Merge pull request #1229 from fspindle/fix_various_changelog_warnings…

…_spelling_pthread

Fix various changelog warnings spelling pthread

ChangeLog.txt

@@ -8,7 +8,7 @@
 ViSP 3.5.1 (under development)
   - Contributors:
     . Fabien Spindler, Souriya Trinh, Romain Lagneau, Antonio Marino, Samuel Felton,
-      Francois Chaumette, Olivier Roussel
+      Francois Chaumette, Olivier Roussel, Julien Dufour, Joudy Nader
   - New classes
     . vpMocapVicon an interface over Vicon motion capture system
     . vpMocapQualisys an interface over Qualisys motion capture system
@@ -49,6 +49,7 @@ ViSP 3.5.1 (under development)
     . In moving-edges ellipse tracker (vpMeEllipse and vpMbTracker and its derived classes),
       change sample step parameter to consider the distance between moving-edges in pixels
       rather than an angular value in deg as it was in the previous releases
+    . ViSP is available as a Conda package
   - Tutorials
     . New tutorial to list all the hardware (robot, camera, depth camera, lidar, mocap,
       haptic devices, F/T sensor) supported by ViSP
@@ -99,6 +100,7 @@ ViSP 3.5.1 (under development)
     . [#1160] MBT does not estimate dof set by the user using vpMbTracker::setEstimatedDoF()
     . [#1176] ViSP cannot be built with a subset of OpenCV modules
     . [#1198] Unable to save multiple cameras in a same xml file
+    . [#1228] Unable to use visp conda package to link visp as a 3rd party
 ----------------------------------------------
 ViSP 3.5.0 (released February 15, 2022)
   - Contributors:

cmake/PCLTools.cmake

@@ -254,6 +254,7 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
 
   mark_as_advanced(ENSENSO_INCLUDE_DIR ENSENSO_LIBRARY)
 
+  mark_as_advanced(flann_DIR)
   mark_as_advanced(FLANN_INCLUDE_DIR)
   mark_as_advanced(FLANN_INCLUDE_DIRS)
   mark_as_advanced(FLANN_LIBRARY)
@@ -295,6 +296,17 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(Qt5Quick_DIR)               # Requested on macOS with pcl 1.12.1
   mark_as_advanced(Qt5_DIR)                    # Requested on macOS with pcl 1.12.1
 
+  # Requested on macOS with pcl 1.13.1
+  mark_as_advanced(Qt6CoreTools_DIR Qt6Core_DIR Qt6BusTools_DIR Qt6GuiTools_DIR Qt6Gui_DIR Qt6OpenGLWidgets_DIR)
+  mark_as_advanced(Qt6OpenGL_DIR Qt6WidgetsTools_DIR Qt6Widgets_DIR)
+  mark_as_advanced(Qt6DBusTools_DIR Qt6DBus_DIR Qt6Network_DIR Qt6QmlCompilerPlusPrivate_DIR)
+  mark_as_advanced(Qt6QmlIntegration_DIR Qt6QmlModels_DIR Qt6QmlTools_DIR Qt6Qml_DIR Qt6Quick_DIR Qt6Sql_DIR)
+  mark_as_advanced(Qt6_DIR)
+  mark_as_advanced(QT_ADDITIONAL_HOST_PACKAGES_PREFIX_PATH)
+  mark_as_advanced(QT_ADDITIONAL_PACKAGES_PREFIX_PATH)
+  mark_as_advanced(MACDEPLOYQT_EXECUTABLE)
+  mark_as_advanced(WrapOpenGL_AGL)
+
   mark_as_advanced(OPENNI2_INCLUDE_DIR)
   mark_as_advanced(OPENNI2_INCLUDE_DIRS)
   mark_as_advanced(OPENNI2_LIBRARY)
@@ -303,6 +315,9 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(OPENNI_INCLUDE_DIRS)
   mark_as_advanced(OPENNI_LIBRARY)
 
+  mark_as_advanced(PCAP_INCLUDE_DIR)                        # Requested on macOS with pcl 1.13.1
+  mark_as_advanced(PCAP_LIBRARY)                            # Requested on macOS with pcl 1.13.1
+
   mark_as_advanced(USB_10_INCLUDE_DIR)
   mark_as_advanced(USB_10_LIBRARY)
 
@@ -325,6 +340,7 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(OPENGL_GLES3_INCLUDE_DIR)
 
   mark_as_advanced(VTK_MPI_NUMPROCS)
+  mark_as_advanced(VTK_DIR)                             # Requested on macOS with pcl 1.12.1
 
   mark_as_advanced(TBB_DIR)
 

example/servo-universal-robots/CMakeLists.txt

@@ -71,7 +71,7 @@ if(VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
 endif()
 
-vp_set_source_file_compile_flag(servoUniversalRobotsIBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(servoUniversalRobotsPBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(UniversalRobotsMoveToPosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(UniversalRobotsSavePosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(servoUniversalRobotsIBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(servoUniversalRobotsPBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(UniversalRobotsMoveToPosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(UniversalRobotsSavePosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})

modules/core/include/visp3/core/vpDisplay.h

@@ -33,8 +33,8 @@
  *
 *****************************************************************************/
 
-#ifndef vpDisplay_h
-#define vpDisplay_h
+#ifndef _vpDisplay_h_
+#define _vpDisplay_h_
 
 #include <list>
 #include <sstream>
@@ -309,9 +309,9 @@ class VISP_EXPORT vpDisplay
     when \e fill is set to false.
   */
   inline virtual void displayCircle(const vpImageCircle &circle, const vpColor &color, bool fill = false,
-                             unsigned int thickness = 1)
+                                    unsigned int thickness = 1)
   {
-    this->displayCircle(circle.getCenter(), circle.getRadius(), color, fill, thickness);
+    this->displayCircle(circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
   }
 
   /*!

modules/core/include/visp3/core/vpImageFilter.h

@@ -70,7 +70,7 @@ class VISP_EXPORT vpImageFilter
 {
 public:
   static void canny(const vpImage<unsigned char> &I, vpImage<unsigned char> &Ic, unsigned int gaussianFilterSize,
-                    double thresholdCanny, unsigned int apertureSobel);
+                    float thresholdCanny, unsigned int apertureSobel);
 
   /*!
     Apply a 1x3 derivative filter to an image pixel.
@@ -955,12 +955,14 @@ class VISP_EXPORT vpImageFilter
       throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
 
     if (sigma <= 0)
-      sigma = (size - 1) / 6.0;
+      sigma = static_cast<FilterType>((size - 1) / 6.0);
 
     int middle = (int)(size - 1) / 2;
-    FilterType sigma2 = vpMath::sqr(sigma);
+    FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
+    FilterType coef1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
+    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
     for (int i = 0; i <= middle; i++) {
-      filter[i] = (1. / (sigma * sqrt(2. * M_PI))) * exp(-(i * i) / (2. * sigma2));
+      filter[i] = coef1 * exp(-(i * i) / _2_sigma2);
     }
     if (normalize) {
       // renormalization
@@ -997,22 +999,25 @@ class VISP_EXPORT vpImageFilter
       throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
 
     if (sigma <= 0)
-      sigma = (size - 1) / 6.0;
+      sigma = static_cast<FilterType>((size - 1) / 6.0);
 
     int middle = (int)(size - 1) / 2;
-    FilterType sigma2 = vpMath::sqr(sigma);
+    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.);
+    FilterType _2_coef_1 = static_cast<FilterType>(2.) * coef_1;
+    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
     filter[0] = 0.;
     for (int i = 1; i <= middle; i++) {
-      filter[i] = -(1. / (sigma * sqrt(2. * M_PI))) *
-        (exp(-((i + 1) * (i + 1)) / (2. * sigma2)) - exp(-((i - 1) * (i - 1)) / (2. * sigma2))) / 2.;
+      filter[i] = -coef_1_over_2 * (static_cast<FilterType>(exp(-((i + 1) * (i + 1)) / _2_sigma2)) - static_cast<FilterType>(exp(-((i - 1) * (i - 1)) / _2_sigma2)));
     }
 
     if (normalize) {
       FilterType sum = 0;
       for (int i = 1; i <= middle; i++) {
-        sum += 2. * (1. / (sigma * sqrt(2. * M_PI))) * exp(-(i * i) / (2. * sigma2));
+        sum += _2_coef_1 * static_cast<FilterType>(exp(-(i * i) / _2_sigma2));
       }
-      sum += (1. / (sigma * sqrt(2. * M_PI)));
+      sum += coef_1;
 
       for (int i = 1; i <= middle; i++) {
         filter[i] = filter[i] / sum;
@@ -1217,11 +1222,11 @@ class VISP_EXPORT vpImageFilter
   }
 
 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
-  static double computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, double &lowerThresh);
-  static double computeCannyThreshold(const vpImage<unsigned char> &I, double &lowerThresh);
-  static double median(const cv::Mat &cv_I);
-  static double median(const vpImage<unsigned char> &Isrc);
-  static std::vector<double> median(const vpImage<vpRGBa> &Isrc);
+  static float computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, float &lowerThresh);
+  static float computeCannyThreshold(const vpImage<unsigned char> &I, float &lowerThresh);
+  static float median(const cv::Mat &cv_I);
+  static float median(const vpImage<unsigned char> &Isrc);
+  static std::vector<float> median(const vpImage<vpRGBa> &Isrc);
 #endif
 };
 

modules/core/include/visp3/core/vpThread.h

@@ -61,7 +61,7 @@
    Windows.
 
    There are two examples implemented in testMutex.cpp and testThread.cpp to
-   show how to use this class. The content of test-thread.cpp that hightlights
+   show how to use this class. The content of test-thread.cpp that highlights
    the main functionalities of this class is given hereafter: \snippet
    testThread.cpp Code
 
@@ -86,7 +86,7 @@ class vpThread
      Default constructor that does nothing. To attach a function to this
      thread of execution you need to call create().
    */
-  vpThread() : m_handle(), m_isCreated(false), m_isJoinable(false) {}
+  vpThread() : m_handle(), m_isCreated(false), m_isJoinable(false) { }
 
   /*!
      Construct a thread object that represents a new joinable thread of

modules/core/src/display/vpDisplay_rgba.cpp

@@ -147,7 +147,7 @@ void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, int i, int j, const
 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, const vpImageCircle &circle,
                               const vpColor &color, bool fill, unsigned int thickness)
 {
-  vp_display_display_circle(I, circle.getCenter(), circle.getRadius(), color, fill, thickness);
+  vp_display_display_circle(I, circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
 }
 
 /*!

modules/core/src/display/vpDisplay_uchar.cpp

@@ -148,7 +148,7 @@ void vpDisplay::displayCharString(const vpImage<unsigned char> &I, int i, int j,
 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, const vpImageCircle &circle,
                               const vpColor &color, bool fill, unsigned int thickness)
 {
-  vp_display_display_circle(I, circle.getCenter(), circle.getRadius(), color, fill, thickness);
+  vp_display_display_circle(I, circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
 }
 
 /*!

modules/core/src/image/vpCannyEdgeDetection.cpp

@@ -143,7 +143,7 @@ vpCannyEdgeDetection::detect(const vpImage<unsigned char> &I)
   float lowerThreshold = m_lowerThreshold;
   if (m_lowerThreshold < 0) {
     // Applying Canny recommendation to have the upper threshold 3 times greater than the lower threshold.
-    lowerThreshold = m_upperThreshold / 3.;
+    lowerThreshold = m_upperThreshold / 3.f;
   }
 
   performHysteresisThresholding(lowerThreshold, upperThreshold);
@@ -269,7 +269,7 @@ getAbsoluteTheta(const vpImage<float> &dIx, const vpImage<float> &dIy, const int
     absoluteTheta = 90.;
   }
   else {
-    absoluteTheta = vpMath::deg(std::abs(std::atan(dy / dx)));
+    absoluteTheta = static_cast<float>(vpMath::deg(std::abs(std::atan(dy / dx))));
   }
   return absoluteTheta;
 }

modules/core/src/image/vpImageFilter.cpp

@@ -148,11 +148,11 @@ void vpImageFilter::sepFilter(const vpImage<unsigned char> &I, vpImage<double> &
  * The algorithm is based on based on https://github.com/arnaudgelas/OpenCVExamples/blob/master/cvMat/Statistics/Median/Median.cpp
  * \param[in] channel : Single channel image in OpenCV format.
  */
-double vpImageFilter::median(const cv::Mat &channel)
+float vpImageFilter::median(const cv::Mat &channel)
 {
-  double m = (channel.rows * channel.cols) / 2;
+  float m = (channel.rows * channel.cols) / 2.f;
   int bin = 0;
-  double med = -1.0;
+  float med = -1.0f;
 
   int histSize = 256;
   float range[] = { 0, 256 };
@@ -165,7 +165,7 @@ double vpImageFilter::median(const cv::Mat &channel)
   for (int i = 0; i < histSize && med < 0.0; ++i) {
     bin += cvRound(hist.at<float>(i));
     if (bin > m && med < 0.0)
-      med = i;
+      med = static_cast<float>(i);
   }
 
   return med;
@@ -175,9 +175,10 @@ double vpImageFilter::median(const cv::Mat &channel)
  * \brief Calculates the median value of a single channel.
  * The algorithm is based on based on https://github.com/arnaudgelas/OpenCVExamples/blob/master/cvMat/Statistics/Median/Median.cpp
  * \param[in] Isrc : Gray-level image in ViSP format.
+ * \return Gray level image median value.
  * \sa \ref vpImageFilter::median() "vpImageFilter::median(const cv::Mat)"
  */
-double vpImageFilter::median(const vpImage<unsigned char> &Isrc)
+float vpImageFilter::median(const vpImage<unsigned char> &Isrc)
 {
   cv::Mat cv_I;
   vpImageConvert::convert(Isrc, cv_I);
@@ -188,17 +189,17 @@ double vpImageFilter::median(const vpImage<unsigned char> &Isrc)
  * \brief Calculates the median value of a vpRGBa image.
  * The result is ordered in RGB format.
  * \param[in] Isrc : RGB image in ViSP format. Alpha channel is ignored.
- * \return std::vector<double> meds such as meds[0] = red-channel-median meds[1] = green-channel-median
+ * \return std::vector<float> meds such as meds[0] = red-channel-median, meds[1] = green-channel-median
  * and meds[2] = blue-channel-median.
  * \sa \ref vpImageFilter::median() "vpImageFilter::median(const cv::Mat)"
  */
-std::vector<double> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
+std::vector<float> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
 {
   cv::Mat cv_I_bgr;
   vpImageConvert::convert(Isrc, cv_I_bgr);
   std::vector<cv::Mat> channels;
   cv::split(cv_I_bgr, channels);
-  std::vector<double> meds(3);
+  std::vector<float> meds(3);
   const int orderMeds[] = { 2, 1, 0 }; // To keep the order R, G, B
   const int orderCvChannels[] = { 0, 1, 2 }; // Because the order of the cv::Mat is B, G, R
   for (unsigned int i = 0; i < 3; i++) {
@@ -213,9 +214,9 @@ std::vector<double> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
  * \param[in] cv_I : The image, in cv format.
  * \param[in] p_cv_blur : If different from nullptr, must contain a blurred version of cv_I.
  * \param[out] lowerThresh : The lower threshold for the Canny edge filter.
- * \return double The upper Canny edge filter threshold.
+ * \return The upper Canny edge filter threshold.
  */
-double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, double &lowerThresh)
+float vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, float &lowerThresh)
 {
   cv::Mat cv_I_blur;
   if (p_cv_blur != nullptr) {
@@ -232,10 +233,10 @@ double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *
   cv::Mat cv_I_scaled_down;
   resize(cv_I_blur, cv_I_scaled_down, cv::Size(), scale_down, scale_down, cv::INTER_NEAREST);
 
-  double median_pix = vpImageFilter::median(cv_I_scaled_down);
-  double lower = std::max(0., 0.7 * median_pix);
-  double upper = std::min(255., 1.3 * median_pix);
-  upper = std::max(1., upper);
+  float median_pix = vpImageFilter::median(cv_I_scaled_down);
+  float lower = std::max(0.f, 0.7f * median_pix);
+  float upper = std::min(255.f, 1.3f * median_pix);
+  upper = std::max(1.f, upper);
   lowerThresh = lower;
   return upper;
 }
@@ -245,9 +246,9 @@ double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *
  *
  * \param[in] I : The gray-scale image, in ViSP format.
  * \param[in] lowerThresh : Canny lower threshold.
- * \return double The upper Canny edge filter threshold.
+ * \return The upper Canny edge filter threshold.
  */
-double vpImageFilter::computeCannyThreshold(const vpImage<unsigned char> &I, double &lowerThresh)
+float vpImageFilter::computeCannyThreshold(const vpImage<unsigned char> &I, float &lowerThresh)
 {
   cv::Mat cv_I;
   vpImageConvert::convert(I, cv_I);
@@ -295,14 +296,14 @@ int main()
   \param apertureSobel : Size of the mask for the Sobel operator (odd number).
 */
 void vpImageFilter::canny(const vpImage<unsigned char> &Isrc, vpImage<unsigned char> &Ires,
-                          unsigned int gaussianFilterSize, double thresholdCanny, unsigned int apertureSobel)
+                          unsigned int gaussianFilterSize, float thresholdCanny, unsigned int apertureSobel)
 {
 #if defined(HAVE_OPENCV_IMGPROC)
   cv::Mat img_cvmat, cv_I_blur, edges_cvmat;
   vpImageConvert::convert(Isrc, img_cvmat);
   cv::GaussianBlur(img_cvmat, cv_I_blur, cv::Size((int)gaussianFilterSize, (int)gaussianFilterSize), 0, 0);
-  double upperCannyThresh = thresholdCanny;
-  double lowerCannyThresh = thresholdCanny / 3.;
+  float upperCannyThresh = thresholdCanny;
+  float lowerCannyThresh = thresholdCanny / 3.f;
   if (upperCannyThresh < 0) {
     upperCannyThresh = computeCannyThreshold(img_cvmat, &cv_I_blur, lowerCannyThresh);
   }

modules/core/test/image-with-dataset/testImageFilter.cpp

@@ -552,8 +552,8 @@ int main(int argc, const char *argv[])
           I_median_rgba[r][c].B = 3 * (r * 3 + c);
         }
       }
-      std::vector<double> median_rgba = vpImageFilter::median(I_median_rgba);
-      std::vector<double> expected_median_rgba = { 4, 8, 12 };
+      std::vector<float> median_rgba = vpImageFilter::median(I_median_rgba);
+      std::vector<float> expected_median_rgba = { 4.f, 8.f, 12.f };
       for (unsigned int i = 0; i < 3; i++) {
         bool test_local = (median_rgba[i] == expected_median_rgba[i]);
         test &= test_local;

modules/gui/CMakeLists.txt

@@ -43,6 +43,7 @@ if(USE_X11)
   list(APPEND opt_libs ${X11_LIBRARIES})
   mark_as_advanced(X11_xcb_icccm_INCLUDE_PATH)
   mark_as_advanced(X11_xcb_icccm_LIB)
+  mark_as_advanced(X11_xcb_xkb_INCLUDE_PATH)
 endif()
 if(USE_GTK2)
   list(APPEND opt_incs ${GTK2_INCLUDE_DIRS})