Feature/avoid image copy

README.md

@@ -216,6 +216,27 @@ To get your environment setup with it, follow these steps:
 
 ---
 
+### Manage and execute filterchains with bags from telemetry
+- Run the dockers for ros-master, ros-bridge and octopus-telemetry (only on linux for now)
+- Make sure proc_image_processing is launch. 
+  (in VScode `ctrl+shift+p` + `ROS: Show Core Status` to see services)
+- In the proc_image_processing docker, go in the folder /bags where you put the bag(s) to run
+- Execute `rosbag play -l <name-of-the-bag>`
+- Execute in another terminal in the docker 
+  `rosrun image_transport republish compressed in:=<name-of-input-feed> raw out:=<give-a-name-to-the-output>`
+  to uncompress the feed
+  (the input feed name can be check in the _Image Viewer_ module of the telemetry by refreshing and looking at the dropdown menu)
+- Open a web browser on `localhost:3000` to access the telemetry
+- In the _Image Viewer_ module, refresh and select the compressed feed of the bag to see it (wow)
+- In the _Vision UI_ module, create a new execution by refreshing and selecting the filterchain to apply
+  and the media as input (the raw video feed in this case)
+- In the _filter_ tab of the _Vision UI_ module, refresh and select your execution to manage filters oyour 
+  filterchain
+- Click on them to see the parameters and adjust them, etc
+- To see the result, in the _Image Viewer_ module, refresh and select the output of the executiocompressed
+
+---
+
 ## Code Quality
 
 This project uses [SonarCloud](https://sonarcloud.io/) to analyze the code base quality continuously using a GitHub

config/filterchain/deep_bat_wolf.yaml

@@ -6,17 +6,17 @@ filters:
         value: 1
       - name: Debug contour
         value: 1
-      - name: bat
+      - name: Bat
         value: 1
-      - name: wolf
+      - name: Wolf
         value: 1
-      - name: vetalas
+      - name: Vetalas
         value: 0
-      - name: draugr
+      - name: Draugr
         value: 0
-      - name: jiangshi
+      - name: Jiangshi
         value: 0
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 0

config/filterchain/deep_draugr.yaml

@@ -6,17 +6,17 @@ filters:
         value: 1
       - name: Debug contour
         value: 1
-      - name: bat
+      - name: Bat
         value: 0
-      - name: wolf
+      - name: Wolf
         value: 0
-      - name: vetalas
+      - name: Vetalas
         value: 0
-      - name: draugr
+      - name: Draugr
         value: 1
-      - name: jiangshi
+      - name: Jiangshi
         value: 0
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 0

config/filterchain/deep_front.yaml

@@ -6,23 +6,23 @@ filters:
         value: 0
       - name: Debug contour
         value: 1
-      - name: vetalas
+      - name: Vetalas
         value: 0
-      - name: draugr
+      - name: Draugr
         value: 0
-      - name: jiangshi
+      - name: Jiangshi
         value: 1
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 0
-      - name: bat
+      - name: Bat
         value: 0
-      - name: wolf
+      - name: Wolf
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 5

config/filterchain/deep_jiangshi.yaml

@@ -6,17 +6,17 @@ filters:
         value: 1
       - name: Debug contour
         value: 1
-      - name: bat
+      - name: Bat
         value: 0
-      - name: wolf
+      - name: Wolf
         value: 0
-      - name: vetalas
+      - name: Vetalas
         value: 0
-      - name: draugr
+      - name: Draugr
         value: 0
-      - name: jiangshi
+      - name: Jiangshi
         value: 1
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 0

config/filterchain/deep_vampire.yaml

@@ -6,17 +6,17 @@ filters:
         value: 1
       - name: Debug contour
         value: 1
-      - name: bat
+      - name: Bat
         value: 0
-      - name: wolf
+      - name: Wolf
         value: 0
-      - name: vetalas
+      - name: Vetalas
         value: 0
-      - name: draugr
+      - name: Draugr
         value: 0
-      - name: jiangshi
+      - name: Jiangshi
         value: 0
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 1

config/filterchain/deep_vetalas.yaml

@@ -6,17 +6,17 @@ filters:
         value: 1
       - name: Debug contour
         value: 1
-      - name: bat
+      - name: Bat
         value: 0
-      - name: wolf
+      - name: Wolf
         value: 0
-      - name: vetalas
+      - name: Vetalas
         value: 1
-      - name: draugr
+      - name: Draugr
         value: 0
-      - name: jiangshi
+      - name: Jiangshi
         value: 0
-      - name: answag
+      - name: Answag
         value: 0
-      - name: vampire
+      - name: Vampire
         value: 0

config/filterchain/simple_align_test.yaml

@@ -2,7 +2,7 @@ name: simple_align_test
 filters:
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 5

config/filterchain/simple_bin_handle.yaml

@@ -14,7 +14,7 @@ filters:
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 4

config/filterchain/simple_body_baby.yaml

@@ -14,7 +14,7 @@ filters:
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 6

config/filterchain/simple_coffin_handle.yaml

@@ -14,7 +14,7 @@ filters:
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 2

config/filterchain/simple_jiangshi_backup.yaml

@@ -2,7 +2,7 @@ name: simple_jiangshi_backup
 filters:
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 7

config/filterchain/simple_pipe45.yaml

@@ -2,9 +2,9 @@ name: simple_pipe45
 filters:
   - name: RotateFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 0
-      - name: transpose
+      - name: Transpose
         value: 0
       - name: Rotation_type
         value: 3
@@ -22,15 +22,15 @@ filters:
         value: 17
   - name: ContrastAndBrightnessFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 0
       - name: Contrast
         value: 1.400000
       - name: Brightness
         value: -134.000000
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 3

config/filterchain/simple_test.yaml

@@ -2,15 +2,15 @@ name: simple_test
 filters:
   - name: ContrastAndBrightnessFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 0
       - name: Contrast
         value: 0.000000
       - name: Brightness
         value: 0.000000
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 4
@@ -50,7 +50,7 @@ filters:
         value: 55
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 7

config/filterchain/simple_test_octogone.yaml

@@ -14,7 +14,7 @@ filters:
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 3

config/filterchain/simple_vampire_torpille.yaml

@@ -14,7 +14,7 @@ filters:
         value: 0
   - name: SubtractAllPlanesFilter
     parameters:
-      - name: enable
+      - name: Enable
         value: 1
       - name: Plane_1
         value: 2

src/proc_image_processing/cpu/algorithm/parallel_loop_body_wrapper.h

@@ -0,0 +1,22 @@
+#ifndef PROC_IMAGE_PROCESSING_PARALLEL_LOOP_BODY_WRAPPER_H_
+#define PROC_IMAGE_PROCESSING_PARALLEL_LOOP_BODY_WRAPPER_H_
+
+#include "opencv2/opencv.hpp"
+
+namespace proc_image_processing {
+
+    /*
+     * This class can be derived to create a "body" for the OpenCV parallel_for_() function
+     */
+    class ParallelLoopBodyWrapper : public cv::ParallelLoopBody {
+    public:
+        ParallelLoopBodyWrapper() = default;
+
+        ~ParallelLoopBodyWrapper() override = default;
+
+        void operator()(const cv::Range &range) const override = 0;
+    };
+
+}  // namespace proc_image_processing
+
+#endif  // PROC_IMAGE_PROCESSING_PARALLEL_LOOP_BODY_WRAPPER_H_

src/proc_image_processing/cpu/filters/custom/deep_2019_filter.h

@@ -21,13 +21,13 @@ namespace proc_image_processing {
                 nh_(ros::NodeHandle("proc_image_processing")),
                 enable_("Enable", false, &parameters_),
                 debug_contour_("Debug contour", false, &parameters_),
-                vetalas_("vetalas", true, &parameters_),
-                draugr_("draugr", true, &parameters_),
-                jiangshi_("jiangshi", true, &parameters_),
-                answag_("answag", true, &parameters_),
-                vampire_("vampire", true, &parameters_),
-                bat_("bat", true, &parameters_),
-                wolf_("wolf", true, &parameters_),
+                vetalas_("Vetalas", true, &parameters_),
+                draugr_("Draugr", true, &parameters_),
+                jiangshi_("Jiangshi", true, &parameters_),
+                answag_("Answag", true, &parameters_),
+                vampire_("Vampire", true, &parameters_),
+                bat_("Bat", true, &parameters_),
+                wolf_("Wolf", true, &parameters_),
                 color_(0, 0, 0) {
             image_subscriber_ = ros::NodeHandle("~").subscribe("/deep_detector/bounding_box", 100,
                                                                &Deep2019Filter::callbackBoundingBox, this);

src/proc_image_processing/cpu/filters/detectors/vampire_torpedoes_close_detector.h

@@ -162,7 +162,6 @@ namespace proc_image_processing {
         Parameter<bool> enable_, debug_contour_, look_for_ellipse_, look_for_heart_;
 
         RangedParameter<double> min_area_, max_area_;
-
     };
 
 }  // namespace proc_image_processing