Silence non-functional warnings in tests. Comment out deprecated vision.LocalMaximaFinder and point to errata.

Author: remo-pillat

book/code/appendices.mlx

@@ -1,11 +1,11 @@
 %[text] %[text:anchor:F4CCA683] # Robotics, Vision & Control 3e: for MATLAB
 %[text] %[text:anchor:874DADDE] # Appendices
 %[text:tableOfContents]{"heading":"Table of Contents"}
-%[text] %[text:anchor:H_FD45E4DF] Copyright 2022\-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
+%[text] %[text:anchor:H_FD45E4DF] Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
 %[text] %[text:anchor:F954A5D5] ## Appendix C: Geometry
 %[text] %[text:anchor:BAEBF2AC] ### C.1 Euclidean Geometry
-%[text] %[text:anchor:E4239FA6] #### C.1\.2 Lines
-%[text] %[text:anchor:E7791A79] #### C.1\.2\.2 Lines in 3D and Plücker Coordinates
+%[text] %[text:anchor:E4239FA6] #### C.1.2 Lines
+%[text] %[text:anchor:E7791A79] #### C.1.2.2 Lines in 3D and Plücker Coordinates
 P = [2 3 4]; Q = [3 5 7];
 L = Plucker(P,Q)
 L.v
@@ -17,7 +17,7 @@
 [x,d] = L.closest([1 2 3]) %#ok<*ASGLU> 
 L.intersect_plane([0 0 1 0])
 %%
-%[text] %[text:anchor:B107E972] #### C.1\.4 Ellipses and Ellipsoids
+%[text] %[text:anchor:B107E972] #### C.1.4 Ellipses and Ellipsoids
 E = [1 1;1 2];
 clf; plotellipse(E); hold on
 [x,e] = eig(E)
@@ -26,15 +26,15 @@
 p = x(:,2)*r(2); quiver(0,0,p(1),p(2),0,"r");
 atan2d(x(2,1),x(1,1))
 %%
-%[text] %[text:anchor:81891655] #### C.1\.4\.1 Drawing an Ellipse
+%[text] %[text:anchor:81891655] #### C.1.4.1 Drawing an Ellipse
 E = [1 1; 1 2];
 th = linspace(0,2*pi,50);
 y = [cos(th);sin(th)];
 x = inv(sqrtm(E))*y;
 clf; plot(x(1,:),x(2,:));
 clf; plotellipse(E)
 %%
-%[text] %[text:anchor:A199F180] #### C.1\.4\.2 Fitting an Ellipse to Data
+%[text] %[text:anchor:A199F180] #### C.1.4.2 Fitting an Ellipse to Data
 rng(0);  % reset random number generator
 x = [];  % empty point set
 while size(x,2) < 500
@@ -61,8 +61,8 @@
 plotellipse(E_est,"r")
 %%
 %[text] %[text:anchor:22C91717] ### C.2 Homogeneous Coordinates
-%[text] %[text:anchor:A2EF233A] #### C.2\.1 Two Dimensions
-%[text] %[text:anchor:25F2AFB3] #### C.2\.1\.1 Points and Lines
+%[text] %[text:anchor:A2EF233A] #### C.2.1 Two Dimensions
+%[text] %[text:anchor:25F2AFB3] #### C.2.1.1 Points and Lines
 l1 = [1 -1 0];
 l2 = [1 -1 -1];
 plothomline(l1,"b")
@@ -103,7 +103,7 @@
 s = chi2inv(0.5,2)
 %%
 %[text] %[text:anchor:DD77BE42] ## Appendix H: Kalman Filter
-%[text] %[text:anchor:72ADDA8C] ### H.2 Nonlinear Systems \-\- Extended Kalman Filter
+%[text] %[text:anchor:72ADDA8C] ### H.2 Nonlinear Systems -- Extended Kalman Filter
 x = 2*randn(1000000,1) + 5;
 y = (x+2).^2/4;
 clf; histogram(y, Normalization="pdf");
@@ -150,16 +150,19 @@
 z
 [zmax,i] = max(z(:))
 [y,x] = ind2sub(size(z),i)
-LMaxFinder = vision.LocalMaximaFinder(MaximumNumLocalMaxima=3, ...
-                NeighborhoodSize=[3 3],Threshold=0);
-LMaxFinder(z)
+
+%% vision.LocalMaximaFinder has been deprecated. See errata: https://github.com/petercorke/RVC3-MATLAB/wiki/Errata
+
+% LMaxFinder = vision.LocalMaximaFinder(MaximumNumLocalMaxima=3, ...
+%                 NeighborhoodSize=[3 3],Threshold=0);
+% LMaxFinder(z)
 %[text] 
 %[text] Suppress syntax warnings in this file
 %#ok<*NASGU>
 %#ok<*AGROW>
 %#ok<*MINV> 
 
-%[appendix]
+%[appendix]{"version":"1.0"}
 %---
 %[metadata:view]
 %   data: {"layout":"inline","rightPanelPercent":40}

book/code/chapter11.mlx

@@ -1,10 +1,10 @@
 %[text] %[text:anchor:F4CCA683] # Robotics, Vision & Control 3e: for MATLAB
 %[text] %[text:anchor:CAAB408D] # Chapter 11: Images and Image Processing
-%[text:tableOfContents]{"heading":"**Table of Contents**"}
+%[text:tableOfContents]{"heading":"Table of Contents"}
 %[text] %[text:anchor:DD428C66] # 
-%[text] Copyright 2022\-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
-%[text] %[text:anchor:C44A23DD] ## 11\.1 Obtaining an Image
-%[text] %[text:anchor:5AD1F85D] ### 11\.1\.1 Images from Files
+%[text] Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
+%[text] %[text:anchor:C44A23DD] ## 11.1 Obtaining an Image
+%[text] %[text:anchor:5AD1F85D] ### 11.1.1 Images from Files
 street = imread("street.png");
 
 whos street
@@ -39,7 +39,7 @@
 md = imfinfo("roof.jpg")
 
 md.DigitalCamera
-%[text] %[text:anchor:8EAC253F] ### 11\.1\.2 Images from an Attached Camera
+%[text] %[text:anchor:8EAC253F] ### 11.1.2 Images from an Attached Camera
 % Not runnable section.
 % The following code only works if you have a webcam attached to your
 % computer. Uncomment if you want to run it.
@@ -53,7 +53,7 @@
 %im = cam.snapshot;
 
 %cam.preview
-%[text] %[text:anchor:13D2568B] ### 11\.1\.3 Images from a Video File
+%[text] %[text:anchor:13D2568B] ### 11.1.3 Images from a Video File
 vid = VideoReader("traffic_sequence.mpg");
 
 vid.NumFrames
@@ -71,13 +71,13 @@
   cont = vid.hasFrame && videoPlayer.isOpen;
   pause(0.05);
 end
-%[text] %[text:anchor:54CABEB2] ### 11\.1\.4 Images from the Web
+%[text] %[text:anchor:54CABEB2] ### 11.1.4 Images from the Web
 img = imread("http://uk.jokkmokk.jp/photo/nr4/latest.jpg");
 
 size(img)
 
 imshow(img)
-%[text] %[text:anchor:5B5701F4] ### 11\.1\.5 Images from Code
+%[text] %[text:anchor:5B5701F4] ### 11.1.5 Images from Code
 im = testpattern("rampx",256,2);
 im = testpattern("siny",256,2);
 im = testpattern("squares",256,50,25);
@@ -98,7 +98,7 @@
 
 imshow(canvas)
 %%
-%[text] %[text:anchor:61BDB3A2] ## 11\.2 Image Histograms
+%[text] %[text:anchor:61BDB3A2] ## 11.2 Image Histograms
 church = rgb2gray(imread("church.png"));
 imhist(church)
 
@@ -110,7 +110,7 @@
 [~,p] = findpeaks(counts,x,MinPeakDistance=60);
 p' % transpose for display
 %%
-%[text] %[text:anchor:9736A4AD] ## 11\.3 Monadic Operations
+%[text] %[text:anchor:9736A4AD] ## 11.3 Monadic Operations
 imd = im2double(church);
 
 im = im2uint8(imd);
@@ -138,7 +138,7 @@
 
 imshow(church/64,[])
 %%
-%[text] %[text:anchor:38013E66] ## 11\.4 Dyadic Operations
+%[text] %[text:anchor:38013E66] ## 11.4 Dyadic Operations
 subject = im2double(imread("greenscreen.jpg"));
 imshow(subject)
 
@@ -159,7 +159,7 @@
 imshow(bg.*(1-mask))
 
 imshow(subject.*mask + bg.*(1-mask))
-%[text] %[text:anchor:EDFF06F1] ### 11\.4\.1 Application: Motion detection
+%[text] %[text:anchor:EDFF06F1] ### 11.4.1 Application: Motion detection
 vid = VideoReader("traffic_sequence.mpg");
 
 bg = im2double(im2gray(vid.readFrame())); 
@@ -173,11 +173,11 @@
   imshow(bg);
 end
 %%
-%[text] %[text:anchor:AE329B49] ## 11\.5 Spatial Operations
-%[text] %[text:anchor:1A46459C] ### 11\.5\.1 Linear Spatial Filtering
+%[text] %[text:anchor:AE329B49] ## 11.5 Spatial Operations
+%[text] %[text:anchor:1A46459C] ### 11.5.1 Linear Spatial Filtering
 %Y = imfilter(X,K,"conv");
 
-%[text] %[text:anchor:348E58ED] #### 11\.5\.1\.1 Image Smoothing
+%[text] %[text:anchor:348E58ED] #### 11.5.1.1 Image Smoothing
 
 K = ones(21,21) / 21^2;
 
@@ -196,7 +196,7 @@
 K = fspecial("disk",8);
 
 %[text] 
-%[text] %[text:anchor:855F2550] #### 11\.5\.1\.3 Edge Detection
+%[text] %[text:anchor:855F2550] #### 11.5.1.3 Edge Detection
 
 castle = im2double(imread("castle.png"));
 
@@ -241,7 +241,7 @@
 plot(570:600,p,"-o");
 
 bw = edge(castle,"log");
-%[text] %[text:anchor:3FAEB9E9] ### 11\.5\.2 Template Matching
+%[text] %[text:anchor:3FAEB9E9] ### 11.5.2 Template Matching
 mona = im2double(rgb2gray(imread("monalisa.png")));
 A = mona(170:220,245:295);
 
@@ -285,16 +285,19 @@
 
 imshow(S,[]), colorbar
 
-peakFinder = vision.LocalMaximaFinder(MaximumNumLocalMaxima=5, ...
-  NeighborhoodSize=[3 3],Threshold=min(S(:)));
-uvLoc = peakFinder.step(S);
-vals = S(sub2ind(size(S),uvLoc(:,2),uvLoc(:,1)))'
 
-labels = "Wally " + string(1:5) + ": " + string(vals);
-markedSim = insertObjectAnnotation(S,"circle",[uvLoc, ...
-  10*ones(5,1)],labels,FontSize=21);
-imshow(markedSim)
-%[text] %[text:anchor:5981651E] ### 11\.5\.3 Nonlinear Operations
+%% vision.LocalMaximaFinder has been deprecated. See errata: https://github.com/petercorke/RVC3-MATLAB/wiki/Errata
+
+% peakFinder = vision.LocalMaximaFinder(MaximumNumLocalMaxima=5, ...
+%   NeighborhoodSize=[3 3],Threshold=min(S(:)));
+% uvLoc = peakFinder.step(S);
+% vals = S(sub2ind(size(S),uvLoc(:,2),uvLoc(:,1)))'
+
+% labels = "Wally " + string(1:5) + ": " + string(vals);
+% markedSim = insertObjectAnnotation(S,"circle",[uvLoc, ...
+%   10*ones(5,1)],labels,FontSize=21);
+% imshow(markedSim)
+%[text] %[text:anchor:5981651E] ### 11.5.3 Nonlinear Operations
 out = nlfilter(mona,[7 7],@(x)var(x(:)));
 
 mx = ordfilt2(mona,1,ones(5,5));
@@ -312,7 +315,7 @@
 
 imshow(mona > mxn)
 %%
-%[text] %[text:anchor:8A53ACA5] ## 11\.6 Mathematical Morphology
+%[text] %[text:anchor:8A53ACA5] ## 11.6 Mathematical Morphology
 load eg_morph1.mat
 imshow(im,InitialMagnification=800)
 
@@ -323,7 +326,7 @@
 morphdemo(im,S,"min")
 
 mx = imdilate(mn,S);
-%[text] %[text:anchor:9676C371] ### 11\.6\.1 Noise Removal
+%[text] %[text:anchor:9676C371] ### 11.6.1 Noise Removal
 objects = imread("segmentation.png");
 
 S = strel("disk",4);
@@ -335,17 +338,17 @@
 
 opened = imopen(objects,S);
 closed = imclose(opened,S);
-%[text] %[text:anchor:27B57E39] ### 11\.6\.2 Boundary Detection
+%[text] %[text:anchor:27B57E39] ### 11.6.2 Boundary Detection
 eroded = imerode(clean,strel("disk",1));
 
 imshow(clean-eroded)
-%[text] %[text:anchor:16339476] ### 11\.6\.3 Hit or Miss Transform
+%[text] %[text:anchor:16339476] ### 11.6.3 Hit or Miss Transform
 skeleton = bwmorph(clean,"skel",Inf);
 
 ends = bwmorph(skeleton,"endpoints");
 
 joints = bwmorph(skeleton,"branchpoints");
-%[text] %[text:anchor:3CB666F7] ### 11\.6\.4 Distance Transform
+%[text] %[text:anchor:3CB666F7] ### 11.6.4 Distance Transform
 im = zeros(256);
 im = insertShape(im,"FilledRectangle",[64 64 128 128], ...
   Color="w",Opacity=1);
@@ -354,8 +357,8 @@
 
 dx = bwdist(edges);
 %%
-%[text] %[text:anchor:8649171A] ## 11\.7 Shape Changing
-%[text] %[text:anchor:F52A212B] ### 11\.7\.1 Cropping
+%[text] %[text:anchor:8649171A] ## 11.7 Shape Changing
+%[text] %[text:anchor:F52A212B] ### 11.7.1 Cropping
 mona = imread("monalisa.png");
 
 % The following 3 lines are interactive.
@@ -364,7 +367,7 @@
 %roi
 
 smile = imcrop(mona,[265 264 77 22]);
-%[text] %[text:anchor:564539E5] ### 11\.7\.2 Image Resizing
+%[text] %[text:anchor:564539E5] ### 11.7.2 Image Resizing
 roof = rgb2gray(imread("roof.jpg"));
 whos roof
 
@@ -373,12 +376,12 @@
 smaller = imresize(roof,1/7);
 
 bigger = imresize(smaller,7);
-%[text] %[text:anchor:57A9E901] ### 11\.7\.3 Image Pyramids
+%[text] %[text:anchor:57A9E901] ### 11.7.3 Image Pyramids
 p0 = impyramid(rgb2gray(mona),"reduce");
 p1 = impyramid(p0,"reduce");
 p2 = impyramid(p1,"reduce");
 p3 = impyramid(p2,"reduce");
-%[text] %[text:anchor:46D85206] ### 11\.7\.4 Image Warping
+%[text] %[text:anchor:46D85206] ### 11.7.4 Image Warping
 mona = im2double(rgb2gray(imread("monalisa.png")));
 [Ui,Vi] = meshgrid(1:size(mona,2),1:size(mona,1));
 
@@ -438,7 +441,7 @@
 %#ok<*NBRAK2>
 
 
-%[appendix]
+%[appendix]{"version":"1.0"}
 %---
 %[metadata:view]
 %   data: {"layout":"inline","rightPanelPercent":40}

book/code_m/appendices.m

@@ -17,6 +17,16 @@
         MLXFile = "chapter4.mlx"
     end
 
+    methods (TestClassSetup)
+        function disableScopesWarning(testCase)
+            %disableScopesWarning Prevent warning related to scopes opening automatically
+
+            import matlab.unittest.fixtures.SuppressedWarningsFixture            
+            testCase.applyFixture( ...
+                SuppressedWarningsFixture("Spcuilib:scopeblock:ScopeNoSupportParsim"));
+        end
+    end
+
     methods(Test)
         % Additional test points for the chapter
     end

book/code_m/chapter11.m

@@ -17,6 +17,16 @@
         MLXFile = "chapter5.mlx"
     end
 
+    methods (TestClassSetup)
+        function disableScopesWarning(testCase)
+            %disableScopesWarning Prevent warning related to scopes opening automatically
+
+            import matlab.unittest.fixtures.SuppressedWarningsFixture            
+            testCase.applyFixture( ...
+                SuppressedWarningsFixture("Spcuilib:scopeblock:ScopeNoSupportParsim"));
+        end
+    end
+
     methods(Test)
         % Additional test points for the chapter
     end

test/book/chapter04/tChapter4.m

@@ -17,6 +17,16 @@
         MLXFile = "chapter6.mlx"
     end
 
+    methods (TestClassSetup)
+        function disableSoftwareRenderingWarning(testCase)
+            %disableSoftwareRenderingWarning Disable warning that has no functional effect
+
+            import matlab.unittest.fixtures.SuppressedWarningsFixture            
+            testCase.applyFixture( ...
+                SuppressedWarningsFixture("MATLAB:graphics:SoftwareMarkerSubsamplingm"));
+        end
+    end
+
     methods(Test)
         % Additional test points for the chapter
     end

test/book/chapter05/tChapter5.m

@@ -17,6 +17,16 @@
         MLXFile = "chapter9.mlx"
     end
 
+    methods (TestClassSetup)
+        function disableScopesWarning(testCase)
+            %disableScopesWarning Prevent warning related to scopes opening automatically
+
+            import matlab.unittest.fixtures.SuppressedWarningsFixture            
+            testCase.applyFixture( ...
+                SuppressedWarningsFixture("Spcuilib:scopeblock:ScopeNoSupportParsim"));
+        end
+    end    
+
     methods(Test)
         % Additional test points for the chapter
     end