Add guards for openmp usage, add guards for vpRBKltTracker

modules/tracker/rbt/include/visp3/rbt/vpRBKltTracker.h

@@ -37,6 +37,13 @@
 #ifndef VP_RB_KLT_TRACKER_H
 #define VP_RB_KLT_TRACKER_H
 
+#include <visp3/core/vpConfig.h>
+
+#if (defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO))
+#define VP_HAVE_RB_KLT_TRACKER
+#endif
+
+#if defined(VP_HAVE_RB_KLT_TRACKER)
 #include <visp3/rbt/vpRBFeatureTracker.h>
 #include <visp3/core/vpPoint.h>
 #include <visp3/core/vpTrackingException.h>
@@ -45,8 +52,6 @@
 
 #include <opencv2/core/mat.hpp>
 
-
-
 class VISP_EXPORT vpRBKltTracker : public vpRBFeatureTracker
 {
 public:
@@ -195,3 +200,4 @@ class VISP_EXPORT vpRBKltTracker : public vpRBFeatureTracker
 
 };
 #endif
+#endif

modules/tracker/rbt/src/core/vpRBSilhouetteControlPoint.cpp

@@ -1,4 +1,34 @@
-
+/****************************************************************************
+ *
+ * ViSP, open source Visual Servoing Platform software.
+ * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact Inria about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See https://visp.inria.fr for more information.
+ *
+ * This software was developed at:
+ * Inria Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ *
+ * If you have questions regarding the use of this file, please contact
+ * Inria at visp@inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+*****************************************************************************/
 
 #include <visp3/rbt/vpRBSilhouetteControlPoint.h>
 #include <visp3/core/vpTrackingException.h>

modules/tracker/rbt/src/core/vpRBTracker.cpp

@@ -361,13 +361,20 @@ void vpRBTracker::updateRender(vpRBFeatureTrackerInput &frame)
   frame.renders.boundingBox = m_renderer.getBoundingBox();
 
   // Extract data from Panda textures
-#pragma omp sections
+#ifdef VISP_HAVE_OPENMP
+#pragma omp parallel sections
+#endif
+
   {
+#ifdef VISP_HAVE_OPENMP
 #pragma omp section
+#endif
     {
       m_renderer.getRenderer<vpPanda3DGeometryRenderer>()->getRender(frame.renders.normals, frame.renders.depth, frame.renders.boundingBox, m_imageHeight, m_imageWidth);
     }
+#ifdef VISP_HAVE_OPENMP
 #pragma omp section
+#endif
     {
       m_renderer.getRenderer<vpPanda3DDepthCannyFilter>()->getRender(frame.renders.silhouetteCanny, frame.renders.isSilhouette, frame.renders.boundingBox, m_imageHeight, m_imageWidth);
       // m_renderer.placeRenderInto(m_tempRenders.renders.silhouetteCanny, frame.renders.silhouetteCanny, vpRGBf(0.f));

modules/tracker/rbt/src/drift/vpRBProbabilistic3DDriftDetector.cpp

@@ -50,7 +50,9 @@ void vpRBProbabilistic3DDriftDetector::update(const vpRBFeatureTrackerInput &pre
   if (m_points.size() > 0) {
 
     // Step 0: project all points
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
     for (vpStored3DSurfaceColorPoint &p : m_points) {
       p.update(cTo, cprevTo, frame.cam);
     }

modules/tracker/rbt/src/features/vpRBDenseDepthTracker.cpp

@@ -125,7 +125,9 @@ void vpRBDenseDepthTracker::computeVVSIter(const vpRBFeatureTrackerInput &frame,
   }
   double t1 = vpTime::measureTimeMs();
   vpRotationMatrix cRo = cMo.getRotationMatrix();
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (unsigned int i = 0; i < m_depthPoints.size(); ++i) {
     vpDepthPoint &depthPoint = m_depthPoints[i];
     depthPoint.update(cMo, cRo);

modules/tracker/rbt/src/features/vpRBFeatureTrackerFactory.cpp

@@ -54,14 +54,16 @@ vpRBFeatureTrackerFactory::vpRBFeatureTrackerFactory()
     p->loadJsonConfiguration(j);
     return p;
   });
-  registerType("klt", [](const nlohmann::json &j) {
-    std::shared_ptr<vpRBKltTracker> p(new vpRBKltTracker());
+  registerType("depth", [](const nlohmann::json &j) {
+    std::shared_ptr<vpRBDenseDepthTracker> p(new vpRBDenseDepthTracker());
     p->loadJsonConfiguration(j);
     return p;
   });
-  registerType("depth", [](const nlohmann::json &j) {
-    std::shared_ptr<vpRBDenseDepthTracker> p(new vpRBDenseDepthTracker());
+#if defined(VP_HAVE_RB_KLT_TRACKER)
+  registerType("klt", [](const nlohmann::json &j) {
+    std::shared_ptr<vpRBKltTracker> p(new vpRBKltTracker());
     p->loadJsonConfiguration(j);
     return p;
   });
+#endif
 }

modules/tracker/rbt/src/features/vpRBKltTracker.cpp

@@ -31,6 +31,9 @@
 *****************************************************************************/
 
 #include <visp3/rbt/vpRBKltTracker.h>
+
+#if defined(VP_HAVE_RB_KLT_TRACKER)
+
 #include <visp3/core/vpImageConvert.h>
 #include <visp3/core/vpPixelMeterConversion.h>
 #include <visp3/core/vpMeterPixelConversion.h>
@@ -286,3 +289,5 @@ void vpRBKltTracker::display(const vpCameraParameters &cam, const vpImage<unsign
     vpDisplay::displayPoint(I, v, u, vpColor::red, 2);
   }
 }
+
+#endif

modules/tracker/rbt/src/features/vpRBSilhouetteCCDTracker.cpp

@@ -32,7 +32,10 @@
 *****************************************************************************/
 
 #include <visp3/rbt/vpRBSilhouetteCCDTracker.h>
+
+#ifdef VISP_HAVE_OPENMP
 #include <omp.h>
+#endif
 
 #define VISP_DEBUG_CCD_TRACKER 0
 
@@ -243,7 +246,9 @@ void vpRBSilhouetteCCDTracker::display(const vpCameraParameters &cam, const vpIm
 
 void vpRBSilhouetteCCDTracker::updateCCDPoints(const vpHomogeneousMatrix &cMo)
 {
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (vpRBSilhouetteControlPoint &p : m_controlPoints) {
     p.updateSilhouettePoint(cMo);
   }
@@ -270,7 +275,9 @@ void vpRBSilhouetteCCDTracker::computeLocalStatistics(const vpImage<vpRGBa> &I,
   // the second column store the one inside the curve
   vpMatrix normalized_param = vpMatrix(resolution, 2, 0.0);
 
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (unsigned int kk = 0; kk < m_controlPoints.size(); kk++) {
     // temporary points used to store those points in the
     // normal direction as well as negative normal direction
@@ -376,7 +383,7 @@ void vpRBSilhouetteCCDTracker::computeLocalStatistics(const vpImage<vpRGBa> &I,
       normalized_param[kk][1] += vic_ptr[10 * negative_normal + 7];
     }
 
-  }
+    }
 
 #pragma omp parallel for
   for (unsigned int i = 0; i < resolution; ++i) {
@@ -492,7 +499,7 @@ void vpRBSilhouetteCCDTracker::computeLocalStatistics(const vpImage<vpRGBa> &I,
     }
 
   }
-}
+  }
 
 void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
 {
@@ -503,7 +510,9 @@ void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
   m_weighted_error.resize(nerror_ccd, false);
   m_L.resize(nerror_ccd, 6, false, false);
   double beforeParallel = vpTime::measureTimeMs();
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel
+#endif
   {
 
     // vpMatrix tmp_cov(3, 3);
@@ -515,7 +524,9 @@ void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
     double Lnvp[6];
     unsigned int normal_points_number = static_cast<unsigned int>(floor(m_ccdParameters.h / m_ccdParameters.delta_h));
 
+#ifdef VISP_HAVE_OPENMP
 #pragma omp for
+#endif
     for (unsigned int kk = 0; kk < m_controlPoints.size(); kk++) {
       const int i = kk;
       const vpRBSilhouetteControlPoint &p = m_controlPoints[kk];
@@ -610,17 +621,22 @@ void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
 
   std::vector<vpColVector> localGradients; // Store all the gradients and hessians and then sum them up after the parallel region. This ensures that computation is determinist
   std::vector<vpMatrix> localHessians;
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel
+#endif
   {
     vpColVector localGradient(nabla_E.getRows(), 0.0);
     vpMatrix localHessian(hessian_E.getRows(), hessian_E.getCols(), 0.0);
+#ifdef VISP_HAVE_OPENMP
 #pragma omp single
+#endif
     {
       localGradients.resize(omp_get_num_threads(), localGradient);
       localHessians.resize(omp_get_num_threads(), localHessian);
     }
-
+#ifdef VISP_HAVE_OPENMP
 #pragma omp for schedule(static)
+#endif
     for (unsigned int i = 0; i < m_gradients.size(); ++i) {
       m_gradients[i] *= m_weights[i];
       m_hessians[i] *= m_weights[i];
@@ -635,22 +651,13 @@ void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix()
     hessian_E += localHessians[i];
   }
   double afterWeight = vpTime::measureTimeMs();
-  //std::cout << "Weighting and sum took " << afterWeight - beforeWeightAndSum << std::endl;
-
-  //sigmaF = 0.2*sigmaF + 0.8*computeCovarianceMatrix(m_L,v,error_ccd);
-  //std::cout << " sigmaF " <<  sigmaF << std::endl;
 
   m_LTL = hessian_E;
   m_LTR = -nabla_E;
 
-  // m_LTL = m_L.AtA();
-  // std::cout << m_LTL - hessian_E << std::endl;
-  // computeJTR(m_L, -m_weighted_error, m_LTR);
-
   vpMatrix hessian_E_inv = hessian_E.inverseByCholesky();
   //Sigma_Phi = /*Sigma_Phi +*/ 2*hessian_E_inv;
   Sigma_Phi = m_ccdParameters.covarianceIterDecreaseFactor * Sigma_Phi + 2 * (1 - m_ccdParameters.covarianceIterDecreaseFactor) * hessian_E_inv;
 
   m_cov = Sigma_Phi;
-  //std::cout << "Rest took: " << vpTime::measureTimeMs() - afterWeight << std::endl;
 }

tutorial/tracking/render-based/render-based-tutorial-utils.h

@@ -136,7 +136,9 @@ class vpRBExperimentLogger
       vpDisplay::getImage(IRGB, IColOverlay);
       vpDisplay::getImage(Idepth, IdepthOverlay);
       vpDisplay::getImage(Imask, ImaskOverlay);
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
       for (unsigned int i = 0; i < IRGB.getHeight(); ++i) {
         memcpy(Iout[i], IgrayOverlay[i], IRGB.getWidth() * sizeof(vpRGBa));
         memcpy(Iout[i] + IRGB.getWidth(), IColOverlay[i], IRGB.getWidth() * sizeof(vpRGBa));
@@ -342,7 +344,9 @@ void enableRendererProfiling()
 
 void displayNormals(const vpImage<vpRGBf> &normalsImage, vpImage<vpRGBa> &normalDisplayImage)
 {
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (int i = 0; i < normalsImage.getSize(); ++i) {
     normalDisplayImage.bitmap[i].R = static_cast<unsigned char>((normalsImage.bitmap[i].R + 1.0) * 127.5f);
     normalDisplayImage.bitmap[i].G = static_cast<unsigned char>((normalsImage.bitmap[i].G + 1.0) * 127.5f);
@@ -356,7 +360,9 @@ void displayNormals(const vpImage<vpRGBf> &normalsImage, vpImage<vpRGBa> &normal
 void displayCanny(const vpImage<vpRGBf> &cannyRawData,
                   vpImage<unsigned char> &canny, const vpImage<unsigned char> &valid)
 {
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (int i = 0; i < cannyRawData.getSize(); ++i) {
     vpRGBf &px = cannyRawData.bitmap[i];
     canny.bitmap[i] = valid.bitmap[i] * 255;

tutorial/tracking/render-based/tutorial-rbt-realsense.cpp

@@ -37,7 +37,9 @@ struct CmdArguments
 void updateDepth(const vpImage<uint16_t> &depthRaw, float depthScale, float maxZDisplay, vpImage<float> &depth, vpImage<unsigned char> &IdepthDisplay)
 {
   depth.resize(depthRaw.getHeight(), depthRaw.getWidth());
+#ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
+#endif
   for (unsigned int i = 0; i < depthRaw.getSize(); ++i) {
     depth.bitmap[i] = depthScale * static_cast<float>(depthRaw.bitmap[i]);
     IdepthDisplay.bitmap[i] = depth.bitmap[i] > maxZDisplay ? 0 : static_cast<unsigned int>((depth.bitmap[i] / maxZDisplay) * 255.f);
@@ -53,7 +55,7 @@ int main(int argc, const char **argv)
   vpRBTrackerTutorial::vpRBExperimentPlotter plotter;
 
   vpJsonArgumentParser parser(
-    "Tutorial showing the usage of the Render-Based tracker with a realsense camera",
+    "Tutorial showing the usage of the Render-Based tracker with a RealSense camera",
     "--config", "/"
   );
 

tutorial/tracking/render-based/tutorial-rbt-sequence.cpp

@@ -166,7 +166,9 @@ int main(int argc, const char **argv)
         float scale = 9.999999747378752e-05;
         depth.resize(dataArray.getHeight(), dataArray.getWidth());
         depthDisplay.resize(dataArray.getHeight(), dataArray.getWidth());
-#pragma omp simd
+#ifdef VISP_HAVE_OPENMP
+#pragma omp parallel for
+#endif
         for (unsigned int i = 0; i < dataArray.getSize(); ++i) {
           float value = static_cast<float>(dataArray.bitmap[i]) * scale;
           depth.bitmap[i] = value;