diff --git a/modules/core/test/image-with-dataset/testImageFilter.cpp b/modules/core/test/image-with-dataset/testImageFilter.cpp
index e6c2be967d..408144adee 100644
--- a/modules/core/test/image-with-dataset/testImageFilter.cpp
+++ b/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;
diff --git a/modules/java/jni/CMakeLists.txt b/modules/java/jni/CMakeLists.txt
index 908fcf66e4..7d95d24266 100644
--- a/modules/java/jni/CMakeLists.txt
+++ b/modules/java/jni/CMakeLists.txt
@@ -31,7 +31,7 @@ vp_add_library(${the_module} ${__type}
     ${copied_files}
 )
 add_dependencies(${the_module} gen_visp_java_source)
- 
+
 vp_target_include_directories(${the_module} "${CMAKE_CURRENT_SOURCE_DIR}/../generator/src/cpp")
 vp_target_include_directories(${the_module} "${VISP_JAVA_BINDINGS_DIR}/gen/cpp")
 vp_target_include_modules(${the_module} ${VISP_MODULE_${the_module}_DEPS})
@@ -51,17 +51,17 @@ if(BUILD_FAT_JAVA_LIB)
   endif()
   if(APPLE)
     foreach(_dep ${__deps})
-      vp_target_link_libraries(${the_module} LINK_PRIVATE -Wl,-force_load "${_dep}")
+      vp_target_link_libraries(${the_module} PRIVATE -Wl,-force_load "${_dep}")
     endforeach()
 	# TODO: Just check visp's file once, they had a condition I ignored
   elseif(((UNIX) OR (VISP_FORCE_FAT_JAVA_LIB_LD_RULES)) AND (NOT VISP_SKIP_FAT_JAVA_LIB_LD_RULES))
-    vp_target_link_libraries(${the_module} LINK_PRIVATE -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
+    vp_target_link_libraries(${the_module} PRIVATE -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
   else()
-    vp_target_link_libraries(${the_module} LINK_PRIVATE ${__deps})
+    vp_target_link_libraries(${the_module} PRIVATE ${__deps})
   endif()
-  vp_target_link_libraries(${the_module} LINK_PRIVATE ${__extradeps} ${VISP_LINKER_LIBS})
+  vp_target_link_libraries(${the_module} PRIVATE ${__extradeps} ${VISP_LINKER_LIBS})
 else()
-  vp_target_link_libraries(${the_module} LINK_PRIVATE ${__deps} ${VISP_LINKER_LIBS})
+  vp_target_link_libraries(${the_module} PRIVATE ${__deps} ${VISP_LINKER_LIBS})
 endif()
 
 # Additional target properties
@@ -74,8 +74,8 @@ set_target_properties(${the_module} PROPERTIES
     )
 
 if(ANDROID)
-  vp_target_link_libraries(${the_module} LINK_PUBLIC jnigraphics)
-  vp_target_link_libraries(${the_module} LINK_PUBLIC log dl z)
+  vp_target_link_libraries(${the_module} PUBLIC jnigraphics)
+  vp_target_link_libraries(${the_module} PUBLIC log dl z)
 
   # force strip library after the build command
   # because samples and tests will make a copy of the library before install
diff --git a/tutorial/image/tutorial-draw-circle.cpp b/tutorial/image/tutorial-draw-circle.cpp
index 9c96ce2762..061d59e14f 100644
--- a/tutorial/image/tutorial-draw-circle.cpp
+++ b/tutorial/image/tutorial-draw-circle.cpp
@@ -20,10 +20,10 @@ int main()
       vpDisplay::setTitle(I, "Gray image");
       vpDisplay::display(I);
       //! [Circle display]
-      vpImageCircle circle(vpImagePoint(I.getHeight()/3, I.getWidth()/3), I.getWidth()/10);
+      vpImageCircle circle(vpImagePoint(I.getHeight()/3, I.getWidth()/3), I.getWidth()/10.f);
       // Displays in overlay a red circle on the image
       // i.e. does not modify I
-      vpDisplay::displayCircle(I, circle, vpColor::red, 2);
+      vpDisplay::displayCircle(I, circle, vpColor::red, false, 2);
       //! [Circle display]
       vpDisplay::flush(I);
       vpDisplay::setTitle(I, "Overlay");
@@ -32,7 +32,7 @@ int main()
       vpDisplay::getClick(I);
 
       //! [Circle draw uchar]
-      vpImageCircle circle2(vpImagePoint(I.getHeight()/3, 2*I.getWidth()/3), I.getWidth()/10);
+      vpImageCircle circle2(vpImagePoint(I.getHeight()/3, 2*I.getWidth()/3), I.getWidth()/10.f);
       // Draws a white circle on the image
       // i.e. modifies I
       vpImageDraw::drawCircle(I, circle2, 255, 2);
@@ -47,7 +47,7 @@ int main()
 
     {
       //! [Circle draw color]
-      vpImageCircle circle3(vpImagePoint(2*I.getHeight()/3, I.getWidth()/2), I.getWidth()/10);
+      vpImageCircle circle3(vpImagePoint(2*I.getHeight()/3, I.getWidth()/2), I.getWidth()/10.f);
       // Draws a blue circle on the image
       // i.e. modifies I_rgb
       vpImageDraw::drawCircle(I_rgb, circle3, vpColor::blue, 2);
diff --git a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
index 36144610ab..94691b70f3 100644
--- a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
+++ b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
@@ -72,8 +72,8 @@ std::string getAvailableTypeInputImage(const std::string &prefix = "<", const st
 
 //! [Draw disks]
 void
-drawDisk(vpImage<unsigned char> &I, const vpImagePoint &center, const unsigned int &radius
-  , const unsigned int &borderColor, const unsigned int &fillingColor, const unsigned int &thickness, const unsigned int &bckg)
+drawDisk(vpImage<unsigned char> &I, const vpImagePoint &center, const unsigned int &radius,
+         const unsigned int &borderColor, const unsigned int &fillingColor, const unsigned int &thickness, const unsigned int &bckg)
   //! [Draw disks]
 {
   vpImageDraw::drawCircle(I, center, radius, borderColor, thickness);
@@ -146,13 +146,13 @@ generateImage(const TypeInputImage &inputType)
   }
 
   drawDisk(I_src, vpImagePoint(top, left), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(top, left), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(top, left), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(bottom, left), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(bottom, left), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(bottom, left), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(top, right), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(top, right), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(top, right), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(bottom, right), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(bottom, right), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(bottom, right), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
 
   std::cout << "Done drawing" << std::endl << std::flush;
   return I_src;
@@ -196,12 +196,12 @@ int main(int argc, char **argv)
   const std::string def_jsonFilePath = std::string("");
   const int def_nbCirclesToDetect = -1;
   const int def_gaussianKernelSize = 5;
-  const double def_gaussianSigma = 1.;
+  const float def_gaussianSigma = 1.f;
   const int def_sobelKernelSize = 3;
 #ifdef HAVE_OPENCV_IMGPROC
-  const double def_cannyThresh = 150.;
+  const float def_cannyThresh = 150.f;
 #else
-  const double def_cannyThresh = 25.;
+  const float def_cannyThresh = 25.f;
 #endif
   const int def_nbEdgeFilteringIter = 2;
   const std::pair<int, int> def_centerXlimits = std::pair<int, int>(0, 640);
@@ -209,31 +209,30 @@ int main(int argc, char **argv)
   const unsigned int def_minRadius = 0;
   const unsigned int def_maxRadius = 1000;
   const int def_dilatationRepet = 1;
-  const double def_centerThresh = -1.;
-  const double def_radiusThreshRatio = -1.;
-  const double def_circlePerfectness = 0.85;
-  const double def_centerDistanceThresh = 15;
-  const double def_radiusDifferenceThresh = 15;
-
+  const float def_centerThresh = -1.f;
+  const float def_radiusThreshRatio = -1.f;
+  const float def_circlePerfectness = 0.85f;
+  const float def_centerDistanceThresh = 15.f;
+  const float def_radiusDifferenceThresh = 15.f;
 
   std::string opt_input(def_input);
   std::string opt_jsonFilePath = def_jsonFilePath;
   int opt_nbCirclesToDetect = def_nbCirclesToDetect;
   int opt_gaussianKernelSize = def_gaussianKernelSize;
-  double opt_gaussianSigma = def_gaussianSigma;
+  float opt_gaussianSigma = def_gaussianSigma;
   int opt_sobelKernelSize = def_sobelKernelSize;
-  double opt_cannyThresh = def_cannyThresh;
+  float opt_cannyThresh = def_cannyThresh;
   int opt_nbEdgeFilteringIter = def_nbEdgeFilteringIter;
   std::pair<int, int> opt_centerXlimits = def_centerXlimits;
   std::pair<int, int> opt_centerYlimits = def_centerYlimits;
   unsigned int opt_minRadius = def_minRadius;
   unsigned int opt_maxRadius = def_maxRadius;
   int opt_dilatationRepet = def_dilatationRepet;
-  double opt_centerThresh = def_centerThresh;
-  int opt_radiusThreshRatio = def_radiusThreshRatio;
-  double opt_circlePerfectness = def_circlePerfectness;
-  double opt_centerDistanceThresh = def_centerDistanceThresh;
-  double opt_radiusDifferenceThresh = def_radiusDifferenceThresh;
+  float opt_centerThresh = def_centerThresh;
+  float opt_radiusThreshRatio = def_radiusThreshRatio;
+  float opt_circlePerfectness = def_circlePerfectness;
+  float opt_centerDistanceThresh = def_centerDistanceThresh;
+  float opt_radiusDifferenceThresh = def_radiusDifferenceThresh;
   bool opt_displayCanny = false;
 
   for (int i = 1; i < argc; i++) {
@@ -257,7 +256,7 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--gaussian-sigma" && i + 1 < argc) {
-      opt_gaussianSigma = atof(argv[i + 1]);
+      opt_gaussianSigma = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--sobel-kernel" && i + 1 < argc) {
@@ -265,7 +264,7 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--canny-thresh" && i + 1 < argc) {
-      opt_cannyThresh = atof(argv[i + 1]);
+      opt_cannyThresh = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--edge-filter" && i + 1 < argc) {
@@ -282,7 +281,7 @@ int main(int argc, char **argv)
       i += 2;
     }
     else if (argName == "--center-thresh" && i + 1 < argc) {
-      opt_centerThresh = atof(argv[i + 1]);
+      opt_centerThresh = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--center-xlim" && i + 2 < argc) {
@@ -294,16 +293,16 @@ int main(int argc, char **argv)
       i += 2;
     }
     else if (argName == "--radius-thresh" && i + 1 < argc) {
-      opt_radiusThreshRatio = atof(argv[i + 1]);
+      opt_radiusThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--circle-perfectness" && i + 1 < argc) {
-      opt_circlePerfectness = atof(argv[i + 1]);
+      opt_circlePerfectness = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--merging-thresh" && i + 2 < argc) {
-      opt_centerDistanceThresh = atof(argv[i + 1]);
-      opt_radiusDifferenceThresh = atof(argv[i + 2]);
+      opt_centerDistanceThresh = static_cast<float>(atof(argv[i + 1]));
+      opt_radiusDifferenceThresh = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if (argName == "--display-edge-map") {