Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Introduce various improvements #1498

Merged
merged 5 commits into from
Nov 5, 2024
Merged

Introduce various improvements #1498

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
83e0f5f
Introduce Simdlib and OpenMP versions in ViSP-third-party.txt
fspindle Nov 3, 2024
998ca20
Fix warning around "#pragma omp simd" usage that is not available on …
fspindle Nov 3, 2024
5c2e8aa
Use VISP_HAVE_OPENMP macro instead of _OPENMP
fspindle Nov 3, 2024
13cb9cb
Update with last changes concerning yolo v11
fspindle Nov 4, 2024
e057281
Fix wrong optimization
fspindle Nov 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions 3rdparty/simdlib/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
project(${SIMD_LIBRARY})

# SIMD_VERSION should math the version set in Simd/SimdVersion.h
set(SIMD_VERSION "4.9.109" PARENT_SCOPE)

vp_include_directories(${CMAKE_CURRENT_SOURCE_DIR})

set(COMMON_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
Expand Down
8 changes: 4 additions & 4 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1777,7 +1777,7 @@ status(" \\- Use ZLIB:" USE_ZLIB THEN "yes (ver ${ZLIB_VERS
status(" Use OpenCV:" USE_OPENCV THEN "yes (ver ${OpenCV_VERSION})" ELSE "no")
status(" Use stb_image (built-in):" WITH_STBIMAGE THEN "yes (ver ${STBIMAGE_VERSION})" ELSE "no")
status(" Use TinyEXR (built-in):" WITH_TINYEXR THEN "yes (ver ${TINYEXR_VERSION})" ELSE "no")
status(" Use simdlib (built-in):" WITH_SIMDLIB THEN "yes" ELSE "no")
status(" Use simdlib (built-in):" WITH_SIMDLIB THEN "yes (ver ${SIMD_VERSION})" ELSE "no")
status(" Use npz I/O (built-in):" WITH_MINIZ THEN "yes" ELSE "no")
status("")
status(" Real robots: ")
Expand Down Expand Up @@ -1863,10 +1863,10 @@ status(" Use json (nlohmann system):" USE_NLOHMANN_JSON THEN "yes (ver ${nlo
endif()
status("")
status(" Optimization: ")
status(" Use OpenMP:" USE_OPENMP THEN "yes" ELSE "no")
status(" Use OpenMP:" USE_OPENMP THEN "yes (ver ${OpenMP_CXX_VERSION})" ELSE "no")
status(" Use std::thread:" USE_THREADS THEN "yes" ELSE "no")
status(" Use pthread:" USE_PTHREAD THEN "yes" ELSE "no")
status(" Use simdlib (built-in):" WITH_SIMDLIB THEN "yes" ELSE "no")
status(" Use simdlib (built-in):" WITH_SIMDLIB THEN "yes (ver ${SIMD_VERSION})" ELSE "no")
status("")
status(" DNN: ")
status(" Use CUDA Toolkit:" USE_TENSORRT AND CUDA_FOUND THEN "yes (ver ${CUDA_VERSION})" ELSE "no")
Expand All @@ -1875,7 +1875,7 @@ status(" Use TensorRT:" USE_TENSORRT THEN "yes (ver ${TENSORR
# ========================== documentation ==========================
status("")
status(" Documentation: ")
status(" Use doxygen:" DOXYGEN_FOUND THEN "yes" ELSE "no")
status(" Use doxygen:" DOXYGEN_FOUND THEN "yes (ver ${DOXYGEN_VERSION})" ELSE "no")
status(" \\- Use mathjax:" USE_MATHJAX THEN "yes" ELSE "no")

# ========================== samples and tests ==========================
Expand Down
2 changes: 2 additions & 0 deletions ChangeLog.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@ ViSP 3.x.x (Version in development)
. Update tinyexr 3rdparty to 1.0.9 release
. Update stb_image 3rdparty to 2.30 version
. Update Catch2 3rdparty to 3.7.1 version
. Add compatibility with Yolo v11 in vpDetectorDNNOpenCV a wrapper over the OpenCV DNN module that allows
to detect objects
- Applications
. Migrate eye-to-hand tutorials in apps
- Tutorials
Expand Down
18 changes: 12 additions & 6 deletions modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -198,16 +198,22 @@ void vpPanda3DGeometryRenderer::getRender(vpImage<vpRGBf> &normals, vpImage<floa
if (numComponents != 4) {
throw vpException(vpException::dimensionError, "Expected panda texture to have 4 components!");
}

int image_width = static_cast<int>(m_renderParameters.getImageWidth());
for (unsigned int i = 0; i < m_renderParameters.getImageHeight(); ++i) {
const float *const rowData = data - i * rowIncrement;
vpRGBf *normalRow = normals[top + i];
float *depthRow = depth[top + i];
#pragma omp simd
for (unsigned int j = 0; j < m_renderParameters.getImageWidth(); ++j) {
normalRow[left + j].R = (rowData[j * 4]);
normalRow[left + j].G = (rowData[j * 4 + 1]);
normalRow[left + j].B = (rowData[j * 4 + 2]);
depthRow[left + j] = (rowData[j * 4 + 3]);
#if defined(VISP_HAVE_OPENMP)
#pragma omp parallel for
#endif
for (int j = 0; j < image_width; ++j) {
int left_j = left + j;
int j_4 = j * 4;
normalRow[left_j].R = (rowData[j_4]);
normalRow[left_j].G = (rowData[j_4 + 1]);
normalRow[left_j].B = (rowData[j_4 + 2]);
depthRow[left_j] = (rowData[j_4 + 3]);
}
}
}
Expand Down
Loading