Merge upstream master

.github/workflows/ubuntu-contrib.yml

@@ -35,7 +35,7 @@ jobs:
     - name: Print compiler information
       run: dpkg --list | grep compiler
 
-    - name: Install dependencies for ubuntu 18.04 and 20.04
+    - name: Install dependencies for ubuntu 20.04
       if: matrix.os != 'ubuntu-22.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 

.github/workflows/ubuntu-dep-apt.yml

@@ -21,7 +21,7 @@ jobs:
       matrix:
         os: [ubuntu-20.04, ubuntu-22.04]
         compiler: [ {CC: /usr/bin/gcc-9, CXX: /usr/bin/g++-9}, {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
-        standard: [ 11, 14, 17 ]
+        standard: [ 98, 11, 17 ]
 
     steps:
     - name: Checkout repository

.github/workflows/ubuntu-sanitizers.yml

@@ -82,4 +82,12 @@ jobs:
         # SUMMARY: AddressSanitizer: odr-violation: global 'ALIGNMENT' at /home/runner/work/visp/visp/3rdparty/simdlib/Simd/SimdLib.cpp:82:18
         ASAN_OPTIONS: detect_odr_violation=0
       working-directory: build
-      run: ctest -j$(nproc) --output-on-failure
+      # When running ctest we got a lot of segfault
+      # This seems a bug reported in
+      # - https://stackoverflow.com/questions/77894856/possible-bug-in-gcc-sanitizers
+      # - https://stackoverflow.com/questions/77850769/fatal-threadsanitizer-unexpected-memory-mapping-when-running-on-linux-kernels
+      # The workaround seems to be to set vm.mmap_rnd_bits=28
+      run: |
+        sudo cat /proc/sys/vm/mmap_rnd_bits
+        sudo sysctl vm.mmap_rnd_bits=28
+        ctest -j$(nproc) --output-on-failure -V

.github/workflows/windows-clang.yaml

@@ -51,27 +51,29 @@ jobs:
         cd build
         cmake .. -G "Visual Studio 17 2022" -T "ClangCl" -A "x64"
         type ViSP-third-party.txt
+        pwd
 
     - name: Build ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
+        pwd
         cmake --build . --config Release
 
     - name: Install ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release --target install
 
     - name: Check installation folder
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         dir ${{ github.workspace }}\build\install\
         dir ${{ github.workspace }}\build\install\x64\
         dir ${{ github.workspace }}\build\install\x64\vc17\
         dir ${{ github.workspace }}\build\install\x64\vc17\bin
 
     - name: Test ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         set VISP_INPUT_IMAGE_PATH=${{ env.VISP_INPUT_IMAGE_PATH }}
         echo "VISP_INPUT_IMAGE_PATH: "

.github/workflows/windows-msvc.yaml

@@ -22,7 +22,7 @@ jobs:
 
         include:
           - name: windows-latest
-            os: windows-2019
+            os: windows-2022
 
     steps:
     - name: Checkout repository
@@ -47,31 +47,31 @@ jobs:
         echo %VISP_INPUT_IMAGE_PATH%
         mkdir build
         cd build
-        cmake .. -G "Visual Studio 16 2019" -A "x64"
+        cmake .. -G "Visual Studio 17 2022" -A "x64"
         type ViSP-third-party.txt
 
     - name: Build ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release
 
     - name: Install ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         cmake --build . --config Release --target install
 
     - name: Check installation folder
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
-        dir ${{ github.workspace }}\build\install\x64\vc16\bin
+        dir ${{ github.workspace }}\build\install\x64\vc17\bin
 
     - name: Test ViSP
-      working-directory: build
+      working-directory: ${{ github.workspace }}\build
       run: |
         set VISP_INPUT_IMAGE_PATH=${{ env.VISP_INPUT_IMAGE_PATH }}
         echo "VISP_INPUT_IMAGE_PATH: "
         echo %VISP_INPUT_IMAGE_PATH%
-        set PATH=%PATH%;${{ github.workspace }}\build\install\x64\vc16\bin
+        set PATH=%PATH%;${{ github.workspace }}\build\install\x64\vc17\bin
         echo "PATH: "
         echo %PATH%
         ctest --output-on-failure -C Release -V

.vscode/settings.json

@@ -137,7 +137,8 @@
     "xstring": "cpp",
     "xtr1common": "cpp",
     "xtree": "cpp",
-    "xutility": "cpp"
+    "xutility": "cpp",
+    "execution": "cpp"
   },
   "C_Cpp.vcFormat.indent.namespaceContents": false,
   "editor.formatOnSave": true,

CMakeLists.txt

@@ -112,6 +112,9 @@ endif()
 if(POLICY CMP0075)
   cmake_policy(SET CMP0075 NEW) # For check_include_file and cmake 3.12.0
 endif()
+if(POLICY CMP0146)
+  cmake_policy(SET CMP0146 OLD) # The ``FindCUDA`` module deprecated since CMake 3.10
+endif()
 
 if(APPLE)
   # Fix following errors for libpng and libjpeg detection:
@@ -127,11 +130,7 @@ project(VISP C CXX)
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 
 include(cmake/VISPUtils.cmake)
-include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 11 by default
-
-if (CMAKE_VERSION VERSION_LESS 3.0.0)
-  vp_clear_vars(VISPModules_TARGETS)
-endif()
+include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 17 by default
 
 #-----------------------------------------------------------------------------
 # VISP version number.  An even minor number corresponds to releases.
@@ -146,8 +145,7 @@ set(VISP_REVISION "1")
 #-----------------------------------------------------------------------------
 # TO BE CHECKED BEFORE NEXT RELEASE
 #
-# see here: https://github.com/PointCloudLibrary/pcl/issues/3680
-# when this is fixed, we can remove the following 3 lines.
+# Remove following 3 next lines and check if pcl produces a CMP0144 complain around CMake variable FLANN_ROOT set to /opt/homebrew
 if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
   set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
 endif()
@@ -269,39 +267,93 @@ endif()
 
 # --- Python Support ---
 if(NOT IOS)
-  include(cmake/VISPDetectPython.cmake)
+  # Make sure to refresh the python interpreter every time we rerun cmake
+  # If we don't do this, we may use an old or invalid python when installing the bindings
+  # that was cached by a previous attempt at building
+  if(CMAKE_VERSION VERSION_LESS "3.15.0")
+    set(PYTHON3_CACHE_LIST
+      PYTHON3INTERP_FOUND PYTHONINTERP_FOUND PYTHONLIBS_FOUND PYTHON_FOUND
+      PYTHON3_EXECUTABLE PYTHON_EXECUTABLE
+    )
+    foreach (_variableName ${PYTHON3_CACHE_LIST})
+      unset(${_variableName} CACHE)
+    endforeach()
+    include(cmake/VISPDetectPython.cmake)
+  else()
+    set(PYTHON3_CACHE_LIST
+        Python3_FOUND Python3_EXECUTABLE Python3_Interpreter_FOUND Python3_LIBRARIES
+        _Python3_EXECUTABLE _Python3_INCLUDE_DIR _Python3_INTERPRETER_PROPERTIES _Python3_LIBRARY_RELEASE
+    )
+    foreach (_variableName ${PYTHON3_CACHE_LIST})
+      unset(${_variableName} CACHE)
+    endforeach()
+    # Find strategy
+    set(Python3_FIND_REGISTRY LAST)
+    set(Python3_FIND_VIRTUALENV FIRST)
+    set(Python3_FIND_STRATEGY LOCATION)
+    find_package (Python3 COMPONENTS Interpreter Development)
+
+    # Alias variables to be consistent with previous detection method
+    set(PYTHON3_FOUND ${Python3_FOUND})
+    set(PYTHON3_EXECUTABLE ${Python3_EXECUTABLE})
+    set(PYTHON_DEFAULT_EXECUTABLE ${PYTHON3_EXECUTABLE})
+    set(PYTHON3INTERP_FOUND ${Python3_Interpreter_FOUND})
+    set(PYTHON3_VERSION_STRING ${Python3_VERSION})
+  endif()
 endif()
 
-if(CMAKE_VERSION VERSION_LESS "3.19.0")
+# --- Python Bindings requirements ---
+VP_OPTION(USE_PYBIND11       pybind11       QUIET    "Include pybind11 to create Python bindings" "" ON)
+
+# Minimum tool versions
+set(CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS "3.19.0")
+set(PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS "3.7.0")
+if(CMAKE_VERSION VERSION_LESS ${CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS})
   set(CMAKE_NOT_OK_FOR_BINDINGS TRUE)
+  message(STATUS "Required CMake version for Python bindings is ${CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS},
+  but you have ${CMAKE_VERSION}.
+  Python bindings generation will be deactivated.
+  ")
 else()
   set(CMAKE_NOT_OK_FOR_BINDINGS FALSE)
 endif()
 
-if(CMAKE_NOT_OK_FOR_BINDINGS)
-  status("${CMAKE_NOT_OK_FOR_BINDINGS}")
-  status("CMake version required for Python bindings is 3.19.0, but you have ${CMAKE_VERSION}. Python bindings generation will be deactivated")
+if(PYTHON3_VERSION_STRING VERSION_LESS ${PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS})
+  set(PYTHON3_NOT_OK_FOR_BINDINGS TRUE)
+  message(STATUS "Required Python version for Python bindings is ${PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS},
+  but you have ${PYTHON3_VERSION_STRING}.
+  Python bindings generation will be deactivated.
+  ")
+else()
+  set(PYTHON3_NOT_OK_FOR_BINDINGS FALSE)
+endif()
+if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
+  set(CXX_STANDARD_NOT_OK_FOR_BINDINGS TRUE)
+  message(STATUS "Required C++ standard is C++17, but you have ${VISP_CXX_STANDARD}")
+else()
+  set(CXX_STANDARD_NOT_OK_FOR_BINDINGS FALSE)
 endif()
 
-# --- Python Bindings requirements ---
 
-# this avoids non-active conda from getting picked anyway on Windows
-#set(Python_FIND_REGISTRY LAST)
-# Use environment variable PATH to decide preference for Python
-#set(Python_FIND_VIRTUALENV FIRST)
-#set(Python_FIND_STRATEGY LOCATION)
-
-#find_package(Python 3.7 COMPONENTS Interpreter Development) # TODO: use visp function to find python?
-#if(Python_FOUND)
-#  set(VISP_PYTHON_BINDINGS_EXECUTABLE "${Python_EXECUTABLE}")
-#endif()
-#find_package(pybind11)
-VP_OPTION(USE_PYBIND11       pybind11       QUIET    "Include pybind11 to create Python bindings" "" ON)
 
-#if(pybind11_FOUND)
-#  set(VISP_PYBIND11_DIR "${pybind11_DIR}")
-#endif()
-#message("${pybind11_FOUND}")
+# Forbid system Python
+if(DEFINED ENV{VIRTUAL_ENV} OR DEFINED ENV{CONDA_PREFIX})
+  set(_pip_args)
+  set(VISP_PYTHON_IS_SYSTEM_WIDE FALSE)
+else()
+  # First solution: raise an error when cmake will call pip install
+  # set(_pip_args "--require-virtualenv") # If this is a system python, throw an error
+  if(PYTHON3_FOUND)
+    message(STATUS "The python version that you are using (${PYTHON3_EXECUTABLE}) is the system interpreter.
+    pip packages should not be installed system-wide!
+    Python bindings targets will be deactivated!
+    To reenable them, install conda or virtualenv,
+    delete the CMakeCache file then rerun cmake when inside the virtual environment.
+    ")
+    set(VISP_PYTHON_IS_SYSTEM_WIDE TRUE)
+  endif()
+endif()
+
 # ---
 
 
@@ -447,7 +499,7 @@ VP_OPTION(BUILD_ANDROID_EXAMPLES  "" "" "Build examples for Android platform"
 VP_OPTION(INSTALL_ANDROID_EXAMPLES "" "" "Install Android examples"  ""                  OFF IF ANDROID )
 
 # Build python bindings as an option
-VP_OPTION(BUILD_PYTHON_BINDINGS  "" "" "Build Python bindings" "" ON IF (PYTHON3INTERP_FOUND AND USE_PYBIND11 AND NOT CMAKE_NOT_OK_FOR_BINDINGS) )
+VP_OPTION(BUILD_PYTHON_BINDINGS  "" "" "Build Python bindings" "" ON IF (PYTHON3INTERP_FOUND AND USE_PYBIND11 AND NOT CMAKE_NOT_OK_FOR_BINDINGS AND NOT VISP_PYTHON_IS_SYSTEM_WIDE AND NOT PYTHON3_NOT_OK_FOR_BINDINGS AND NOT CXX_STANDARD_NOT_OK_FOR_BINDINGS) )
 VP_OPTION(BUILD_PYTHON_BINDINGS_DOC  "" "" "Build the documentation for the Python bindings" "" ON IF BUILD_PYTHON_BINDINGS )
 
 
@@ -628,6 +680,23 @@ if(USE_PCL)
   vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
 endif()
 
+# ----------------------------------------------------------------------------
+# Handle OpenCV 2.4.8 as minimal version
+# ----------------------------------------------------------------------------
+if(USE_OPENCV)
+  if(OpenCV_VERSION)
+    if(OpenCV_VERSION VERSION_LESS "2.4.8")
+      message(WARNING "OpenCV 3rd party was detected but its version ${OpenCV_VERSION} is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
+      unset(USE_OPENCV)
+      set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
+    endif()
+  else()
+    message(WARNING "OpenCV 3rd party was detected but its version cannot be found or is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
+    unset(USE_OPENCV)
+    set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
+  endif()
+endif()
+
 # ----------------------------------------------------------------------------
 # Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
 # ----------------------------------------------------------------------------
@@ -642,7 +711,7 @@ endif()
 
 if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14)
   if(USE_FTIITSDK)
-    message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_OPENCV=OFF.")
+    message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_FTIITSDK=OFF.")
     unset(USE_FTIITSDK)
     set(USE_FTIITSDK OFF CACHE BOOL "Include IIT force-torque SDK support" FORCE)
   endif()
@@ -694,13 +763,14 @@ if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
     message(WARNING "std::thread was detected but needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable std::thread usage turning USE_THREADS=OFF.")
     unset(USE_THREADS)
     set(USE_THREADS OFF CACHE BOOL "Include std::thread support" FORCE)
-  elseif(UNIX)
-    # Apriltag on unix needs pthread. On windows we are using pthread built-in
-    if(Threads_FOUND)
-      set(USE_PTHREAD ON) # for AprilTag only
-    endif()
   endif()
 endif()
+
+if(UNIX AND Threads_FOUND)
+  # Apriltag on unix needs native pthread. On windows we are using pthread built-in
+  set(USE_PTHREAD ON) # for AprilTag only
+endif()
+
 # ----------------------------------------------------------------------------
 # Build-in 3rd parties. Should be after c++ standard potential modification
 # ----------------------------------------------------------------------------
@@ -1080,8 +1150,6 @@ VP_SET(VISP_HAVE_VICON       TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
 VP_SET(VISP_BUILD_SHARED_LIBS            TRUE IF BUILD_SHARED_LIBS) # for header vpConfig.h
 VP_SET(VISP_HAVE_DC1394_CAMERA_ENUMERATE TRUE IF (USE_DC1394 AND DC1394_CAMERA_ENUMERATE_FOUND)) # for header vpConfig.h
 VP_SET(VISP_HAVE_DC1394_FIND_CAMERAS     TRUE IF (USE_DC1394 AND DC1394_FIND_CAMERAS_FOUND)) # for header vpConfig.h
-VP_SET(VISP_HAVE_D3D9        TRUE IF USE_DIRECT3D) # for header vpConfig.h
-VP_SET(VISP_HAVE_GTK         TRUE IF USE_GTK2) # for header vpConfig.h
 VP_SET(VISP_HAVE_XRANDR      TRUE IF XRANDR) # for header vpConfig.h
 VP_SET(VISP_HAVE_NULLPTR     TRUE IF HAVE_NULLPTR) # for header vpConfig.h
 
@@ -1605,8 +1673,17 @@ if(BUILD_PYTHON_BINDINGS)
   status("    Package version:"        "${VISP_PYTHON_PACKAGE_VERSION}")
   status("    Wrapped modules:"        "${VISP_PYTHON_BOUND_MODULES}")
   status("    Generated input config:" "${VISP_PYTHON_GENERATED_CONFIG_FILE}")
+else()
+  status("    Requirements: ")
+  status("      Python version > ${PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS}:"     PYTHON3_FOUND AND NOT PYTHON3_NOT_OK_FOR_BINDINGS THEN "ok (ver ${PYTHON3_VERSION_STRING})" ELSE "python not found or too old (${PYTHON3_VERSION_STRING})")
+  status("      Python in Virtual environment or conda:"     VISP_PYTHON_IS_SYSTEM_WIDE THEN "failed" ELSE "ok")
+  status("      Pybind11 found:"     USE_PYBIND11 THEN "ok" ELSE "failed")
+  status("      CMake > ${CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS}:"     CMAKE_NOT_OK_FOR_BINDINGS THEN "failed (${CMAKE_VERSION})" ELSE "ok (${CMAKE_VERSION})")
+  status("      C++ standard > ${VISP_CXX_STANDARD_17}:"     CXX_STANDARD_NOT_OK_FOR_BINDINGS THEN "failed (${VISP_CXX_STANDARD})" ELSE "ok (${VISP_CXX_STANDARD})")
+
 endif()
 
+
 # ============================ Options ===========================
 status("")
 status("  Build options: ")
@@ -1732,7 +1809,7 @@ status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
 status("    Use std::thread:"        USE_THREADS        THEN "yes" ELSE "no")
-status("    Use pthread:"            USE_PHREADS        THEN "yes" ELSE "no")
+status("    Use pthread:"            USE_PTHREAD        THEN "yes" ELSE "no")
 status("    Use pthread (built-in):" WITH_PTHREAD       THEN "yes (ver ${PTHREADS_VERSION})" ELSE "no")
 status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes" ELSE "no")
 status("")