Doc improvement and vpImage refactoring

.github/workflows/ubuntu-contrib.yml

@@ -35,7 +35,7 @@ jobs:
     - name: Print compiler information
       run: dpkg --list | grep compiler
 
-    - name: Install dependencies for ubuntu 18.04 and 20.04
+    - name: Install dependencies for ubuntu 20.04
       if: matrix.os != 'ubuntu-22.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 

.github/workflows/ubuntu-dep-apt.yml

@@ -21,7 +21,7 @@ jobs:
       matrix:
         os: [ubuntu-20.04, ubuntu-22.04]
         compiler: [ {CC: /usr/bin/gcc-9, CXX: /usr/bin/g++-9}, {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
-        standard: [ 11, 14, 17 ]
+        standard: [ 98, 11, 17 ]
 
     steps:
     - name: Checkout repository

.github/workflows/ubuntu-sanitizers.yml

@@ -82,4 +82,12 @@ jobs:
         # SUMMARY: AddressSanitizer: odr-violation: global 'ALIGNMENT' at /home/runner/work/visp/visp/3rdparty/simdlib/Simd/SimdLib.cpp:82:18
         ASAN_OPTIONS: detect_odr_violation=0
       working-directory: build
-      run: ctest -j$(nproc) --output-on-failure -V
+      # When running ctest we got a lot of segfault
+      # This seems a bug reported in
+      # - https://stackoverflow.com/questions/77894856/possible-bug-in-gcc-sanitizers
+      # - https://stackoverflow.com/questions/77850769/fatal-threadsanitizer-unexpected-memory-mapping-when-running-on-linux-kernels
+      # The workaround seems to be to set vm.mmap_rnd_bits=28
+      run: |
+        sudo cat /proc/sys/vm/mmap_rnd_bits
+        sudo sysctl vm.mmap_rnd_bits=28
+        ctest -j$(nproc) --output-on-failure -V

.github/workflows/windows-clang.yaml

@@ -51,27 +51,29 @@ jobs:
         cd build
         cmake .. -G "Visual Studio 17 2022" -T "ClangCl" -A "x64"
         type ViSP-third-party.txt
+        pwd
 
     - name: Build ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
+        pwd
         cmake --build . --config Release
 
     - name: Install ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release --target install
 
     - name: Check installation folder
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         dir ${{ github.workspace }}\build\install\
         dir ${{ github.workspace }}\build\install\x64\
         dir ${{ github.workspace }}\build\install\x64\vc17\
         dir ${{ github.workspace }}\build\install\x64\vc17\bin
 
     - name: Test ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         set VISP_INPUT_IMAGE_PATH=${{ env.VISP_INPUT_IMAGE_PATH }}
         echo "VISP_INPUT_IMAGE_PATH: "

.github/workflows/windows-msvc.yaml

@@ -22,7 +22,7 @@ jobs:
 
         include:
           - name: windows-latest
-            os: windows-2019
+            os: windows-2022
 
     steps:
     - name: Checkout repository
@@ -47,31 +47,31 @@ jobs:
         echo %VISP_INPUT_IMAGE_PATH%
         mkdir build
         cd build
-        cmake .. -G "Visual Studio 16 2019" -A "x64"
+        cmake .. -G "Visual Studio 17 2022" -A "x64"
         type ViSP-third-party.txt
 
     - name: Build ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release
 
     - name: Install ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release --target install
 
     - name: Check installation folder
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
-        dir ${{ github.workspace }}\build\install\x64\vc16\bin
+        dir ${{ github.workspace }}\build\install\x64\vc17\bin
 
     - name: Test ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         set VISP_INPUT_IMAGE_PATH=${{ env.VISP_INPUT_IMAGE_PATH }}
         echo "VISP_INPUT_IMAGE_PATH: "
         echo %VISP_INPUT_IMAGE_PATH%
-        set PATH=%PATH%;${{ github.workspace }}\build\install\x64\vc16\bin
+        set PATH=%PATH%;${{ github.workspace }}\build\install\x64\vc17\bin
         echo "PATH: "
         echo %PATH%
         ctest --output-on-failure -C Release -V

CMakeLists.txt

@@ -112,6 +112,9 @@ endif()
 if(POLICY CMP0075)
   cmake_policy(SET CMP0075 NEW) # For check_include_file and cmake 3.12.0
 endif()
+if(POLICY CMP0146)
+  cmake_policy(SET CMP0146 OLD) # The ``FindCUDA`` module deprecated since CMake 3.10
+endif()
 
 if(APPLE)
   # Fix following errors for libpng and libjpeg detection:
@@ -127,11 +130,7 @@ project(VISP C CXX)
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 
 include(cmake/VISPUtils.cmake)
-include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 11 by default
-
-if (CMAKE_VERSION VERSION_LESS 3.0.0)
-  vp_clear_vars(VISPModules_TARGETS)
-endif()
+include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 17 by default
 
 #-----------------------------------------------------------------------------
 # VISP version number.  An even minor number corresponds to releases.
@@ -146,8 +145,7 @@ set(VISP_REVISION "1")
 #-----------------------------------------------------------------------------
 # TO BE CHECKED BEFORE NEXT RELEASE
 #
-# see here: https://github.com/PointCloudLibrary/pcl/issues/3680
-# when this is fixed, we can remove the following 3 lines.
+# Remove following 3 next lines and check if pcl produces a CMP0144 complain around CMake variable FLANN_ROOT set to /opt/homebrew
 if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
   set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
 endif()
@@ -1152,8 +1150,6 @@ VP_SET(VISP_HAVE_VICON       TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
 VP_SET(VISP_BUILD_SHARED_LIBS            TRUE IF BUILD_SHARED_LIBS) # for header vpConfig.h
 VP_SET(VISP_HAVE_DC1394_CAMERA_ENUMERATE TRUE IF (USE_DC1394 AND DC1394_CAMERA_ENUMERATE_FOUND)) # for header vpConfig.h
 VP_SET(VISP_HAVE_DC1394_FIND_CAMERAS     TRUE IF (USE_DC1394 AND DC1394_FIND_CAMERAS_FOUND)) # for header vpConfig.h
-VP_SET(VISP_HAVE_D3D9        TRUE IF USE_DIRECT3D) # for header vpConfig.h
-VP_SET(VISP_HAVE_GTK         TRUE IF USE_GTK2) # for header vpConfig.h
 VP_SET(VISP_HAVE_XRANDR      TRUE IF XRANDR) # for header vpConfig.h
 VP_SET(VISP_HAVE_NULLPTR     TRUE IF HAVE_NULLPTR) # for header vpConfig.h
 

CTestConfig.cmake

@@ -91,52 +91,42 @@ else()
 endif()
 
 # Find out the version of gcc being used.
-if(CMAKE_COMPILER_IS_GNUCC)
-  exec_program(${CMAKE_CXX_COMPILER}
-    ARGS -dumpversion
-    OUTPUT_VARIABLE COMPILER_VERSION
-  )
-  #message("COMPILER_VERSION 1: ${COMPILER_VERSION}")
-  string(REGEX REPLACE ".* ([0-9])\\.([0-9])\\.[0-9].*" "\\1\\2"
-    COMPILER_VERSION ${COMPILER_VERSION})
-  #message("COMPILER_VERSION 2: ${COMPILER_VERSION}")
-
-  set(BUILDNAME "${BUILDNAME}${COMPILER_VERSION}")
-
-endif(CMAKE_COMPILER_IS_GNUCC)
+if(CMAKE_CXX_COMPILER_VERSION)
+  set(BUILDNAME "${BUILDNAME}-${CMAKE_CXX_COMPILER_VERSION}")
+endif()
 
 # Add the type of library generation, e.g. "Dynamic or Static"
 if(BUILD_SHARED_LIBS)
   set(BUILDNAME "${BUILDNAME}-Dyn")
 else(BUILD_SHARED_LIBS)
   set(BUILDNAME "${BUILDNAME}-Sta")
-endif(BUILD_SHARED_LIBS)
+endif()
 
 # Add the build type, e.g. "Debug, Release..."
 if(CMAKE_BUILD_TYPE)
   set(BUILDNAME "${BUILDNAME}-${CMAKE_BUILD_TYPE}")
-endif(CMAKE_BUILD_TYPE)
+endif()
 
 #---- Robots ----
 # Add specific Afma4 robots
 if(VISP_HAVE_AFMA4)
   set(BUILDNAME "${BUILDNAME}-Afma4")
-endif(VISP_HAVE_AFMA4)
+endif()
 
 # Add specific Afma6 robots
 if(VISP_HAVE_AFMA6)
   set(BUILDNAME "${BUILDNAME}-Afma6")
-endif(VISP_HAVE_AFMA6)
+endif()
 
 # Add specific Ptu46 robots
 if(VISP_HAVE_PTU46)
   set(BUILDNAME "${BUILDNAME}-Ptu46")
-endif(VISP_HAVE_PTU46)
+endif()
 
 # Add specific Biclops robots
 if(VISP_HAVE_BICLOPS)
   set(BUILDNAME "${BUILDNAME}-Biclops")
-endif(VISP_HAVE_BICLOPS)
+endif()
 
 # Add specific Pioneer robots
 if(VISP_HAVE_PIONEER)
@@ -152,18 +142,18 @@ endif()
 # Firewire dc1394-2.x
 if(VISP_HAVE_DC1394)
   set(BUILDNAME "${BUILDNAME}-dc1394")
-endif(VISP_HAVE_DC1394)
+endif()
 # Video 4 linux 2 (V4L2)
 if(VISP_HAVE_V4L2)
   set(BUILDNAME "${BUILDNAME}-v4l2")
-endif(VISP_HAVE_V4L2)
+endif()
 # Directshow
 if(VISP_HAVE_DIRECTSHOW)
   set(BUILDNAME "${BUILDNAME}-dshow")
-endif(VISP_HAVE_DIRECTSHOW)
+endif()
 if(VISP_HAVE_CMU1394)
   set(BUILDNAME "${BUILDNAME}-CMU1394")
-endif(VISP_HAVE_CMU1394)
+endif()
 if(VISP_HAVE_LIBFREENECT)
   set(BUILDNAME "${BUILDNAME}-freenect")
 endif()
@@ -196,19 +186,19 @@ endif()
 # X11
 if(VISP_HAVE_X11)
   set(BUILDNAME "${BUILDNAME}-X11")
-endif(VISP_HAVE_X11)
+endif()
 # GTK
 if(VISP_HAVE_GTK)
   set(BUILDNAME "${BUILDNAME}-gtk")
-endif(VISP_HAVE_GTK)
+endif()
 # GDI (Windows Graphics Device Interface)
 if(VISP_HAVE_GDI)
   set(BUILDNAME "${BUILDNAME}-gdi")
-endif(VISP_HAVE_GDI)
+endif()
 # D3D (Direct3D9)
 if(VISP_HAVE_D3D9)
   set(BUILDNAME "${BUILDNAME}-Direct3D")
-endif(VISP_HAVE_D3D9)
+endif()
 # OpenCV
 if(VISP_HAVE_OPENCV)
   if(OpenCV_VERSION)
@@ -220,7 +210,7 @@ if(VISP_HAVE_OPENCV)
   else()
     set(BUILDNAME "${BUILDNAME}-OpenCV")
   endif()
-endif(VISP_HAVE_OPENCV)
+endif()
 
 #---- Mathematics ----
 # Lapack (Linear Algebra PACKage)
@@ -246,34 +236,31 @@ endif()
 # Coin
 if(VISP_HAVE_COIN3D)
   set(BUILDNAME "${BUILDNAME}-Coin")
-endif(VISP_HAVE_COIN3D)
+endif()
 # SoQt
 if(VISP_HAVE_SOQT)
   set(BUILDNAME "${BUILDNAME}-SoQt")
-endif(VISP_HAVE_SOQT)
+endif()
 # Qt
 if(VISP_HAVE_QT)
   set(BUILDNAME "${BUILDNAME}-Qt${DESIRED_QT_VERSION}")
-endif(VISP_HAVE_QT)
+endif()
 # SoWin
 if(VISP_HAVE_SOWIN)
   set(BUILDNAME "${BUILDNAME}-SoWin")
-endif(VISP_HAVE_SOWIN)
+endif()
 # SoXt
 if(VISP_HAVE_SOXT)
   set(BUILDNAME "${BUILDNAME}-SoXt")
-endif(VISP_HAVE_SOXT)
+endif()
 
 #---- Images ----
 if(VISP_HAVE_JPEG)
   set(BUILDNAME "${BUILDNAME}-jpeg")
-endif(VISP_HAVE_JPEG)
+endif()
 if(VISP_HAVE_PNG)
   set(BUILDNAME "${BUILDNAME}-png")
-endif(VISP_HAVE_PNG)
-#if(VISP_HAVE_ZLIB)
-#  set(BUILDNAME "${BUILDNAME}-zlib")
-#endif()
+endif()
 
 #---- Misc ----
 # XML
@@ -306,7 +293,9 @@ endif()
 if(ACTIVATE_WARNING_FLOAT_EQUAL)
   set(BUILDNAME "${BUILDNAME}-Weq")
 endif()
-if(VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_11)
+if(VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_98)
+  set(BUILDNAME "${BUILDNAME}-c98")
+elseif(VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_11)
   set(BUILDNAME "${BUILDNAME}-c11")
 elseif(VISP_CXX_STANDARD EQUAL VISP_CXX_STANDARD_14)
   set(BUILDNAME "${BUILDNAME}-c14")

ChangeLog.txt

@@ -13,16 +13,24 @@ ViSP 3.x.x (Version in development)
     . vpPololu and vpRobotPololuPtu to control respectively a servo motor using a pololu maestro board or a 3D printed
       2 dof pan-tilt unit. Visual servoing example provided in example/servo-pololu-ptu. Tests available in
       modules/robot/test/servo-pololu/
+    . vpStatisticalTestAbstract, vpStatisticalTestEWMA, vpStatisticalTestHinkley, vpStatisticalTestMeanAdjustedCUSUM
+      vpStatisticalTestShewhart and vpStatisticalTestSigma: classes implementing Statistical Control Process methods to
+      detect mean drift / jump of a signal
   - Deprecated
     . vpPlanarObjectDetector, vpFernClassifier deprecated classes are removed
     . End of supporting c++98 standard. As a consequence, ViSP is no more compatible with Ubuntu 12.04
     . vpDisplay::displayCharString() is marked deprecated. Use vpDisplay::displayText() instead
+    . vpHinkley class is deprecated, in favor of vpStatisticalTestHinkley
   - New features and improvements
+    . Introduce Python bindings for most of ViSP modules and classes (see corresponding tutorial)
+    . Updated Dockerfile in ci/docker folder for Ubuntu 18.04, 20.04 and 22.04. Corresponding images are also available
+      ready to use on DockerHub https://hub.docker.com/repository/docker/vispci/vispci/general
     . OpenCV 2.4.8 is the minimal supported version
     . Introduce applications in apps folder, a collection of useful tools that
       have a dependency to the install target
-    . Bump minimal c++ standard to c++11
     . Speed up build by including only opencv2/opencv_modules.hpp instead of opencv2/opencv.hpp header in vpConfig.h
+    . In imgproc module, implementation of automatic gamma factor computation methods for gamma correction.
+    . Eliminate the use of pthread in favour of std::thread
   - Applications
     . Migrate eye-to-hand tutorials in apps
   - Tutorials
@@ -33,6 +41,8 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-conda-package.html
     . New tutorial: Using Statistical Process Control to monitor your signal
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-spc.html
+    . New tutorial: Installing ViSP Python bindings
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-python-bindings.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17