Merge pull request #1276 from fspindle/fix_various

Fix various
lagadic · Nov 17, 2023 · 4ff4049 · 4ff4049
2 parents 50d573e + 39f501c
commit 4ff4049
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Showing 31 changed files with 419 additions and 422 deletions.
diff --git a/3rdparty/pololu/src/RPMSerialInterface.cpp b/3rdparty/pololu/src/RPMSerialInterface.cpp
@@ -36,6 +36,7 @@ RPMSerialInterface *RPMSerialInterface::createSerialInterface(const std::string
   serialInterface = new RPMSerialInterfaceWindows(portName, baudRate, errorMessage);
 #else
   serialInterface = new RPMSerialInterfacePOSIX(portName, errorMessage);
+  (void)baudRate;
 #endif
 
   // If the interface couldn't be open properly, delete it

diff --git a/ChangeLog.txt b/ChangeLog.txt
@@ -7,16 +7,21 @@
 
 ViSP 3.x.x (Version in development)
   - Contributors:
-    . Fabien Spindler, Florent Lamiraux
+    . Fabien Spindler, Romain Lagneau, Pierre Perraud, Florent Lamiraux, Samuel Felton, François Chaumette,
+      Souriya Trinh
   - New classes
-    .
-  - Deprecated removed
-    . vpPlanarObjectDetector, vpFernClassifier classes are removed
+    . vpPololu and vpRobotPololuPtu to control respectively a servo motor using a pololu maestro board or a 3D printed
+      2 dof pan-tilt unit. Visual servoing example provided in example/servo-pololu-ptu. Tests available in
+      modules/robot/test/servo-pololu/
+  - Deprecated
+    . vpPlanarObjectDetector, vpFernClassifier deprecated classes are removed
     . End of supporting c++98 standard. As a consequence, ViSP is no more compatible with Ubuntu 12.04
+    . vpDisplay::displayCharString() is marked deprecated. Use vpDisplay::displayText() instead
   - New features and improvements
     . Introduce applications in apps folder, a collection of useful tools that
       have a dependency to the install target
     . Bump minimal c++ standard to c++11
+    . Speed up build by including only opencv2/opencv_modules.hpp instead of opencv2/opencv.hpp header in vpConfig.h
   - Applications
     . Migrate eye-to-hand tutorials in apps
   - Tutorials

diff --git a/modules/core/include/visp3/core/vpMoment.h b/modules/core/include/visp3/core/vpMoment.h
@@ -49,71 +49,70 @@ class vpMomentDatabase;
 class vpMomentObject;
 
 /*!
-  \class vpMoment
-
-  \ingroup group_core_moments
-
-  \brief This class defines shared methods/attributes for 2D moments.
-
-  All moments or combination of moments in the moments module are based on
-  this class. A moment uses a vpMomentObject object to access all useful
-  information. Moment values are obtained by a 4-step process common for all
-  moment types:
-  - Declaration.
-  \code
-  vpMoment moment;
-  \endcode
-  - Update with object.
-  \code
-  moment.update(object);
-  \endcode
-  - Compute the moment value
-  \code
-  moment.compute();
-  \endcode
-  - Access the values:
-  \code
-  std::vector<double> values = moment.get();
-  \endcode
-
-  A moment may also be linked to a vpMomentDatabase. Moments linked to a
-  database are able to access each others values. Some moments can be computed
-  only if they are linked to a a database containing their dependencies.
-  Linking to a database is done using the vpMoment::linkTo(...) method.
-
-  There are no constraints about format of the array returned by
-  vpMoment::get(); any implementation is fine.
-
-  Each moment must have a string name by implementing the char*
-  vpMoment::name() method which allows to identify the moment in the database.
-  Each moment must also implement a compute method describing how to obtain
-  its values from the object.
-
-  \attention Order of moment computation DOES matter: when you compute a
-  moment using vpMoment::compute(), all moment dependencies must be computed.
-  We recall that implemented moments are:
-  - vpMomentAlpha
-  - vpMomentArea
-  - vpMomentAreaNormalized
-  - vpMomentBasic
-  - vpMomentCentered
-  - vpMomentCInvariant
-  - vpMomentGravityCenter
-  - vpMomentGravityCenterNormalized
-
-*/
+ * \class vpMoment
+ *
+ * \ingroup group_core_moments
+ *
+ * \brief This class defines shared methods/attributes for 2D moments.
+ *
+ * All moments or combination of moments in the moments module are based on
+ * this class. A moment uses a vpMomentObject object to access all useful
+ * information. Moment values are obtained by a 4-step process common for all
+ * moment types:
+ * - Declaration.
+ * \code
+ * vpMoment moment;
+ * \endcode
+ * - Update with object.
+ * \code
+ * moment.update(object);
+ * \endcode
+ * - Compute the moment value
+ * \code
+ * moment.compute();
+ * \endcode
+ * - Access the values:
+ * \code
+ * std::vector<double> values = moment.get();
+ * \endcode
+ *
+ * A moment may also be linked to a vpMomentDatabase. Moments linked to a
+ * database are able to access each others values. Some moments can be computed
+ * only if they are linked to a a database containing their dependencies.
+ * Linking to a database is done using the vpMoment::linkTo(...) method.
+ *
+ * There are no constraints about format of the array returned by
+ * vpMoment::get(); any implementation is fine.
+ *
+ * Each moment must have a string name by implementing the char*
+ * vpMoment::name() method which allows to identify the moment in the database.
+ * Each moment must also implement a compute method describing how to obtain
+ * its values from the object.
+ *
+ * \attention Order of moment computation DOES matter: when you compute a
+ * moment using vpMoment::compute(), all moment dependencies must be computed.
+ * We recall that implemented moments are:
+ * - vpMomentAlpha
+ * - vpMomentArea
+ * - vpMomentAreaNormalized
+ * - vpMomentBasic
+ * - vpMomentCentered
+ * - vpMomentCInvariant
+ * - vpMomentGravityCenter
+ * - vpMomentGravityCenterNormalized
+ */
 class VISP_EXPORT vpMoment
 {
 private:
   vpMomentObject *object;
   vpMomentDatabase *moments;
-  char _name[255];
+  std::string m_name;
 
 protected:
   std::vector<double> values;
   /*!
-     Returns the linked moment database.
-     \return the moment database
+   * Returns the linked moment database.
+   * \return the moment database
    */
   inline vpMomentDatabase &getMoments() const { return *moments; }
 
@@ -137,19 +136,19 @@ class VISP_EXPORT vpMoment
   /*!
      Virtual destructor.
    */
-  virtual ~vpMoment() {}
+  virtual ~vpMoment() { }
 
   /** @name Inherited functionalities from vpMoment */
   //@{
   virtual void compute() = 0;
   inline const vpMomentObject &getObject() const { return *object; }
   /*!
-     Returns all values computed by the moment.
-     \return vector of values
+   *  Returns all values computed by the moment.
+   *  \return vector of values
    */
   const std::vector<double> &get() const { return values; }
   void linkTo(vpMomentDatabase &moments);
-  virtual const char *name() const = 0;
+  virtual const std::string name() const = 0;
   virtual void printDependencies(std::ostream &os) const;
   void update(vpMomentObject &object);
   //@}

diff --git a/modules/core/include/visp3/core/vpMomentAlpha.h b/modules/core/include/visp3/core/vpMomentAlpha.h
@@ -220,7 +220,7 @@ class VISP_EXPORT vpMomentAlpha : public vpMoment
   /*!
    * Moment name.
    */
-  const char *name() const { return "vpMomentAlpha"; }
+  const std::string name() const { return "vpMomentAlpha"; }
 
   /*!
    * Returns true if the alpha moment was constructed as a reference with values in \f$ [-\pi/2 ; \pi/2] \f$, false

diff --git a/modules/core/include/visp3/core/vpMomentArea.h b/modules/core/include/visp3/core/vpMomentArea.h
@@ -62,7 +62,7 @@ class VISP_EXPORT vpMomentArea : public vpMoment
   //@{
   void compute();
   //! Moment name.
-  const char *name() const { return "vpMomentArea"; }
+  const std::string name() const { return "vpMomentArea"; }
   void printDependencies(std::ostream &os) const;
   //@}
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentArea &m);

diff --git a/modules/core/include/visp3/core/vpMomentAreaNormalized.h b/modules/core/include/visp3/core/vpMomentAreaNormalized.h
@@ -177,7 +177,7 @@ class VISP_EXPORT vpMomentAreaNormalized : public vpMoment
   /*!
    * Moment name.
    */
-  const char *name() const { return "vpMomentAreaNormalized"; }
+  const std::string name() const { return "vpMomentAreaNormalized"; }
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAreaNormalized &v);
   void printDependencies(std::ostream &os) const;
 };

diff --git a/modules/core/include/visp3/core/vpMomentBasic.h b/modules/core/include/visp3/core/vpMomentBasic.h
@@ -77,7 +77,7 @@ class VISP_EXPORT vpMomentBasic : public vpMoment
   /*!
     Moment name.
     */
-  const char *name() const { return "vpMomentBasic"; }
+  const std::string name() const { return "vpMomentBasic"; }
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentBasic &v);
   void printDependencies(std::ostream &os) const;
 };

diff --git a/modules/core/include/visp3/core/vpMomentCInvariant.h b/modules/core/include/visp3/core/vpMomentCInvariant.h
@@ -223,7 +223,7 @@ class VISP_EXPORT vpMomentCInvariant : public vpMoment
   /*!
     Moment name.
     */
-  const char *name() const { return "vpMomentCInvariant"; }
+  const std::string name() const { return "vpMomentCInvariant"; }
 
   /*!
     Print partial invariant.

diff --git a/modules/core/include/visp3/core/vpMomentCentered.h b/modules/core/include/visp3/core/vpMomentCentered.h
@@ -83,7 +83,7 @@ class VISP_EXPORT vpMomentCentered : public vpMoment
   /*!
      Moment name.
   */
-  inline const char *name() const { return "vpMomentCentered"; }
+  inline const std::string name() const { return "vpMomentCentered"; }
 
   friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentCentered &v);
   void printWithIndices(std::ostream &os) const;