_HAVE_NLOHMANN_JSON_FROM_VTK)
+status("    Use json (nlohmann vtk):"     USE_NLOHMANN_JSON THEN "yes (ver ${VTK_NLOHMANN_JSON_VERSION})" ELSE "no")
+else()
+status("    Use json (nlohmann system):"  USE_NLOHMANN_JSON THEN "yes (ver ${nlohmann_json_VERSION})" ELSE "no")
+endif()
 status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")

diff --git a/ChangeLog.txt b/ChangeLog.txt
@@ -87,6 +87,9 @@ ViSP 3.x.x (Version in development)
     . [#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
+    . [#1494] Memory management issue in vpArray2D::resize()
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

diff --git a/ci/docker/ubuntu-dep-src/Dockerfile b/ci/docker/ubuntu-dep-src/Dockerfile
@@ -91,8 +91,8 @@ RUN cd ${HOME}/visp-ws/3rdparty \
     && git clone --depth 1 --branch $LATEST_TAG $GIT_ADDRESS \
     && cd OpenBLAS \
     && mkdir install \
-    && make -j$(nproc) \
-    && make -j$(nproc) install PREFIX=$(pwd)/install
+    && make -j$(($(nproc) / 2)) \
+    && make -j$(($(nproc) / 2)) install PREFIX=$(pwd)/install
 
 ENV OpenBLAS_HOME=${HOME}/visp-ws/3rdparty/OpenBLAS/install
 
@@ -107,7 +107,7 @@ RUN cd ${HOME}/visp-ws/3rdparty \
     && cmake .. -DVTK_ANDROID_BUILD=OFF -DVTK_BUILD_DOCUMENTATION=OFF -DVTK_BUILD_EXAMPLES=OFF -DVTK_BUILD_EXAMPLES=OFF \
       -DCMAKE_BUILD_TYPE=Release -DVTK_GROUP_ENABLE_Imaging=DONT_WANT -DVTK_GROUP_ENABLE_MPI=DONT_WANT \
       -DVTK_GROUP_ENABLE_Web=DONT_WANT -DCMAKE_INSTALL_PREFIX=${HOME}/visp-ws/3rdparty/VTK/build/install \
-    && make -j$(nproc) install
+    && make -j$(($(nproc) / 2)) install
 
 ENV VTK_DIR=${HOME}/visp-ws/3rdparty/VTK/build/install
 
@@ -121,7 +121,7 @@ RUN cd ${HOME}/visp-ws/3rdparty \
     && mkdir install \
     && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release \
       -DCMAKE_INSTALL_PREFIX=${HOME}/visp-ws/3rdparty/opencv/build/install \
-    && make -j$(nproc) install
+    && make -j$(($(nproc) / 2)) install
 
 ENV OpenCV_DIR=${HOME}/visp-ws/3rdparty/opencv/build/install
 
@@ -135,7 +135,7 @@ RUN cd ${HOME}/visp-ws/3rdparty \
     && mkdir install \
     && cmake .. -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release \
       -DCMAKE_INSTALL_PREFIX=${HOME}/visp-ws/3rdparty/librealsense/build/install \
-    && make -j$(nproc) install
+    && make -j$(($(nproc) / 2)) install
 
 ENV REALSENSE2_DIR=${HOME}/visp-ws/3rdparty/librealsense/build/install
 
@@ -149,7 +149,7 @@ RUN cd ${HOME}/visp-ws/3rdparty \
     && mkdir install \
     && cmake .. -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DPCL_DISABLE_GPU_TESTS=ON -DCMAKE_BUILD_TYPE=Release \
       -DCMAKE_INSTALL_PREFIX=${HOME}/visp-ws/3rdparty/pcl/build/install \
-    && make -j10 install
+    && make -j$(($(nproc) / 3)) install
 
 ENV PCL_DIR=${HOME}/visp-ws/3rdparty/pcl/build/install
 
@@ -160,7 +160,7 @@ RUN mkdir -p ${HOME}/visp-ws \
     && echo "export VISP_WS=${HOME}/visp-ws" >> ${HOME}/.bashrc \
     && echo "export VISP_INPUT_IMAGE_PATH=${HOME}/visp-ws/visp-images" >> ${HOME}/.bashrc
 
-# Download ViSP fork
+# Download ViSP
 RUN cd ${HOME}/visp-ws \
     && git clone ${GIT_URL} ${GIT_BRANCH_CMD}
 
@@ -169,7 +169,7 @@ RUN cd ${HOME}/visp-ws \
     && mkdir visp-build \
     && cd visp-build \
     && cmake ../visp -DCMAKE_INSTALL_PREFIX=${HOME}/visp-ws/visp-build/install \
-    && make -j$(nproc) developer_scripts \
-    && make -j$(nproc) install
+    && make -j$(($(nproc) / 2)) developer_scripts \
+    && make -j$(($(nproc) / 2)) install
 
 CMD ["/bin/bash"]
diff --git a/ci/docker/ubuntu-dep-src/README.md b/ci/docker/ubuntu-dep-src/README.md
@@ -0,0 +1,73 @@
+# Docker dedicated to check compatibility with 3rd party last releases
+
+## Build docker image from Dockerfile
+
+- We suppose here that you already installed docker.
+If this is not the case, follow instructions provided for [Ubuntu](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-docker.html#install_docker_engine_ubuntu) or [MacOS](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-docker.html#install_docker_engine_mac).
+
+- Get ViSP source code
+  ```
+  $ cd $VISP_WS/
+  $ git clone https://github.com/lagadic/visp
+  ```
+
+- Build docker image from Dockerfile running the following:
+  ```
+  $ cd $VISP_WS/visp/ci/docker/ubuntu-dep-src
+  $ docker build -t vispci/vispci:ubuntu-dep-src .
+  ```
+  The version of ViSP that is considered is by default the master branch from github official repo in
+  https://github.com/lagadic/visp
+
+  There is also the possibility to build visp from a specific repo and branch using `GIT_URL` and `GIT_BRANCH_NAME`
+  args, like
+  ```
+  $ cd $VISP_WS/visp/ci/docker/ubuntu-dep-src
+  $ docker build -t vispci/vispci:ubuntu-dep-src --build-arg GIT_URL=https://github.com/lagadic/visp --build-arg GIT_BRANCH_NAME=master .
+  ```
+
+## Start the container
+
+### On Ubuntu host
+
+- On your computer running Ubuntu, allow access to the X11 server
+  ```
+  $ xhost +local:docker
+  non-network local connections being added to access control list
+  ```
+- Run your Docker container. The following command connects to the ubuntu-dep-src Docker container.
+  ```
+  $ docker run --rm -it --network=host --privileged \
+            --env=DISPLAY \
+            --env=QT_X11_NO_MITSHM=1 \
+            --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
+            --volume=/dev:/dev \
+            vispci/vispci:ubuntu-dep-src
+  vispci@6c8d67579659:~$ pwd
+  /home/vispci
+  ```
+
+### On MacOS host
+
+- Get your MacOS computer IP address
+  ```
+  $ IP=$(/usr/sbin/ipconfig getifaddr en0)
+  $ echo $IP
+  $ 192.168.1.18
+  ```
+- Allow connections from MacOS to XQuartz
+  ```
+  $ xhost + "$IP"
+  192.168.1.18 being added to access control list
+  ```
+- Run your Docker container. The following command connects to the ubuntu-dep-src Docker container.
+  ```
+  $ docker run --rm -it --network=host --privileged \
+            --env=DISPLAY="${IP}:0" \
+            --env=QT_X11_NO_MITSHM=1 \
+            --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
+            --volume=/dev:/dev \
+            vispci/vispci:ubuntu-dep-src
+  vispci@6c8d67579659:~$ pwd
+  /home/vispci
+  ```
diff --git a/cmake/PCLTools.cmake b/cmake/PCLTools.cmake
@@ -257,6 +257,21 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
       endif()
     endforeach()
 
+    find_path(VTK_NLOHMANN_JSON_INCLUDE_DIR vtknlohmannjson/include/vtknlohmann/json.hpp
+      PATHS
+        ${PCL_VTK_IMPORTED_INCS}
+    )
+    mark_as_advanced(VTK_NLOHMANN_JSON_INCLUDE_DIR)
+    if(VTK_NLOHMANN_JSON_INCLUDE_DIR)
+      vp_parse_header("${VTK_NLOHMANN_JSON_INCLUDE_DIR}/vtknlohmannjson/include/vtknlohmann/json.hpp" NLOHMANN_JSON_VERSION_LINES NLOHMANN_JSON_VERSION_MAJOR NLOHMANN_JSON_VERSION_MINOR NLOHMANN_JSON_VERSION_PATCH)
+      set(VTK_NLOHMANN_JSON_VERSION "${NLOHMANN_JSON_VERSION_MAJOR}.${NLOHMANN_JSON_VERSION_MINOR}.${NLOHMANN_JSON_VERSION_PATCH}")
+      list(APPEND ${pcl_deps_include_dirs} "${VTK_NLOHMANN_JSON_INCLUDE_DIR}/vtknlohmannjson/include")
+      set(VISP_HAVE_NLOHMANN_JSON_FROM_VTK TRUE)
+    else()
+      set(VISP_HAVE_NLOHMANN_JSON_FROM_VTK FALSE)
+      set(VTK_NLOHMANN_JSON_VERSION "n/a")
+    endif()
+
     # On win10 + msvc 15 2017 with pcl 1.9.1 opengl32.lib needed by vtkRenderingOpenGL-8.1-gd.lib is not found
     # Here we explicitly add opengl
     if(OPENGL_LIBRARIES)

diff --git a/cmake/VISPUtils.cmake b/cmake/VISPUtils.cmake
@@ -1248,6 +1248,14 @@ function(status text)
 endfunction()
 
 # read set of version defines from the header file
+# This macro allows to get defines values from a header file.
+# For example if the header.hpp file contains
+#   #define LIB_VERSION_MAJOR 1
+#   #define LIB_VERSION_MINOR 2
+#   #define LIB_VERSION_PATCH 3
+# to retrieve the values of these defines and compose a string version you may use
+#   vp_parse_header("header.hpp" LIB_VERSION_LINES LIB_VERSION_MAJOR LIB_VERSION_MINOR LIB_VERSION_PATCH)
+#   set(LIB_VERSION "${LIB_VERSION_MAJOR}.${LIB_VERSION_MINOR}.${LIB_VERSION_PATCH}")
 macro(vp_parse_header FILENAME FILE_VAR)
   set(vars_regex "")
   set(__parent_scope OFF)
@@ -1289,6 +1297,9 @@ macro(vp_parse_header FILENAME FILE_VAR)
 endmacro()
 
 # read single version define from the header file
+# Example to detect the version in header.hpp file that contains:
+#   #define MyLIB_VERSION_STR "1.2.3"
+# use vp_parse_header2(MyLIB "header.hpp" LIB_VERSION_STR)
 macro(vp_parse_header2 LIBNAME HDR_PATH VARNAME)
   vp_clear_vars(${LIBNAME}_VERSION_MAJOR
                 ${LIBNAME}_VERSION_MAJOR
@@ -1300,7 +1311,6 @@ macro(vp_parse_header2 LIBNAME HDR_PATH VARNAME)
   if(EXISTS "${HDR_PATH}")
     file(STRINGS "${HDR_PATH}" ${LIBNAME}_H REGEX "^#define[ \t]+${VARNAME}[ \t]+\"[^\"]*\".*$" LIMIT_COUNT 1)
   endif()
-
   if(${LIBNAME}_H)
     string(REGEX REPLACE "^.*[ \t]${VARNAME}[ \t]+\"([0-9]+).*$" "\\1" ${LIBNAME}_VERSION_MAJOR "${${LIBNAME}_H}")
     string(REGEX REPLACE "^.*[ \t]${VARNAME}[ \t]+\"[0-9]+\\.([0-9]+).*$" "\\1" ${LIBNAME}_VERSION_MINOR  "${${LIBNAME}_H}")

diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
@@ -1,6 +1,6 @@
 /*
  * 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
@@ -524,9 +524,21 @@ namespace vp = VISP_NAMESPACE_NAME;
 // Defined if we want to use openmp
 #cmakedefine VISP_HAVE_OPENMP
 
-// Defined if nlohmann json parser is found
+// Defined if nlohmann json parser is found (either system or coming from VTK)
 #cmakedefine VISP_HAVE_NLOHMANN_JSON
 
+// Defined if nlohmann json parser is found in PCL thanks to VTK 3rd party
+#cmakedefine VISP_HAVE_NLOHMANN_JSON_FROM_VTK
+
+#ifdef VISP_HAVE_NLOHMANN_JSON
+#  if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_NLOHMANN_JSON_FROM_VTK)
+#    include <vtk_nlohmannjson.h>
+#    define VISP_NLOHMANN_JSON(x) <vtknlohmannjson/include/vtknlohmann/x>
+#  else
+#    define VISP_NLOHMANN_JSON(x) <nlohmann/x>
+#  endif
+#endif
+
 // Define c++ standard values also available in __cplusplus when gcc is used
 #define VISP_CXX_STANDARD_98 ${VISP_CXX_STANDARD_98}
 #define VISP_CXX_STANDARD_11 ${VISP_CXX_STANDARD_11}

diff --git a/doc/tutorial/detection_dnn/tutorial-detection-dnn.dox b/doc/tutorial/detection_dnn/tutorial-detection-dnn.dox
@@ -474,6 +474,10 @@ If you want to train your own YoloV7 model, please refer to the [official docume
 If your dataset is rather small (only hundreds of pictures), you may want to consider to base your training on
 `yolov7-tiny` network, as it tends to get better results.
 
+\warning If you train your own model, be sure to use the same image size in the `python train.py`,
+`python export.py` and `./tutorial-dnn-object-detection-live` commands. Otherwise, it can lead to either an error thrown
+by OpenCV or the absence of detection by the ONNX model while the Pytorch model works perfectly using the `python detect.py` command.
+
 \subsubsection dnn_supported_yolov8 Yolo v8
 
 You can find the weights (`yolov8s.onnx`) in ONNX format