Feat various in mbt tutorial for data generation with Blender

.gitignore

@@ -10,3 +10,4 @@ platforms/ios/build_framework.pyc
 modules/java/\.idea/
 .scannerwork
 build
+*.blend1

CMakeLists.txt

@@ -520,7 +520,7 @@ VP_OPTION(USE_PYLON       Pylon       ""    "Include Pylon SDK support for Basle
 VP_OPTION(USE_UEYE        Ueye        ""    "Include uEye SDK support for IDS cameras" "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_COMEDI      Comedi      ""    "Include comedi (linux control and measurement device interface) support" "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_FTIITSDK    FTIITSDK    ""    "Include IIT force-torque SDK support" "" ON IF NOT WINRT AND NOT IOS)
-VP_OPTION(USE_BICLOPS     BICLOPS     ""    "Include biclops support"          "" ON IF NOT WINRT AND NOT IOS)
+VP_OPTION(USE_BICLOPS     BICLOPS     ""    "Include Biclops support"          "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_PTU46       PTU46       ""    "Include ptu-46 support"           "" ON IF UNIX AND NOT WINRT AND NOT IOS)
 VP_OPTION(USE_FLIRPTUSDK  FlirPtuSDK  ""    "Include Flir PTU SDK support"     "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_CMU1394     CMU1394     ""    "Include cmu1494 support"          "" ON IF WIN32 AND NOT WINRT AND NOT IOS)

ChangeLog.txt

@@ -957,7 +957,7 @@ ViSP 2.6.2 (released July 15, 2012)
        To be able to consider other user defined features the compiler should
        be compatible with C++ 11 standard.
   - Improvements
-     - Introduce a new Denavit Hartenberg representation of the Biclops head
+     - Introduce a new Denavit-Hartenberg representation of the Biclops head
        in vpBiclops.
      - Compatibility with g++ 4.7 and OpenCV 2.3.1, 2.4.0, 2.4.1
      - Remove warning detected with Visual C++ /Wall flag

doc/config-doxygen.in

@@ -444,7 +444,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # the optimal cache size from a speed point of view.
 # Minimum value: 0, maximum value: 9, default value: 0.
 
-LOOKUP_CACHE_SIZE      = 0
+LOOKUP_CACHE_SIZE      = 1
 
 #---------------------------------------------------------------------------
 # Build related configuration options

doc/mainpage.dox.in

@@ -173,7 +173,7 @@ in different ways. This will motivate us to continue the efforts.
 */
 /*!
   \ingroup group_core_math
-  \defgroup group_core_transformations Tranformations
+  \defgroup group_core_transformations Transformations
   Transformations.
 */
 /*!

doc/tutorial/tracking/tutorial-tracking-mb-generic.dox

@@ -249,15 +249,20 @@ tracker.loadModel("teabox.wrl");
 
 \subsection mb_generic_teabox_cao teabox.cao example
 
-The content of the file `teabox.cao` used in the getting started \ref mb_generic_started_src but also in tutorial-mb-edge-tracker.cpp and
-in tutorial-mb-hybrid-tracker.cpp examples is given here:
+The content of the file `teabox.cao` used in the getting started \ref mb_generic_started_src but also in
+tutorial-mb-edge-tracker.cpp and in tutorial-mb-hybrid-tracker.cpp examples is given here:
 
 \includelineno tutorial/tracking/model-based/generic/model/teabox/teabox.cao
 
 This file describes the model of the tea box corresponding to the next image:
 
 \image html img-teabox-cao.jpg Index of the vertices used to model the tea box in cao format.
 
+The tea box dimensions are the following:
+- height (from point 0 to point 1): 0.08 meters
+- length (from point 0 to point 3): 0.165 meters
+- width (from point 0 to point 7): 0.068 meters
+
 We make the choice to describe the faces of the box from the 3D points that correspond to the vertices. We provide now a line by line
 description of the file. Notice that the characters after the '#' are considered as comments.
 - line 1: Header of the \c .cao file

example/servo-biclops/moveBiclops.cpp

@@ -35,7 +35,7 @@
  * \file moveBiclops.cpp
  * \example moveBiclops.cpp
  *
- * Example of a real robot control, the biclops robot (pan-tilt turret) by
+ * Example of a real robot control, the Biclops robot (pan-tilt turret) by
  * Traclabs. The robot is controlled first in position, then in velocity.
  *
  * See http://www.traclabs.com/tracbiclops.htm for more details.
@@ -63,7 +63,7 @@
 void usage(const char *name, const char *badparam, std::string conf)
 {
   fprintf(stdout, "\n\
-Move the biclops robot\n\
+Move the Biclops robot\n\
 \n\
 SYNOPSIS\n\
   %s [-c <Biclops configuration file>] [-h]\n\
@@ -73,7 +73,7 @@ name);
   fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
   -c <Biclops configuration file>                      %s\n\
-     Sets the biclops robot configuration file.\n\n",
+     Sets the Biclops robot configuration file.\n\n",
           conf.c_str());
 
   if (badparam) {
@@ -270,7 +270,7 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
+  std::cout << "You do not have an Biclops PT robot connected to your computer..." << std::endl;
   return EXIT_SUCCESS;
 }
 

example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp

@@ -38,7 +38,7 @@
  * \example servoBiclopsPoint2DArtVelocity.cpp
  *
  * Example of eye-in-hand control law. We control here a real robot, the
- * biclops robot (pan-tilt head provided by Traclabs). The velocity is computed
+ * Biclops robot (pan-tilt head provided by Traclabs). The velocity is computed
  * in articular. The visual feature is the center of gravity of a point.
  */
 
@@ -90,7 +90,7 @@ SYNOPSIS\n\
   fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
   -c <Biclops configuration file>                      %s\n\
-     Sets the biclops robot configuration file.\n",
+     Sets the Biclops robot configuration file.\n",
           conf.c_str());
 
   if (badparam) {
@@ -338,7 +338,7 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
+  std::cout << "You do not have an Biclops PT robot connected to your computer..." << std::endl;
   return EXIT_SUCCESS;
 }
 #endif

example/servo-pioneer/servoPioneerPanSegment3D.cpp

@@ -103,7 +103,7 @@ int main(int argc, char **argv)
     double qm_pan = 0; // Measured pan position (tilt is not handled in that example)
 
 #ifdef USE_REAL_ROBOT
-    // Initialize the biclops head
+    // Initialize the Biclops head
 
     vpRobotBiclops biclops("/usr/share/BiclopsDefault.cfg");
     biclops.setDenavitHartenbergModel(vpBiclops::DH1);
@@ -158,7 +158,7 @@ int main(int argc, char **argv)
 #endif
 
     vpPioneerPan robot_pan; // Generic robot that computes the velocities for
-                            // the pioneer and the biclops head
+                            // the pioneer and the Biclops head
 
     // Camera parameters. In this experiment we don't need a precise
     // calibration of the camera
@@ -379,7 +379,7 @@ int main(int argc, char **argv)
 
         std::cout << "Send velocity to the pionner: " << v_pioneer[0] << " m/s " << vpMath::deg(v_pioneer[1])
                   << " deg/s" << std::endl;
-        std::cout << "Send velocity to the biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
+        std::cout << "Send velocity to the Biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
 
         pioneer.setVelocity(vpRobot::REFERENCE_FRAME, v_pioneer);
         biclops.setVelocity(vpRobot::ARTICULAR_FRAME, v_biclops);

modules/core/include/visp3/core/vpColVector.h

@@ -485,40 +485,6 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    */
   void insert(unsigned int i, const vpColVector &v);
 
-  /*!
-   * Insert a column vector.
-   * \param i : Index of the first element to introduce. This index starts from 0.
-   * \param v : Column vector to insert.
-   *
-   * The following example shows how to use this function:
-   * \code
-   * #include <visp3/core/vpColVector.h>
-   *
-   * int main()
-   * {
-   *   vpColVector v(4);
-   *   for (unsigned int i=0; i < v.size(); i++)
-   *     v[i] = i;
-   *   std::cout << "v: " << v.t() << std::endl;
-   *
-   *   vpColVector w(2);
-   *   for (unsigned int i=0; i < w.size(); i++)
-   *     w[i] = i+10;
-   *   std::cout << "w: " << w.t() << std::endl;
-   *
-   *   v.insert(w, 1);
-   *   std::cout << "v: " << v.t() << std::endl;
-   * }
-   * \endcode
-   * It produces the following output:
-   * \code
-   * v: 0 1 2 3
-   * w: 10 11
-   * v: 0 10 11 3
-   * \endcode
-   */
-  void insert(const vpColVector &v, unsigned int i);
-
   /*!
    * Print using Maple syntax, to copy/paste in Maple later.
    *
@@ -1376,7 +1342,7 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
    * Retrieve a vpColVector object from a JSON representation.
    *
    * @param j : JSON representation to convert.
-   * @param me : Converted object.
+   * @param v : Converted object.
    */
   friend void from_json(const nlohmann::json &j, vpColVector &v);
 #endif
@@ -1387,11 +1353,48 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
   */
   //@{
   /*!
-   *  \deprecated Provided only for compat with previous releases.
-   *  This function does nothing.
+   * \deprecated Provided only for compat with previous releases.
+   * This function does nothing.
    */
   vp_deprecated void init() { }
 
+  /*!
+   * \deprecated Provided only for compat with previous releases. Use rather
+   * insert(unsigned int i, const vpColVector &v)
+   *
+   * Insert a column vector.
+   * \param i : Index of the first element to introduce. This index starts from 0.
+   * \param v : Column vector to insert.
+   *
+   * The following example shows how to use this function:
+   * \code
+   * #include <visp3/core/vpColVector.h>
+   *
+   * int main()
+   * {
+   *   vpColVector v(4);
+   *   for (unsigned int i=0; i < v.size(); i++)
+   *     v[i] = i;
+   *   std::cout << "v: " << v.t() << std::endl;
+   *
+   *   vpColVector w(2);
+   *   for (unsigned int i=0; i < w.size(); i++)
+   *     w[i] = i+10;
+   *   std::cout << "w: " << w.t() << std::endl;
+   *
+   *   v.insert(w, 1);
+   *   std::cout << "v: " << v.t() << std::endl;
+   * }
+   * \endcode
+   * It produces the following output:
+   * \code
+   * v: 0 1 2 3
+   * w: 10 11
+   * v: 0 10 11 3
+   * \endcode
+   */
+  vp_deprecated void insert(const vpColVector &v, unsigned int i);
+
   /*!
    * \deprecated You should rather use extract().
    */
@@ -1400,11 +1403,6 @@ class VISP_EXPORT vpColVector : public vpArray2D<double>
     return vpColVector(*this, first_row - 1, last_row - first_row + 1);
   }
 
-  /*!
-   * \deprecated You should rather use eye()
-   */
-  vp_deprecated void setIdentity(const double &val = 1.0);
-
   /*!
    * \deprecated You should rather use stack(const vpColVector &)
    */

modules/core/include/visp3/core/vpHomogeneousMatrix.h

@@ -255,11 +255,88 @@ class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
   void extract(vpTranslationVector &t) const;
   void extract(vpQuaternionVector &q) const;
 
-  // Load an homogeneous matrix from a file
+  /*!
+   * Read an homogeneous matrix from an input file stream. The
+   * homogeneous matrix is considered as a 4 by 4 matrix.
+   *
+   * \param f : Input file stream.
+   *
+   * The code below shows how to get an homogeneous matrix from a file.
+   *
+   * \code
+   * vpHomogeneousMatrix M;
+   *
+   * std::ifstream f("homogeneous.dat");
+   * M.load(f);
+   * \endcode
+   *
+   * \sa load(const std::string &), save(std::ifstream &)
+   */
   void load(std::ifstream &f);
-  // Save an homogeneous matrix in a file
+
+  /*!
+   * Read an homogeneous matrix from an input file. The
+   * homogeneous matrix is considered as a 4 by 4 matrix.
+   *
+   * \param filename : Input file name.
+   *
+   * The code below shows how to get an homogeneous matrix from a file.
+   *
+   * \code
+   * vpHomogeneousMatrix M;
+   *
+   * M.load("homogeneous.dat");
+   * \endcode
+   *
+   * \sa load(std::ifstream &), save(const std::string &)
+   */
+  void load(const std::string &filename);
+
+  /*!
+   * Save an homogeneous matrix in an output file stream.
+   *
+   * \param f : Output file stream. The homogeneous matrix is saved as a 4 by 4 matrix.
+   *
+   * The code below shows how to save an homogeneous matrix in a file.
+   *
+   * \code
+   * // Construct an homogeneous matrix
+   * vpTranslationVector t(1,2,3);
+   * vpRxyzVector r(M_PI, 0, -M_PI/4.);
+   * vpRotationMatrix R(r);
+   * vpHomogeneousMatrix M(t, R);
+   *
+   * // Save the content of the matrix in "homogeneous.dat"
+   * std::ofstream f("homogeneous.dat");
+   * M.save(f);
+   * \endcode
+   *
+   * \sa save(const std::string &), load(std::ifstream &)
+   */
   void save(std::ofstream &f) const;
 
+  /*!
+   * Save an homogeneous matrix in a file.
+   *
+   * \param filename : Output file name. The homogeneous matrix is saved as a 4 by 4 matrix.
+   *
+   * The code below shows how to save an homogeneous matrix in a file.
+   *
+   * \code
+   * // Construct an homogeneous matrix
+   * vpTranslationVector t(1,2,3);
+   * vpRxyzVector r(M_PI, 0, -M_PI/4.);
+   * vpRotationMatrix R(r);
+   * vpHomogeneousMatrix M(t, R);
+   *
+   * // Save the content of the matrix in "homogeneous.dat"
+   * M.save("homogeneous.dat");
+   * \endcode
+   *
+   * \sa save(std::ofstream &), load(const std::string &)
+   */
+  void save(const std::string &filename) const;
+
   vpHomogeneousMatrix &operator=(const vpHomogeneousMatrix &M);
   vpHomogeneousMatrix operator*(const vpHomogeneousMatrix &M) const;
   vpHomogeneousMatrix &operator*=(const vpHomogeneousMatrix &M);

modules/core/src/math/matrix/vpColVector.cpp

@@ -718,10 +718,6 @@ void vpColVector::insert(unsigned int i, const vpColVector &v)
     memcpy(data + i, v.data, sizeof(double) * v.rowNum);
   }
 }
-void vpColVector::insert(const vpColVector &v, unsigned int i)
-{
-  insert(i, v);
-}
 
 int vpColVector::print(std::ostream &s, unsigned int length, char const *intro) const
 {
@@ -905,6 +901,11 @@ std::ostream &vpColVector::matlabPrint(std::ostream &os) const
 
 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
 
+void vpColVector::insert(const vpColVector &v, unsigned int i)
+{
+  insert(i, v);
+}
+
 void vpColVector::insert(const vpColVector &v, unsigned int r, unsigned int c)
 {
   (void)c;