[MERGE] Merged master, fixed merge conflicts related to vpDisplayFact…

…ory use

3rdparty/simdlib/Simd/SimdAlignment.h

@@ -58,7 +58,7 @@ namespace Simd
 
     SIMD_INLINE size_t Alignment()
     {
-#if defined(WIN32)
+#if defined(_WIN32)
         return GetAlignment();
 #else
         return ALIGNMENT;

3rdparty/simdlib/Simd/SimdAllocator.hpp

@@ -125,7 +125,7 @@ namespace Simd
         */
         static SIMD_INLINE size_t Alignment()
         {
-#if defined(__SimdAlignment_h__) && defined(WIN32)
+#if defined(__SimdAlignment_h__) && defined(_WIN32)
             return Simd::Alignment();
 #else
             return SimdAlignment();

3rdparty/simdlib/Simd/SimdBaseCpu.cpp

@@ -33,7 +33,7 @@
 #include <sstream>
 #include <iostream>
 
-#if defined(_MSC_VER)
+#if defined(_WIN32)
 
 #ifndef NOMINMAX
 #define NOMINMAX
@@ -77,7 +77,7 @@ namespace Simd {
 #if defined(SIMD_X86_ENABLE) || defined(SIMD_X64_ENABLE)
     bool CheckBit(int eax, int ecx, Cpuid::Register index, Cpuid::Bit bit) {
       unsigned int registers[4] = { 0, 0, 0, 0 };
-#if defined(_MSC_VER)
+#if defined(_WIN32)
       __cpuidex((int*)registers, eax, ecx);
 #elif (defined __GNUC__)
       if (__get_cpuid_max(0, NULL) < eax)
@@ -124,7 +124,7 @@ namespace Simd {
       }
 #endif
 
-#if defined(_MSC_VER)
+#if defined(_WIN32)
     typedef SYSTEM_LOGICAL_PROCESSOR_INFORMATION Info;
 
     void GetLogicalProcessorInformation(std::vector<Info>& info) {

3rdparty/simdlib/Simd/SimdLib.cpp

@@ -30,7 +30,7 @@
 #define SIMD_LIB_CPP
 #endif
 
-#if defined(WIN32) && !defined(SIMD_STATIC)
+#if defined(_WIN32) && !defined(SIMD_STATIC)
 
 #define SIMD_EXPORTS
 #ifndef NOMINMAX
@@ -50,7 +50,7 @@ BOOL APIENTRY DllMain(HMODULE hModule, DWORD dwReasonForCall, LPVOID lpReserved)
     }
     return TRUE;
 }
-#endif//WIN32
+#endif//_WIN32
 
 #include "Simd/SimdLib.h"
 

CMakeLists.txt

@@ -1711,13 +1711,16 @@ status("    Build with moment combine:"  ENABLE_MOMENTS_COMBINE_MATRICES THEN "y
 # ===================== Optional 3rd parties =====================
 status("")
 status("  OpenCV: ")
-status("    Version:"             USE_OPENCV         THEN "${OpenCV_VERSION}" ELSE "n/a")
+status("    Version:"                USE_OPENCV         THEN "${OpenCV_VERSION}" ELSE "n/a")
 if(USE_OPENCV)
   vp_list_replace_string(OpenCV_LIB_COMPONENTS OpenCV_LIB_COMPONENTS_FILTERED "^opencv_+" "")
   status("    Modules:"    "${OpenCV_LIB_COMPONENTS_FILTERED}")
   status("    OpenCV dir:" "${OpenCV_DIR}")
 endif()
 status("")
+status("  YARP: ")
+status("    Version:"                USE_YARP           THEN "${YARP_VERSION_SHORT}" ELSE "n/a")
+status("")
 status("  Mathematics: ")
 status("    Blas/Lapack:"            (USE_LAPACK OR WITH_LAPACK) THEN "yes" ELSE "no")
 status("    \\- Use MKL:"            USE_MKL            THEN "yes" ELSE "no")

ChangeLog.txt

@@ -75,6 +75,7 @@ ViSP 3.x.x (Version in development)
     . [#1337] The pose of the automatic datageneration pipeline from blenderproc seems wrong
     . [#1341] SVD computation fails with Lapack when m < n
     . [#1370] encountered compilation errors while building the ViSP library
+    . [#1424] Unable to detect Yarp 3.9.0
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

example/device/framegrabber/grabV4l2MultiCpp11Thread.cpp

@@ -134,6 +134,7 @@ bool getOptions(int argc, char **argv, unsigned int &deviceCount, bool &saveVide
   return true;
 }
 
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
 // Code adapted from the original author Dan Mašek to be compatible with ViSP
 // image
 class vpFrameQueue
@@ -204,7 +205,6 @@ class vpFrameQueue
 
 class vpStorageWorker
 {
-
 public:
   vpStorageWorker(vpFrameQueue &queue, const std::string &filename, unsigned int width, unsigned int height)
     : m_queue(queue), m_filename(filename), m_width(width), m_height(height)
@@ -430,6 +430,7 @@ void display(unsigned int width, unsigned int height, int win_x, int win_y, unsi
 }
 
 } // Namespace
+#endif // DOXYGEN_SHOULD_SKIP_THIS
 
 int main(int argc, char *argv[])
 {

example/device/framegrabber/saveRealSenseData.cpp

@@ -254,6 +254,8 @@ bool getOptions(int argc, const char *argv[], bool &save, std::string &pattern,
   return true;
 }
 
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
 // Code adapted from: https://stackoverflow.com/a/37146523
 class vpFrameQueue
 {
@@ -575,7 +577,7 @@ class vpStorageWorker
             }
             else if (m_save_pcl_npz_format) {
 #ifdef VISP_HAVE_MINIZ
-// Write Npz headers
+              // Write Npz headers
               std::vector<char> vec_filename(filename_point_cloud.begin(), filename_point_cloud.end());
               // Null-terminated character is handled at reading
               // For null-terminated character handling, see:
@@ -662,6 +664,8 @@ class vpStorageWorker
 };
 } // Namespace
 
+#endif // DOXYGEN_SHOULD_SKIP_THIS
+
 int main(int argc, const char *argv[])
 {
   bool save = false;
@@ -935,10 +939,10 @@ int main(int argc, const char *argv[])
 #else
       if (save_pointcloud) {
         ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-    }
+      }
       save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-  }
+    }
 
     double delta_time = vpTime::measureTimeMs() - start;
     vec_delta_time.push_back(delta_time);
@@ -982,10 +986,10 @@ int main(int argc, const char *argv[])
 #else
             if (save_pointcloud) {
               ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-          }
+            }
             save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-        }
+          }
           break;
 
         case vpMouseButton::button2:
@@ -995,9 +999,9 @@ int main(int argc, const char *argv[])
           quit = true;
           save_queue.cancel();
           break;
+        }
       }
     }
-}
   }
 
   double mean_vec_delta_time = vpMath::getMean(vec_delta_time);

modules/core/CMakeLists.txt

@@ -161,7 +161,24 @@ if(USE_OPENCV)
 endif(USE_OPENCV)
 
 if(USE_YARP)
-  list(APPEND opt_incs ${YARP_INCLUDE_DIRS})
+  foreach(lib_ ${YARP_LIBRARIES})
+    get_target_property(imported_libs_ ${lib_} INTERFACE_LINK_LIBRARIES)
+    if(imported_libs_)
+      list(APPEND YARP_LIBS ${lib_})
+      list(APPEND YARP_IMPORTED_LIBS ${imported_libs_})
+    else()
+      list(APPEND YARP_LIBS ${lib_})
+    endif()
+
+    get_target_property(imported_incs_ ${lib_} INTERFACE_INCLUDE_DIRECTORIES)
+    if(imported_incs_)
+      list(APPEND YARP_IMPORTED_INCLUDE_DIRS ${imported_incs_})
+    endif()
+  endforeach()
+  vp_list_unique(YARP_IMPORTED_LIBS)
+  vp_list_unique(YARP_IMPORTED_INCLUDE_DIRS)
+
+  list(APPEND opt_incs ${YARP_IMPORTED_INCLUDE_DIRS})
 
   # Work around to add Yarp libraries and also third party libraries requested by Yarp
   list(REVERSE YARP_LIBRARIES) # to start with YARP_init, that depends on YARP_dev, YARP_sig and YARP_OS
@@ -182,21 +199,8 @@ if(USE_YARP)
       else()
         list(APPEND opt_libs ${YARP_LIB}) # Append full absolute library path and name
       endif()
-      # Get 3rd party libraries requested by Yarp
-      get_target_property(YARP_LINK_LIBS_ ${lib} "IMPORTED_LINK_INTERFACE_LIBRARIES_${CONFIGURATION}")
-      list(APPEND YARP_LINK_LIBS ${YARP_LINK_LIBS_})
     endforeach()
   endforeach()
-
-  # Remove Yarp libraries since they were added previously with full absolute library path and name
-  if(YARP_LINK_LIBS)
-    foreach(lib ${YARP_LIBRARIES})
-      list(REMOVE_ITEM YARP_LINK_LIBS ${lib})
-    endforeach()
-  endif()
-  # Add 3rd party libraries requested by Yarp
-  list(APPEND opt_libs ${YARP_LINK_LIBS})
-  add_definitions(${YARP_DEFINES})
 endif(USE_YARP)
 
 # Math: eigen3, gsl, mkl, openblas, atlas, netlib, OpenCV

modules/core/include/visp3/core/vpGaussRand.h

@@ -49,51 +49,43 @@ BEGIN_VISP_NAMESPACE
   their mean equal to 10 with a standard deviation equal to 0.5.
 
   \code
-#include <iostream>
-#include <visp3/core/vpGaussRand.h>
-
-#ifdef ENABLE_VISP_NAMESPACE
-using namespace VISP_NAMESPACE_NAME;
-#endif
+  #include <iostream>
+  #include <visp3/core/vpGaussRand.h>
 
-int main()
-{
-  vpGaussRand noise(0.5, 10);
-  for(int i=0; i< 10; i++) {
-    std::cout << "noise " << i << ": " << noise() << std::endl;
+  int main()
+  {
+    vpGaussRand noise(0.5, 10);
+    for(int i=0; i< 10; i++) {
+      std::cout << "noise " << i << ": " << noise() << std::endl;
+    }
+    return 0;
   }
-  return 0;
-}
   \endcode
 
   The previous example produces the following printings:
   \verbatim
-noise 0: 10.645
-noise 1: 9.67129
-noise 2: 10.1208
-noise 3: 10.1039
-noise 4: 10.8667
-noise 5: 9.89823
-noise 6: 9.81414
-noise 7: 9.96076
-noise 8: 11.0795
-noise 9: 9.79229
+  noise 0: 10.645
+  noise 1: 9.67129
+  noise 2: 10.1208
+  noise 3: 10.1039
+  noise 4: 10.8667
+  noise 5: 9.89823
+  noise 6: 9.81414
+  noise 7: 9.96076
+  noise 8: 11.0795
+  noise 9: 9.79229
   \endverbatim
 
   Note that the previous example produces always the same "random" results. To
-produce real random values, you need to initialize the random generator with
-different values using seed(). For example, this could be done using the
-current time. The code becomes:
+  produce real random values, you need to initialize the random generator with
+  different values using seed(). For example, this could be done using the
+  current time. The code becomes:
 
   \verbatim
   #include <iostream>
   #include <visp3/core/vpGaussRand.h>
   #include <visp3/core/vpTime.h>
 
-  #ifdef ENABLE_VISP_NAMESPACE
-  using namespace VISP_NAMESPACE_NAME;
-  #endif
-
   int main()
   {
     vpGaussRand noise(0.5, 10);
@@ -123,15 +115,6 @@ current time. The code becomes:
 */
 class VISP_EXPORT vpGaussRand
 {
-private:
-  double gaussianDraw();
-
-  vpUniRand m_rng;
-  double m_mean;
-  double m_sigma;
-  bool m_AlreadyDone;
-  double m_x2;
-
 public:
   /*!
       Default noise generator constructor.
@@ -172,6 +155,15 @@ class VISP_EXPORT vpGaussRand
       Return a random value from the Gaussian noise generator.
     */
   double operator()() { return m_sigma * gaussianDraw() + m_mean; }
+
+private:
+  double gaussianDraw();
+
+  vpUniRand m_rng;
+  double m_mean;
+  double m_sigma;
+  bool m_AlreadyDone;
+  double m_x2;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpImageTools_warp.h

@@ -283,7 +283,7 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
               const Type val11 = src[y_ + 1][x_ + 1];
               const int64_t interp_i64 =
                 static_cast<int64_t>(((s_1 * t_1) * val00) + ((s * t_1) * val01) + ((s_1 * t) * val10) + ((s * t) * val11));
-              const float interp = (interp_i64 >> (nbits * 2)) + ((interp_i64 & 0xFFFFFFFF) * precision_2);
+              const float interp = (interp_i64 >> (nbits * 2)) + ((interp_i64 & 0xFFFFFFFFU) * precision_2);
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
             else if (y_ < (static_cast<int>(src.getHeight()) - 1)) {
@@ -498,15 +498,15 @@ inline void vpImageTools::warpLinearFixedPointNotCenter(const vpImage<vpRGBa> &s
             const vpRGBa val11 = src[y_ + 1][x_ + 1];
             const int64_t interpR_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.R) + (s * t_1 * val01.R) + (s_1 * t * val10.R) + (s * t * val11.R));
-            const float interpR = (interpR_i64 >> (nbits * 2)) + ((interpR_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpR = (interpR_i64 >> (nbits * 2)) + ((interpR_i64 & 0xFFFFFFFFU) * precision_2);
 
             const int64_t interpG_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.G) + (s * t_1 * val01.G) + (s_1 * t * val10.G) + (s * t * val11.G));
-            const float interpG = (interpG_i64 >> (nbits * 2)) + ((interpG_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpG = (interpG_i64 >> (nbits * 2)) + ((interpG_i64 & 0xFFFFFFFFU) * precision_2);
 
             const int64_t interpB_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.B) + (s * t_1 * val01.B) + (s_1 * t * val10.B) + (s * t * val11.B));
-            const float interpB = (interpB_i64 >> (nbits * 2)) + ((interpB_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpB = (interpB_i64 >> (nbits * 2)) + ((interpB_i64 & 0xFFFFFFFFU) * precision_2);
 
             dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                vpMath::saturate<unsigned char>(interpB), 255);

modules/core/include/visp3/core/vpIoTools.h

@@ -56,8 +56,10 @@
 #include <complex>
 
 #if VISP_CXX_STANDARD > VISP_CXX_STANDARD_98
+
 namespace visp
 {
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
 // https://github.com/BinomialLLC/basis_universal/blob/ad9386a4a1cf2a248f7bbd45f543a7448db15267/encoder/basisu_miniz.h#L665
 static inline unsigned long vp_mz_crc32(unsigned long crc, const unsigned char *ptr, size_t buf_len)
 {
@@ -73,6 +75,7 @@ static inline unsigned long vp_mz_crc32(unsigned long crc, const unsigned char *
   }
   return ~crcu32;
 }
+#endif // DOXYGEN_SHOULD_SKIP_THIS
 
 #ifdef VISP_HAVE_MINIZ
 namespace cnpy
@@ -126,8 +129,6 @@ struct NpyArray
 
 using npz_t = std::map<std::string, NpyArray>;
 VISP_EXPORT npz_t npz_load(std::string fname);
-
-
 VISP_EXPORT char BigEndianTest();
 VISP_EXPORT char map_type(const std::type_info &t);
 template<typename T> std::vector<char> create_npy_header(const std::vector<size_t> &shape);

modules/core/include/visp3/core/vpRGBf.h

@@ -142,6 +142,7 @@ class VISP_EXPORT vpRGBf
   float B; //!< Blue component.
 
   friend VISP_EXPORT vpRGBf operator*(double x, const vpRGBf &rgb);
+  friend VISP_EXPORT vpRGBf operator*(float x, const vpRGBf &rgb);
 };
 END_VISP_NAMESPACE
 #endif