Merge branch 'master' into draft_img_encode_npy_npz

.gitignore

@@ -11,3 +11,4 @@ modules/java/\.idea/
 .scannerwork
 build
 *.blend1
+**/results/**

CMakeLists.txt

@@ -272,6 +272,39 @@ if(NOT IOS)
   include(cmake/VISPDetectPython.cmake)
 endif()
 
+if(CMAKE_VERSION VERSION_LESS "3.19.0")
+  set(CMAKE_NOT_OK_FOR_BINDINGS TRUE)
+else()
+  set(CMAKE_NOT_OK_FOR_BINDINGS FALSE)
+endif()
+
+if(CMAKE_NOT_OK_FOR_BINDINGS)
+  status("${CMAKE_NOT_OK_FOR_BINDINGS}")
+  status("CMake version required for Python bindings is 3.19.0, but you have ${CMAKE_VERSION}. Python bindings generation will be deactivated")
+endif()
+
+# --- Python Bindings requirements ---
+
+# this avoids non-active conda from getting picked anyway on Windows
+#set(Python_FIND_REGISTRY LAST)
+# Use environment variable PATH to decide preference for Python
+#set(Python_FIND_VIRTUALENV FIRST)
+#set(Python_FIND_STRATEGY LOCATION)
+
+#find_package(Python 3.7 COMPONENTS Interpreter Development) # TODO: use visp function to find python?
+#if(Python_FOUND)
+#  set(VISP_PYTHON_BINDINGS_EXECUTABLE "${Python_EXECUTABLE}")
+#endif()
+#find_package(pybind11)
+VP_OPTION(USE_PYBIND11       pybind11       QUIET    "Include pybind11 to create Python bindings" "" ON)
+
+#if(pybind11_FOUND)
+#  set(VISP_PYBIND11_DIR "${pybind11_DIR}")
+#endif()
+#message("${pybind11_FOUND}")
+# ---
+
+
 include_directories(${VISP_INCLUDE_DIR})
 
 #----------------------------------------------------------------------
@@ -413,6 +446,11 @@ VP_OPTION(BUILD_ANDROID_PROJECTS  "" "" "Build Android projects providing .apk f
 VP_OPTION(BUILD_ANDROID_EXAMPLES  "" "" "Build examples for Android platform"         "" ON  IF ANDROID )
 VP_OPTION(INSTALL_ANDROID_EXAMPLES "" "" "Install Android examples"  ""                  OFF IF ANDROID )
 
+# Build python bindings as an option
+VP_OPTION(BUILD_PYTHON_BINDINGS  "" "" "Build Python bindings" "" ON IF (PYTHON3INTERP_FOUND AND USE_PYBIND11 AND NOT CMAKE_NOT_OK_FOR_BINDINGS) )
+VP_OPTION(BUILD_PYTHON_BINDINGS_DOC  "" "" "Build the documentation for the Python bindings" "" ON IF BUILD_PYTHON_BINDINGS )
+
+
 # Build demos as an option.
 VP_OPTION(BUILD_DEMOS  "" "" "Build ViSP demos" "" ON)
 # Build tutorials as an option.
@@ -648,6 +686,10 @@ VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in lib
 VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98))
 VP_OPTION(WITH_POLOLU     ""           ""    "Build rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_PUGIXML    ""           ""    "Use pugixml built-in third-party" "" ON)
+VP_OPTION(WITH_SIMDLIB    ""           ""    "Use simdlib built-in third-party" "" ON)
+VP_OPTION(WITH_STBIMAGE   ""           ""    "Use std_image built-in third-party" "" ON)
+VP_OPTION(WITH_TINYEXR    ""           ""    "Use tinyexr built-in third-party" "" ON)
 
 # ----------------------------------------------------------------------------
 # Check for specific functions. Should be after cxx standard detection in VISPDetectCXXStandard.cmake and potential modification depending on pcl, realsense2, libfranka
@@ -730,10 +772,38 @@ if(DOXYGEN_FOUND)
     set(DOXYGEN_USE_MATHJAX "NO")
   endif()
 
+  # HTML version of the doc
+  set(DOXYGEN_GENERATE_HTML "YES")
+  set(DOXYGEN_GENERATE_XML "NO")
+  set(DOXYGEN_GENERATE_TEST_LIST "YES")
+  set(DOXYGEN_QUIET "NO")
+  set(DOXYGEN_INPUTS
+    "${VISP_SOURCE_DIR}/modules"
+    "${VISP_SOURCE_DIR}/example"
+    "${VISP_SOURCE_DIR}/tutorial"
+    "${VISP_SOURCE_DIR}/demo"
+    "${VISP_SOURCE_DIR}/doc"
+    "${VISP_BINARY_DIR}/doc"
+    "${VISP_CONTRIB_MODULES_PATH}"
+  )
+  string (REPLACE ";" " " DOXYGEN_INPUTS "${DOXYGEN_INPUTS}")
   configure_file(${VISP_SOURCE_DIR}/doc/config-doxygen.in
     ${VISP_DOC_DIR}/config-doxygen
     @ONLY )
 
+  # XML version  of the doc
+  set(DOXYGEN_GENERATE_HTML "NO")
+  set(DOXYGEN_GENERATE_XML "YES")
+  set(DOXYGEN_GENERATE_TEST_LIST "NO")
+  set(DOXYGEN_QUIET "YES")
+  set(DOXYGEN_INPUTS
+    "${VISP_SOURCE_DIR}/modules"
+  )
+  string (REPLACE ";" " " DOXYGEN_INPUTS "${DOXYGEN_INPUTS}")
+  configure_file(${VISP_SOURCE_DIR}/doc/config-doxygen.in
+    ${VISP_DOC_DIR}/config-doxygen-xml
+    @ONLY )
+
   # set vars used in mainpage.dox.in
   # - VISP_MAINPAGE_EXTENSION
   set(VISP_MAINPAGE_EXTENSION "")
@@ -826,6 +896,8 @@ if(BUILD_JAVA)
   endif()
 endif()
 
+
+
 if(ANDROID AND ANDROID_EXECUTABLE AND ANT_EXECUTABLE AND (ANT_VERSION VERSION_GREATER 1.7) AND (ANDROID_TOOLS_Pkg_Revision GREATER 13))
   SET(CAN_BUILD_ANDROID_PROJECTS TRUE)
 else()
@@ -941,6 +1013,10 @@ VP_SET(VISP_HAVE_QBDEVICE    TRUE IF (BUILD_MODULE_visp_robot AND WITH_QBDEVICE)
 VP_SET(VISP_HAVE_TAKKTILE2   TRUE IF (BUILD_MODULE_visp_robot AND WITH_TAKKTILE2))
 VP_SET(VISP_HAVE_POLOLU      TRUE IF (BUILD_MODULE_visp_robot AND WITH_POLOLU))
 VP_SET(VISP_HAVE_CATCH2      TRUE IF (BUILD_MODULE_visp_core AND WITH_CATCH2))
+VP_SET(VISP_HAVE_SIMDLIB     TRUE IF (BUILD_MODULE_visp_core AND WITH_SIMDLIB))
+VP_SET(VISP_HAVE_STBIMAGE    TRUE IF (BUILD_MODULE_visp_core AND WITH_STBIMAGE))
+VP_SET(VISP_HAVE_TINYEXR     TRUE IF (BUILD_MODULE_visp_core AND WITH_TINYEXR))
+VP_SET(VISP_HAVE_PUGIXML     TRUE IF (BUILD_MODULE_visp_core AND WITH_PUGIXML))
 
 VP_SET(VISP_HAVE_QUALISYS    TRUE IF (BUILD_MODULE_visp_sensor AND USE_QUALISYS))
 VP_SET(VISP_HAVE_VICON       TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
@@ -1172,6 +1248,14 @@ if(BUILD_TUTORIALS)
   add_subdirectory(tutorial)
   vp_add_subdirectories(VISP_CONTRIB_MODULES_PATH tutorial)
 endif()
+if(BUILD_APPS)
+  vp_add_subdirectories(VISP_CONTRIB_MODULES_PATH apps)
+endif()
+if(BUILD_PYTHON_BINDINGS)
+  add_subdirectory(modules/python)
+endif()
+
+
 
 # ----------------------------------------------------------------------------
 #  Make some cmake vars advanced
@@ -1260,6 +1344,7 @@ if(VISP_VCSVERSION)
   status("  Version control:" ${VISP_VCSVERSION})
 endif()
 
+# ========================== contrib modules ==========================
 if(VISP_CONTRIB_MODULES_PATH)
   set(__dump_extra_header OFF)
   foreach(p ${VISP_CONTRIB_MODULES_PATH})
@@ -1442,7 +1527,8 @@ endif()
 
 # ========================== java ==========================
 status("")
-status("  Python (for build):"  PYTHON_DEFAULT_AVAILABLE THEN "${PYTHON_DEFAULT_EXECUTABLE}" ELSE "no")
+status("  Python 3:")
+status("    Interpreter:"     PYTHON3INTERP_FOUND  THEN "${PYTHON3_EXECUTABLE} (ver ${PYTHON3_VERSION_STRING})"    ELSE "no")
 
 if(BUILD_JAVA OR BUILD_visp_java)
   status("")
@@ -1453,6 +1539,17 @@ if(BUILD_JAVA OR BUILD_visp_java)
   endif()
 endif()
 
+# ======================= Python bindings ========================
+status("")
+status("  Python3 bindings:"           BUILD_PYTHON_BINDINGS    THEN "yes" ELSE "no")
+if(BUILD_PYTHON_BINDINGS)
+  status("    Python3 interpreter:"    PYTHON3INTERP_FOUND  THEN "${PYTHON3_EXECUTABLE} (ver ${PYTHON3_VERSION_STRING})" ELSE "no")
+  status("    Pybind11:"               USE_PYBIND11         THEN "${pybind11_DIR} (${pybind11_VERSION})" ELSE "no")
+  status("    Package version:"        "${VISP_PYTHON_PACKAGE_VERSION}")
+  status("    Wrapped modules:"        "${VISP_PYTHON_BOUND_MODULES}")
+  status("    Generated input config:" "${VISP_PYTHON_GENERATED_CONFIG_FILE}")
+endif()
+
 # ============================ Options ===========================
 status("")
 status("  Build options: ")
@@ -1502,8 +1599,9 @@ status("    Use JPEG:"               USE_JPEG         THEN "yes (ver ${JPEG_LIB_
 status("    Use PNG:"                USE_PNG          THEN "yes (ver ${PNG_VERSION_STRING})" ELSE "no")
 status("    \\- Use ZLIB:"           USE_ZLIB         THEN "yes (ver ${ZLIB_VERSION_STRING})" ELSE "no")
 status("    Use OpenCV:"             USE_OPENCV       THEN "yes (ver ${OpenCV_VERSION})" ELSE "no")
-status("    Use stb_image (built-in):"                     "yes (ver ${STBIMAGE_VERSION})")
-status("    Use TinyEXR (built-in):"                       "yes (ver ${TINYEXR_VERSION})")
+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("")
 status("  Real robots: ")
 status("    Use Afma4:"              USE_AFMA4        THEN "yes" ELSE "no")
@@ -1570,15 +1668,15 @@ status("    \\- Use AprilTag big family:" WITH_APRILTAG_BIG_FAMILY  THEN "yes" E
 status("")
 status("  Misc: ")
 status("    Use Clipper (built-in):"  WITH_CLIPPER     THEN "yes (ver ${CLIPPER_VERSION})" ELSE "no")
-status("    Use pugixml (built-in):"                        "yes (ver ${PUGIXML_VERSION})")
+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")
 status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
-status("    Use st::thread:"         USE_THREADS        THEN "yes" ELSE "no")
+status("    Use std::thread:"        USE_THREADS        THEN "yes" ELSE "no")
 status("    Use pthread (built-in):" WITH_PTHREAD       THEN "yes (ver ${PTHREADS_VERSION})" ELSE "no")
-status("    Use Simd (built-in):"                            "yes (ver ${SIMD_VERSION})")
+status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes" ELSE "no")
 status("")
 status("  DNN: ")
 status("    Use CUDA Toolkit:"       USE_TENSORRT AND CUDA_FOUND  THEN "yes (ver ${CUDA_VERSION})" ELSE "no")

ChangeLog.txt

@@ -38,6 +38,8 @@ ViSP 3.x.x (Version in development)
     . [#1273] Build error in visp_java without deprecated functionalities
     . [#1274] Build issue no member named clamp in namespace std
     . [#1279] Issue in vpPoseVector json serialization
+    . [#1296] Unable to parse camera parameters with vpXmlParserCamera::parse() when camera name is empty
+    . [#1307] Cannot set cxx standard when configuring for Visual Studio
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

apps/calibration/visp-acquire-franka-calib-data.cpp

@@ -43,7 +43,7 @@
 #include <visp3/sensor/vpRealSense2.h>
 
 #if defined(VISP_HAVE_REALSENSE2) && \
-    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA) && \
+    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA) && defined(VISP_HAVE_PUGIXML) && \
     defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional
 
 void usage(const char **argv, int error, const std::string &robot_ip)
@@ -103,8 +103,9 @@ int main(int argc, const char **argv)
     std::cout << "Image size: " << width << " x " << height << std::endl;
     // Save intrinsics
     vpCameraParameters cam;
-    vpXmlParserCamera xml_camera;
+
     cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
+    vpXmlParserCamera xml_camera;
     xml_camera.save(cam, "franka_camera.xml", "Camera", width, height);
 
 #if defined(VISP_HAVE_X11)
@@ -172,6 +173,9 @@ int main()
 #if !defined(VISP_HAVE_FRANKA)
   std::cout << "Install libfranka." << std::endl;
 #endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "Enable pugyxml built-in usage." << std::endl;
+#endif
 
   std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake "
     << "and build ViSP again." << std::endl;

apps/calibration/visp-acquire-universal-robots-calib-data.cpp

@@ -43,7 +43,7 @@
 #include <visp3/sensor/vpRealSense2.h>
 
 #if defined(VISP_HAVE_REALSENSE2) && \
-    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_UR_RTDE) && \
+    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_UR_RTDE) && defined(VISP_HAVE_PUGIXML) && \
     defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional
 
 void usage(const char **argv, int error, const std::string &robot_ip)
@@ -175,6 +175,9 @@ int main()
   std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
     << std::endl;
 #endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "Enable pugyxml built-in usage." << std::endl;
+#endif
 
   std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake"
     << " and build ViSP again." << std::endl;

apps/calibration/visp-compute-chessboard-poses.cpp

@@ -36,7 +36,7 @@
 
 #include <visp3/core/vpConfig.h>
 
-#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D)
+#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(VISP_HAVE_PUGIXML)
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/core/core.hpp>
@@ -345,7 +345,12 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cerr << "OpenCV 2.3.0 or higher is requested to run the calibration." << std::endl;
+#if !(defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D))
+  std::cerr << "OpenCV calib3d module is requested to run the calibration." << std::endl;
+#endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "pugixml built-in 3rdparty is requested to run the calibration." << std::endl;
+#endif
   return EXIT_SUCCESS;
 }
 #endif

cmake/VISP3rdParty.cmake

@@ -57,30 +57,34 @@ if(WITH_TAKKTILE2)
   set(TAKKTILE2_VERSION ${TAKKTILE2_MAJOR_VERSION}.${TAKKTILE2_MINOR_VERSION}.${TAKKTILE2_PATCH_VERSION})
 endif()
 
-# pugixml is always enabled to provide default XML I/O capabilities
-set(PUGIXML_LIBRARY visp_pugixml)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/pugixml-1.9")
-set(PUGIXML_INCLUDE_DIRS "${${PUGIXML_LIBRARY}_SOURCE_DIR}" "${${PUGIXML_LIBRARY}_BINARY_DIR}")
-set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
-set(PUGIXML_VERSION ${PUGIXML_MAJOR_VERSION}.${PUGIXML_MINOR_VERSION}.${PUGIXML_PATCH_VERSION})
+if(WITH_PUGIXML)
+  set(PUGIXML_LIBRARY visp_pugixml)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/pugixml-1.9")
+  set(PUGIXML_INCLUDE_DIRS "${${PUGIXML_LIBRARY}_SOURCE_DIR}" "${${PUGIXML_LIBRARY}_BINARY_DIR}")
+  set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
+  set(PUGIXML_VERSION ${PUGIXML_MAJOR_VERSION}.${PUGIXML_MINOR_VERSION}.${PUGIXML_PATCH_VERSION})
+endif()
 
-# simdlib is always enabled since it contains fallback code to plain C++ code
-set(SIMD_LIBRARY visp_simdlib)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/simdlib")
-set(SIMDLIB_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/simdlib")
-set(SIMDLIB_LIBRARIES ${SIMD_LIBRARY})
+if(WITH_SIMDLIB)
+  set(SIMD_LIBRARY visp_simdlib)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/simdlib")
+  set(SIMDLIB_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/simdlib")
+  set(SIMDLIB_LIBRARIES ${SIMD_LIBRARY})
+endif()
 
-# stb is always enabled
-set(STBIMAGE_LIBRARY visp_stbimage)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/stb_image")
-set(STBIMAGE_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/stb_image")
-set(STBIMAGE_VERSION ${STBIMAGE_MAJOR_VERSION}.${STBIMAGE_MINOR_VERSION}.${STBIMAGE_PATCH_VERSION})
+if(WITH_STBIMAGE)
+  set(STBIMAGE_LIBRARY visp_stbimage)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/stb_image")
+  set(STBIMAGE_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/stb_image")
+  set(STBIMAGE_VERSION ${STBIMAGE_MAJOR_VERSION}.${STBIMAGE_MINOR_VERSION}.${STBIMAGE_PATCH_VERSION})
+endif()
 
-# tinyexr is always enabled
-set(TINYEXR_LIBRARY visp_tinyexr)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/tinyexr")
-set(TINYEXR_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/tinyexr")
-set(TINYEXR_VERSION ${TINYEXR_MAJOR_VERSION}.${TINYEXR_MINOR_VERSION}.${TINYEXR_PATCH_VERSION})
+if(WITH_TINYEXR)
+  set(TINYEXR_LIBRARY visp_tinyexr)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/tinyexr")
+  set(TINYEXR_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/tinyexr")
+  set(TINYEXR_VERSION ${TINYEXR_MAJOR_VERSION}.${TINYEXR_MINOR_VERSION}.${TINYEXR_PATCH_VERSION})
+endif()
 
 if(WITH_CATCH2)
   set(CATCH2_LIBRARY visp_catch2)