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Fix misra c++ issues
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@fspindle
fspindle committed Jul 4, 2024
1 parent d6f388f commit c1b629f
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Showing 15 changed files with 1,552 additions and 1,309 deletions.
84 changes: 52 additions & 32 deletions modules/core/include/visp3/core/vpImageFilter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -204,21 +204,22 @@ class VISP_EXPORT vpImageFilter
// between 0 and 255 for an vpImage<uchar>
float scaleX = 1.f;
float scaleY = 1.f;
const unsigned int val2 = 2U;

if (filteringType == CANNY_GBLUR_SOBEL_FILTERING) {
if (computeDx) {
scaleX = static_cast<float>(vpImageFilter::getSobelKernelX(gradientFilterX.data, (apertureGradient - 1) / 2));
scaleX = static_cast<float>(vpImageFilter::getSobelKernelX(gradientFilterX.data, (apertureGradient - 1) / val2));
}
if (computeDy) {
scaleY = static_cast<float>(vpImageFilter::getSobelKernelY(gradientFilterY.data, (apertureGradient - 1) / 2));
scaleY = static_cast<float>(vpImageFilter::getSobelKernelY(gradientFilterY.data, (apertureGradient - 1) / val2));
}
}
else if (filteringType == CANNY_GBLUR_SCHARR_FILTERING) {
if (computeDx) {
scaleX = static_cast<float>(vpImageFilter::getScharrKernelX(gradientFilterX.data, (apertureGradient - 1) / 2));
scaleX = static_cast<float>(vpImageFilter::getScharrKernelX(gradientFilterX.data, (apertureGradient - 1) / val2));
}
if (computeDy) {
scaleY = static_cast<float>(vpImageFilter::getScharrKernelY(gradientFilterY.data, (apertureGradient - 1) / 2));
scaleY = static_cast<float>(vpImageFilter::getScharrKernelY(gradientFilterY.data, (apertureGradient - 1) / val2));
}
}

Expand Down Expand Up @@ -375,13 +376,16 @@ class VISP_EXPORT vpImageFilter
float accu = 0;
float t = upperThresholdRatio * totalNbPixels;
float bon = 0;
for (unsigned int i = 0; i < nbBins; ++i) {
unsigned int i = 0;
bool notFound = true;
while ((i < nbBins) && notFound) {
float tf = static_cast<float>(hist[i]);
accu = accu + tf;
if (accu > t) {
bon = static_cast<float>(i);
break;
notFound = false;
}
++i;
}
float upperThresh = std::max<float>(bon, 1.f);
lowerThresh = lowerThresholdRatio * bon;
Expand All @@ -397,8 +401,9 @@ class VISP_EXPORT vpImageFilter
*/
template <class ImageType> static double derivativeFilterX(const vpImage<ImageType> &I, unsigned int r, unsigned int c)
{
return ((2047.0 * static_cast<double>(I[r][c + 1] - I[r][c - 1])) + (913.0 * static_cast<double>(I[r][c + 2] - I[r][c - 2])) +
(112.0 * static_cast<double>(I[r][c + 3] - I[r][c - 3]))) / 8418.0;
const int val1 = 1, val2 = 2, val3 = 3;
return ((2047.0 * static_cast<double>(I[r][c + val1] - I[r][c - val1])) + (913.0 * static_cast<double>(I[r][c + val2] - I[r][c - val2])) +
(112.0 * static_cast<double>(I[r][c + val3] - I[r][c - val3]))) / 8418.0;
}

/*!
Expand All @@ -410,8 +415,9 @@ class VISP_EXPORT vpImageFilter
*/
template <class ImageType> static double derivativeFilterY(const vpImage<ImageType> &I, unsigned int r, unsigned int c)
{
return ((2047.0 * static_cast<double>(I[r + 1][c] - I[r - 1][c])) + (913.0 * static_cast<double>(I[r + 2][c] - I[r - 2][c])) +
(112.0 * static_cast<double>(I[r + 3][c] - I[r - 3][c]))) / 8418.0;
const int val1 = 1, val2 = 2, val3 = 3;
return ((2047.0 * static_cast<double>(I[r + val1][c] - I[r - val1][c])) + (913.0 * static_cast<double>(I[r + val2][c] - I[r - val2][c])) +
(112.0 * static_cast<double>(I[r + val3][c] - I[r - val3][c]))) / 8418.0;
}

/*!
Expand Down Expand Up @@ -674,11 +680,13 @@ class VISP_EXPORT vpImageFilter

static inline unsigned char filterGaussXPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
{
return static_cast<unsigned char>(((1. * I[i][j - 2]) + (4. * I[i][j - 1]) + (6. * I[i][j]) + (4. * I[i][j + 1]) + (1. * I[i][j + 2])) / 16.);
const int val2 = 2;
return static_cast<unsigned char>(((1. * I[i][j - val2]) + (4. * I[i][j - 1]) + (6. * I[i][j]) + (4. * I[i][j + 1]) + (1. * I[i][j + val2])) / 16.);
}
static inline unsigned char filterGaussYPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
{
return static_cast<unsigned char>(((1. * I[i - 2][j]) + (4. * I[i - 1][j]) + (6. * I[i][j]) + (4. * I[i + 1][j]) + (1. * I[i + 2][j])) / 16.);
const int val2 = 2;
return static_cast<unsigned char>(((1. * I[i - val2][j]) + (4. * I[i - 1][j]) + (6. * I[i][j]) + (4. * I[i + 1][j]) + (1. * I[i + val2][j])) / 16.);
}

template <typename ImageType, typename FilterType>
Expand Down Expand Up @@ -774,13 +782,14 @@ class VISP_EXPORT vpImageFilter
const unsigned int stop = (size - 1) / 2;
const unsigned int width = I.getWidth();
FilterType result = static_cast<FilterType>(0.);
const unsigned int twice = 2;

for (unsigned int i = 1; i <= stop; ++i) {
if ((c + i) < width) {
result += filter[i] * static_cast<FilterType>(I[r][c + i] + I[r][c - i]);
}
else {
result += filter[i] * static_cast<FilterType>(I[r][((2 * width) - c) - i - 1] + I[r][c - i]);
result += filter[i] * static_cast<FilterType>(I[r][((twice * width) - c) - i - 1] + I[r][c - i]);
}
}
return result + (filter[0] * static_cast<FilterType>(I[r][c]));
Expand Down Expand Up @@ -882,13 +891,13 @@ class VISP_EXPORT vpImageFilter
const unsigned int height = I.getHeight();
const unsigned int stop = (size - 1) / 2;
FilterType result = static_cast<FilterType>(0.);

const unsigned int twiceHeight = 2 * height;
for (unsigned int i = 1; i <= stop; ++i) {
if ((r + i) < height) {
result += filter[i] * static_cast<FilterType>(I[r + i][c] + I[r - i][c]);
}
else {
result += filter[i] * static_cast<FilterType>(I[((2 * height) - r) - i - 1][c] + I[r - i][c]);
result += filter[i] * static_cast<FilterType>(I[(twiceHeight - r) - i - 1][c] + I[r - i][c]);
}
}
return result + (filter[0] * static_cast<FilterType>(I[r][c]));
Expand Down Expand Up @@ -934,13 +943,14 @@ class VISP_EXPORT vpImageFilter
*/
template <class T> static double gaussianFilter(const vpImage<T> &fr, unsigned int r, unsigned int c)
{
const int val2 = 2;
return ((15.0 * fr[r][c]) +
(12.0 * (fr[r - 1][c] + fr[r][c - 1] + fr[r + 1][c] + fr[r][c + 1])) +
(9.0 * (fr[r - 1][c - 1] + fr[r + 1][c - 1] + fr[r - 1][c + 1] + fr[r + 1][c + 1])) +
(5.0 * (fr[r - 2][c] + fr[r][c - 2] + fr[r + 2][c] + fr[r][c + 2])) +
(4.0 * (fr[r - 2][c + 1] + fr[r - 2][c - 1] + fr[r - 1][c - 2] + fr[r + 1][c - 2] + fr[r + 2][c - 1] +
fr[r + 2][c + 1] + fr[r - 1][c + 2] + fr[r + 1][c + 2])) +
(2.0 * (fr[r - 2][c - 2] + fr[r + 2][c - 2] + fr[r - 2][c + 2] + fr[r + 2][c + 2]))) / 159.0;
(5.0 * (fr[r - val2][c] + fr[r][c - val2] + fr[r + val2][c] + fr[r][c + val2])) +
(4.0 * (fr[r - val2][c + 1] + fr[r - val2][c - 1] + fr[r - 1][c - val2] + fr[r + 1][c - val2] + fr[r + val2][c - 1] +
fr[r + val2][c + 1] + fr[r - 1][c + val2] + fr[r + 1][c + val2])) +
(2.0 * (fr[r - val2][c - val2] + fr[r + val2][c - val2] + fr[r - val2][c + val2] + fr[r + val2][c + val2]))) / 159.0;
}
// Gaussian pyramid operation
static void getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char> &GI);
Expand All @@ -966,7 +976,8 @@ class VISP_EXPORT vpImageFilter
template<typename FilterType>
static void getGaussianKernel(FilterType *filter, unsigned int size, FilterType sigma = 0., bool normalize = true)
{
if ((size % 2) != 1) {
const unsigned int mod2 = 2;
if ((size % mod2) != 1) {
throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
}

Expand All @@ -984,8 +995,9 @@ class VISP_EXPORT vpImageFilter
if (normalize) {
// renormalization
FilterType sum = 0;
const unsigned int val2 = 2U;
for (int i = 1; i <= middle; ++i) {
sum += 2 * filter[i];
sum += val2 * filter[i];
}
sum += filter[0];

Expand All @@ -1012,15 +1024,17 @@ class VISP_EXPORT vpImageFilter
template <typename FilterType>
static void getGaussianDerivativeKernel(FilterType *filter, unsigned int size, FilterType sigma = 0., bool normalize = true)
{
if ((size % 2) != 1) {
const unsigned int mod2 = 2;
if ((size % mod2) != 1) {
throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
}

if (sigma <= 0) {
sigma = static_cast<FilterType>((size - 1) / 6.0);
}

int middle = (static_cast<int>(size) - 1) / 2;
const int half = 2;
int middle = (static_cast<int>(size) - 1) / half;
FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
FilterType coef_1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
FilterType coef_1_over_2 = coef_1 / static_cast<FilterType>(2.);
Expand Down Expand Up @@ -1243,14 +1257,15 @@ class VISP_EXPORT vpImageFilter
template <typename FilterType>
inline static FilterType getScharrKernelX(FilterType *filter, unsigned int size)
{
const unsigned int actualKernelSize = (size * 2) + 1;
if (size != 1) {
// Size = 1 => kernel_size = 2*1 + 1 = 3
std::stringstream errMsg;
errMsg << "Cannot get Scharr kernel of size " << ((size * 2) + 1) << " != 3";
errMsg << "Cannot get Scharr kernel of size " << actualKernelSize << " != 3";
throw vpException(vpException::dimensionError, errMsg.str());
}

vpArray2D<FilterType> ScharrY((size * 2) + 1, (size * 2) + 1);
vpArray2D<FilterType> ScharrY(actualKernelSize, actualKernelSize);
FilterType norm = getScharrKernelY<FilterType>(ScharrY.data, size);
memcpy(filter, ScharrY.t().data, ScharrY.getRows() * ScharrY.getCols() * sizeof(FilterType));
return norm;
Expand All @@ -1277,7 +1292,8 @@ class VISP_EXPORT vpImageFilter
}

const unsigned int kernel_size = (size * 2) + 1;
if (kernel_size == 3) {
const unsigned int kernel3 = 3;
if (kernel_size == kernel3) {
memcpy(filter, ScharrY3x3, kernel_size * kernel_size * sizeof(FilterType));
return static_cast<FilterType>(1.0 / 32.0);
}
Expand All @@ -1295,14 +1311,16 @@ class VISP_EXPORT vpImageFilter
template <typename FilterType>
inline static FilterType getSobelKernelX(FilterType *filter, unsigned int size)
{
const unsigned int maxSize = 20;
if (size == 0) {
throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size 0!");
}
if (size > 20) {
if (size > maxSize) {
throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size > 20!");
}

vpArray2D<FilterType> SobelY((size * 2) + 1, (size * 2) + 1);
const unsigned int kernel_size = (size * 2) + 1;
vpArray2D<FilterType> SobelY(kernel_size, kernel_size);
FilterType norm = getSobelKernelY<FilterType>(SobelY.data, size);
memcpy(filter, SobelY.t().data, SobelY.getRows() * SobelY.getCols() * sizeof(FilterType));
return norm;
Expand Down Expand Up @@ -1339,26 +1357,28 @@ class VISP_EXPORT vpImageFilter
smoothingKernel[index_2][index_1] = 2.0;
smoothingKernel[index_2][index_2] = 1.0;

const unsigned int maxSize = 20;
if (size == 0) {
throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size 0!");
}
if (size > 20) {
if (size > maxSize) {
throw vpException(vpException::dimensionError, "Cannot get Sobel kernel of size > 20!");
}

const unsigned int kernel_size = (size * 2) + 1;
FilterType scale = static_cast<FilterType>(1. / 8.); // Scale to normalize Sobel3x3
if (kernel_size == 3) {
const unsigned int kernel3 = 3, kernel5 = 5, kernel7 = 7;
if (kernel_size == kernel3) {
memcpy(filter, SobelY3x3, kernel_size * kernel_size * sizeof(FilterType));
return scale;
}
scale *= static_cast<FilterType>(1. / 16.); // Sobel5x5 is the convolution of smoothingKernel, which needs 1/16 scale factor, with Sobel3x3
if (kernel_size == 5) {
if (kernel_size == kernel5) {
memcpy(filter, SobelY5x5, kernel_size * kernel_size * sizeof(FilterType));
return scale;
}
scale *= static_cast<FilterType>(1. / 16.); // Sobel7x7 is the convolution of smoothingKernel, which needs 1/16 scale factor, with Sobel5x5
if (kernel_size == 7) {
if (kernel_size == kernel7) {
memcpy(filter, SobelY7x7, kernel_size * kernel_size * sizeof(FilterType));
return scale;
}
Expand Down
27 changes: 18 additions & 9 deletions modules/core/include/visp3/core/vpImageTools.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -510,8 +510,9 @@ inline void vpImageTools::binarise(vpImage<unsigned char> &I, unsigned char thre
{
if (useLUT) {
// Construct the LUT
unsigned char lut[256];
for (unsigned int i = 0; i < 256; ++i) {
const unsigned int sizeLut = 256;
unsigned char lut[sizeLut];
for (unsigned int i = 0; i < sizeLut; ++i) {
lut[i] = i < threshold1 ? value1 : (i > threshold2 ? value3 : value2);
}

Expand Down Expand Up @@ -876,7 +877,8 @@ template <class Type> void vpImageTools::flip(vpImage<Type> &I)
vpImage<Type> Ibuf;
Ibuf.resize(1, width);

for (unsigned int i = 0; i < (height / 2); ++i) {
const unsigned int halfHeight = height / 2;
for (unsigned int i = 0; i < halfHeight; ++i) {
memcpy(Ibuf.bitmap, I.bitmap + (i * width), width * sizeof(Type));

memcpy(I.bitmap + (i * width), I.bitmap + ((height - 1 - i) * width), width * sizeof(Type));
Expand Down Expand Up @@ -960,7 +962,8 @@ inline void vpImageTools::resizeBicubic(const vpImage<vpRGBa> &I, vpImage<vpRGBa
vpRGBa p32 = getPixelClamped(I, u + 1, v + 2);
vpRGBa p33 = getPixelClamped(I, u + 2, v + 2);

for (int c = 0; c < 3; ++c) {
const int nbChannels = 3;
for (int c = 0; c < nbChannels; ++c) {
float col0 = cubicHermite(static_cast<float>(reinterpret_cast<unsigned char *>(&p00)[c]),
static_cast<float>(reinterpret_cast<unsigned char *>(&p01)[c]),
static_cast<float>(reinterpret_cast<unsigned char *>(&p02)[c]),
Expand Down Expand Up @@ -1022,7 +1025,8 @@ inline void vpImageTools::resizeBilinear(const vpImage<vpRGBa> &I, vpImage<vpRGB
int u3 = u1;
int v3 = v2;

for (int c = 0; c < 3; ++c) {
const int nbChannels = 3;
for (int c = 0; c < nbChannels; ++c) {
float col0 = lerp(static_cast<float>(reinterpret_cast<const unsigned char *>(&I[v0][u0])[c]),
static_cast<float>(reinterpret_cast<const unsigned char *>(&I[v1][u1])[c]), xFrac);
float col1 = lerp(static_cast<float>(reinterpret_cast<const unsigned char *>(&I[v2][u2])[c]),
Expand Down Expand Up @@ -1092,7 +1096,8 @@ void vpImageTools::resize(const vpImage<Type> &I, vpImage<Type> &Ires, const vpI
#endif
)
{
if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
const unsigned int minWidth = 2, minHeight = 2;
if ((I.getWidth() < minWidth) || (I.getHeight() < minHeight) || (Ires.getWidth() < minWidth) || (Ires.getHeight() < minHeight)) {
std::cerr << "Input or output image is too small!" << std::endl;
return;
}
Expand Down Expand Up @@ -1146,7 +1151,9 @@ inline void vpImageTools::resize(const vpImage<unsigned char> &I, vpImage<unsign
#endif
)
{
if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
const unsigned int minWidth = 2, minHeight = 2;

if ((I.getWidth() < minWidth) || (I.getHeight() < minHeight) || (Ires.getWidth() < minWidth) || (Ires.getHeight() < minHeight)) {
std::cerr << "Input or output image is too small!" << std::endl;
return;
}
Expand Down Expand Up @@ -1197,7 +1204,9 @@ inline void vpImageTools::resize(const vpImage<vpRGBa> &I, vpImage<vpRGBa> &Ires
#endif
)
{
if ((I.getWidth() < 2) || (I.getHeight() < 2) || (Ires.getWidth() < 2) || (Ires.getHeight() < 2)) {
const unsigned int minWidth = 2, minHeight = 2;

if ((I.getWidth() < minWidth) || (I.getHeight() < minHeight) || (Ires.getWidth() < minWidth) || (Ires.getHeight() < minHeight)) {
std::cerr << "Input or output image is too small!" << std::endl;
return;
}
Expand All @@ -1220,7 +1229,7 @@ inline void vpImageTools::resize(const vpImage<vpRGBa> &I, vpImage<vpRGBa> &Ires
#pragma omp parallel for schedule(dynamic)
#endif
for (int i = 0; i < ires_height; ++i) {
float v = (i + half) * scaleY - half;
float v = ((i + half) * scaleY) - half;
float yFrac = v - static_cast<int>(v);

unsigned int ires_width = static_cast<unsigned int>(Ires.getWidth());
Expand Down
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