Merge pull request #1427 from fspindle/fix_ci

Fix warnings detected by CDash ci and improve Doxygen doc

example/device/framegrabber/grabV4l2MultiCpp11Thread.cpp

@@ -134,6 +134,7 @@ bool getOptions(int argc, char **argv, unsigned int &deviceCount, bool &saveVide
   return true;
 }
 
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
 // Code adapted from the original author Dan Mašek to be compatible with ViSP
 // image
 class vpFrameQueue
@@ -204,7 +205,6 @@ class vpFrameQueue
 
 class vpStorageWorker
 {
-
 public:
   vpStorageWorker(vpFrameQueue &queue, const std::string &filename, unsigned int width, unsigned int height)
     : m_queue(queue), m_filename(filename), m_width(width), m_height(height)
@@ -430,6 +430,7 @@ void display(unsigned int width, unsigned int height, int win_x, int win_y, unsi
 }
 
 } // Namespace
+#endif // DOXYGEN_SHOULD_SKIP_THIS
 
 int main(int argc, char *argv[])
 {

example/device/framegrabber/saveRealSenseData.cpp

@@ -254,6 +254,8 @@ bool getOptions(int argc, const char *argv[], bool &save, std::string &pattern,
   return true;
 }
 
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
 // Code adapted from: https://stackoverflow.com/a/37146523
 class vpFrameQueue
 {
@@ -575,7 +577,7 @@ class vpStorageWorker
             }
             else if (m_save_pcl_npz_format) {
 #ifdef VISP_HAVE_MINIZ
-// Write Npz headers
+              // Write Npz headers
               std::vector<char> vec_filename(filename_point_cloud.begin(), filename_point_cloud.end());
               // Null-terminated character is handled at reading
               // For null-terminated character handling, see:
@@ -662,6 +664,8 @@ class vpStorageWorker
 };
 } // Namespace
 
+#endif // DOXYGEN_SHOULD_SKIP_THIS
+
 int main(int argc, const char *argv[])
 {
   bool save = false;
@@ -935,10 +939,10 @@ int main(int argc, const char *argv[])
 #else
       if (save_pointcloud) {
         ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-    }
+      }
       save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-  }
+    }
 
     double delta_time = vpTime::measureTimeMs() - start;
     vec_delta_time.push_back(delta_time);
@@ -982,10 +986,10 @@ int main(int argc, const char *argv[])
 #else
             if (save_pointcloud) {
               ptr_pointCloud = std::make_unique<std::vector<vpColVector>>(pointCloud);
-          }
+            }
             save_queue.push(ptr_colorImg, ptr_depthImg, ptr_pointCloud, ptr_infraredImg);
 #endif
-        }
+          }
           break;
 
         case vpMouseButton::button2:
@@ -995,9 +999,9 @@ int main(int argc, const char *argv[])
           quit = true;
           save_queue.cancel();
           break;
+        }
       }
     }
-}
   }
 
   double mean_vec_delta_time = vpMath::getMean(vec_delta_time);

modules/core/include/visp3/core/vpGaussRand.h

@@ -49,51 +49,43 @@ BEGIN_VISP_NAMESPACE
   their mean equal to 10 with a standard deviation equal to 0.5.
 
   \code
-#include <iostream>
-#include <visp3/core/vpGaussRand.h>
-
-#ifdef ENABLE_VISP_NAMESPACE
-using namespace VISP_NAMESPACE_NAME;
-#endif
+  #include <iostream>
+  #include <visp3/core/vpGaussRand.h>
 
-int main()
-{
-  vpGaussRand noise(0.5, 10);
-  for(int i=0; i< 10; i++) {
-    std::cout << "noise " << i << ": " << noise() << std::endl;
+  int main()
+  {
+    vpGaussRand noise(0.5, 10);
+    for(int i=0; i< 10; i++) {
+      std::cout << "noise " << i << ": " << noise() << std::endl;
+    }
+    return 0;
   }
-  return 0;
-}
   \endcode
 
   The previous example produces the following printings:
   \verbatim
-noise 0: 10.645
-noise 1: 9.67129
-noise 2: 10.1208
-noise 3: 10.1039
-noise 4: 10.8667
-noise 5: 9.89823
-noise 6: 9.81414
-noise 7: 9.96076
-noise 8: 11.0795
-noise 9: 9.79229
+  noise 0: 10.645
+  noise 1: 9.67129
+  noise 2: 10.1208
+  noise 3: 10.1039
+  noise 4: 10.8667
+  noise 5: 9.89823
+  noise 6: 9.81414
+  noise 7: 9.96076
+  noise 8: 11.0795
+  noise 9: 9.79229
   \endverbatim
 
   Note that the previous example produces always the same "random" results. To
-produce real random values, you need to initialize the random generator with
-different values using seed(). For example, this could be done using the
-current time. The code becomes:
+  produce real random values, you need to initialize the random generator with
+  different values using seed(). For example, this could be done using the
+  current time. The code becomes:
 
   \verbatim
   #include <iostream>
   #include <visp3/core/vpGaussRand.h>
   #include <visp3/core/vpTime.h>
 
-  #ifdef ENABLE_VISP_NAMESPACE
-  using namespace VISP_NAMESPACE_NAME;
-  #endif
-
   int main()
   {
     vpGaussRand noise(0.5, 10);
@@ -123,15 +115,6 @@ current time. The code becomes:
 */
 class VISP_EXPORT vpGaussRand
 {
-private:
-  double gaussianDraw();
-
-  vpUniRand m_rng;
-  double m_mean;
-  double m_sigma;
-  bool m_AlreadyDone;
-  double m_x2;
-
 public:
   /*!
       Default noise generator constructor.
@@ -172,6 +155,15 @@ class VISP_EXPORT vpGaussRand
       Return a random value from the Gaussian noise generator.
     */
   double operator()() { return m_sigma * gaussianDraw() + m_mean; }
+
+private:
+  double gaussianDraw();
+
+  vpUniRand m_rng;
+  double m_mean;
+  double m_sigma;
+  bool m_AlreadyDone;
+  double m_x2;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpImageTools_warp.h

@@ -283,7 +283,7 @@ void vpImageTools::warpLinear(const vpImage<Type> &src, const vpMatrix &T, vpIma
               const Type val11 = src[y_ + 1][x_ + 1];
               const int64_t interp_i64 =
                 static_cast<int64_t>(((s_1 * t_1) * val00) + ((s * t_1) * val01) + ((s_1 * t) * val10) + ((s * t) * val11));
-              const float interp = (interp_i64 >> (nbits * 2)) + ((interp_i64 & 0xFFFFFFFF) * precision_2);
+              const float interp = (interp_i64 >> (nbits * 2)) + ((interp_i64 & 0xFFFFFFFFU) * precision_2);
               dst[i][j] = vpMath::saturate<Type>(interp);
             }
             else if (y_ < (static_cast<int>(src.getHeight()) - 1)) {
@@ -498,15 +498,15 @@ inline void vpImageTools::warpLinearFixedPointNotCenter(const vpImage<vpRGBa> &s
             const vpRGBa val11 = src[y_ + 1][x_ + 1];
             const int64_t interpR_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.R) + (s * t_1 * val01.R) + (s_1 * t * val10.R) + (s * t * val11.R));
-            const float interpR = (interpR_i64 >> (nbits * 2)) + ((interpR_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpR = (interpR_i64 >> (nbits * 2)) + ((interpR_i64 & 0xFFFFFFFFU) * precision_2);
 
             const int64_t interpG_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.G) + (s * t_1 * val01.G) + (s_1 * t * val10.G) + (s * t * val11.G));
-            const float interpG = (interpG_i64 >> (nbits * 2)) + ((interpG_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpG = (interpG_i64 >> (nbits * 2)) + ((interpG_i64 & 0xFFFFFFFFU) * precision_2);
 
             const int64_t interpB_i64 =
               static_cast<int64_t>((s_1 * t_1 * val00.B) + (s * t_1 * val01.B) + (s_1 * t * val10.B) + (s * t * val11.B));
-            const float interpB = (interpB_i64 >> (nbits * 2)) + ((interpB_i64 & 0xFFFFFFFF) * precision_2);
+            const float interpB = (interpB_i64 >> (nbits * 2)) + ((interpB_i64 & 0xFFFFFFFFU) * precision_2);
 
             dst[i][j] = vpRGBa(vpMath::saturate<unsigned char>(interpR), vpMath::saturate<unsigned char>(interpG),
                                vpMath::saturate<unsigned char>(interpB), 255);

modules/core/include/visp3/core/vpIoTools.h

@@ -56,8 +56,10 @@
 #include <complex>
 
 #if VISP_CXX_STANDARD > VISP_CXX_STANDARD_98
+
 namespace visp
 {
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
 // https://github.com/BinomialLLC/basis_universal/blob/ad9386a4a1cf2a248f7bbd45f543a7448db15267/encoder/basisu_miniz.h#L665
 static inline unsigned long vp_mz_crc32(unsigned long crc, const unsigned char *ptr, size_t buf_len)
 {
@@ -73,6 +75,7 @@ static inline unsigned long vp_mz_crc32(unsigned long crc, const unsigned char *
   }
   return ~crcu32;
 }
+#endif // DOXYGEN_SHOULD_SKIP_THIS
 
 #ifdef VISP_HAVE_MINIZ
 namespace cnpy
@@ -126,8 +129,6 @@ struct NpyArray
 
 using npz_t = std::map<std::string, NpyArray>;
 VISP_EXPORT npz_t npz_load(std::string fname);
-
-
 VISP_EXPORT char BigEndianTest();
 VISP_EXPORT char map_type(const std::type_info &t);
 template<typename T> std::vector<char> create_npy_header(const std::vector<size_t> &shape);

modules/core/include/visp3/core/vpRGBf.h

@@ -142,6 +142,7 @@ class VISP_EXPORT vpRGBf
   float B; //!< Blue component.
 
   friend VISP_EXPORT vpRGBf operator*(double x, const vpRGBf &rgb);
+  friend VISP_EXPORT vpRGBf operator*(float x, const vpRGBf &rgb);
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpUnscentedKalman.h

@@ -414,12 +414,12 @@ class VISP_EXPORT vpUnscentedKalman
    */
   inline static vpColVector simpleMean(const std::vector<vpColVector> &vals, const std::vector<double> &wm)
   {
-    unsigned int nbPoints = vals.size();
+    size_t nbPoints = vals.size();
     if (nbPoints == 0) {
       throw(vpException(vpException::dimensionError, "No points to add when computing the mean"));
     }
     vpColVector mean = vals[0] * wm[0];
-    for (unsigned int i = 1; i < nbPoints; ++i) {
+    for (size_t i = 1; i < nbPoints; ++i) {
       mean += vals[i] * wm[i];
     }
     return mean;

modules/core/src/camera/vpCameraParameters.cpp

@@ -477,8 +477,8 @@ bool vpCameraParameters::operator==(const vpCameraParameters &c) const
     return false;
   }
 
-  unsigned int m_dist_coefs_size = m_dist_coefs.size();
-  for (unsigned int i = 0; i < m_dist_coefs_size; ++i) {
+  size_t m_dist_coefs_size = m_dist_coefs.size();
+  for (size_t i = 0; i < m_dist_coefs_size; ++i) {
     if (!vpMath::equal(m_dist_coefs[i], c.m_dist_coefs[i], std::numeric_limits<double>::epsilon())) {
       return false;
     }
@@ -633,7 +633,7 @@ vpMatrix vpCameraParameters::get_K_inverse() const
  */
 void vpCameraParameters::printParameters()
 {
-  unsigned int m_dist_coefs_size = m_dist_coefs.size();
+  size_t m_dist_coefs_size = m_dist_coefs.size();
   std::ios::fmtflags original_flags(std::cout.flags());
   switch (m_projModel) {
   case vpCameraParameters::perspectiveProjWithoutDistortion: {
@@ -654,7 +654,7 @@ void vpCameraParameters::printParameters()
   }
   case vpCameraParameters::ProjWithKannalaBrandtDistortion: {
     std::cout << "  Coefficients: ";
-    for (unsigned int i = 0; i < m_dist_coefs_size; ++i) {
+    for (size_t i = 0; i < m_dist_coefs_size; ++i) {
       std::cout << " " << m_dist_coefs[i];
     }
     std::cout << std::endl;
@@ -700,8 +700,8 @@ VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpCameraParameters
     os << "  px = " << cam.get_px() << "\t py = " << cam.get_py() << std::endl  << "  u0 = " << cam.get_u0() << "\t v0 = " << cam.get_v0() << std::endl;
     os << "  Coefficients: ";
     std::vector<double> tmp_coefs = cam.getKannalaBrandtDistortionCoefficients();
-    unsigned int tmp_coefs_size = tmp_coefs.size();
-    for (unsigned int i = 0; i < tmp_coefs_size; ++i) {
+    size_t tmp_coefs_size = tmp_coefs.size();
+    for (size_t i = 0; i < tmp_coefs_size; ++i) {
       os << " " << tmp_coefs[i];
     }
     os << std::endl;

modules/core/src/camera/vpColorDepthConversion.cpp

@@ -47,6 +47,8 @@
 #include <visp3/core/vpPixelMeterConversion.h>
 
 BEGIN_VISP_NAMESPACE
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
 namespace
 {
 
@@ -134,6 +136,8 @@ vpColVector deproject(const vpCameraParameters &intrinsic_cam_params, const vpIm
 
 } // namespace
 
+#endif // DOXYGEN_SHOULD_SKIP_THIS
+
 /*!
  * Project color image point to depth frame.
  *

modules/core/src/image/vpRGBa.cpp

@@ -29,8 +29,7 @@
  *
  * Description:
  * RGBA pixel.
- *
-*****************************************************************************/
+ */
 
 /*!
   \file vpRGBa.cpp
@@ -291,9 +290,9 @@ bool vpRGBa::operator>(const vpRGBa &v) const
 vpRGBa operator*(const double &x, const  vpRGBa &rgb)
 {
   vpRGBa rgba;
-  rgba.R = rgb.R * x;
-  rgba.G = rgb.G * x;
-  rgba.B = rgb.B * x;
+  rgba.R = static_cast<unsigned char>(rgb.R * x);
+  rgba.G = static_cast<unsigned char>(rgb.G * x);
+  rgba.B = static_cast<unsigned char>(rgb.B * x);
   rgba.A = rgb.A;
   return rgba;
 }

modules/core/src/image/vpRGBf.cpp

@@ -29,8 +29,7 @@
  *
  * Description:
  * 32-bit floating point RGB pixel.
- *
-*****************************************************************************/
+ */
 
 /*!
   \file vpRGBf.cpp
@@ -64,9 +63,9 @@ vpRGBf &vpRGBf::operator=(float v)
 */
 vpRGBf &vpRGBf::operator=(int v)
 {
-  this->R = v;
-  this->G = v;
-  this->B = v;
+  this->R = static_cast<float>(v);
+  this->G = static_cast<float>(v);
+  this->B = static_cast<float>(v);
   return *this;
 }
 
@@ -273,6 +272,22 @@ bool vpRGBf::operator>(const vpRGBf &v) const
  * @return Rescaled components with RGB * x.
  */
 vpRGBf operator*(double x, const vpRGBf &rgb)
+{
+  vpRGBf rgbf;
+  rgbf.R = static_cast<float>(rgb.R * x);
+  rgbf.G = static_cast<float>(rgb.G * x);
+  rgbf.B = static_cast<float>(rgb.B * x);
+  return rgbf;
+}
+
+/*!
+ * Scale RGB components by x.
+ *
+ * @param x : Value used to scale RGB color components.
+ * @param rgb : RGB color components to rescale.
+ * @return Rescaled components with RGB * x.
+ */
+vpRGBf operator*(float x, const vpRGBf &rgb)
 {
   vpRGBf rgbf;
   rgbf.R = rgb.R * x;