diff --git a/ChangeLog.txt b/ChangeLog.txt
index c059cb9485..de94bbf181 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -8,7 +8,7 @@
 ViSP 3.5.1 (under development)
   - Contributors:
     . Fabien Spindler, Souriya Trinh, Romain Lagneau, Antonio Marino, Samuel Felton,
-      Francois Chaumette, Olivier Roussel
+      Francois Chaumette, Olivier Roussel, Julien Dufour, Joudy Nader
   - New classes
     . vpMocapVicon an interface over Vicon motion capture system
     . vpMocapQualisys an interface over Qualisys motion capture system
@@ -49,6 +49,7 @@ ViSP 3.5.1 (under development)
     . In moving-edges ellipse tracker (vpMeEllipse and vpMbTracker and its derived classes),
       change sample step parameter to consider the distance between moving-edges in pixels
       rather than an angular value in deg as it was in the previous releases
+    . ViSP is available as a Conda package
   - Tutorials
     . New tutorial to list all the hardware (robot, camera, depth camera, lidar, mocap,
       haptic devices, F/T sensor) supported by ViSP
@@ -99,6 +100,7 @@ ViSP 3.5.1 (under development)
     . [#1160] MBT does not estimate dof set by the user using vpMbTracker::setEstimatedDoF()
     . [#1176] ViSP cannot be built with a subset of OpenCV modules
     . [#1198] Unable to save multiple cameras in a same xml file
+    . [#1228] Unable to use visp conda package to link visp as a 3rd party
 ----------------------------------------------
 ViSP 3.5.0 (released February 15, 2022)
   - Contributors:
diff --git a/cmake/PCLTools.cmake b/cmake/PCLTools.cmake
index 9d36b33601..067620172b 100644
--- a/cmake/PCLTools.cmake
+++ b/cmake/PCLTools.cmake
@@ -254,6 +254,7 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
 
   mark_as_advanced(ENSENSO_INCLUDE_DIR ENSENSO_LIBRARY)
 
+  mark_as_advanced(flann_DIR)
   mark_as_advanced(FLANN_INCLUDE_DIR)
   mark_as_advanced(FLANN_INCLUDE_DIRS)
   mark_as_advanced(FLANN_LIBRARY)
@@ -295,6 +296,17 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(Qt5Quick_DIR)               # Requested on macOS with pcl 1.12.1
   mark_as_advanced(Qt5_DIR)                    # Requested on macOS with pcl 1.12.1
 
+  # Requested on macOS with pcl 1.13.1
+  mark_as_advanced(Qt6CoreTools_DIR Qt6Core_DIR Qt6BusTools_DIR Qt6GuiTools_DIR Qt6Gui_DIR Qt6OpenGLWidgets_DIR)
+  mark_as_advanced(Qt6OpenGL_DIR Qt6WidgetsTools_DIR Qt6Widgets_DIR)
+  mark_as_advanced(Qt6DBusTools_DIR Qt6DBus_DIR Qt6Network_DIR Qt6QmlCompilerPlusPrivate_DIR)
+  mark_as_advanced(Qt6QmlIntegration_DIR Qt6QmlModels_DIR Qt6QmlTools_DIR Qt6Qml_DIR Qt6Quick_DIR Qt6Sql_DIR)
+  mark_as_advanced(Qt6_DIR)
+  mark_as_advanced(QT_ADDITIONAL_HOST_PACKAGES_PREFIX_PATH)
+  mark_as_advanced(QT_ADDITIONAL_PACKAGES_PREFIX_PATH)
+  mark_as_advanced(MACDEPLOYQT_EXECUTABLE)
+  mark_as_advanced(WrapOpenGL_AGL)
+
   mark_as_advanced(OPENNI2_INCLUDE_DIR)
   mark_as_advanced(OPENNI2_INCLUDE_DIRS)
   mark_as_advanced(OPENNI2_LIBRARY)
@@ -303,6 +315,9 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(OPENNI_INCLUDE_DIRS)
   mark_as_advanced(OPENNI_LIBRARY)
 
+  mark_as_advanced(PCAP_INCLUDE_DIR)                        # Requested on macOS with pcl 1.13.1
+  mark_as_advanced(PCAP_LIBRARY)                            # Requested on macOS with pcl 1.13.1
+
   mark_as_advanced(USB_10_INCLUDE_DIR)
   mark_as_advanced(USB_10_LIBRARY)
 
@@ -325,6 +340,7 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   mark_as_advanced(OPENGL_GLES3_INCLUDE_DIR)
 
   mark_as_advanced(VTK_MPI_NUMPROCS)
+  mark_as_advanced(VTK_DIR)                             # Requested on macOS with pcl 1.12.1
 
   mark_as_advanced(TBB_DIR)
 
diff --git a/example/servo-universal-robots/CMakeLists.txt b/example/servo-universal-robots/CMakeLists.txt
index 7662a1e01c..2e702d50db 100644
--- a/example/servo-universal-robots/CMakeLists.txt
+++ b/example/servo-universal-robots/CMakeLists.txt
@@ -71,7 +71,7 @@ if(VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
 endif()
 
-vp_set_source_file_compile_flag(servoUniversalRobotsIBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(servoUniversalRobotsPBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(UniversalRobotsMoveToPosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-vp_set_source_file_compile_flag(UniversalRobotsSavePosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(servoUniversalRobotsIBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(servoUniversalRobotsPBVS.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(UniversalRobotsMoveToPosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+visp_set_source_file_compile_flag(UniversalRobotsSavePosition.cpp ${CXX_FLAGS_MUTE_WARNINGS})
diff --git a/modules/core/include/visp3/core/vpDisplay.h b/modules/core/include/visp3/core/vpDisplay.h
index 87c2ecb7f7..f45d4f8539 100644
--- a/modules/core/include/visp3/core/vpDisplay.h
+++ b/modules/core/include/visp3/core/vpDisplay.h
@@ -33,8 +33,8 @@
  *
 *****************************************************************************/
 
-#ifndef vpDisplay_h
-#define vpDisplay_h
+#ifndef _vpDisplay_h_
+#define _vpDisplay_h_
 
 #include <list>
 #include <sstream>
@@ -309,9 +309,9 @@ class VISP_EXPORT vpDisplay
     when \e fill is set to false.
   */
   inline virtual void displayCircle(const vpImageCircle &circle, const vpColor &color, bool fill = false,
-                             unsigned int thickness = 1)
+                                    unsigned int thickness = 1)
   {
-    this->displayCircle(circle.getCenter(), circle.getRadius(), color, fill, thickness);
+    this->displayCircle(circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
   }
 
   /*!
diff --git a/modules/core/include/visp3/core/vpImageFilter.h b/modules/core/include/visp3/core/vpImageFilter.h
index 80fb105d4b..f1f4aff6bf 100644
--- a/modules/core/include/visp3/core/vpImageFilter.h
+++ b/modules/core/include/visp3/core/vpImageFilter.h
@@ -70,7 +70,7 @@ class VISP_EXPORT vpImageFilter
 {
 public:
   static void canny(const vpImage<unsigned char> &I, vpImage<unsigned char> &Ic, unsigned int gaussianFilterSize,
-                    double thresholdCanny, unsigned int apertureSobel);
+                    float thresholdCanny, unsigned int apertureSobel);
 
   /*!
     Apply a 1x3 derivative filter to an image pixel.
@@ -955,12 +955,14 @@ class VISP_EXPORT vpImageFilter
       throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
 
     if (sigma <= 0)
-      sigma = (size - 1) / 6.0;
+      sigma = static_cast<FilterType>((size - 1) / 6.0);
 
     int middle = (int)(size - 1) / 2;
-    FilterType sigma2 = vpMath::sqr(sigma);
+    FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
+    FilterType coef1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
+    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
     for (int i = 0; i <= middle; i++) {
-      filter[i] = (1. / (sigma * sqrt(2. * M_PI))) * exp(-(i * i) / (2. * sigma2));
+      filter[i] = coef1 * exp(-(i * i) / _2_sigma2);
     }
     if (normalize) {
       // renormalization
@@ -997,22 +999,25 @@ class VISP_EXPORT vpImageFilter
       throw(vpImageException(vpImageException::incorrectInitializationError, "Bad Gaussian filter size"));
 
     if (sigma <= 0)
-      sigma = (size - 1) / 6.0;
+      sigma = static_cast<FilterType>((size - 1) / 6.0);
 
     int middle = (int)(size - 1) / 2;
-    FilterType sigma2 = vpMath::sqr(sigma);
+    FilterType sigma2 = static_cast<FilterType>(vpMath::sqr(sigma));
+    FilterType coef_1 = static_cast<FilterType>(1. / (sigma * sqrt(2. * M_PI)));
+    FilterType coef_1_over_2 = coef_1 / static_cast<FilterType>(2.);
+    FilterType _2_coef_1 = static_cast<FilterType>(2.) * coef_1;
+    FilterType _2_sigma2 = static_cast<FilterType>(2. * sigma2);
     filter[0] = 0.;
     for (int i = 1; i <= middle; i++) {
-      filter[i] = -(1. / (sigma * sqrt(2. * M_PI))) *
-        (exp(-((i + 1) * (i + 1)) / (2. * sigma2)) - exp(-((i - 1) * (i - 1)) / (2. * sigma2))) / 2.;
+      filter[i] = -coef_1_over_2 * (static_cast<FilterType>(exp(-((i + 1) * (i + 1)) / _2_sigma2)) - static_cast<FilterType>(exp(-((i - 1) * (i - 1)) / _2_sigma2)));
     }
 
     if (normalize) {
       FilterType sum = 0;
       for (int i = 1; i <= middle; i++) {
-        sum += 2. * (1. / (sigma * sqrt(2. * M_PI))) * exp(-(i * i) / (2. * sigma2));
+        sum += _2_coef_1 * static_cast<FilterType>(exp(-(i * i) / _2_sigma2));
       }
-      sum += (1. / (sigma * sqrt(2. * M_PI)));
+      sum += coef_1;
 
       for (int i = 1; i <= middle; i++) {
         filter[i] = filter[i] / sum;
@@ -1217,11 +1222,11 @@ class VISP_EXPORT vpImageFilter
   }
 
 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
-  static double computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, double &lowerThresh);
-  static double computeCannyThreshold(const vpImage<unsigned char> &I, double &lowerThresh);
-  static double median(const cv::Mat &cv_I);
-  static double median(const vpImage<unsigned char> &Isrc);
-  static std::vector<double> median(const vpImage<vpRGBa> &Isrc);
+  static float computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, float &lowerThresh);
+  static float computeCannyThreshold(const vpImage<unsigned char> &I, float &lowerThresh);
+  static float median(const cv::Mat &cv_I);
+  static float median(const vpImage<unsigned char> &Isrc);
+  static std::vector<float> median(const vpImage<vpRGBa> &Isrc);
 #endif
 };
 
diff --git a/modules/core/include/visp3/core/vpThread.h b/modules/core/include/visp3/core/vpThread.h
index d0c0adcb75..d59708467c 100644
--- a/modules/core/include/visp3/core/vpThread.h
+++ b/modules/core/include/visp3/core/vpThread.h
@@ -61,7 +61,7 @@
    Windows.
 
    There are two examples implemented in testMutex.cpp and testThread.cpp to
-   show how to use this class. The content of test-thread.cpp that hightlights
+   show how to use this class. The content of test-thread.cpp that highlights
    the main functionalities of this class is given hereafter: \snippet
    testThread.cpp Code
 
@@ -86,7 +86,7 @@ class vpThread
      Default constructor that does nothing. To attach a function to this
      thread of execution you need to call create().
    */
-  vpThread() : m_handle(), m_isCreated(false), m_isJoinable(false) {}
+  vpThread() : m_handle(), m_isCreated(false), m_isJoinable(false) { }
 
   /*!
      Construct a thread object that represents a new joinable thread of
diff --git a/modules/core/src/display/vpDisplay_rgba.cpp b/modules/core/src/display/vpDisplay_rgba.cpp
index faef9e1327..1023c614a9 100644
--- a/modules/core/src/display/vpDisplay_rgba.cpp
+++ b/modules/core/src/display/vpDisplay_rgba.cpp
@@ -147,7 +147,7 @@ void vpDisplay::displayCharString(const vpImage<vpRGBa> &I, int i, int j, const
 void vpDisplay::displayCircle(const vpImage<vpRGBa> &I, const vpImageCircle &circle,
                               const vpColor &color, bool fill, unsigned int thickness)
 {
-  vp_display_display_circle(I, circle.getCenter(), circle.getRadius(), color, fill, thickness);
+  vp_display_display_circle(I, circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
 }
 
 /*!
diff --git a/modules/core/src/display/vpDisplay_uchar.cpp b/modules/core/src/display/vpDisplay_uchar.cpp
index 2a511729de..af42deedc4 100644
--- a/modules/core/src/display/vpDisplay_uchar.cpp
+++ b/modules/core/src/display/vpDisplay_uchar.cpp
@@ -148,7 +148,7 @@ void vpDisplay::displayCharString(const vpImage<unsigned char> &I, int i, int j,
 void vpDisplay::displayCircle(const vpImage<unsigned char> &I, const vpImageCircle &circle,
                               const vpColor &color, bool fill, unsigned int thickness)
 {
-  vp_display_display_circle(I, circle.getCenter(), circle.getRadius(), color, fill, thickness);
+  vp_display_display_circle(I, circle.getCenter(), static_cast<unsigned int>(circle.getRadius()), color, fill, thickness);
 }
 
 /*!
diff --git a/modules/core/src/image/vpCannyEdgeDetection.cpp b/modules/core/src/image/vpCannyEdgeDetection.cpp
index 54132d5b5d..a9a050cd36 100644
--- a/modules/core/src/image/vpCannyEdgeDetection.cpp
+++ b/modules/core/src/image/vpCannyEdgeDetection.cpp
@@ -143,7 +143,7 @@ vpCannyEdgeDetection::detect(const vpImage<unsigned char> &I)
   float lowerThreshold = m_lowerThreshold;
   if (m_lowerThreshold < 0) {
     // Applying Canny recommendation to have the upper threshold 3 times greater than the lower threshold.
-    lowerThreshold = m_upperThreshold / 3.;
+    lowerThreshold = m_upperThreshold / 3.f;
   }
 
   performHysteresisThresholding(lowerThreshold, upperThreshold);
@@ -269,7 +269,7 @@ getAbsoluteTheta(const vpImage<float> &dIx, const vpImage<float> &dIy, const int
     absoluteTheta = 90.;
   }
   else {
-    absoluteTheta = vpMath::deg(std::abs(std::atan(dy / dx)));
+    absoluteTheta = static_cast<float>(vpMath::deg(std::abs(std::atan(dy / dx))));
   }
   return absoluteTheta;
 }
diff --git a/modules/core/src/image/vpImageFilter.cpp b/modules/core/src/image/vpImageFilter.cpp
index 470cc2da1a..52538ace0e 100644
--- a/modules/core/src/image/vpImageFilter.cpp
+++ b/modules/core/src/image/vpImageFilter.cpp
@@ -148,11 +148,11 @@ void vpImageFilter::sepFilter(const vpImage<unsigned char> &I, vpImage<double> &
  * The algorithm is based on based on https://github.com/arnaudgelas/OpenCVExamples/blob/master/cvMat/Statistics/Median/Median.cpp
  * \param[in] channel : Single channel image in OpenCV format.
  */
-double vpImageFilter::median(const cv::Mat &channel)
+float vpImageFilter::median(const cv::Mat &channel)
 {
-  double m = (channel.rows * channel.cols) / 2;
+  float m = (channel.rows * channel.cols) / 2.f;
   int bin = 0;
-  double med = -1.0;
+  float med = -1.0f;
 
   int histSize = 256;
   float range[] = { 0, 256 };
@@ -165,7 +165,7 @@ double vpImageFilter::median(const cv::Mat &channel)
   for (int i = 0; i < histSize && med < 0.0; ++i) {
     bin += cvRound(hist.at<float>(i));
     if (bin > m && med < 0.0)
-      med = i;
+      med = static_cast<float>(i);
   }
 
   return med;
@@ -175,9 +175,10 @@ double vpImageFilter::median(const cv::Mat &channel)
  * \brief Calculates the median value of a single channel.
  * The algorithm is based on based on https://github.com/arnaudgelas/OpenCVExamples/blob/master/cvMat/Statistics/Median/Median.cpp
  * \param[in] Isrc : Gray-level image in ViSP format.
+ * \return Gray level image median value.
  * \sa \ref vpImageFilter::median() "vpImageFilter::median(const cv::Mat)"
  */
-double vpImageFilter::median(const vpImage<unsigned char> &Isrc)
+float vpImageFilter::median(const vpImage<unsigned char> &Isrc)
 {
   cv::Mat cv_I;
   vpImageConvert::convert(Isrc, cv_I);
@@ -188,17 +189,17 @@ double vpImageFilter::median(const vpImage<unsigned char> &Isrc)
  * \brief Calculates the median value of a vpRGBa image.
  * The result is ordered in RGB format.
  * \param[in] Isrc : RGB image in ViSP format. Alpha channel is ignored.
- * \return std::vector<double> meds such as meds[0] = red-channel-median meds[1] = green-channel-median
+ * \return std::vector<float> meds such as meds[0] = red-channel-median, meds[1] = green-channel-median
  * and meds[2] = blue-channel-median.
  * \sa \ref vpImageFilter::median() "vpImageFilter::median(const cv::Mat)"
  */
-std::vector<double> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
+std::vector<float> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
 {
   cv::Mat cv_I_bgr;
   vpImageConvert::convert(Isrc, cv_I_bgr);
   std::vector<cv::Mat> channels;
   cv::split(cv_I_bgr, channels);
-  std::vector<double> meds(3);
+  std::vector<float> meds(3);
   const int orderMeds[] = { 2, 1, 0 }; // To keep the order R, G, B
   const int orderCvChannels[] = { 0, 1, 2 }; // Because the order of the cv::Mat is B, G, R
   for (unsigned int i = 0; i < 3; i++) {
@@ -213,9 +214,9 @@ std::vector<double> vpImageFilter::median(const vpImage<vpRGBa> &Isrc)
  * \param[in] cv_I : The image, in cv format.
  * \param[in] p_cv_blur : If different from nullptr, must contain a blurred version of cv_I.
  * \param[out] lowerThresh : The lower threshold for the Canny edge filter.
- * \return double The upper Canny edge filter threshold.
+ * \return The upper Canny edge filter threshold.
  */
-double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, double &lowerThresh)
+float vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *p_cv_blur, float &lowerThresh)
 {
   cv::Mat cv_I_blur;
   if (p_cv_blur != nullptr) {
@@ -232,10 +233,10 @@ double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *
   cv::Mat cv_I_scaled_down;
   resize(cv_I_blur, cv_I_scaled_down, cv::Size(), scale_down, scale_down, cv::INTER_NEAREST);
 
-  double median_pix = vpImageFilter::median(cv_I_scaled_down);
-  double lower = std::max(0., 0.7 * median_pix);
-  double upper = std::min(255., 1.3 * median_pix);
-  upper = std::max(1., upper);
+  float median_pix = vpImageFilter::median(cv_I_scaled_down);
+  float lower = std::max(0.f, 0.7f * median_pix);
+  float upper = std::min(255.f, 1.3f * median_pix);
+  upper = std::max(1.f, upper);
   lowerThresh = lower;
   return upper;
 }
@@ -245,9 +246,9 @@ double vpImageFilter::computeCannyThreshold(const cv::Mat &cv_I, const cv::Mat *
  *
  * \param[in] I : The gray-scale image, in ViSP format.
  * \param[in] lowerThresh : Canny lower threshold.
- * \return double The upper Canny edge filter threshold.
+ * \return The upper Canny edge filter threshold.
  */
-double vpImageFilter::computeCannyThreshold(const vpImage<unsigned char> &I, double &lowerThresh)
+float vpImageFilter::computeCannyThreshold(const vpImage<unsigned char> &I, float &lowerThresh)
 {
   cv::Mat cv_I;
   vpImageConvert::convert(I, cv_I);
@@ -295,14 +296,14 @@ int main()
   \param apertureSobel : Size of the mask for the Sobel operator (odd number).
 */
 void vpImageFilter::canny(const vpImage<unsigned char> &Isrc, vpImage<unsigned char> &Ires,
-                          unsigned int gaussianFilterSize, double thresholdCanny, unsigned int apertureSobel)
+                          unsigned int gaussianFilterSize, float thresholdCanny, unsigned int apertureSobel)
 {
 #if defined(HAVE_OPENCV_IMGPROC)
   cv::Mat img_cvmat, cv_I_blur, edges_cvmat;
   vpImageConvert::convert(Isrc, img_cvmat);
   cv::GaussianBlur(img_cvmat, cv_I_blur, cv::Size((int)gaussianFilterSize, (int)gaussianFilterSize), 0, 0);
-  double upperCannyThresh = thresholdCanny;
-  double lowerCannyThresh = thresholdCanny / 3.;
+  float upperCannyThresh = thresholdCanny;
+  float lowerCannyThresh = thresholdCanny / 3.f;
   if (upperCannyThresh < 0) {
     upperCannyThresh = computeCannyThreshold(img_cvmat, &cv_I_blur, lowerCannyThresh);
   }
diff --git a/modules/core/test/image-with-dataset/testImageFilter.cpp b/modules/core/test/image-with-dataset/testImageFilter.cpp
index e6c2be967d..408144adee 100644
--- a/modules/core/test/image-with-dataset/testImageFilter.cpp
+++ b/modules/core/test/image-with-dataset/testImageFilter.cpp
@@ -552,8 +552,8 @@ int main(int argc, const char *argv[])
           I_median_rgba[r][c].B = 3 * (r * 3 + c);
         }
       }
-      std::vector<double> median_rgba = vpImageFilter::median(I_median_rgba);
-      std::vector<double> expected_median_rgba = { 4, 8, 12 };
+      std::vector<float> median_rgba = vpImageFilter::median(I_median_rgba);
+      std::vector<float> expected_median_rgba = { 4.f, 8.f, 12.f };
       for (unsigned int i = 0; i < 3; i++) {
         bool test_local = (median_rgba[i] == expected_median_rgba[i]);
         test &= test_local;
diff --git a/modules/gui/CMakeLists.txt b/modules/gui/CMakeLists.txt
index 10fe60c3ef..85483a04b5 100644
--- a/modules/gui/CMakeLists.txt
+++ b/modules/gui/CMakeLists.txt
@@ -43,6 +43,7 @@ if(USE_X11)
   list(APPEND opt_libs ${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})
diff --git a/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h b/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
index f549759318..b81a7a20db 100644
--- a/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
+++ b/modules/imgproc/include/visp3/imgproc/vpCircleHoughTransform.h
@@ -105,20 +105,20 @@ class VISP_EXPORT vpCircleHoughTransform
   public:
     vpCircleHoughTransformParameters()
       : m_gaussianKernelSize(5)
-      , m_gaussianStdev(1.)
+      , m_gaussianStdev(1.f)
       , m_sobelKernelSize(3)
-      , m_cannyThresh(-1)
+      , m_cannyThresh(-1.f)
       , m_edgeMapFilteringNbIter(1)
       , m_centerXlimits(std::pair<int, int>(std::numeric_limits<int>::min(), std::numeric_limits<int>::max()))
       , m_centerYlimits(std::pair<int, int>(std::numeric_limits<int>::min(), std::numeric_limits<int>::max()))
       , m_minRadius(0)
       , m_maxRadius(1000)
       , m_dilatationNbIter(1)
-      , m_centerThresh(50.)
-      , m_radiusRatioThresh(2.)
-      , m_circlePerfectness(0.9)
-      , m_centerMinDist(15.)
-      , m_mergingRadiusDiffThresh(1.5 * (float)m_centerMinDist)
+      , m_centerThresh(50.f)
+      , m_radiusRatioThresh(2.f)
+      , m_circlePerfectness(0.9f)
+      , m_centerMinDist(15.f)
+      , m_mergingRadiusDiffThresh(1.5f * m_centerMinDist)
     {
 
     }
@@ -532,7 +532,7 @@ class VISP_EXPORT vpCircleHoughTransform
    */
   inline void setCircleMinRadius(const float &circle_min_radius)
   {
-    m_algoParams.m_minRadius = circle_min_radius;
+    m_algoParams.m_minRadius = static_cast<unsigned int>(circle_min_radius);
   }
 
   /*!
@@ -541,7 +541,7 @@ class VISP_EXPORT vpCircleHoughTransform
    */
   inline void setCircleMaxRadius(const float &circle_max_radius)
   {
-    m_algoParams.m_maxRadius = circle_max_radius;
+    m_algoParams.m_maxRadius = static_cast<unsigned int>(circle_max_radius);
   }
 
   /*!
@@ -694,7 +694,7 @@ class VISP_EXPORT vpCircleHoughTransform
   /*!
    * Get circles min radius in pixels.
    */
-  inline float getCircleMinRadius() const
+  inline unsigned int getCircleMinRadius() const
   {
     return m_algoParams.m_minRadius;
   }
@@ -702,7 +702,7 @@ class VISP_EXPORT vpCircleHoughTransform
   /*!
    * Get circles max radius in pixels.
    */
-  inline float getCircleMaxRadius() const
+  inline unsigned int getCircleMaxRadius() const
   {
     return m_algoParams.m_maxRadius;
   }
diff --git a/modules/imgproc/src/vpCircleHoughTransform.cpp b/modules/imgproc/src/vpCircleHoughTransform.cpp
index adeda3a39b..c7291ca8d7 100644
--- a/modules/imgproc/src/vpCircleHoughTransform.cpp
+++ b/modules/imgproc/src/vpCircleHoughTransform.cpp
@@ -221,7 +221,7 @@ vpCircleHoughTransform::edgeDetection(const vpImage<unsigned char> &I)
 {
 #if defined(HAVE_OPENCV_IMGPROC)
   float cannyThresh = m_algoParams.m_cannyThresh;
-  double lowerThresh;
+  float lowerThresh;
   // Apply the Canny edge operator to compute the edge map
   // The canny method performs Gaussian blur and gradient computation
   if (m_algoParams.m_cannyThresh < 0.) {
@@ -293,7 +293,7 @@ vpCircleHoughTransform::computeCenterCandidates()
   int minimumXposition = std::max(m_algoParams.m_centerXlimits.first, -1 * (int)m_algoParams.m_maxRadius);
   int maximumXposition = std::min(m_algoParams.m_centerXlimits.second, (int)(m_algoParams.m_maxRadius + nbCols));
   minimumXposition = std::min(minimumXposition, maximumXposition - 1);
-  float minimumXpositionDouble = minimumXposition;
+  float minimumXpositionFloat = static_cast<float>(minimumXposition);
   int offsetX = minimumXposition;
   int accumulatorWidth = maximumXposition - minimumXposition + 1;
   if (accumulatorWidth <= 0) {
@@ -307,7 +307,7 @@ vpCircleHoughTransform::computeCenterCandidates()
   int minimumYposition = std::max(m_algoParams.m_centerYlimits.first, -1 * (int)m_algoParams.m_maxRadius);
   int maximumYposition = std::min(m_algoParams.m_centerYlimits.second, (int)(m_algoParams.m_maxRadius + nbRows));
   minimumYposition = std::min(minimumYposition, maximumYposition - 1);
-  float minimumYpositionDouble = minimumYposition;
+  float minimumYpositionFloat = static_cast<float>(minimumYposition);
   int offsetY = minimumYposition;
   int accumulatorHeight = maximumYposition - minimumYposition + 1;
   if (accumulatorHeight <= 0) {
@@ -338,7 +338,7 @@ vpCircleHoughTransform::computeCenterCandidates()
             float x1 = (float)c + (float)rad * sx;
             float y1 = (float)r + (float)rad * sy;
 
-            if (x1 < minimumXpositionDouble || y1 < minimumYpositionDouble) {
+            if (x1 < minimumXpositionFloat || y1 < minimumYpositionFloat) {
               continue; // If either value is lower than maxRadius, it means that the center is outside the search region.
             }
 
@@ -346,21 +346,21 @@ vpCircleHoughTransform::computeCenterCandidates()
             int y_low, y_high;
 
             if (x1 > 0.) {
-              x_low = std::floor(x1);
-              x_high = std::ceil(x1);
+              x_low = static_cast<int>(std::floor(x1));
+              x_high = static_cast<int>(std::ceil(x1));
             }
             else {
-              x_low = -1 * std::ceil(-1. * x1);
-              x_high = -1 * std::floor(-1. * x1);
+              x_low = -(static_cast<int>(std::ceil(-x1)));
+              x_high = -(static_cast<int>(std::floor(-x1)));
             }
 
             if (y1 > 0.) {
-              y_low = std::floor(y1);
-              y_high = std::ceil(y1);
+              y_low = static_cast<int>(std::floor(y1));
+              y_high = static_cast<int>(std::ceil(y1));
             }
             else {
-              y_low = -1 * std::ceil(-1. * y1);
-              y_high = -1 * std::floor(-1. * y1);
+              y_low = -(static_cast<int>(std::ceil(-1. * y1)));
+              y_high = -(static_cast<int>(std::floor(-1. * y1)));
             }
 
             auto updateAccumulator =
@@ -441,14 +441,14 @@ void
 vpCircleHoughTransform::computeCircleCandidates()
 {
   size_t nbCenterCandidates = m_centerCandidatesList.size();
-  unsigned int nbBins = (m_algoParams.m_maxRadius - m_algoParams.m_minRadius + 1)/ m_algoParams.m_centerMinDist;
+  unsigned int nbBins = static_cast<unsigned int>((m_algoParams.m_maxRadius - m_algoParams.m_minRadius + 1)/ m_algoParams.m_centerMinDist);
   nbBins = std::max((unsigned int)1, nbBins); // Avoid having 0 bins, which causes segfault
   std::vector<unsigned int> radiusAccumList; /*!< Radius accumulator for each center candidates.*/
   std::vector<float> radiusActualValueList; /*!< Vector that contains the actual distance between the edge points and the center candidates.*/
 
   unsigned int rmin2 = m_algoParams.m_minRadius * m_algoParams.m_minRadius;
-  unsigned int rmax2 = m_algoParams.m_maxRadius * m_algoParams.m_maxRadius;
-  int circlePerfectness2 = m_algoParams.m_circlePerfectness  * m_algoParams.m_circlePerfectness;
+  unsigned int rmax2 = static_cast<unsigned int>(m_algoParams.m_maxRadius * m_algoParams.m_maxRadius);
+  int circlePerfectness2 = static_cast<int>(m_algoParams.m_circlePerfectness * m_algoParams.m_circlePerfectness);
 
   for (size_t i = 0; i < nbCenterCandidates; i++) {
     std::pair<int, int> centerCandidate = m_centerCandidatesList[i];
@@ -469,12 +469,12 @@ vpCircleHoughTransform::computeCircleCandidates()
         float gy = m_dIy[edgePoint.first][edgePoint.second];
         float grad2 = gx * gx + gy * gy;
 
-        int scalProd = rx * gx + ry * gy;
-        int scalProd2 = scalProd * scalProd;
+        float scalProd = rx * gx + ry * gy;
+        float scalProd2 = scalProd * scalProd;
         if (scalProd2 >= circlePerfectness2 * r2 * grad2) {
           // Look for the Radius Candidate Bin RCB_k to which d_ij is "the closest" will have an additionnal vote
-          float r = std::sqrt(r2);
-          unsigned int r_bin = std::ceil((r - m_algoParams.m_minRadius)/ m_algoParams.m_centerMinDist);
+          float r = static_cast<float>(std::sqrt(r2));
+          unsigned int r_bin = static_cast<unsigned int>(std::ceil((r - m_algoParams.m_minRadius)/ m_algoParams.m_centerMinDist));
           r_bin = std::min(r_bin, nbBins - 1);
           radiusAccumList[r_bin]++;
           radiusActualValueList[r_bin] += r;
diff --git a/modules/tracker/me/include/visp3/me/vpMeNurbs.h b/modules/tracker/me/include/visp3/me/vpMeNurbs.h
index 3f6a7e5bb2..0ae91e008f 100644
--- a/modules/tracker/me/include/visp3/me/vpMeNurbs.h
+++ b/modules/tracker/me/include/visp3/me/vpMeNurbs.h
@@ -151,9 +151,9 @@ class VISP_EXPORT vpMeNurbs : public vpMeTracker
   //! search.
   bool enableCannyDetection;
   //! First canny threshold
-  double cannyTh1;
+  float cannyTh1;
   //! Second canny threshold
-  double cannyTh2;
+  float cannyTh2;
 
 public:
   vpMeNurbs();
@@ -181,7 +181,7 @@ class VISP_EXPORT vpMeNurbs : public vpMeTracker
     \param th1 : The first threshold;
     \param th2 : The second threshold;
   */
-  void setCannyThreshold(double th1, double th2)
+  void setCannyThreshold(float th1, float th2)
   {
     this->cannyTh1 = th1;
     this->cannyTh2 = th2;
diff --git a/modules/tracker/me/src/moving-edges/vpMeNurbs.cpp b/modules/tracker/me/src/moving-edges/vpMeNurbs.cpp
index 4bfacc7737..c000eb1587 100644
--- a/modules/tracker/me/src/moving-edges/vpMeNurbs.cpp
+++ b/modules/tracker/me/src/moving-edges/vpMeNurbs.cpp
@@ -216,7 +216,7 @@ vpMeNurbs::vpMeNurbs()
 */
 vpMeNurbs::vpMeNurbs(const vpMeNurbs &menurbs)
   : vpMeTracker(menurbs), nurbs(menurbs.nurbs), dist(0.), nbControlPoints(20), beginPtFound(0), endPtFound(0),
-  enableCannyDetection(false), cannyTh1(100.), cannyTh2(200.)
+  enableCannyDetection(false), cannyTh1(100.f), cannyTh2(200.f)
 {
   dist = menurbs.dist;
   nbControlPoints = menurbs.nbControlPoints;
@@ -547,8 +547,8 @@ void vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> &I)
     std::list<vpImagePoint> ip_edges_list;
     if (firstBorder != vpImagePoint(-1, -1)) {
       unsigned int dir;
-      double fi = firstBorder.get_i();
-      double fj = firstBorder.get_j();
+      double fi = static_cast<double>(firstBorder.get_i());
+      double fj = static_cast<double>(firstBorder.get_j());
       double w = Isub.getWidth() - 1;
       double h = Isub.getHeight() - 1;
       // if (firstBorder.get_i() == 0) dir = 4;
diff --git a/modules/vision/include/visp3/vision/vpPose.h b/modules/vision/include/visp3/vision/vpPose.h
index 928305a196..fd5287a4a9 100644
--- a/modules/vision/include/visp3/vision/vpPose.h
+++ b/modules/vision/include/visp3/vision/vpPose.h
@@ -50,7 +50,6 @@
 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
 #include <visp3/core/vpList.h>
 #endif
-#include <visp3/core/vpThread.h>
 
 #include <list>
 #include <math.h>
@@ -412,11 +411,11 @@ class VISP_EXPORT vpPose
       (void)ip_unused;
       if (pts.find(ip_id) == end(pts)) {
         throw(vpException(vpException::fatalError,
-          "Cannot compute pose with points and image points which do not have the same IDs"));
+                          "Cannot compute pose with points and image points which do not have the same IDs"));
       }
     }
 
-    std::vector<vpPoint> P{}, Q {};
+    std::vector<vpPoint> P {}, Q {};
     // The next line in C++17 produces a build error with Visual Studio 2017, that's why we
     // use rather C++11 to loop through std::map
     // for (auto [pt_id, pt] : pts) {
diff --git a/tutorial/detection/dnn/CMakeLists.txt b/tutorial/detection/dnn/CMakeLists.txt
index 2ad0caa9ef..d726f78737 100644
--- a/tutorial/detection/dnn/CMakeLists.txt
+++ b/tutorial/detection/dnn/CMakeLists.txt
@@ -36,5 +36,5 @@ foreach(data ${tutorial_data})
 endforeach()
 
 if(USE_TENSORT)
-  vp_set_source_file_compile_flag(tutorial-dnn-tensorrt-live.cpp -Wno-deprecated-declarations)
+  visp_set_source_file_compile_flag(tutorial-dnn-tensorrt-live.cpp -Wno-deprecated-declarations)
 endif()
diff --git a/tutorial/image/tutorial-draw-circle.cpp b/tutorial/image/tutorial-draw-circle.cpp
index 9c96ce2762..061d59e14f 100644
--- a/tutorial/image/tutorial-draw-circle.cpp
+++ b/tutorial/image/tutorial-draw-circle.cpp
@@ -20,10 +20,10 @@ int main()
       vpDisplay::setTitle(I, "Gray image");
       vpDisplay::display(I);
       //! [Circle display]
-      vpImageCircle circle(vpImagePoint(I.getHeight()/3, I.getWidth()/3), I.getWidth()/10);
+      vpImageCircle circle(vpImagePoint(I.getHeight()/3, I.getWidth()/3), I.getWidth()/10.f);
       // Displays in overlay a red circle on the image
       // i.e. does not modify I
-      vpDisplay::displayCircle(I, circle, vpColor::red, 2);
+      vpDisplay::displayCircle(I, circle, vpColor::red, false, 2);
       //! [Circle display]
       vpDisplay::flush(I);
       vpDisplay::setTitle(I, "Overlay");
@@ -32,7 +32,7 @@ int main()
       vpDisplay::getClick(I);
 
       //! [Circle draw uchar]
-      vpImageCircle circle2(vpImagePoint(I.getHeight()/3, 2*I.getWidth()/3), I.getWidth()/10);
+      vpImageCircle circle2(vpImagePoint(I.getHeight()/3, 2*I.getWidth()/3), I.getWidth()/10.f);
       // Draws a white circle on the image
       // i.e. modifies I
       vpImageDraw::drawCircle(I, circle2, 255, 2);
@@ -47,7 +47,7 @@ int main()
 
     {
       //! [Circle draw color]
-      vpImageCircle circle3(vpImagePoint(2*I.getHeight()/3, I.getWidth()/2), I.getWidth()/10);
+      vpImageCircle circle3(vpImagePoint(2*I.getHeight()/3, I.getWidth()/2), I.getWidth()/10.f);
       // Draws a blue circle on the image
       // i.e. modifies I_rgb
       vpImageDraw::drawCircle(I_rgb, circle3, vpColor::blue, 2);
diff --git a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
index 36144610ab..94691b70f3 100644
--- a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
+++ b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
@@ -72,8 +72,8 @@ std::string getAvailableTypeInputImage(const std::string &prefix = "<", const st
 
 //! [Draw disks]
 void
-drawDisk(vpImage<unsigned char> &I, const vpImagePoint &center, const unsigned int &radius
-  , const unsigned int &borderColor, const unsigned int &fillingColor, const unsigned int &thickness, const unsigned int &bckg)
+drawDisk(vpImage<unsigned char> &I, const vpImagePoint &center, const unsigned int &radius,
+         const unsigned int &borderColor, const unsigned int &fillingColor, const unsigned int &thickness, const unsigned int &bckg)
   //! [Draw disks]
 {
   vpImageDraw::drawCircle(I, center, radius, borderColor, thickness);
@@ -146,13 +146,13 @@ generateImage(const TypeInputImage &inputType)
   }
 
   drawDisk(I_src, vpImagePoint(top, left), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(top, left), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(top, left), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(bottom, left), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(bottom, left), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(bottom, left), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(top, right), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(top, right), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(top, right), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
   drawDisk(I_src, vpImagePoint(bottom, right), circleRadius, circleColor, circleColor, circleThickness, bckg);
-  drawDisk(I_src, vpImagePoint(bottom, right), circleRadius * 0.50, circleColor / 2, circleColor / 2, circleThickness, circleColor);
+  drawDisk(I_src, vpImagePoint(bottom, right), circleRadius / 2, circleColor / 2, circleColor / 2, circleThickness, circleColor);
 
   std::cout << "Done drawing" << std::endl << std::flush;
   return I_src;
@@ -196,12 +196,12 @@ int main(int argc, char **argv)
   const std::string def_jsonFilePath = std::string("");
   const int def_nbCirclesToDetect = -1;
   const int def_gaussianKernelSize = 5;
-  const double def_gaussianSigma = 1.;
+  const float def_gaussianSigma = 1.f;
   const int def_sobelKernelSize = 3;
 #ifdef HAVE_OPENCV_IMGPROC
-  const double def_cannyThresh = 150.;
+  const float def_cannyThresh = 150.f;
 #else
-  const double def_cannyThresh = 25.;
+  const float def_cannyThresh = 25.f;
 #endif
   const int def_nbEdgeFilteringIter = 2;
   const std::pair<int, int> def_centerXlimits = std::pair<int, int>(0, 640);
@@ -209,31 +209,30 @@ int main(int argc, char **argv)
   const unsigned int def_minRadius = 0;
   const unsigned int def_maxRadius = 1000;
   const int def_dilatationRepet = 1;
-  const double def_centerThresh = -1.;
-  const double def_radiusThreshRatio = -1.;
-  const double def_circlePerfectness = 0.85;
-  const double def_centerDistanceThresh = 15;
-  const double def_radiusDifferenceThresh = 15;
-
+  const float def_centerThresh = -1.f;
+  const float def_radiusThreshRatio = -1.f;
+  const float def_circlePerfectness = 0.85f;
+  const float def_centerDistanceThresh = 15.f;
+  const float def_radiusDifferenceThresh = 15.f;
 
   std::string opt_input(def_input);
   std::string opt_jsonFilePath = def_jsonFilePath;
   int opt_nbCirclesToDetect = def_nbCirclesToDetect;
   int opt_gaussianKernelSize = def_gaussianKernelSize;
-  double opt_gaussianSigma = def_gaussianSigma;
+  float opt_gaussianSigma = def_gaussianSigma;
   int opt_sobelKernelSize = def_sobelKernelSize;
-  double opt_cannyThresh = def_cannyThresh;
+  float opt_cannyThresh = def_cannyThresh;
   int opt_nbEdgeFilteringIter = def_nbEdgeFilteringIter;
   std::pair<int, int> opt_centerXlimits = def_centerXlimits;
   std::pair<int, int> opt_centerYlimits = def_centerYlimits;
   unsigned int opt_minRadius = def_minRadius;
   unsigned int opt_maxRadius = def_maxRadius;
   int opt_dilatationRepet = def_dilatationRepet;
-  double opt_centerThresh = def_centerThresh;
-  int opt_radiusThreshRatio = def_radiusThreshRatio;
-  double opt_circlePerfectness = def_circlePerfectness;
-  double opt_centerDistanceThresh = def_centerDistanceThresh;
-  double opt_radiusDifferenceThresh = def_radiusDifferenceThresh;
+  float opt_centerThresh = def_centerThresh;
+  float opt_radiusThreshRatio = def_radiusThreshRatio;
+  float opt_circlePerfectness = def_circlePerfectness;
+  float opt_centerDistanceThresh = def_centerDistanceThresh;
+  float opt_radiusDifferenceThresh = def_radiusDifferenceThresh;
   bool opt_displayCanny = false;
 
   for (int i = 1; i < argc; i++) {
@@ -257,7 +256,7 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--gaussian-sigma" && i + 1 < argc) {
-      opt_gaussianSigma = atof(argv[i + 1]);
+      opt_gaussianSigma = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--sobel-kernel" && i + 1 < argc) {
@@ -265,7 +264,7 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--canny-thresh" && i + 1 < argc) {
-      opt_cannyThresh = atof(argv[i + 1]);
+      opt_cannyThresh = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--edge-filter" && i + 1 < argc) {
@@ -282,7 +281,7 @@ int main(int argc, char **argv)
       i += 2;
     }
     else if (argName == "--center-thresh" && i + 1 < argc) {
-      opt_centerThresh = atof(argv[i + 1]);
+      opt_centerThresh = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--center-xlim" && i + 2 < argc) {
@@ -294,16 +293,16 @@ int main(int argc, char **argv)
       i += 2;
     }
     else if (argName == "--radius-thresh" && i + 1 < argc) {
-      opt_radiusThreshRatio = atof(argv[i + 1]);
+      opt_radiusThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--circle-perfectness" && i + 1 < argc) {
-      opt_circlePerfectness = atof(argv[i + 1]);
+      opt_circlePerfectness = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--merging-thresh" && i + 2 < argc) {
-      opt_centerDistanceThresh = atof(argv[i + 1]);
-      opt_radiusDifferenceThresh = atof(argv[i + 2]);
+      opt_centerDistanceThresh = static_cast<float>(atof(argv[i + 1]));
+      opt_radiusDifferenceThresh = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if (argName == "--display-edge-map") {