From 26469c7286966c9d3265f6958c71c6349d9d0ee6 Mon Sep 17 00:00:00 2001
From: Samuel Felton <samuel.felton@irisa.fr>
Date: Tue, 1 Oct 2024 17:16:05 +0200
Subject: [PATCH] Fixed python members export to Python bindings

---
 modules/python/examples/realsense-rbt.py      |  7 --
 .../generator/visp_python_bindgen/header.py   |  6 +-
 .../render-based/data/sequence1/dragon.0.pos  | 12 +--
 .../render-based/data/sequence1/dragon.json   | 90 ++++++++-----------
 4 files changed, 46 insertions(+), 69 deletions(-)
 mode change 100755 => 100644 tutorial/tracking/render-based/data/sequence1/dragon.0.pos

diff --git a/modules/python/examples/realsense-rbt.py b/modules/python/examples/realsense-rbt.py
index 87903bbae0..be5a301ee4 100644
--- a/modules/python/examples/realsense-rbt.py
+++ b/modules/python/examples/realsense-rbt.py
@@ -52,13 +52,6 @@
 import pyrealsense2 as rs
 
 
-try:
-  import cv2
-except:
-  print('Could not import opencv-python! make sure that it is installed as it is required')
-  import sys
-  sys.exit(1)
-
 import matplotlib.pyplot as plt
 
 class PyBaseFeatureTracker(RBFeatureTracker):
diff --git a/modules/python/generator/visp_python_bindgen/header.py b/modules/python/generator/visp_python_bindgen/header.py
index b0617e07ae..ddec90be2b 100644
--- a/modules/python/generator/visp_python_bindgen/header.py
+++ b/modules/python/generator/visp_python_bindgen/header.py
@@ -531,7 +531,11 @@ def add_method_doc_to_pyargs(method: types.Method, py_arg_strs: List[str]) -> Li
             continue
 
           field_type = get_type(field.type, owner_specs, header_env.mapping)
-          field_name_python = field.name.lstrip('m_')
+          field_name_python = field.name
+          prefix_member = 'm_'
+          if field_name_python.startswith(prefix_member):
+            field_name_python = field_name_python[len(prefix_member):]
+
           logging.info(f'Found field in class/struct {name_cpp}: {field_type} {field.name}')
 
           def_str = 'def_'
diff --git a/tutorial/tracking/render-based/data/sequence1/dragon.0.pos b/tutorial/tracking/render-based/data/sequence1/dragon.0.pos
old mode 100755
new mode 100644
index 1f8b41994b..04e1697184
--- a/tutorial/tracking/render-based/data/sequence1/dragon.0.pos
+++ b/tutorial/tracking/render-based/data/sequence1/dragon.0.pos
@@ -1,6 +1,6 @@
-0.03385069791
-0.009459969456
-0.1522304652
--2.625824241
--0.03646930969
-0.601980212
\ No newline at end of file
+-0.005349535388
+-0.01516976067
+0.2050684923
+-2.690336518
+-0.02316506528
+0.06402556549
\ No newline at end of file
diff --git a/tutorial/tracking/render-based/data/sequence1/dragon.json b/tutorial/tracking/render-based/data/sequence1/dragon.json
index 3602503ad7..7808f7c326 100644
--- a/tutorial/tracking/render-based/data/sequence1/dragon.json
+++ b/tutorial/tracking/render-based/data/sequence1/dragon.json
@@ -15,67 +15,47 @@
     "maxIterations": 10
   },
   "model": "data/sequence1/dragon.obj",
-
-  "silhouetteExtractionSettings" : {
+  "silhouetteExtractionSettings": {
     "threshold": {
       "type": "relative",
-      "value": 0.1,
-      "reusePreviousPoints": true
+      "value": 0.1
     },
-    "sampling" : {
+    "sampling": {
       "samplingRate": 1,
-      "numPoints": 128
+      "numPoints": 256,
+      "reusePreviousPoints": true
     }
   },
-
-"mask": {
-  "type": "histogram",
-  "bins": 32,
-  "objectUpdateRate": 0.1,
-  "backgroundUpdateRate": 0.1,
-  "maxDepthError": 0.01
-},
-"drift": {
-  "type": "probabilistic",
-  "colorUpdateRate": 0.1,
-  "initialColorSigma": 15.0,
-  "depthSigma": 0.01,
-  "filteringMaxDistance": 0.001,
-  "minDistanceNewPoints": 0.005
-},
-"features": [
-  {
-    "type": "depth",
-    "weight": 0.1,
-    "step": 8,
-    "useMask": true,
-    "minMaskConfidence": 0.7
+  "mask": {
+    "type": "histogram",
+    "bins": 32,
+    "objectUpdateRate": 0.1,
+    "backgroundUpdateRate": 0.1,
+    "maxDepthError": 0.01
   },
-  {
-    "type": "silhouetteColor",
-    "weight": 0.01,
-    "ccd": {
-      "h": 8,
-      "delta_h": 1
-    }
+  "drift": {
+    "type": "probabilistic",
+    "colorUpdateRate": 0.1,
+    "initialColorSigma": 15.0,
+    "depthSigma": 0.01,
+    "filteringMaxDistance": 0.001,
+    "minDistanceNewPoints": 0.005
   },
-
-  {
-    "type": "klt",
-    "weight": 0.1,
-    "useMask": true,
-    "minMaskConfidence": 0.5,
-    "maxReprojectionErrorPixels": 5.0,
-    "newPointsMinPixelDistance": 4,
-    "minimumNumPoints": 20,
-    "blockSize": 5,
-    "useHarris": true,
-    "harris": 0.05,
-    "maxFeatures": 500,
-    "minDistance": 5.0,
-    "pyramidLevels": 3,
-    "quality": 0.01,
-    "windowSize": 5
-  }
-]
+  "features": [
+    {
+      "type": "depth",
+      "weight": 0.1,
+      "step": 8,
+      "useMask": true,
+      "minMaskConfidence": 0.7
+    },
+    {
+      "type": "silhouetteColor",
+      "weight": 0.01,
+      "ccd": {
+        "h": 8,
+        "delta_h": 1
+      }
+    }
+  ]
 }