Merge branch 'master' into feat_cht_masks

lagadic · Jan 19, 2024 · 6eb21f4 · 6eb21f4
2 parents c2028e1 + ebfa260
commit 6eb21f4
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/modules/tracker/mbt/src/depth/vpMbtFaceDepthDense.cpp b/modules/tracker/mbt/src/depth/vpMbtFaceDepthDense.cpp
@@ -606,9 +606,15 @@ void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(const vpHomogeneousM
         cv::v_float64x2 vx, vy, vz;
         cv::v_load_deinterleave(ptr_point_cloud, vx, vy, vz);
 
+#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
+        cv::v_float64x2 va1 = cv::v_sub(cv::v_mul(vnz, vy), cv::v_mul(vny, vz)); // vnz*vy - vny*vz
+        cv::v_float64x2 va2 = cv::v_sub(cv::v_mul(vnx, vz), cv::v_mul(vnz, vx)); // vnx*vz - vnz*vx
+        cv::v_float64x2 va3 = cv::v_sub(cv::v_mul(vny, vx), cv::v_mul(vnx, vy)); // vny*vx - vnx*vy
+#else
         cv::v_float64x2 va1 = vnz*vy - vny*vz;
         cv::v_float64x2 va2 = vnx*vz - vnz*vx;
         cv::v_float64x2 va3 = vny*vx - vnx*vy;
+#endif
 
         cv::v_float64x2 vnxy = cv::v_combine_low(vnx, vny);
         cv::v_store(ptr_L, vnxy);
@@ -630,7 +636,12 @@ void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(const vpHomogeneousM
         cv::v_store(ptr_L, vnxy);
         ptr_L += 2;
 
+#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
+        cv::v_float64x2 verr = cv::v_add(vd, cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, cv::v_mul(vnz, vz))));
+#else
         cv::v_float64x2 verr = vd + cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, vnz*vz));
+#endif
+
         cv::v_store(ptr_error, verr);
         ptr_error += 2;
 #elif USE_SSE

diff --git a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
@@ -51,10 +51,10 @@ bool run_detection(const vpImage<unsigned char> &I_src, vpCircleHoughTransform &
 #elif (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   vpImage<bool> *opt_mask = nullptr;
   std::vector<std::vector<std::pair<unsigned int, unsigned int>>> *opt_votingPoints = nullptr;
-  detector.computeVotingMask(I_src, detectedCircles, opt_mask, opt_votingPoints); // Get, if available, the voting points
+  detector.computeVotingMask(I_src, detectedCircles, &opt_mask, &opt_votingPoints); // Get, if available, the voting points
 #else
   vpImage<bool> *opt_mask = NULL;
-  std::vector<std::vector<std::pair<unsigned int, unsigned int>>> *opt_votingPoints = NULL;
+  std::vector<std::vector<std::pair<unsigned int, unsigned int> > > *opt_votingPoints = NULL;
   detector.computeVotingMask(I_src, detectedCircles, &opt_mask, &opt_votingPoints); // Get, if available, the voting points
 #endif