Merge pull request #3 from fspindle/feat_disable_miniz

WITH_MINIZ CMake option
fspindle · Jun 10, 2024 · b567f44 · b567f44
2 parents f95b137 + 7f25066
commit b567f44
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Showing 16 changed files with 134 additions and 52 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -780,17 +780,18 @@ endif()
 # ----------------------------------------------------------------------------
 # Build-in 3rd parties. Should be after c++ standard potential modification
 # ----------------------------------------------------------------------------
-VP_OPTION(WITH_PTHREAD    ""           ""    "Build pthread as built-in library"   "" ON IF (WIN32 OR MINGW) AND (NOT WINRT))
+VP_OPTION(WITH_PTHREAD    ""           ""    "Use pthread as built-in library"   "" ON IF (WIN32 OR MINGW) AND (NOT WINRT))
 # Since C99 is not supported by MSVC 2010 or prior, we disable apriltag if MSVC < 2012
-VP_OPTION(WITH_APRILTAG   ""           ""    "Build AprilTag as built-in library"  "" ON IF (USE_THREADS OR USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
-VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Build AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
-VP_OPTION(WITH_ATIDAQ     ""           ""    "Build atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
-VP_OPTION(WITH_CLIPPER    ""           ""    "Build clipper as built-in library"   "" ON IF USE_OPENCV)
-VP_OPTION(WITH_LAPACK     ""           ""    "Build lapack as built-in library"    "" ON IF NOT USE_LAPACK)
-VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
-VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_APRILTAG   ""           ""    "Use AprilTag as built-in library"  "" ON IF (USE_THREADS OR USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
+VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Use AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
+VP_OPTION(WITH_MINIZ      ""           ""    "Use npz related I/O as built-in functions"   "" ON)
+VP_OPTION(WITH_ATIDAQ     ""           ""    "Use atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
+VP_OPTION(WITH_CLIPPER    ""           ""    "Use clipper as built-in library"   "" ON IF USE_OPENCV)
+VP_OPTION(WITH_LAPACK     ""           ""    "Use lapack as built-in library"    "" ON IF NOT USE_LAPACK)
+VP_OPTION(WITH_QBDEVICE   ""           ""    "Use qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
+VP_OPTION(WITH_TAKKTILE2  ""           ""    "Use Right Hand takktile2 driver as built-in library"   "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2 built-in library" "" ON)
-VP_OPTION(WITH_POLOLU     ""           ""    "Build rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_POLOLU     ""           ""    "Use 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)
@@ -1149,6 +1150,7 @@ 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_MINIZ       TRUE IF (BUILD_MODULE_visp_core AND WITH_MINIZ))
 
 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))
@@ -1743,6 +1745,7 @@ status("    Use OpenCV:"             USE_OPENCV       THEN "yes (ver ${OpenCV_VE
 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 npz I/O (built-in):" WITH_MINIZ       THEN "yes" ELSE "no")
 status("")
 status("  Real robots: ")
 status("    Use Afma4:"              USE_AFMA4        THEN "yes" ELSE "no")

diff --git a/cmake/templates/VISPConfig.cmake.in b/cmake/templates/VISPConfig.cmake.in
@@ -229,6 +229,7 @@ set(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES "@VISP_HAVE_LIBFREENECT_AND_DEPENDENC
 set(VISP_HAVE_LIBFREENECT_OLD "@VISP_HAVE_LIBFREENECT_OLD@")
 set(VISP_HAVE_LIBUSB_1       "@VISP_HAVE_LIBUSB_1@")
 set(VISP_HAVE_MAVSDK         "@VISP_HAVE_MAVSDK@")
+set(VISP_HAVE_MINIZ          "@VISP_HAVE_MINIZ@")
 set(VISP_HAVE_MKL            "@VISP_HAVE_MKL@")
 set(VISP_HAVE_NETLIB         "@VISP_HAVE_NETLIB@")
 set(VISP_HAVE_NULLPTR        "@VISP_HAVE_NULLPTR@")

diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
@@ -161,6 +161,9 @@ namespace vp = VISP_NAMESPACE_NAME;
 // Always define pugixml for compatibility.
 #cmakedefine VISP_HAVE_PUGIXML
 
+// Defined if basisu_miniz is used internally
+#cmakedefine VISP_HAVE_MINIZ
+
 // Defined if XML2 library available.
 #cmakedefine VISP_HAVE_XML2
 

diff --git a/doc/config-doxygen.in b/doc/config-doxygen.in
@@ -2390,6 +2390,7 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES \
                          VISP_HAVE_LIBUSB_1 \
                          VISP_HAVE_MAVSDK \
+                         VISP_HAVE_MINIZ \
                          VISP_HAVE_NLOHMANN_JSON \
                          VISP_HAVE_NULLPTR \
                          VISP_HAVE_OCCIPITAL_STRUCTURE \

diff --git a/example/device/framegrabber/readRealSenseData.cpp b/example/device/framegrabber/readRealSenseData.cpp
@@ -68,7 +68,11 @@
 #endif
 #endif
 
+#ifdef VISP_HAVE_MINIZ
 #define GETOPTARGS "ci:e:jbzodh"
+#else
+#define GETOPTARGS "ci:e:jbodh"
+#endif
 
 #ifdef ENABLE_VISP_NAMESPACE
 using namespace VISP_NAMESPACE_NAME;
@@ -90,7 +94,9 @@ void usage(const char *name, const char *badparam)
     << " [-c]"
     << " [-j]"
     << " [-b]"
+#ifdef VISP_HAVE_MINIZ
     << " [-z]"
+#endif
     << " [-o]"
     << " [-d]"
     << " [--help,-h]"
@@ -111,9 +117,11 @@ void usage(const char *name, const char *badparam)
     << "  -b" << std::endl
     << "    Depth and Pointcloud streams are saved in binary format." << std::endl
     << std::endl
+#ifdef VISP_HAVE_MINIZ
     << "  -z" << std::endl
     << "    Pointcloud stream is saved in NPZ format." << std::endl
     << std::endl
+#endif
     << "  -o" << std::endl
     << "    Save color images in PNG format (lossless) in a new folder." << std::endl
     << std::endl
@@ -153,9 +161,11 @@ bool getOptions(int argc, const char *argv[], std::string &input_directory, std:
     case 'b':
       force_binary_format = true;
       break;
+#ifdef VISP_HAVE_MINIZ
     case 'z':
       read_npz = true;
       break;
+#endif
     case 'o':
       save_video = true;
       break;
@@ -242,6 +252,7 @@ bool readData(int cpt, const std::string &input_directory, const std::string &pa
         }
       }
     }
+#ifdef VISP_HAVE_MINIZ
     else {
       visp::cnpy::npz_t npz_data = visp::cnpy::npz_load(filename_depth);
 
@@ -259,6 +270,11 @@ bool readData(int cpt, const std::string &input_directory, const std::string &pa
       const bool copyData = true;
       I_depth_raw = vpImage<uint16_t>(depth_data_ptr, height, width, copyData);
     }
+#else
+    else {
+      throw(vpIoException(vpIoException::ioError, "Cannot open non-binary depth file when npz I/O functions are disabled."));
+    }
+#endif
   }
 
   // Read pointcloud
@@ -295,6 +311,7 @@ bool readData(int cpt, const std::string &input_directory, const std::string &pa
         }
       }
     }
+#ifdef VISP_HAVE_MINIZ
     else if (read_npz) {
       visp::cnpy::npz_t npz_data = visp::cnpy::npz_load(filename_pointcloud);
 
@@ -324,17 +341,18 @@ bool readData(int cpt, const std::string &input_directory, const std::string &pa
         }
       }
     }
+#endif
     else {
 #if defined(VISP_HAVE_PCL_IO)
       if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename_pointcloud, *point_cloud) == -1) {
         std::cerr << "Cannot read PCD: " << filename_pointcloud << std::endl;
-    }
+      }
 #else
       throw(vpIoException(vpIoException::ioError, "Cannot read pcd file without PCL io module"));
 #endif
-  }
+    }
 #endif
-}
+  }
 
   return true;
 }

diff --git a/example/device/framegrabber/saveRealSenseData.cpp b/example/device/framegrabber/saveRealSenseData.cpp
@@ -60,6 +60,7 @@
 #endif
 
 #include <visp3/core/vpImageConvert.h>
+#include <visp3/core/vpIoException.h>
 #include <visp3/core/vpIoTools.h>
 #include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/gui/vpDisplayGDI.h>
@@ -74,7 +75,11 @@
 #define USE_REALSENSE2
 #endif
 
+#ifdef VISP_HAVE_MINIZ
 #define GETOPTARGS "se:o:acdpzijCf:bvh"
+#else
+#define GETOPTARGS "se:o:acdpijCf:bvh"
+#endif
 
 #ifdef ENABLE_VISP_NAMESPACE
 using namespace VISP_NAMESPACE_NAME;
@@ -93,7 +98,9 @@ void usage(const char *name, const char *badparam, int fps)
     << " [-d]"
     << " [-p]"
     << " [-b]"
+#ifdef VISP_HAVE_MINIZ
     << " [-z]"
+#endif
     << " [-i]"
     << " [-j]"
     << " [-C]"
@@ -127,9 +134,11 @@ void usage(const char *name, const char *badparam, int fps)
     << "  -b" << std::endl
     << "    Force depth and pointcloud to be saved in (little-endian) binary format." << std::endl
     << std::endl
+#ifdef VISP_HAVE_MINIZ
     << "  -z" << std::endl
     << "    Pointcloud is saved in NPZ format." << std::endl
     << std::endl
+#endif
     << "  -i" << std::endl
     << "    Add infrared stream to saved data when -s option is enabled." << std::endl
     << std::endl
@@ -212,9 +221,11 @@ bool getOptions(int argc, const char *argv[], bool &save, std::string &pattern,
     case 'v':
       depth_hist_visu = true;
       break;
+#ifdef VISP_HAVE_MINIZ
     case 'z':
       save_pcl_npz_format = true;
       break;
+#endif
     case 'b':
       save_force_binary_format = true;
       break;
@@ -364,7 +375,7 @@ class vpFrameQueue
       ptr_infraredImg = std::make_unique<vpImage<unsigned char>>(m_queueInfrared.front());
       m_queueInfrared.pop();
     }
-    }
+  }
 
   bool empty()
   {
@@ -387,7 +398,7 @@ class vpFrameQueue
   std::queue<vpImage<unsigned char>> m_queueInfrared;
   size_t m_maxQueueSize;
   std::mutex m_mutex;
-  };
+};
 
 class vpStorageWorker
 {
@@ -469,6 +480,7 @@ class vpStorageWorker
                 }
               }
             }
+#ifdef VISP_HAVE_MINIZ
             else {
               ss << m_directory << "/depth_image_" << m_save_pattern << ".npz";
               snprintf(buffer, FILENAME_MAX, ss.str().c_str(), m_cpt);
@@ -496,6 +508,11 @@ class vpStorageWorker
               std::vector<uint16_t> I_depth_raw_vec(ptr_depthImg->bitmap, ptr_depthImg->bitmap + ptr_depthImg->getSize());
               visp::cnpy::npz_save(filename_depth, "data", I_depth_raw_vec.data(), { height, width }, "a");
             }
+#else
+            else {
+              throw(vpIoException(vpIoException::ioError, "Cannot manage non-binary files when npz I/O functions are disabled."));
+            }
+#endif
           }
 
           if (m_save_pointcloud && ptr_pointCloud) {
@@ -557,7 +574,8 @@ class vpStorageWorker
               }
             }
             else if (m_save_pcl_npz_format) {
-              // Write Npz headers
+#ifdef VISP_HAVE_MINIZ
+// Write Npz headers
               std::vector<char> vec_filename(filename_point_cloud.begin(), filename_point_cloud.end());
               // Null-terminated character is handled at reading
               // For null-terminated character handling, see:
@@ -596,6 +614,9 @@ class vpStorageWorker
 #endif
               // Write data
               visp::cnpy::npz_save(filename_point_cloud, "data", vec_pcl.data(), { height, width, channels }, "a");
+#else
+              throw(vpIoException(vpIoException::fatalError, "Cannot save in npz format when npz I/O functions are disabled."));
+#endif
             }
             else {
 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_IO) && defined(VISP_HAVE_PCL_COMMON)
@@ -684,7 +705,9 @@ int main(int argc, const char *argv[])
   std::cout << "save_jpeg: " << save_jpeg << std::endl;
   std::cout << "stream_fps: " << stream_fps << std::endl;
   std::cout << "depth_hist_visu: " << depth_hist_visu << std::endl;
+#ifdef VISP_HAVE_MINIZ
   std::cout << "save_pcl_npz_format: " << save_pcl_npz_format << std::endl;
+#endif
   std::cout << "save_force_binary_format: " << save_force_binary_format << std::endl;
   std::cout << "click_to_save: " << click_to_save << std::endl;
 
@@ -912,10 +935,10 @@ int main(int argc, const char *argv[])
 #else
       if (save_pointcloud) {
         ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-      }
+    }
       save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-      }
+  }
 
     double delta_time = vpTime::measureTimeMs() - start;
     vec_delta_time.push_back(delta_time);
@@ -959,10 +982,10 @@ int main(int argc, const char *argv[])
 #else
             if (save_pointcloud) {
               ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-            }
+          }
             save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-            }
+        }
           break;
 
         case vpMouseButton::button2:
@@ -972,10 +995,10 @@ int main(int argc, const char *argv[])
           quit = true;
           save_queue.cancel();
           break;
-          }
-        }
       }
     }
+}
+  }
 
   double mean_vec_delta_time = vpMath::getMean(vec_delta_time);
   double median_vec_delta_time = vpMath::getMedian(vec_delta_time);
@@ -998,5 +1021,5 @@ int main()
   std::cout << "pugixml built-in 3rdparty is requested." << std::endl;
 #endif
   return EXIT_SUCCESS;
-    }
+}
 #endif
diff --git a/example/robot-simulator/afma6/CMakeLists.txt b/example/robot-simulator/afma6/CMakeLists.txt
@@ -50,6 +50,8 @@ foreach(cpp ${example_cpp})
   endif()
 
   # Add test
-  get_filename_component(target ${cpp} NAME_WE)
-  add_test(${target} ${target} -c ${OPTION_TO_DESACTIVE_DISPLAY})
+  # Workaround for github action issue when using std::mutex by removing the test
+  # See https://github.com/actions/runner-images/issues/10020
+  # get_filename_component(target ${cpp} NAME_WE)
+  # add_test(${target} ${target} -c ${OPTION_TO_DESACTIVE_DISPLAY})
 endforeach()
diff --git a/example/robot-simulator/viper850/CMakeLists.txt b/example/robot-simulator/viper850/CMakeLists.txt
@@ -50,6 +50,8 @@ foreach(cpp ${example_cpp})
   endif()
 
   # Add test
-  get_filename_component(target ${cpp} NAME_WE)
-  add_test(${target} ${target} -c ${OPTION_TO_DESACTIVE_DISPLAY})
+  # Workaround for github action issue when using std::mutex by removing the test
+  # See https://github.com/actions/runner-images/issues/10020
+  # get_filename_component(target ${cpp} NAME_WE)
+  # add_test(${target} ${target} -c ${OPTION_TO_DESACTIVE_DISPLAY})
 endforeach()
diff --git a/modules/core/include/visp3/core/vpIoTools.h b/modules/core/include/visp3/core/vpIoTools.h
@@ -74,6 +74,7 @@ static inline unsigned long vp_mz_crc32(unsigned long crc, const unsigned char *
   return ~crcu32;
 }
 
+#ifdef VISP_HAVE_MINIZ
 namespace cnpy
 {
 // Copyright (C) 2011  Carl Rogers
@@ -385,6 +386,7 @@ template<typename T> std::vector<char> create_npy_header(const std::vector<size_
 }
 
 } // namespace cnpy
+#endif
 } // namespace VISP_NAMESPACE_NAME
 #endif