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Fix Yarp cmake detection and usage (Closes #1424)
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- Fix cmake material for yarp usage
- Fix vpImageConvert Yarp to ViSP image conversion functions
- Introduce new tests
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@fspindle
fspindle committed Jun 26, 2024
1 parent 833f8b5 commit b4e7bb4
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Showing 5 changed files with 216 additions and 29 deletions.
5 changes: 4 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -1711,13 +1711,16 @@ status(" Build with moment combine:" ENABLE_MOMENTS_COMBINE_MATRICES THEN "y
# ===================== Optional 3rd parties =====================
status("")
status(" OpenCV: ")
status(" Version:" USE_OPENCV THEN "${OpenCV_VERSION}" ELSE "n/a")
status(" Version:" USE_OPENCV THEN "${OpenCV_VERSION}" ELSE "n/a")
if(USE_OPENCV)
vp_list_replace_string(OpenCV_LIB_COMPONENTS OpenCV_LIB_COMPONENTS_FILTERED "^opencv_+" "")
status(" Modules:" "${OpenCV_LIB_COMPONENTS_FILTERED}")
status(" OpenCV dir:" "${OpenCV_DIR}")
endif()
status("")
status(" YARP: ")
status(" Version:" USE_YARP THEN "${YARP_VERSION_SHORT}" ELSE "n/a")
status("")
status(" Mathematics: ")
status(" Blas/Lapack:" (USE_LAPACK OR WITH_LAPACK) THEN "yes" ELSE "no")
status(" \\- Use MKL:" USE_MKL THEN "yes" ELSE "no")
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1 change: 1 addition & 0 deletions ChangeLog.txt
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Expand Up @@ -75,6 +75,7 @@ ViSP 3.x.x (Version in development)
. [#1337] The pose of the automatic datageneration pipeline from blenderproc seems wrong
. [#1341] SVD computation fails with Lapack when m < n
. [#1370] encountered compilation errors while building the ViSP library
. [#1424] Unable to detect Yarp 3.9.0
----------------------------------------------
ViSP 3.6.0 (released September 22, 2023)
- Contributors:
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32 changes: 18 additions & 14 deletions modules/core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,24 @@ if(USE_OPENCV)
endif(USE_OPENCV)

if(USE_YARP)
list(APPEND opt_incs ${YARP_INCLUDE_DIRS})
foreach(lib_ ${YARP_LIBRARIES})
get_target_property(imported_libs_ ${lib_} INTERFACE_LINK_LIBRARIES)
if(imported_libs_)
list(APPEND YARP_LIBS ${lib_})
list(APPEND YARP_IMPORTED_LIBS ${imported_libs_})
else()
list(APPEND YARP_LIBS ${lib_})
endif()

get_target_property(imported_incs_ ${lib_} INTERFACE_INCLUDE_DIRECTORIES)
if(imported_incs_)
list(APPEND YARP_IMPORTED_INCLUDE_DIRS ${imported_incs_})
endif()
endforeach()
vp_list_unique(YARP_IMPORTED_LIBS)
vp_list_unique(YARP_IMPORTED_INCLUDE_DIRS)

list(APPEND opt_incs ${YARP_IMPORTED_INCLUDE_DIRS})

# Work around to add Yarp libraries and also third party libraries requested by Yarp
list(REVERSE YARP_LIBRARIES) # to start with YARP_init, that depends on YARP_dev, YARP_sig and YARP_OS
Expand All @@ -182,21 +199,8 @@ if(USE_YARP)
else()
list(APPEND opt_libs ${YARP_LIB}) # Append full absolute library path and name
endif()
# Get 3rd party libraries requested by Yarp
get_target_property(YARP_LINK_LIBS_ ${lib} "IMPORTED_LINK_INTERFACE_LIBRARIES_${CONFIGURATION}")
list(APPEND YARP_LINK_LIBS ${YARP_LINK_LIBS_})
endforeach()
endforeach()

# Remove Yarp libraries since they were added previously with full absolute library path and name
if(YARP_LINK_LIBS)
foreach(lib ${YARP_LIBRARIES})
list(REMOVE_ITEM YARP_LINK_LIBS ${lib})
endforeach()
endif()
# Add 3rd party libraries requested by Yarp
list(APPEND opt_libs ${YARP_LINK_LIBS})
add_definitions(${YARP_DEFINES})
endif(USE_YARP)

# Math: eigen3, gsl, mkl, openblas, atlas, netlib, OpenCV
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35 changes: 22 additions & 13 deletions modules/core/src/image/vpImageConvert_yarp.cpp
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Expand Up @@ -29,8 +29,7 @@
*
* Description:
* Convert image types.
*
*****************************************************************************/
*/

/*!
\file vpImageConvert_yarp.cpp
Expand All @@ -40,6 +39,8 @@

#ifdef VISP_HAVE_YARP

#include <visp3/core/vpImageConvert.h>

BEGIN_VISP_NAMESPACE
/*!
Convert a vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
Expand All @@ -65,7 +66,7 @@ BEGIN_VISP_NAMESPACE
int main()
{
#if defined(VISP_HAVE_YARP)
vpImage<unsigned char> I; // A mocochrome image
vpImage<unsigned char> I; // A monochrome image
// Read an image on a disk
vpImageIo::read(I, "image.pgm");
Expand All @@ -83,7 +84,11 @@ void vpImageConvert::convert(const vpImage<unsigned char> &src, yarp::sig::Image
{
if (copyData) {
dest->resize(src.getWidth(), src.getHeight());
memcpy(dest->getRawImage(), src.bitmap, src.getHeight() * src.getWidth());
for (unsigned int i = 0; i < src.getHeight(); ++i) {
for (unsigned int j = 0; j < src.getWidth(); ++j) {
dest->pixel(j, i) = src[i][j];
}
}
}
else {
dest->setExternal(src.bitmap, static_cast<int>(src.getCols()), static_cast<int>(src.getRows()));
Expand Down Expand Up @@ -136,11 +141,11 @@ void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelMono> *src
bool copyData)
{
dest.resize(src->height(), src->width());
if (copyData) {
memcpy(dest.bitmap, src->getRawImage(), src->height() * src->width() * sizeof(yarp::sig::PixelMono));
}
else {
dest.bitmap = src->getRawImage();
(void)(copyData);
for (unsigned int i = 0; i < dest.getHeight(); ++i) {
for (unsigned int j = 0; j < dest.getWidth(); ++j) {
dest[i][j] = src->pixel(j, i);
}
}
}

Expand Down Expand Up @@ -238,10 +243,14 @@ void vpImageConvert::convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp
void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src, vpImage<vpRGBa> &dest, bool copyData)
{
dest.resize(src->height(), src->width());
if (copyData)
memcpy(dest.bitmap, src->getRawImage(), src->height() * src->width() * sizeof(yarp::sig::PixelRgba));
else {
dest.bitmap = static_cast<vpRGBa *>(src->getRawImage());
(void)(copyData);
for (unsigned int i = 0; i < dest.getHeight(); ++i) {
for (unsigned int j = 0; j < dest.getWidth(); ++j) {
dest[i][j].R = src->pixel(j, i).r;
dest[i][j].G = src->pixel(j, i).g;
dest[i][j].B = src->pixel(j, i).b;
dest[i][j].A = src->pixel(j, i).a;
}
}
}

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172 changes: 171 additions & 1 deletion modules/core/test/image-with-dataset/testConversion.cpp
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Expand Up @@ -54,6 +54,15 @@
#include <opencv2/imgproc/imgproc.hpp>
#endif

/*!
\example testConversion.cpp
\brief Manipulation of image conversions.
*/
#if defined(VISP_HAVE_YARP)
#include <yarp/sig/ImageFile.h>
#endif

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
Expand Down Expand Up @@ -657,9 +666,170 @@ int main(int argc, const char **argv)
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_bgr2gray_flip_crop_no_continuous_sse, filename);
#endif
std::cout << "Test succeed" << std::endl;
std::cout << " Test succeed" << std::endl;
}

#if defined(VISP_HAVE_YARP)
/////////////////////////
// Convert a ViSP to Yarp uchar image
////////////////////////
std::cout << "** Test ViSP to Yarp image conversion by copy" << std::endl;
{
bool convert_by_copy = true;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << " Reading the gray image with ViSP: " << filename << std::endl;
vpImage<unsigned char> I;
// Read an image on a disk
vpImageIo::read(I, filename);

yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
// Convert the vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.pgm");
std::cout << " Converted Yarp image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);

std::cout << " Reading the gray image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
vpImage<unsigned char> II;
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.pgm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp gray conversion test failed" << std::endl;
return EXIT_FAILURE;
}
std::cout << std::endl;
}
{
bool convert_by_copy = true;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Reading the color image with ViSP: " << filename << std::endl;
vpImage<vpRGBa> I;
// Read an image on a disk
vpImageIo::read(I, filename);

yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
// Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgba\>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.ppm");
std::cout << " Converted image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);

std::cout << " Reading the color image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImage<vpRGBa> II;
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.ppm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
std::cout << std::endl;
}

std::cout << "** Test ViSP to Yarp image conversion without copy" << std::endl;
{
bool convert_by_copy = false;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << " Reading the gray image with ViSP: " << filename << std::endl;
vpImage<unsigned char> I;
// Read an image on a disk
vpImageIo::read(I, filename);

yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
// Convert the vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.pgm");
std::cout << " Converted Yarp image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);

std::cout << " Reading the gray image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
vpImage<unsigned char> II;
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.pgm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp gray conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp gray conversion test succeed" << std::endl;
}
std::cout << std::endl;
}
{
bool convert_by_copy = false;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Reading the color image with ViSP: " << filename << std::endl;
vpImage<vpRGBa> I;
// Read an image on a disk
vpImageIo::read(I, filename);

yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
// Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgba\>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.ppm");
std::cout << " Converted image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);

std::cout << " Reading the color image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImage<vpRGBa> II;
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.ppm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp RGBa color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp RGBa color conversion test succeed" << std::endl;
}

yarp::sig::ImageOf< yarp::sig::PixelRgb > *IIIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgb >();
// Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgb\>
vpImageConvert::convert(I, IIIyarp);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_rgb.ppm");
std::cout << " Converted RGB image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);

std::cout << " Reading the RGB color image with Yarp: " << filename << std::endl;
yarp::sig::file::read(*IIIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImage<vpRGBa> III;
vpImageConvert::convert(IIIyarp, III);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp_rgb.ppm");
std::cout << " Converted RGB image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != III) {
std::cout << " Yarp RGB color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp RGB color conversion test succeed" << std::endl;
}

std::cout << std::endl;
}
#endif

std::cout << "** All the tests succeed" << std::endl;

return EXIT_SUCCESS;
}
catch (const vpException &e) {
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