Merge branch 'tuto_pf_like_ukf' of github.com:rolalaro/visp into tuto…

…_pf_like_ukf

ChangeLog.txt

@@ -62,6 +62,12 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-hsv-segmentation-pcl.html
     . New tutorial: Rendering a 3D scene with Panda3D
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-panda3d.html
+    . New tutorial: Using Unscented Kalman Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-ukf.html
+    . New tutorial: Using Particle Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf.html
+    . New tutorial: Using Particle Filter to model a wire using polynomial interpolation
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf-curve-fitting.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17

doc/tutorial/misc/tutorial-pf-curve-fitting.dox

@@ -1,10 +1,10 @@
 /**
-  \page tutorial-pf-curve-fitting Tutorial: Using Particle Filter to model a wire using polynomial interpolation.
+  \page tutorial-pf-curve-fitting Tutorial: Using Particle Filter to model a wire using polynomial interpolation
   \tableofcontents
 
 \section tuto-pf-cf-intro Introduction
 
-We suppose that you are already familiar with the \ref tutorial-pf .
+We suppose that you are already familiar with the \ref tutorial-pf.
 
 The Particle Filters (PF) are a set of Monte Carlo algorithms that
 permit to approximate solutions for filtering problems even when

doc/tutorial/misc/tutorial-pf.dox

@@ -4,13 +4,13 @@
 
 \section tuto-pf-intro Introduction
 
-We suppose that you are already familiar with the \ref tutorial-ukf .
+We suppose that you are already familiar with the \ref tutorial-ukf.
 
 The Particle Filters (PF) are a set of Monte Carlo algorithms that
 permit to approximate solutions for filtering problems even when
 the state-space and/or measurement space are non-linear.
 
-In this tutorial, we will use a PF on the same use-case than presented in \ref tutorial-ukf . The PF is used to
+In this tutorial, we will use a PF on the same use-case than presented in \ref tutorial-ukf. The PF is used to
 filter the 3D position of a simulated object, which revolves in a plane parallel
 to the ground around a static point, which is the origin of the world frame \f$ {F}_W \f$. The coordinate frame
 attached to the object is denoted \f$ {F}_O \f$. The object is observed by a static camera whose coordinate
@@ -426,5 +426,5 @@ Finally, we update the renderer that displays the projection in the image of the
 The program stops once the `Return` key is pressed.
 
 \section tuto-pf_next Next tutorial
-You are now ready to see the next \ref tutorial-pf-curve-fitting .
+You are now ready to see the next \ref tutorial-pf-curve-fitting.
 */

doc/tutorial/misc/tutorial-ukf.dox

@@ -426,15 +426,9 @@ Finally, we update the renderer that displays the projection in the image of the
 
 \snippet tutorial-ukf.cpp Update_renderer
 
-\subsubsection tuto-ukf-tutorial-explained-cleaning Details on the cleaning at the end of the program
-
-Finally, we clean the allocated memory for the renderer:
-
-\snippet tutorial-ukf.cpp Delete_renderer
-
 The program stops once the `Return` key is pressed.
 
 \section tuto-ukf_next Next tutorial
-You are now ready to see the next \ref tutorial-pf .
+You are now ready to see the next \ref tutorial-pf.
 
 */

modules/core/include/visp3/core/vpCannyEdgeDetection.h

@@ -81,7 +81,8 @@ class VISP_EXPORT vpCannyEdgeDetection
    * upper threshold.
    * \param[in] filteringType : The filtering and gradient operators to apply to the image before the edge detection
    * operation.
-   * \param[in] storeEdgePoints : If true, the list of edge-points will be available using \b vpCannyEdgeDetection::getEdgePointsList .
+   * \param[in] storeEdgePoints : If true, the list of edge-points will be available using
+   * \b vpCannyEdgeDetection::getEdgePointsList().
    */
   vpCannyEdgeDetection(const int &gaussianKernelSize, const float &gaussianStdev, const unsigned int &sobelAperture,
                        const float &lowerThreshold = -1.f, const float &upperThreshold = -1.f,
@@ -261,7 +262,7 @@ class VISP_EXPORT vpCannyEdgeDetection
 
   /**
    * \brief If set to true, the list of the detected edge-points will be available
-   * calling the method \b vpCannyEdgeDetection::getEdgePointsList .
+   * calling the method \b vpCannyEdgeDetection::getEdgePointsList().
    *
    * \param[in] storeEdgePoints The new desired status.
    */

modules/core/include/visp3/core/vpUniRand.h

@@ -138,12 +138,13 @@ class VISP_EXPORT vpUniRand
   void setSeed(uint64_t initstate, uint64_t initseq);
 
   /**
- * @brief Create a new vector that is a shuffled version of the \b inputVector.
- *
- * @tparam T : A class that possesses a copy constructor.
- * @param inputVector : The input vector that must be shuffled. It will not be modified.
- * @return std::vector<T> A vector containing the same objects than \b inputVector, but that are shuffled.
- */
+   * @brief Create a new vector that is a shuffled version of the \b inputVector.
+   *
+   * @tparam T : A class that possesses a copy constructor.
+   * @param inputVector : The input vector that must be shuffled. It will not be modified.
+   * @param seed : The seed value.
+   * @return std::vector<T> A vector containing the same objects than \b inputVector, but that are shuffled.
+   */
   template<typename T>
   inline static std::vector<T> shuffleVector(const std::vector<T> &inputVector, const int32_t &seed = -1)
   {

modules/core/test/math/testParticleFilter.cpp

@@ -215,8 +215,8 @@ class vpParabolaModel
  * \brief Compute the coefficients of the 2nd degree curve for the simulated data.
  * The polynomial is written as y = a x^2 + b x + c.
  *
- * \param[in] x0 Horizontal coordinate of the inflexion point.
- * \param[in] y0 Vertical coordinate of the inflexion point.
+ * \param[in] x0 Horizontal coordinate of the inflection point.
+ * \param[in] y0 Vertical coordinate of the inflection point.
  * \param[in] x1 Horizontal coordinate of another point of the curve.
  * \param[in] y1 Vertical coordinate of another point of the curve.
  * \return vpColVector The coefficients such as v[0] = c ; v[1] = b ; v[2] = a
@@ -233,8 +233,8 @@ vpColVector computeABC(const double &x0, const double &y0, const double &x1, con
  * \brief Compute the coefficients of the 2nd degree curve for the simulated data.
  * The polynomial is written as y = a x^3 + b x^2 + c x + d.
  *
- * \param[in] x0 Horizontal coordinate of the inflexion point.
- * \param[in] y0 Vertical coordinate of the inflexion point.
+ * \param[in] x0 Horizontal coordinate of the inflection point.
+ * \param[in] y0 Vertical coordinate of the inflection point.
  * \param[in] x1 Horizontal coordinate of another point of the curve.
  * \param[in] y1 Vertical coordinate of another point of the curve.
  * \return vpColVector The coefficients such as v[0] = d ; v[1] = c ; v[2] = b ; v[3] = a
@@ -478,7 +478,7 @@ TEST_CASE("2nd-degree", "[vpParticleFilter][Polynomial interpolation]")
   /// ----- PF parameters -----
   // The maximum amplitude for the likelihood compute.
   // A particle whose "distance" with the measurements is greater than this value has a likelihood of 0
-  const double ampliMaxLikelihood = 15.;
+  const double ampliMaxLikelihood = 16.;
   const double sigmaLikelihood = ampliMaxLikelihood / 3.; //:< The corresponding standard deviation
   const unsigned int nbParticles = 300; //!< Number of particles used by the particle filter
   const double ratioAmpliMax(0.25); //!< Ratio of the initial guess values to use to add noise to the PF state
@@ -565,7 +565,7 @@ TEST_CASE("2nd-degree", "[vpParticleFilter][Polynomial interpolation]")
 
   SECTION("Noisy", "Noise is added to the init points")
   {
-    const double maxToleratedError = 10.;
+    const double maxToleratedError = 12.;
     double x0 = rngCurvePoints.uniform(0., width);
     double x1 = rngCurvePoints.uniform(0., width);
     double y0 = rngCurvePoints.uniform(0., height);
@@ -752,7 +752,7 @@ TEST_CASE("3rd-degree", "[vpParticleFilter][Polynomial interpolation]")
 
   SECTION("Noisy", "Noise is added to the init points")
   {
-    const double maxToleratedError = 15.;
+    const double maxToleratedError = 16.;
     double x0 = rngCurvePoints.uniform(0., width);
     double x1 = rngCurvePoints.uniform(0., width);
     double y0 = rngCurvePoints.uniform(0., height);

modules/gui/include/visp3/gui/vpDisplayFactory.h

@@ -214,9 +214,9 @@ struct GridSettings
 };
 
 inline void makeDisplayGridHelper(std::vector<std::shared_ptr<vpDisplay>> &res, const GridSettings &settings,
-                           unsigned int currRow, unsigned int currCol,
-                           unsigned int currentPixelX, unsigned int currentPixelY,
-                           unsigned int maxRowHeightPixel)
+                                  unsigned int currRow, unsigned int currCol,
+                                  unsigned int currentPixelX, unsigned int currentPixelY,
+                                  unsigned int maxRowHeightPixel)
 {
   if (currRow != (settings.rows - 1)  && (currCol != settings.cols - 1)) {
     throw vpException(vpException::dimensionError, "Too few images for the grid size");

tutorial/image/tutorial-canny.cpp

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-canny.cpp
 

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.h

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <Foundation/Foundation.h>
 #import <UIKit/UIKit.h>
@@ -41,12 +39,11 @@
 
 @interface ImageConversion : NSObject
 
-+ (vpImage<vpRGBa>)vpImageColorFromUIImage:(UIImage *)image;
-+ (vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
-+ (UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
-+ (UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
++ (vpImage<vpRGBa>)vpImageColorFromUIImage : (UIImage *)image;
++(vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
++(UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
++(UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
 
 @end
 
 #endif
-

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.mm

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.h

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <UIKit/UIKit.h>
 #ifdef __cplusplus
@@ -41,11 +39,10 @@
 
 @interface ImageDisplay : NSObject
 
-+ (UIImage *)displayLine:(UIImage *)image :(vpImagePoint &)ip1 :(vpImagePoint &)ip2 :(UIColor*)color :(int)tickness;
-+ (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(const vpCameraParameters &)cam
-                         :(double) size :(int)tickness;
++ (UIImage *)displayLine : (UIImage *)image : (vpImagePoint &)ip1 : (vpImagePoint &)ip2 : (UIColor *)color : (int)tickness;
++(UIImage *)displayFrame:(UIImage *)image : (const vpHomogeneousMatrix &)cMo : (const vpCameraParameters &)cam
+  : (double)size : (int)tickness;
 
 @end
 
 #endif
-

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.mm

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
@@ -137,4 +135,3 @@ + (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(c
 @end
 
 #endif
-

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <UIKit/UIKit.h>
 #ifdef __cplusplus
@@ -39,13 +37,13 @@
 
 NS_ASSUME_NONnullptr_BEGIN
 
-@interface ImageDisplay (withContext)
+@interface ImageDisplay(withContext)
 
-+ (void)displayLineWithContext:(CGContextRef)context :(std::vector<vpImagePoint>)polygon :(UIColor*)color :(int)tickness;
++ (void)displayLineWithContext :(CGContextRef)context : (std::vector<vpImagePoint>)polygon : (UIColor *)color : (int)tickness;
 
-+ (void)displayFrameWithContext:(CGContextRef)context :(const vpHomogeneousMatrix &)cMo :(const vpCameraParameters &)cam :(double) size :(int)tickness;
++(void)displayFrameWithContext:(CGContextRef)context : (const vpHomogeneousMatrix &)cMo : (const vpCameraParameters &)cam : (double)size : (int)tickness;
 
-+ (void)displayText:(NSString*)text :(double)x :(double)y :(int)width :(int)height :(UIColor*)color :(UIColor*)bgColor;
++(void)displayText:(NSString *)text : (double)x : (double)y : (int)width : (int)height : (UIColor *)color : (UIColor *)bgColor;
 
 @end
 

tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.mm

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import "ImageDisplayWithContext.h"
 

tutorial/ios/GettingStarted/GettingStarted/ViewController.mm

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
@@ -113,4 +111,3 @@ - (void)didReceiveMemoryWarning {
 @end
 
 #endif
-

tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.h

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <Foundation/Foundation.h>
 #import <UIKit/UIKit.h>
@@ -41,12 +39,11 @@
 
 @interface ImageConversion : NSObject
 
-+ (vpImage<vpRGBa>)vpImageColorFromUIImage:(UIImage *)image;
-+ (vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
-+ (UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
-+ (UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
++ (vpImage<vpRGBa>)vpImageColorFromUIImage : (UIImage *)image;
++(vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
++(UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
++(UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
 
 @end
 
 #endif
-