Merge branch 'master' into feat_pololu

lagadic · Oct 20, 2023 · 6ea0448 · 6ea0448
2 parents f5acefa + 8b0ad17
commit 6ea0448
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diff --git a/cmake/FindBICLOPS.cmake b/cmake/FindBICLOPS.cmake
@@ -39,85 +39,85 @@
 #############################################################################
 
 
-IF(NOT UNIX AND NOT WIN32)
-  # MESSAGE("FindBICLOPS.cmake: macro only for Unix and Windows for the moment.")
-  SET(BICLOPS_FOUND FALSE)
-ELSE(NOT UNIX AND NOT WIN32)
+if(NOT UNIX AND NOT WIN32)
+  # message("FindBICLOPS.cmake: macro only for Unix and Windows for the moment.")
+  set(BICLOPS_FOUND FALSE)
+else(NOT UNIX AND NOT WIN32)
 
-  FIND_PATH(BICLOPS_INCLUDE_DIR Biclops.h
+  find_path(BICLOPS_INCLUDE_DIR Biclops.h
     $ENV{BICLOPS_HOME}/include
     /usr/include )
 
-  #MESSAGE("DBG BICLOPS_INCLUDE_DIR=${BICLOPS_INCLUDE_DIR}")
+  #message("DBG BICLOPS_INCLUDE_DIR=${BICLOPS_INCLUDE_DIR}")
 
-  FIND_PATH(PMD_INCLUDE_DIR PMD.h
+  find_path(PMD_INCLUDE_DIR PMD.h
     $ENV{BICLOPS_HOME}/include
     $ENV{BICLOPS_PMD_HOME}/include
     /usr/include )
 
-  FIND_PATH(UTILS_INCLUDE_DIR utility.h
+  find_path(UTILS_INCLUDE_DIR utility.h
     $ENV{BICLOPS_HOME}/include
     $ENV{BICLOPS_UTILS_HOME}/include
     /usr/include )
 
-  FIND_LIBRARY(BICLOPS_LIBRARY
+  find_library(BICLOPS_LIBRARY
     NAMES Biclops libBiclops libBiclopsD
     PATHS
     $ENV{BICLOPS_HOME}/lib
     /usr/lib
     )
 
-  FIND_LIBRARY(PMD_LIBRARY
+  find_library(PMD_LIBRARY
     NAMES PMD libPMD libPMDD
     PATHS
     $ENV{BICLOPS_HOME}/lib
     $ENV{BICLOPS_PMD_HOME}/lib
     /usr/lib
     )
 
-  FIND_LIBRARY(UTILS_LIBRARY
+  find_library(UTILS_LIBRARY
     NAMES Utils libUtils libUtilsD
     PATHS
     $ENV{BICLOPS_HOME}/lib
     $ENV{BICLOPS_UTILS_HOME}/lib
     /usr/lib
     )
-  #MESSAGE("DBG BICLOPS_LIBRARY=${BICLOPS_LIBRARY}")
+  #message("DBG BICLOPS_LIBRARY=${BICLOPS_LIBRARY}")
 
   ## --------------------------------
 
-  IF(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
-    SET(BICLOPS_LIBRARIES ${BICLOPS_LIBRARY} ${PMD_LIBRARY} ${UTILS_LIBRARY})
-  ELSE(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
-#     MESSAGE(SEND_ERROR "Biclops library not found. Set USE_BICLOPS option OFF")
-  ENDIF(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
+  if(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
+    set(BICLOPS_LIBRARIES ${BICLOPS_LIBRARY} ${PMD_LIBRARY} ${UTILS_LIBRARY})
+  else(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
+#     message(SEND_ERROR "Biclops library not found. Set USE_BICLOPS option OFF")
+  endif(BICLOPS_LIBRARY AND PMD_LIBRARY AND UTILS_LIBRARY)
 
-  IF(NOT BICLOPS_INCLUDE_DIR)
-#     MESSAGE(SEND_ERROR "Biclops include dir not found. Set USE_BICLOPS option OFF")
-  ENDIF(NOT BICLOPS_INCLUDE_DIR)
+  if(NOT BICLOPS_INCLUDE_DIR)
+#     message(SEND_ERROR "Biclops include dir not found. Set USE_BICLOPS option OFF")
+  endif(NOT BICLOPS_INCLUDE_DIR)
 
-  IF(NOT PMD_INCLUDE_DIR)
-#     MESSAGE(SEND_ERROR "PMD include dir not found. Set USE_BICLOPS option OFF")
-  ENDIF(NOT PMD_INCLUDE_DIR)
+  if(NOT PMD_INCLUDE_DIR)
+#     message(SEND_ERROR "PMD include dir not found. Set USE_BICLOPS option OFF")
+  endif(NOT PMD_INCLUDE_DIR)
 
-  IF(NOT UTILS_INCLUDE_DIR)
-#     MESSAGE(SEND_ERROR "Utils include dir not found. Set USE_BICLOPS option OFF ")
-  ENDIF(NOT UTILS_INCLUDE_DIR)
+  if(NOT UTILS_INCLUDE_DIR)
+#     message(SEND_ERROR "Utils include dir not found. Set USE_BICLOPS option OFF ")
+  endif(NOT UTILS_INCLUDE_DIR)
 
-  IF(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
-    SET(BICLOPS_INCLUDE_DIRS ${BICLOPS_INCLUDE_DIR} ${PMD_INCLUDE_DIR} ${UTILS_INCLUDE_DIR})
-  ENDIF(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
+  if(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
+    set(BICLOPS_INCLUDE_DIRS ${BICLOPS_INCLUDE_DIR} ${PMD_INCLUDE_DIR} ${UTILS_INCLUDE_DIR})
+  endif(BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
 
-  IF(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
+  if(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
     #message("BICLOPS_LIBRARIES: ${BICLOPS_LIBRARIES}")
     #message("BICLOPS_INCLUDE_DIRS: ${BICLOPS_INCLUDE_DIRS}")
 
     # Try to compile a sample code using Biclops library to see if GetHomedState() is available
-    #SET(BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION FALSE)
+    #set(BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION FALSE)
     include(CheckCXXSourceCompiles)
 
-    SET(CMAKE_REQUIRED_LIBRARIES ${BICLOPS_LIBRARIES})
-    SET(CMAKE_REQUIRED_INCLUDES  ${BICLOPS_INCLUDE_DIRS})
+    set(CMAKE_REQUIRED_LIBRARIES ${BICLOPS_LIBRARIES})
+    set(CMAKE_REQUIRED_INCLUDES  ${BICLOPS_INCLUDE_DIRS})
     CHECK_CXX_SOURCE_COMPILES("
       #include <PMDUtils.h>
       int main(){
@@ -127,14 +127,14 @@ ELSE(NOT UNIX AND NOT WIN32)
       }
      " BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION)
 
-    #MESSAGE("DBG1 BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION ${BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION}")
+    #message("DBG1 BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION ${BICLOPS_HAVE_GET_HOMED_STATE_FUNCTION}")
 
-    SET(BICLOPS_FOUND TRUE)
-  ELSE(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
-    SET(BICLOPS_FOUND FALSE)
-  ENDIF(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
+    set(BICLOPS_FOUND TRUE)
+  else(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
+    set(BICLOPS_FOUND FALSE)
+  endif(BICLOPS_LIBRARIES AND BICLOPS_INCLUDE_DIR AND PMD_INCLUDE_DIR AND UTILS_INCLUDE_DIR)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     BICLOPS_INCLUDE_DIR
     BICLOPS_LIBRARIES
     BICLOPS_LIBRARY
@@ -143,4 +143,4 @@ ELSE(NOT UNIX AND NOT WIN32)
     PMD_LIBRARY
     UTILS_LIBRARY
     )
-ENDIF(NOT UNIX AND NOT WIN32)
+endif(NOT UNIX AND NOT WIN32)
diff --git a/doc/tutorial/unix/tutorial-install-fedora.dox b/doc/tutorial/unix/tutorial-install-fedora.dox
@@ -110,6 +110,15 @@ $ sudo dnf install libdmtx-devel
 \verbatim
 $ sudo dnf install gsl-devel
 \endverbatim
+- Gtk-2 for gui capabilities instead of X11
+\verbatim
+$ sudo dnf install gtk2-devel glib2-devel pango-devel atk-devel cairo-devel
+\endverbatim
+After installing the gtk packages, you need to explicitly enable gtk usage during ViSP cmake configuration step by:
+\verbatim
+$ cd $VISP_WS/visp-build
+$ cmake ../visp -DUSE_GTK=ON
+\endverbatim
 
 \subsection install_fedora_get_source Get ViSP source code
 

diff --git a/doc/tutorial/unix/tutorial-install-osx-homebrew.dox b/doc/tutorial/unix/tutorial-install-osx-homebrew.dox
@@ -250,6 +250,21 @@ dyld[33644]: Library not loaded: /System/Library/Frameworks/Python.framework/Ver
 To overcome this error, download and install the latest Python 2
 for macOS from [offical site](https://www.python.org/downloads/macos/).
 
+\subsubsection install_brew_3rdparty_other Other optional 3rd parties
+
+We give also the way to install other 3rd party libraries to enable specific capabilities.
+
+- Gtk-2 for gui capabilities instead of X11
+\verbatim
+$ brew install gtk
+\endverbatim
+After installing the gtk packages, you need to explicitly enable gtk usage during ViSP cmake configuration step by:
+\verbatim
+$ cd $VISP_WS/visp-build
+$ cmake ../visp -DUSE_GTK=ON
+\endverbatim
+
+
 \subsection install_brew_get_source Get ViSP source code
 
 There are different ways to get ViSP source code:

diff --git a/doc/tutorial/unix/tutorial-install-ubuntu.dox b/doc/tutorial/unix/tutorial-install-ubuntu.dox
@@ -31,7 +31,8 @@ $ mkdir -p $VISP_WS
 
 \section install_ubuntu_quick Quick ViSP installation
 
-In this section, we give minimal instructions to build ViSP from source just to try ViSP without entering in \ref install_ubuntu_advanced.
+In this section, we give minimal instructions to build ViSP from source just to try ViSP without entering in
+\ref install_ubuntu_advanced.
 
 - Install a small number of recommended 3rd parties
 
@@ -448,6 +449,15 @@ $ sudo apt-get install libgsl-dev
 \verbatim
 $ sudo apt-get install nlohmann-json3-dev
 \endverbatim
+- Gtk-2 for gui capabilities instead of X11
+\verbatim
+$ sudo apt-get install libgtk2.0-dev libglib2.0-dev libpango1.0-dev libatk1.0-dev libcairo2-dev
+\endverbatim
+After installing the gtk packages, you need to explicitly enable gtk usage during ViSP cmake configuration step by:
+\verbatim
+$ cd $VISP_WS/visp-build
+$ cmake ../visp -DUSE_GTK=ON
+\endverbatim
 
 \subsection install_ubuntu_visp_get_source Get ViSP source code
 

diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -84,7 +84,7 @@ visp_add_subdirectory(robot-simulator/camera   REQUIRED_DEPS visp_core visp_vs v
 visp_add_subdirectory(robot-simulator/viper850 REQUIRED_DEPS visp_core visp_vs visp_robot visp_io visp_gui)
 visp_add_subdirectory(servo-afma4              REQUIRED_DEPS visp_core visp_blob visp_vs visp_robot visp_sensor visp_gui)
 visp_add_subdirectory(servo-afma6              REQUIRED_DEPS visp_core visp_blob visp_vs visp_robot visp_sensor visp_vision visp_gui)
-visp_add_subdirectory(servo-biclops            REQUIRED_DEPS visp_core visp_blob visp_vs visp_robot visp_sensor visp_gui)
+visp_add_subdirectory(servo-biclops            REQUIRED_DEPS visp_core visp_detection visp_vs visp_robot visp_sensor visp_gui)
 visp_add_subdirectory(servo-bebop2             REQUIRED_DEPS visp_core visp_vs visp_robot visp_gui visp_detection)
 visp_add_subdirectory(servo-flir-ptu           REQUIRED_DEPS visp_core visp_robot visp_vision visp_gui visp_vs visp_visual_features visp_detection visp_sensor)
 visp_add_subdirectory(servo-franka             REQUIRED_DEPS visp_core visp_robot visp_vision visp_io visp_gui visp_vs visp_visual_features visp_detection)

diff --git a/example/servo-biclops/CMakeLists.txt b/example/servo-biclops/CMakeLists.txt
@@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 3.5)
 
 project(example-servo-biclops)
 
-find_package(VISP REQUIRED visp_core visp_blob visp_vs visp_robot visp_sensor visp_gui)
+find_package(VISP REQUIRED visp_core visp_detection visp_vs visp_robot visp_sensor visp_gui)
 
 set(example_cpp
   moveBiclops.cpp

diff --git a/modules/gui/CMakeLists.txt b/modules/gui/CMakeLists.txt
@@ -36,31 +36,33 @@
 # Add optional 3rd parties
 set(opt_incs "")
 set(opt_libs "")
+set(opt_libs_private "")
 
 # Display X11, GTK, GDI, D3D9. OpenCV already handled by core module
 if(USE_X11)
-  list(APPEND opt_incs ${X11_INCLUDE_DIR})
-  list(APPEND opt_libs ${X11_LIBRARIES})
+  # X11 is private
+  include_directories(${X11_INCLUDE_DIR})
+  list(APPEND opt_libs_private ${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})
-  list(APPEND opt_libs ${GTK2_LIBRARIES})
-  # FS next lines removed until they proved to be useful
-#  if(UNIX)
-#    ## ignore gtk pedantic warnings by gcc specific -isystem :
-#    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -isystem ${GTK2_gtk_INCLUDE_PATH}")
-#  endif()
+  # gtk2 is private
+  include_directories(${GTK2_INCLUDE_DIRS})
+  list(APPEND opt_libs_private ${GTK2_LIBRARIES})
 endif()
+
 if(USE_GDI)
   list(APPEND opt_libs ${GDI_LIBRARIES})
 endif()
+
 if(USE_DIRECT3D)
   list(APPEND opt_incs ${DIRECT3D_INCLUDE_DIRS})
   list(APPEND opt_libs ${DIRECT3D_LIBRARIES})
 endif()
+
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
 
@@ -83,7 +85,7 @@ if(USE_PCL)
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()
 
-vp_add_module(gui visp_core)
+vp_add_module(gui visp_core PRIVATE_OPTIONAL ${opt_libs_private})
 vp_glob_module_sources()
 vp_module_include_directories(${opt_incs})
 vp_create_module(${opt_libs})