From 25d54a293af8dead9ff7a6360fd0dea33e963519 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Wed, 18 Oct 2023 16:27:59 +0200
Subject: [PATCH 1/5] Make Biclops 3rdparty usage private -
 BICLOPS_INCLUDE_DIRS and BICLOPS_LIBRARIES are no more exported -
 vpRobotBiclopsController class is now private

---
 cmake/FindBICLOPS.cmake                       | 80 +++++++++----------
 example/CMakeLists.txt                        |  2 +-
 example/servo-biclops/CMakeLists.txt          |  2 +-
 modules/robot/CMakeLists.txt                  | 11 ++-
 .../include/visp3/robot/vpRobotBiclops.h      |  4 +-
 .../vpRobotBiclopsController_impl.cpp}        | 25 +++---
 .../private/vpRobotBiclopsController_impl.h}  |  2 +-
 .../src/real-robot/biclops/vpRobotBiclops.cpp | 70 ++++++++--------
 8 files changed, 101 insertions(+), 95 deletions(-)
 rename modules/robot/src/real-robot/biclops/{vpRobotBiclopsController.cpp => private/vpRobotBiclopsController_impl.cpp} (92%)
 rename modules/robot/{include/visp3/robot/vpRobotBiclopsController.h => src/real-robot/biclops/private/vpRobotBiclopsController_impl.h} (99%)

diff --git a/cmake/FindBICLOPS.cmake b/cmake/FindBICLOPS.cmake
index 31e0f5da60..537f7a3d49 100644
--- a/cmake/FindBICLOPS.cmake
+++ b/cmake/FindBICLOPS.cmake
@@ -39,35 +39,35 @@
 #############################################################################
 
 
-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
@@ -75,49 +75,49 @@ ELSE(NOT UNIX AND NOT WIN32)
     /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/example/CMakeLists.txt b/example/CMakeLists.txt
index 55cf447f77..a81238aeb1 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -85,7 +85,7 @@ 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
index 5aeff5de0b..e3a22ceb6a 100644
--- 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/robot/CMakeLists.txt b/modules/robot/CMakeLists.txt
index d402d398bd..1704f070fc 100644
--- a/modules/robot/CMakeLists.txt
+++ b/modules/robot/CMakeLists.txt
@@ -101,8 +101,8 @@ if(USE_MAVSDK)
 endif()
 
 if(USE_BICLOPS)
-  list(APPEND opt_incs ${BICLOPS_INCLUDE_DIRS})
-  list(APPEND opt_libs ${BICLOPS_LIBRARIES})
+  # No need to export, there is an implementation that allows to use Biclops as private
+  include_directories(${BICLOPS_INCLUDE_DIRS})
 endif()
 
 if(USE_PTU46)
@@ -181,7 +181,7 @@ if(WITH_TAKKTILE2)
   include_directories(${TAKKTILE2_INCLUDE_DIRS})
 endif()
 
-vp_add_module(robot visp_core OPTIONAL visp_io visp_gui visp_sensor PRIVATE_OPTIONAL ${QBDEVICE_LIBRARIES} ${TAKKTILE2_LIBRARIES})
+vp_add_module(robot visp_core OPTIONAL visp_io visp_gui visp_sensor PRIVATE_OPTIONAL ${QBDEVICE_LIBRARIES} ${TAKKTILE2_LIBRARIES} ${BICLOPS_LIBRARIES})
 vp_glob_module_sources()
 
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpKeyword.cpp -Wno-sign-conversion)
@@ -222,6 +222,11 @@ if(USE_MAVSDK)
   vp_set_source_file_compile_flag(src/real-robot/mavsdk/vpRobotMavsdk.cp -Wno-unused-but-set-variable)
 endif()
 
+if(USE_BICLOPS)
+  vp_set_source_file_compile_flag(src/real-robot/biclops/vpRobotBiclops.cpp -Wno-unused-parameter)
+  vp_set_source_file_compile_flag(src/real-robot/biclops/private/vpRobotBiclopsController_impl.cpp -Wno-unused-parameter)
+endif()
+
 vp_set_source_file_compile_flag(src/light/vpRingLight.cpp -Wno-strict-overflow)
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpClipping.cpp -Wno-strict-overflow)
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpBoundio.cpp -Wno-strict-overflow)
diff --git a/modules/robot/include/visp3/robot/vpRobotBiclops.h b/modules/robot/include/visp3/robot/vpRobotBiclops.h
index 900e7e4f5d..44aba86a72 100644
--- a/modules/robot/include/visp3/robot/vpRobotBiclops.h
+++ b/modules/robot/include/visp3/robot/vpRobotBiclops.h
@@ -52,7 +52,6 @@
 #include <visp3/core/vpVelocityTwistMatrix.h>
 #include <visp3/robot/vpBiclops.h>
 #include <visp3/robot/vpRobot.h>
-#include <visp3/robot/vpRobotBiclopsController.h>
 
 /* ------------------------------------------------------------------------ */
 /* --- CLASS -------------------------------------------------------------- */
@@ -418,7 +417,8 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
 
   std::string m_configfile; // Biclops config file
 
-  vpRobotBiclopsController m_controller;
+  class vpRobotBiclopsController;
+  vpRobotBiclopsController *m_controller;
 
   double m_positioningVelocity;
   vpColVector m_q_previous;
diff --git a/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp b/modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.cpp
similarity index 92%
rename from modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp
rename to modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.cpp
index 845ddeb8e5..957f688d08 100644
--- a/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp
+++ b/modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.cpp
@@ -43,15 +43,16 @@
 
 /* Headers */
 #include <visp3/robot/vpRobotBiclops.h>
-#include <visp3/robot/vpRobotBiclopsController.h>
 #include <visp3/robot/vpRobotException.h>
 
+#include "vpRobotBiclopsController_impl.h"
+
 //#define VP_DEBUG        // Activate the debug mode
 //#define VP_DEBUG_MODE 20 // Activate debug level 1 and 2
 
 #include <visp3/core/vpDebug.h>
 
-vpRobotBiclopsController::vpRobotBiclopsController()
+vpRobotBiclops::vpRobotBiclopsController::vpRobotBiclopsController()
   : m_biclops(), m_axisMask(0), m_panAxis(NULL), m_tiltAxis(NULL), m_vergeAxis(NULL), m_panProfile(), m_tiltProfile(),
   m_vergeProfile(), m_shm(), m_stopControllerThread(false)
 {
@@ -72,9 +73,9 @@ vpRobotBiclopsController::vpRobotBiclopsController()
   }
 }
 
-vpRobotBiclopsController::~vpRobotBiclopsController() { }
+vpRobotBiclops::vpRobotBiclopsController::~vpRobotBiclopsController() { }
 
-void vpRobotBiclopsController::init(const std::string &configfile)
+void vpRobotBiclops::vpRobotBiclopsController::init(const std::string &configfile)
 {
   vpDEBUG_TRACE(12, "Initialize Biclops.");
   bool binit = false;
@@ -143,7 +144,7 @@ void vpRobotBiclopsController::init(const std::string &configfile)
     m_vergeAxis->GetProfile(m_vergeProfile);
 }
 
-void vpRobotBiclopsController::setPosition(const vpColVector &q, double percentVelocity)
+void vpRobotBiclops::vpRobotBiclopsController::setPosition(const vpColVector &q, double percentVelocity)
 {
   if (q.getRows() != vpBiclops::ndof) {
     vpERROR_TRACE("Bad dimension for positioning vector.");
@@ -213,7 +214,7 @@ void vpRobotBiclopsController::setPosition(const vpColVector &q, double percentV
   m_biclops.Move(Biclops::PanMask + Biclops::TiltMask /*, 0*/); //
 }
 
-void vpRobotBiclopsController::setVelocity(const vpColVector &q_dot)
+void vpRobotBiclops::vpRobotBiclopsController::setVelocity(const vpColVector &q_dot)
 {
   if (q_dot.getRows() != vpBiclops::ndof) {
     vpERROR_TRACE("Bad dimension for velocity vector.");
@@ -264,7 +265,7 @@ void vpRobotBiclopsController::setVelocity(const vpColVector &q_dot)
   m_biclops.Move(Biclops::PanMask + Biclops::TiltMask, 0); //
 }
 
-vpColVector vpRobotBiclopsController::getPosition()
+vpColVector vpRobotBiclops::vpRobotBiclopsController::getPosition()
 {
   vpDEBUG_TRACE(12, "Start vpRobotBiclopsController::getPosition() ");
   vpColVector q(vpBiclops::ndof);
@@ -282,7 +283,7 @@ vpColVector vpRobotBiclopsController::getPosition()
   return q;
 }
 
-vpColVector vpRobotBiclopsController::getActualPosition()
+vpColVector vpRobotBiclops::vpRobotBiclopsController::getActualPosition()
 {
   vpColVector q(vpBiclops::ndof);
   PMDint32 panpos, tiltpos;
@@ -296,7 +297,7 @@ vpColVector vpRobotBiclopsController::getActualPosition()
   return q;
 }
 
-vpColVector vpRobotBiclopsController::getVelocity()
+vpColVector vpRobotBiclops::vpRobotBiclopsController::getVelocity()
 {
   vpColVector q_dot(vpBiclops::ndof);
   PMDint32 pan_vel, tilt_vel;
@@ -310,7 +311,7 @@ vpColVector vpRobotBiclopsController::getVelocity()
   return q_dot;
 }
 
-vpColVector vpRobotBiclopsController::getActualVelocity()
+vpColVector vpRobotBiclops::vpRobotBiclopsController::getActualVelocity()
 {
   vpColVector q_dot(vpBiclops::ndof);
   PMDint32 pan_vel, tilt_vel;
@@ -324,7 +325,7 @@ vpColVector vpRobotBiclopsController::getActualVelocity()
   return q_dot;
 }
 
-void vpRobotBiclopsController::writeShm(shmType &shm)
+void vpRobotBiclops::vpRobotBiclopsController::writeShm(shmType &shm)
 {
   for (unsigned int i = 0; i < vpBiclops::ndof; i++) {
     vpDEBUG_TRACE(13, "q_dot[%d]=%f", i, m_shm.q_dot[i]);
@@ -335,7 +336,7 @@ void vpRobotBiclopsController::writeShm(shmType &shm)
   }
 }
 
-vpRobotBiclopsController::shmType vpRobotBiclopsController::readShm()
+vpRobotBiclops::vpRobotBiclopsController::shmType vpRobotBiclops::vpRobotBiclopsController::readShm()
 {
   shmType tmp_shm;
 
diff --git a/modules/robot/include/visp3/robot/vpRobotBiclopsController.h b/modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.h
similarity index 99%
rename from modules/robot/include/visp3/robot/vpRobotBiclopsController.h
rename to modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.h
index c2f9627fe3..e44bf2296e 100644
--- a/modules/robot/include/visp3/robot/vpRobotBiclopsController.h
+++ b/modules/robot/src/real-robot/biclops/private/vpRobotBiclopsController_impl.h
@@ -66,7 +66,7 @@ class VISP_EXPORT Biclops; // needed for dll creation
  * This class uses libraries libBiclops.so, libUtils.so and libPMD.so and
  * includes Biclops.h and PMDUtils.h provided by Traclabs.
  */
-class VISP_EXPORT vpRobotBiclopsController
+class VISP_EXPORT vpRobotBiclops::vpRobotBiclopsController
 {
 public:
   /*!
diff --git a/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp b/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
index 8edb4956da..68b6aa2ff2 100644
--- a/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
+++ b/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
@@ -49,6 +49,8 @@
 #include <visp3/robot/vpRobotBiclops.h>
 #include <visp3/robot/vpRobotException.h>
 
+#include "private/vpRobotBiclopsController_impl.h"
+
 //#define VP_DEBUG        // Activate the debug mode
 //#define VP_DEBUG_MODE 10 // Activate debug level 1 and 2
 #include <visp3/core/vpDebug.h>
@@ -68,30 +70,29 @@ static std::mutex m_mutex_measure;
 /* ---------------------------------------------------------------------- */
 
 vpRobotBiclops::vpRobotBiclops()
-  : vpBiclops(), vpRobot(), m_control_thread(), m_controller(), m_positioningVelocity(defaultPositioningVelocity),
+  : vpBiclops(), vpRobot(), m_control_thread(), m_positioningVelocity(defaultPositioningVelocity),
   m_q_previous()
 {
   vpDEBUG_TRACE(12, "Begin default constructor.");
 
+  m_controller = new vpRobotBiclopsController;
   setConfigFile("/usr/share/BiclopsDefault.cfg");
 }
 
 vpRobotBiclops::vpRobotBiclops(const std::string &filename)
-  : vpBiclops(), vpRobot(), m_control_thread(), m_controller(), m_positioningVelocity(defaultPositioningVelocity),
+  : vpBiclops(), vpRobot(), m_control_thread(), m_positioningVelocity(defaultPositioningVelocity),
   m_q_previous()
 {
   vpDEBUG_TRACE(12, "Begin default constructor.");
 
+  m_controller = new vpRobotBiclopsController;
   setConfigFile(filename);
 
   init();
-
-  return;
 }
 
 vpRobotBiclops::~vpRobotBiclops()
 {
-
   vpDEBUG_TRACE(12, "Start vpRobotBiclops::~vpRobotBiclops()");
   setRobotState(vpRobot::STATE_STOP);
 
@@ -105,8 +106,8 @@ vpRobotBiclops::~vpRobotBiclops()
     m_control_thread.join();
   }
 
+  delete m_controller;
   vpDEBUG_TRACE(12, "Stop vpRobotBiclops::~vpRobotBiclops()");
-  return;
 }
 
 void vpRobotBiclops::setConfigFile(const std::string &filename) { m_configfile = filename; }
@@ -122,7 +123,7 @@ void vpRobotBiclops::init()
   fclose(fd);
 
   // Initialize the controller
-  m_controller.init(m_configfile);
+  m_controller->init(m_configfile);
 
   try {
     setRobotState(vpRobot::STATE_STOP);
@@ -141,11 +142,11 @@ void vpRobotBiclops::init()
 
 void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
 {
-  vpRobotBiclopsController *m_controller = static_cast<vpRobotBiclopsController *>(arg);
+  vpRobotBiclopsController *controller = static_cast<vpRobotBiclopsController *>(arg);
 
   int iter = 0;
-  //   PMDAxisControl *m_panAxis  = m_controller->getPanAxis();
-  //   PMDAxisControl *m_tiltAxis = m_controller->getTiltAxis();
+  //   PMDAxisControl *m_panAxis  = controller->getPanAxis();
+  //   PMDAxisControl *m_tiltAxis = controller->getTiltAxis();
   vpRobotBiclopsController::shmType shm;
 
   vpDEBUG_TRACE(10, "Start control loop");
@@ -169,7 +170,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
   vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex");
   m_mutex_shm.lock();
 
-  shm = m_controller->readShm();
+  shm = controller->readShm();
 
   vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex");
   m_mutex_shm.unlock();
@@ -183,20 +184,20 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
   }
 
   // Initialize actual position and velocity
-  mes_q = m_controller->getActualPosition();
-  mes_q_dot = m_controller->getActualVelocity();
+  mes_q = controller->getActualPosition();
+  mes_q_dot = controller->getActualVelocity();
 
   vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex");
   m_mutex_shm.lock();
 
-  shm = m_controller->readShm();
+  shm = controller->readShm();
   // Updates the shm
   for (unsigned int i = 0; i < vpBiclops::ndof; i++) {
     shm.actual_q[i] = mes_q[i];
     shm.actual_q_dot[i] = mes_q_dot[i];
   }
   // Update current positions
-  m_controller->writeShm(shm);
+  controller->writeShm(shm);
 
   vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex");
   m_mutex_shm.unlock();
@@ -204,16 +205,16 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
   vpDEBUG_TRACE(11, "unlock mutex vpMeasure_mutex");
   m_mutex_measure.unlock(); // A position is available
 
-  while (!m_controller->isStopRequested()) {
+  while (!controller->isStopRequested()) {
 
     // Get actual position and velocity
-    mes_q = m_controller->getActualPosition();
-    mes_q_dot = m_controller->getActualVelocity();
+    mes_q = controller->getActualPosition();
+    mes_q_dot = controller->getActualVelocity();
 
     vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex");
     m_mutex_shm.lock();
 
-    shm = m_controller->readShm();
+    shm = controller->readShm();
 
     // Updates the shm
     for (unsigned int i = 0; i < vpBiclops::ndof; i++) {
@@ -317,7 +318,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
         else {
           // Axis not in joint limit
 
-       // Update the desired speed
+          // Update the desired speed
           q_dot[i] = shm.q_dot[i];
           shm.status[i] = vpRobotBiclopsController::SPEED;
           enable_limit[i] = true; // Joint limit detection must be active
@@ -346,7 +347,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
       }
     }
     // Update the actual positions
-    m_controller->writeShm(shm);
+    controller->writeShm(shm);
 
     vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex");
     m_mutex_shm.unlock();
@@ -355,7 +356,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
       vpDEBUG_TRACE(12, "apply q_dot : %f %f", vpMath::deg(q_dot[0]), vpMath::deg(q_dot[1]));
 
       // Apply the velocity
-      m_controller->setVelocity(q_dot);
+      controller->setVelocity(q_dot);
     }
 
     // Update the previous speed for next iteration
@@ -369,11 +370,11 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
 
     iter++;
   }
-  m_controller->stopRequest(false);
+  controller->stopRequest(false);
   // Stop the robot
   vpDEBUG_TRACE(10, "End of the control thread: stop the robot");
   q_dot = 0;
-  m_controller->setVelocity(q_dot);
+  controller->setVelocity(q_dot);
 
   delete[] new_q_dot;
   delete[] change_dir;
@@ -427,10 +428,9 @@ void vpRobotBiclops::stopMotion(void)
 {
   vpColVector q_dot(vpBiclops::ndof);
   q_dot = 0;
-  m_controller.setVelocity(q_dot);
-  // std::cout << "Request to stop the velocity controller thread...."<<
-  // std::endl;
-  m_controller.stopRequest(true);
+  m_controller->setVelocity(q_dot);
+  // std::cout << "Request to stop the velocity controller thread...." << std::endl;
+  m_controller->stopRequest(true);
 }
 
 void vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe) const
@@ -503,7 +503,7 @@ void vpRobotBiclops::setPosition(const vpRobot::vpControlFrameType frame, const
 
   vpDEBUG_TRACE(12, "Lock mutex vpEndThread_mutex");
   m_mutex_end_thread.lock();
-  m_controller.setPosition(q, m_positioningVelocity);
+  m_controller->setPosition(q, m_positioningVelocity);
   vpDEBUG_TRACE(12, "Unlock mutex vpEndThread_mutex");
   m_mutex_end_thread.unlock();
   return;
@@ -563,7 +563,7 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV
   switch (state) {
   case STATE_STOP:
   case STATE_POSITION_CONTROL:
-    q = m_controller.getPosition();
+    q = m_controller->getPosition();
 
     break;
   case STATE_VELOCITY_CONTROL:
@@ -579,7 +579,7 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV
     vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex");
     m_mutex_shm.lock();
 
-    shm = m_controller.readShm();
+    shm = m_controller->readShm();
 
     vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex");
     m_mutex_shm.unlock();
@@ -673,12 +673,12 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const
   vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex");
   m_mutex_shm.lock();
 
-  shm = m_controller.readShm();
+  shm = m_controller->readShm();
 
   for (unsigned int i = 0; i < vpBiclops::ndof; i++)
     shm.q_dot[i] = q_dot[i];
 
-  m_controller.writeShm(shm);
+  m_controller->writeShm(shm);
 
   vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex");
   m_mutex_shm.unlock();
@@ -715,7 +715,7 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV
   switch (state) {
   case STATE_STOP:
   case STATE_POSITION_CONTROL:
-    q_dot = m_controller.getVelocity();
+    q_dot = m_controller->getVelocity();
 
     break;
   case STATE_VELOCITY_CONTROL:
@@ -731,7 +731,7 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV
     vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex");
     m_mutex_shm.lock();
 
-    shm = m_controller.readShm();
+    shm = m_controller->readShm();
 
     vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex");
     m_mutex_shm.unlock();

From 8abdbfe486e138fac6b2844ce213d198bfd2d7dd Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Wed, 18 Oct 2023 20:21:44 +0200
Subject: [PATCH 2/5] Make gtk-2, X11, libjpeg and libpng private - allow to
 not export include dirs and librairies

---
 doc/tutorial/unix/tutorial-install-fedora.dox |   9 +
 .../unix/tutorial-install-osx-homebrew.dox    |  15 ++
 doc/tutorial/unix/tutorial-install-ubuntu.dox |  12 +-
 modules/gui/CMakeLists.txt                    |  19 +-
 modules/gui/include/visp3/gui/vpDisplayGTK.h  | 172 +++++++++---------
 modules/gui/include/visp3/gui/vpDisplayX.h    | 164 +++++++++--------
 modules/io/CMakeLists.txt                     |  13 +-
 7 files changed, 214 insertions(+), 190 deletions(-)

diff --git a/doc/tutorial/unix/tutorial-install-fedora.dox b/doc/tutorial/unix/tutorial-install-fedora.dox
index 8cef5ec3ac..c82b87d370 100644
--- 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
index 12f829da55..c6bb49a62e 100644
--- 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
index 7235cdbe60..5a83412844 100644
--- 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/modules/gui/CMakeLists.txt b/modules/gui/CMakeLists.txt
index 85483a04b5..729f6ec155 100644
--- a/modules/gui/CMakeLists.txt
+++ b/modules/gui/CMakeLists.txt
@@ -39,28 +39,27 @@ set(opt_libs "")
 
 # 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})
   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})
 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 +82,7 @@ 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 ${X11_LIBRARIES} ${GTK2_LIBRARIES})
 vp_glob_module_sources()
 vp_module_include_directories(${opt_incs})
 vp_create_module(${opt_libs})
diff --git a/modules/gui/include/visp3/gui/vpDisplayGTK.h b/modules/gui/include/visp3/gui/vpDisplayGTK.h
index b0ef9f9e27..b0fcda5406 100644
--- a/modules/gui/include/visp3/gui/vpDisplayGTK.h
+++ b/modules/gui/include/visp3/gui/vpDisplayGTK.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -30,11 +29,7 @@
  *
  * Description:
  * Image display.
- *
- * Authors:
- * Christophe Collewet
- *
-*****************************************************************************/
+ */
 
 #ifndef vpDisplayGTK_h
 #define vpDisplayGTK_h
@@ -46,90 +41,89 @@
 #include <visp3/core/vpImage.h>
 
 /*!
-  \file vpDisplayGTK.h
-  \brief Define the GTK console to display images.
-*/
+ * \file vpDisplayGTK.h
+ * \brief Define the GTK console to display images.
+ */
 
 /*!
-
-  \class vpDisplayGTK
-
-  \ingroup group_gui_display
-
-  \brief The vpDisplayGTK allows to display image using the GTK 3rd party
-  library. Thus to enable this class GTK should be installed. Installation
-  instructions are provided here https://visp.inria.fr/3rd_gtk.
-
-  The example below shows how to display an image with this video device.
-  \code
-#include <visp3/core/vpImagePoint.h>
-#include <visp3/gui/vpDisplayGTK.h>
-#include <visp3/io/vpImageIo.h>
-
-int main()
-{
-#if defined(VISP_HAVE_GTK)
-  vpImage<unsigned char> I; // Grey level image
-
-  // Read an image in PGM P5 format
-#ifdef _WIN32
-  vpImageIo::read(I, "C:/Temp/visp-images/Klimt/Klimt.pgm");
-#else
-  vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
-#endif
-
-  vpDisplayGTK d;
-
-  // Initialize the display with the image I. Display and image are
-  // now link together.
-  d.init(I);
-
-  // Specify the window location
-  vpDisplay::setWindowPosition(I, 400, 100);
-
-  // Set the display window title
-  vpDisplay::setTitle(I, "My GTK display");
-
-  // Set the display background with image I content
-  vpDisplay::display(I);
-
-  // Draw a red rectangle in the display overlay (foreground)
-  vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
-
-  // Draw a red rectangle in the display overlay (foreground)
-  vpImagePoint topLeftCorner;
-  topLeftCorner.set_i(50);
-  topLeftCorner.set_j(10);
-  vpDisplay::displayRectangle(I, topLeftCorner, 100, 20, vpColor::green, true);
-
-  // Flush the foreground and background display
-  vpDisplay::flush(I);
-
-  // Get non blocking keyboard events
-  std::cout << "Check keyboard events..." << std::endl;
-  char key[10];
-  bool ret;
-  for (int i=0; i< 200; i++) {
-    bool ret = vpDisplay::getKeyboardEvent(I, key, false);
-    if (ret)
-      std::cout << "keyboard event: key: " << "\"" << key << "\"" << std::endl;
-    vpTime::wait(40);
-  }
-
-  // Get a blocking keyboard event
-  std::cout << "Wait for a keyboard event..." << std::endl;
-  ret = vpDisplay::getKeyboardEvent(I, key, true);
-  std::cout << "keyboard event: " << ret << std::endl;
-  if (ret)
-    std::cout << "key: " << "\"" << key << "\"" << std::endl;
-
-  // Wait for a click in the display window
-  std::cout << "Wait for a button click..." << std::endl;
-  vpDisplay::getClick(I);
-#endif
-}
-  \endcode
-*/
+ * \class vpDisplayGTK
+ *
+ * \ingroup group_gui_display
+ *
+ * \brief The vpDisplayGTK allows to display image using the GTK 3rd party
+ * library. Thus to enable this class GTK should be installed. Installation
+ * instructions are provided here https://visp.inria.fr/3rd_gtk.
+ *
+ * The example below shows how to display an image with this video device.
+ * \code
+ * #include <visp3/core/vpImagePoint.h>
+ * #include <visp3/gui/vpDisplayGTK.h>
+ * #include <visp3/io/vpImageIo.h>
+ *
+ * int main()
+ * {
+ * #if defined(VISP_HAVE_GTK)
+ *   vpImage<unsigned char> I; // Grey level image
+ *
+ *   // Read an image in PGM P5 format
+ * #ifdef _WIN32
+ *   vpImageIo::read(I, "C:/Temp/visp-images/Klimt/Klimt.pgm");
+ * #else
+ *   vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
+ * #endif
+ *
+ *   vpDisplayGTK d;
+ *
+ *   // Initialize the display with the image I. Display and image are
+ *   // now link together.
+ *   d.init(I);
+ *
+ *   // Specify the window location
+ *   vpDisplay::setWindowPosition(I, 400, 100);
+ *
+ *   // Set the display window title
+ *   vpDisplay::setTitle(I, "My GTK display");
+ *
+ *   // Set the display background with image I content
+ *   vpDisplay::display(I);
+ *
+ *   // Draw a red rectangle in the display overlay (foreground)
+ *   vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
+ *
+ *   // Draw a red rectangle in the display overlay (foreground)
+ *   vpImagePoint topLeftCorner;
+ *   topLeftCorner.set_i(50);
+ *   topLeftCorner.set_j(10);
+ *   vpDisplay::displayRectangle(I, topLeftCorner, 100, 20, vpColor::green, true);
+ *
+ *   // Flush the foreground and background display
+ *   vpDisplay::flush(I);
+ *
+ *   // Get non blocking keyboard events
+ *   std::cout << "Check keyboard events..." << std::endl;
+ *   char key[10];
+ *   bool ret;
+ *   for (int i=0; i< 200; i++) {
+ *     bool ret = vpDisplay::getKeyboardEvent(I, key, false);
+ *     if (ret)
+ *       std::cout << "keyboard event: key: " << "\"" << key << "\"" << std::endl;
+ *     vpTime::wait(40);
+ *   }
+ *
+ *   // Get a blocking keyboard event
+ *   std::cout << "Wait for a keyboard event..." << std::endl;
+ *   ret = vpDisplay::getKeyboardEvent(I, key, true);
+ *   std::cout << "keyboard event: " << ret << std::endl;
+ *   if (ret)
+ *     std::cout << "key: " << "\"" << key << "\"" << std::endl;
+ *
+ *   // Wait for a click in the display window
+ *   std::cout << "Wait for a button click..." << std::endl;
+ *   vpDisplay::getClick(I);
+ * #endif
+ * }
+ * \endcode
+ */
 class VISP_EXPORT vpDisplayGTK : public vpDisplay
 {
 private:
diff --git a/modules/gui/include/visp3/gui/vpDisplayX.h b/modules/gui/include/visp3/gui/vpDisplayX.h
index 9f8734359a..554a93a550 100644
--- a/modules/gui/include/visp3/gui/vpDisplayX.h
+++ b/modules/gui/include/visp3/gui/vpDisplayX.h
@@ -43,91 +43,89 @@
 #include <visp3/core/vpRect.h>
 
 /*!
-  \file vpDisplayX.h
-  \brief Define the X11 console to display images.
-*/
+ * \file vpDisplayX.h
+ * \brief Define the X11 console to display images.
+ */
 
 /*!
-  \class vpDisplayX
-
-  \ingroup group_gui_display
-
-  \brief Use the X11 console to display images on unix-like OS.
-  Thus to enable this class X11 should be installed. Installation
-  instructions are provided here https://visp.inria.fr/3rd_x11.
-
-  This class define the X11 console to display  images
-  It also define method to display some geometric feature (point, line,
-circle) in the image.
-
-  The example below shows how to display an image with this video device.
-  \code
-#include <visp3/core/vpImagePoint.h>
-#include <visp3/gui/vpDisplayX.h>
-#include <visp3/io/vpImageIo.h>
-
-int main()
-{
-  vpImage<unsigned char> I; // Grey level image
-
-  // Read an image in PGM P5 format
-  vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
-
-#if defined(VISP_HAVE_X11)
-  vpDisplayX d;
-
-  // Initialize the display with the image I. Display and image are
-  // now link together.
-  d.init(I);
-#endif
-
-  // Specify the window location
-  vpDisplay::setWindowPosition(I, 400, 100);
-
-  // Set the display window title
-  vpDisplay::setTitle(I, "My X11 display");
-
-  // Set the display background with image I content
-  vpDisplay::display(I);
-
-  // Draw a red rectangle in the display overlay (foreground)
-  vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
-
-  // Draw a red rectangle in the display overlay (foreground)
-  vpImagePoint topLeftCorner;
-  topLeftCorner.set_i(50);
-  topLeftCorner.set_j(10);
-  vpDisplay::displayRectangle(I, topLeftCorner, 100, 20, vpColor::green, true);
-
-  // Flush the foreground and background display
-  vpDisplay::flush(I);
-
-  // Get non blocking keyboard events
-  std::cout << "Check keyboard events..." << std::endl;
-  char key[10];
-  bool ret;
-  for (int i=0; i< 200; i++) {
-    bool ret = vpDisplay::getKeyboardEvent(I, key, false);
-    if (ret)
-      std::cout << "keyboard event: key: " << "\"" << key << "\"" << std::endl;
-    vpTime::wait(40);
-  }
-
-  // Get a blocking keyboard event
-  std::cout << "Wait for a keyboard event..." << std::endl;
-  ret = vpDisplay::getKeyboardEvent(I, key, true);
-  std::cout << "keyboard event: " << ret << std::endl;
-  if (ret)
-    std::cout << "key: " << "\"" << key << "\"" << std::endl;
-
-  // Wait for a click in the display window
-  std::cout << "Wait for a button click..." << std::endl;
-  vpDisplay::getClick(I);
-}
-  \endcode
-
-*/
-
+ * \class vpDisplayX
+ *
+ * \ingroup group_gui_display
+ *
+ * \brief Use the X11 console to display images on unix-like OS.
+ * Thus to enable this class X11 should be installed. Installation
+ * instructions are provided here https://visp.inria.fr/3rd_x11.
+ *
+ * This class define the X11 console to display images
+ * It also define method to display some geometric feature (point, line,
+ * circle) in the image.
+ *
+ * The example below shows how to display an image with this video device.
+ * \code
+ * #include <visp3/core/vpImagePoint.h>
+ * #include <visp3/gui/vpDisplayX.h>
+ * #include <visp3/io/vpImageIo.h>
+ *
+ * int main()
+ * {
+ *   vpImage<unsigned char> I; // Grey level image
+ *
+ *   // Read an image in PGM P5 format
+ *   vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
+ *
+ * #if defined(VISP_HAVE_X11)
+ *   vpDisplayX d;
+ *
+ *   // Initialize the display with the image I. Display and image are
+ *   // now link together.
+ *   d.init(I);
+ * #endif
+ *
+ *   // Specify the window location
+ *   vpDisplay::setWindowPosition(I, 400, 100);
+ *
+ *   // Set the display window title
+ *   vpDisplay::setTitle(I, "My X11 display");
+ *
+ *   // Set the display background with image I content
+ *   vpDisplay::display(I);
+ *
+ *   // Draw a red rectangle in the display overlay (foreground)
+ *   vpDisplay::displayRectangle(I, 10, 10, 100, 20, vpColor::red, true);
+ *
+ *   // Draw a red rectangle in the display overlay (foreground)
+ *   vpImagePoint topLeftCorner;
+ *   topLeftCorner.set_i(50);
+ *   topLeftCorner.set_j(10);
+ *   vpDisplay::displayRectangle(I, topLeftCorner, 100, 20, vpColor::green, true);
+ *
+ *   // Flush the foreground and background display
+ *   vpDisplay::flush(I);
+ *
+ *   // Get non blocking keyboard events
+ *   std::cout << "Check keyboard events..." << std::endl;
+ *   char key[10];
+ *   bool ret;
+ *   for (int i=0; i< 200; i++) {
+ *     bool ret = vpDisplay::getKeyboardEvent(I, key, false);
+ *     if (ret)
+ *       std::cout << "keyboard event: key: " << "\"" << key << "\"" << std::endl;
+ *     vpTime::wait(40);
+ *   }
+ *
+ *   // Get a blocking keyboard event
+ *   std::cout << "Wait for a keyboard event..." << std::endl;
+ *   ret = vpDisplay::getKeyboardEvent(I, key, true);
+ *   std::cout << "keyboard event: " << ret << std::endl;
+ *   if (ret)
+ *     std::cout << "key: " << "\"" << key << "\"" << std::endl;
+ *
+ *   // Wait for a click in the display window
+ *   std::cout << "Wait for a button click..." << std::endl;
+ *   vpDisplay::getClick(I);
+ * }
+ * \endcode
+ */
 class VISP_EXPORT vpDisplayX : public vpDisplay
 {
   // private:
diff --git a/modules/io/CMakeLists.txt b/modules/io/CMakeLists.txt
index 70a2659b5f..785e0bd19d 100644
--- a/modules/io/CMakeLists.txt
+++ b/modules/io/CMakeLists.txt
@@ -39,8 +39,8 @@ set(opt_libs "")
 
 # Image i/o: jpeg, png, OpenCV (already included by core)
 if(USE_JPEG)
-  list(APPEND opt_incs ${JPEG_INCLUDE_DIR})
-  list(APPEND opt_libs ${JPEG_LIBRARIES})
+  # libpng usage is private
+  include_directories(${JPEG_INCLUDE_DIR})
   # If Qt3 and libjpeg are used, we add here QT_CLEAN_NAMESPACE define to
   # handle a compilation error "conflicting declaration 'typedef long int INT32'
   if(VISP_HAVE_QT3_FOUND)
@@ -49,8 +49,8 @@ if(USE_JPEG)
 endif()
 
 if(USE_PNG)
-  list(APPEND opt_incs ${PNG_INCLUDE_DIR})
-  list(APPEND opt_libs ${PNG_LIBRARIES})
+  # libpng usage is private
+  include_directories(${PNG_INCLUDE_DIR})
   add_definitions(${PNG_DEFINITIONS})
 endif()
 
@@ -67,7 +67,6 @@ if(USE_NLOHMANN_JSON)
   list(APPEND opt_incs ${_inc_dirs})
 endif()
 
-
 # simdlib is always enabled since it contains fallback code to plain C++ code
 # Simd lib is private
 include_directories(${SIMDLIB_INCLUDE_DIRS})
@@ -183,9 +182,9 @@ if(USE_OPENCV)
 endif(USE_OPENCV)
 
 if(ANDROID)
-  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES})
+  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES} ${JPEG_LIBRARIES} ${PNG_LIBRARIES})
 else()
-  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES} WRAP java)
+  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES} ${JPEG_LIBRARIES} ${PNG_LIBRARIES} WRAP java)
 endif()
 
 vp_glob_module_sources()

From 72594bd3693338e6d593cd771426f49f4bb1f4c9 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Thu, 19 Oct 2023 15:57:48 +0200
Subject: [PATCH 3/5] Introduce opt_libs_private var for private libraries

---
 modules/robot/CMakeLists.txt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/modules/robot/CMakeLists.txt b/modules/robot/CMakeLists.txt
index 1704f070fc..c205a763b2 100644
--- a/modules/robot/CMakeLists.txt
+++ b/modules/robot/CMakeLists.txt
@@ -36,6 +36,7 @@
 # Add optional 3rd parties
 set(opt_incs "")
 set(opt_libs "")
+set(opt_libs_private "")
 
 # Warning: when composing the link line, CMake sometimes end up placing multiple
 # copies of a given library. This can produce the following link error
@@ -103,6 +104,7 @@ endif()
 if(USE_BICLOPS)
   # No need to export, there is an implementation that allows to use Biclops as private
   include_directories(${BICLOPS_INCLUDE_DIRS})
+  list(APPEND opt_libs_private ${BICLOPS_LIBRARIES})
 endif()
 
 if(USE_PTU46)
@@ -174,14 +176,16 @@ endif()
 if(WITH_QBDEVICE)
   # qbdevice is private
   include_directories(${QBDEVICE_INCLUDE_DIRS})
+  list(APPEND opt_libs_private ${QBDEVICE_LIBRARIES})
 endif()
 
 if(WITH_TAKKTILE2)
   # reflex-takktile2 is private
   include_directories(${TAKKTILE2_INCLUDE_DIRS})
+  list(APPEND opt_libs_private ${TAKKTILE2_LIBRARIES})
 endif()
 
-vp_add_module(robot visp_core OPTIONAL visp_io visp_gui visp_sensor PRIVATE_OPTIONAL ${QBDEVICE_LIBRARIES} ${TAKKTILE2_LIBRARIES} ${BICLOPS_LIBRARIES})
+vp_add_module(robot visp_core OPTIONAL visp_io visp_gui visp_sensor PRIVATE_OPTIONAL ${opt_libs_private})
 vp_glob_module_sources()
 
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpKeyword.cpp -Wno-sign-conversion)

From 0536594c6562f8c313dbbd2daaba62d7fb01eae2 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Thu, 19 Oct 2023 15:59:11 +0200
Subject: [PATCH 4/5] Fix and update biclops control thread

---
 .../robot/include/visp3/robot/vpRobotBiclops.h    |  2 +-
 .../src/real-robot/biclops/vpRobotBiclops.cpp     | 15 ++++-----------
 2 files changed, 5 insertions(+), 12 deletions(-)

diff --git a/modules/robot/include/visp3/robot/vpRobotBiclops.h b/modules/robot/include/visp3/robot/vpRobotBiclops.h
index 44aba86a72..356e3c4c94 100644
--- a/modules/robot/include/visp3/robot/vpRobotBiclops.h
+++ b/modules/robot/include/visp3/robot/vpRobotBiclops.h
@@ -410,7 +410,7 @@ class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
    * speed/power can damage the unit, damage due to velocity mode commanding is
    * under user responsibility.
    */
-  static void *vpRobotBiclopsSpeedControlLoop(void *arg);
+  static void vpRobotBiclopsSpeedControlLoop(void *arg);
 
 private:
   std::thread m_control_thread;
diff --git a/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp b/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
index 68b6aa2ff2..288e6ec518 100644
--- a/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
+++ b/modules/robot/src/real-robot/biclops/vpRobotBiclops.cpp
@@ -51,8 +51,8 @@
 
 #include "private/vpRobotBiclopsController_impl.h"
 
-//#define VP_DEBUG        // Activate the debug mode
-//#define VP_DEBUG_MODE 10 // Activate debug level 1 and 2
+//#define VP_DEBUG         // Activate the debug mode
+//#define VP_DEBUG_MODE 12 // Activate debug level up to 12
 #include <visp3/core/vpDebug.h>
 
 /* ---------------------------------------------------------------------- */
@@ -140,11 +140,10 @@ void vpRobotBiclops::init()
   return;
 }
 
-void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
+void vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
 {
   vpRobotBiclopsController *controller = static_cast<vpRobotBiclopsController *>(arg);
 
-  int iter = 0;
   //   PMDAxisControl *m_panAxis  = controller->getPanAxis();
   //   PMDAxisControl *m_tiltAxis = controller->getTiltAxis();
   vpRobotBiclopsController::shmType shm;
@@ -363,12 +362,8 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
     for (unsigned int i = 0; i < vpBiclops::ndof; i++)
       prev_q_dot[i] = shm.q_dot[i];
 
-    vpDEBUG_TRACE(12, "iter: %d", iter);
-
     // wait 5 ms
     vpTime::wait(5.0);
-
-    iter++;
   }
   controller->stopRequest(false);
   // Stop the robot
@@ -382,8 +377,6 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg)
   delete[] enable_limit;
   vpDEBUG_TRACE(11, "unlock vpEndThread_mutex");
   m_mutex_end_thread.unlock();
-
-  return NULL;
 }
 
 vpRobot::vpRobotStateType vpRobotBiclops::setRobotState(vpRobot::vpRobotStateType newState)
@@ -410,7 +403,7 @@ vpRobot::vpRobotStateType vpRobotBiclops::setRobotState(vpRobot::vpRobotStateTyp
       m_mutex_end_thread.lock();
 
       vpDEBUG_TRACE(12, "Create speed control thread");
-      m_control_thread = std::thread(&vpRobotBiclops::vpRobotBiclopsSpeedControlLoop, &m_controller);
+      m_control_thread = std::thread(&vpRobotBiclops::vpRobotBiclopsSpeedControlLoop, m_controller);
       vpTime::wait(100.0);
 
       vpDEBUG_TRACE(12, "Speed control thread created");

From d42d0b792735417266a2775a7e6230d0ccc50a51 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Thu, 19 Oct 2023 16:09:13 +0200
Subject: [PATCH 5/5] Introduce opt_libs_private to handle private libs

---
 modules/gui/CMakeLists.txt |  5 ++++-
 modules/io/CMakeLists.txt  | 10 +++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/modules/gui/CMakeLists.txt b/modules/gui/CMakeLists.txt
index 729f6ec155..8972c4037b 100644
--- a/modules/gui/CMakeLists.txt
+++ b/modules/gui/CMakeLists.txt
@@ -36,11 +36,13 @@
 # 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)
   # X11 is private
   include_directories(${X11_INCLUDE_DIR})
+  list(APPEND opt_libs_private ${X11_LIBRARIES})
   mark_as_advanced(X11_xcb_icccm_INCLUDE_PATH)
   mark_as_advanced(X11_xcb_icccm_LIB)
   mark_as_advanced(X11_xcb_xkb_INCLUDE_PATH)
@@ -49,6 +51,7 @@ endif()
 if(USE_GTK2)
   # gtk2 is private
   include_directories(${GTK2_INCLUDE_DIRS})
+  list(APPEND opt_libs_private ${GTK2_LIBRARIES})
 endif()
 
 if(USE_GDI)
@@ -82,7 +85,7 @@ if(USE_PCL)
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()
 
-vp_add_module(gui visp_core PRIVATE_OPTIONAL ${X11_LIBRARIES} ${GTK2_LIBRARIES})
+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})
diff --git a/modules/io/CMakeLists.txt b/modules/io/CMakeLists.txt
index 785e0bd19d..0c0e900226 100644
--- a/modules/io/CMakeLists.txt
+++ b/modules/io/CMakeLists.txt
@@ -36,11 +36,13 @@
 # Add optional 3rd parties
 set(opt_incs "")
 set(opt_libs "")
+set(opt_libs_private "")
 
 # Image i/o: jpeg, png, OpenCV (already included by core)
 if(USE_JPEG)
-  # libpng usage is private
+  # libjpeg usage is private
   include_directories(${JPEG_INCLUDE_DIR})
+  list(APPEND opt_libs_private ${JPEG_LIBRARIES})
   # If Qt3 and libjpeg are used, we add here QT_CLEAN_NAMESPACE define to
   # handle a compilation error "conflicting declaration 'typedef long int INT32'
   if(VISP_HAVE_QT3_FOUND)
@@ -51,6 +53,7 @@ endif()
 if(USE_PNG)
   # libpng usage is private
   include_directories(${PNG_INCLUDE_DIR})
+  list(APPEND opt_libs_private ${PNG_LIBRARIES})
   add_definitions(${PNG_DEFINITIONS})
 endif()
 
@@ -70,6 +73,7 @@ endif()
 # simdlib is always enabled since it contains fallback code to plain C++ code
 # Simd lib is private
 include_directories(${SIMDLIB_INCLUDE_DIRS})
+list(APPEND opt_libs_private ${SIMDLIB_LIBRARIES})
 
 # TinyEXR lib is private
 include_directories(${TINYEXR_INCLUDE_DIRS})
@@ -182,9 +186,9 @@ if(USE_OPENCV)
 endif(USE_OPENCV)
 
 if(ANDROID)
-  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES} ${JPEG_LIBRARIES} ${PNG_LIBRARIES})
+  vp_add_module(io visp_core PRIVATE_OPTIONAL ${opt_libs_private})
 else()
-  vp_add_module(io visp_core PRIVATE_OPTIONAL ${SIMDLIB_LIBRARIES} ${JPEG_LIBRARIES} ${PNG_LIBRARIES} WRAP java)
+  vp_add_module(io visp_core PRIVATE_OPTIONAL ${opt_libs_private} WRAP java)
 endif()
 
 vp_glob_module_sources()