Merge pull request #1348 from fspindle/fix_various_warnings_ubuntu12.04

Fix various warnings ubuntu12.04

CMakeLists.txt

@@ -628,6 +628,23 @@ 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 +659,7 @@ 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 +711,14 @@ 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
 # ----------------------------------------------------------------------------
@@ -1732,7 +1750,7 @@ 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("")

ChangeLog.txt

@@ -18,6 +18,7 @@ ViSP 3.x.x (Version in development)
     . End of supporting c++98 standard. As a consequence, ViSP is no more compatible with Ubuntu 12.04
     . vpDisplay::displayCharString() is marked deprecated. Use vpDisplay::displayText() instead
   - New features and improvements
+    . OpenCV 2.4.8 is the minimal supported version
     . Introduce applications in apps folder, a collection of useful tools that
       have a dependency to the install target
     . Bump minimal c++ standard to c++11
@@ -30,6 +31,8 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-rgbd-Blender.html
     . New tutorial: Installation from prebuilt Conda packages for Linux / OSX / Windows
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-conda-package.html
+    . New tutorial: Using Statistical Process Control to monitor your signal
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-spc.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17
@@ -40,6 +43,8 @@ ViSP 3.x.x (Version in development)
     . [#1279] Issue in vpPoseVector json serialization
     . [#1296] Unable to parse camera parameters with vpXmlParserCamera::parse() when camera name is empty
     . [#1307] Cannot set cxx standard when configuring for Visual Studio
+    . [#1320] Broken links in the documentation
+    . [#1341] SVD computation fails with Lapack when m < n
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

cmake/AddExtraCompilationFlags.cmake

@@ -117,7 +117,8 @@ if(USE_OPENMP)
   add_extra_compiler_option("${OpenMP_CXX_FLAGS}")
 endif()
 
-if(USE_THREADS)
+if(USE_THREADS OR USE_PTHREAD)
+  # Condider the case of Apriltags on Unix that needs pthread
   if(THREADS_HAVE_PTHREAD_ARG)
     add_extra_compiler_option("-pthread")
   endif()

doc/tutorial/tracking/tutorial-tracking-keypoint.dox

@@ -35,7 +35,7 @@ It can also be run with [--init-by-click] option. In that case, the user can sel
 $ ./tutorial-klt-tracker --init-by-click
 \endcode
 
-Here is the line by line explanation of the source : 
+Here is the line by line explanation of the source :
 
 \snippet tutorial-klt-tracker.cpp Include
 
@@ -60,19 +60,19 @@ This image \c I is then converted into \c cvI, an OpenCV image format that will
 
 \snippet tutorial-klt-tracker.cpp Convert to OpenCV image
 
-We also create a window associated to \c I, at position (0,0) in the screen, with "Klt tracking" as title, and display image \c I. 
+We also create a window associated to \c I, at position (0,0) in the screen, with "Klt tracking" as title, and display image \c I.
 
 \snippet tutorial-klt-tracker.cpp Init display
- 
+
 From now we have to create an instance of the tracker and set the parameters of the Harris keypoint detector.
 
 \snippet tutorial-klt-tracker.cpp Create tracker
- 
+
 The tracker is then initialized on \c cvI image.
 
 \snippet tutorial-klt-tracker.cpp Init tracker
 
-With the next line the user can know how many keypoints were detected automatically or selected by the user during initialization. 
+With the next line the user can know how many keypoints were detected automatically or selected by the user during initialization.
 
 \snippet tutorial-klt-tracker.cpp How many features
 
@@ -92,7 +92,7 @@ We are waiting for a mouse click event on image \c I to end the program.
 
 \section tracking_keypoint_klt_init KLT tracker with re-initialisation
 
-Once initialized, the number of tracked features decreases over the time. Depending on a criteria, it may sense to detect and track new features online. A possible criteria is for example to compare the number of currently tracked features to the initial number of detected features. If less than a given percentage of features are tracked, you can start a new detection. 
+Once initialized, the number of tracked features decreases over the time. Depending on a criteria, it may sense to detect and track new features online. A possible criteria is for example to compare the number of currently tracked features to the initial number of detected features. If less than a given percentage of features are tracked, you can start a new detection.
 
 To get the number of detected or tracked features just call:
 
@@ -107,10 +107,10 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
 \code
       if (reader.getFrameIndex() == 25) {
         std::cout << "Re initialize the tracker" << std::endl;
-#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
+
         // Save of previous features
         std::vector<cv::Point2f> prev_features = tracker.getFeatures();
- 
+
         // Start a new feature detection
         tracker.initTracking(cvI);
         std::vector<cv::Point2f> new_features = tracker.getFeatures();
@@ -122,7 +122,7 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
           // Test if a previous feature is not redundant with one of the newly detected
           is_redundant = false;
           for (size_t j=0; j < new_features.size(); j++){
-            distance = sqrt(vpMath::sqr(new_features[j].x-prev_features[i].x) 
+            distance = sqrt(vpMath::sqr(new_features[j].x-prev_features[i].x)
                        + vpMath::sqr(new_features[j].y-prev_features[i].y));
             if(distance < minDistance_){
               is_redundant = true;
@@ -135,9 +135,6 @@ The example tutorial-klt-tracker-with-reinit.cpp shows how to do that. In that e
           //std::cout << "Add previous feature with index " << i << std::endl;
           tracker.addFeature(prev_features[i]);
         }
-#else
-      ...
-#endif
       }
       // Track the features
       tracker.track(cvI);

example/CMakeLists.txt

@@ -71,7 +71,7 @@ visp_add_subdirectory(direct-visual-servoing   REQUIRED_DEPS visp_core visp_robo
 visp_add_subdirectory(homography               REQUIRED_DEPS visp_core visp_vision visp_io)
 visp_add_subdirectory(image                    REQUIRED_DEPS visp_core visp_io)
 visp_add_subdirectory(manual                   REQUIRED_DEPS visp_core visp_sensor visp_vs visp_robot visp_ar visp_vision visp_io visp_gui)
-visp_add_subdirectory(math                     REQUIRED_DEPS visp_core visp_vision visp_io)
+visp_add_subdirectory(math                     REQUIRED_DEPS visp_core visp_io)
 visp_add_subdirectory(moments/image            REQUIRED_DEPS visp_core visp_vs visp_robot visp_gui)
 visp_add_subdirectory(moments/points           REQUIRED_DEPS visp_core visp_vs visp_robot visp_gui)
 visp_add_subdirectory(moments/polygon          REQUIRED_DEPS visp_core visp_vs visp_robot visp_gui)

example/math/quadprog.cpp

@@ -105,7 +105,7 @@ int main(int argc, char **argv)
   r = randV(o) * 5;
   C = randM(p, n) * 5;
 
-  // make sure Cx <= d has a solution within Ax = b
+    // make sure Cx <= d has a solution within Ax = b
   vpColVector x = A.solveBySVD(b);
   d = C * x;
   for (int i = 0; i < p; ++i)

example/math/quadprog_eq.cpp

@@ -105,6 +105,7 @@ int main(int argc, char **argv)
   C = randM(p, n) * 5;
 
   // make sure Cx <= d has a solution within Ax = b
+
   vpColVector x = A.solveBySVD(b);
   d = C * x;
   for (int i = 0; i < p; ++i)

modules/core/include/visp3/core/vpArray2D.h

@@ -320,15 +320,28 @@ template <class Type> class vpArray2D
 
       // Reallocation of this->data array
       this->dsize = nrows * ncols;
-      this->data = (Type *)realloc(this->data, this->dsize * sizeof(Type));
+      Type *tmp_data = reinterpret_cast<Type *>(realloc(this->data, this->dsize * sizeof(Type)));
+      if (tmp_data) {
+        this->data = tmp_data;
+      }
+      else {
+        this->data = nullptr;
+      }
+
       if ((nullptr == this->data) && (0 != this->dsize)) {
         if (copyTmp != nullptr) {
           delete[] copyTmp;
         }
         throw(vpException(vpException::memoryAllocationError, "Memory allocation error when allocating 2D array data"));
       }
 
-      this->rowPtrs = (Type **)realloc(this->rowPtrs, nrows * sizeof(Type *));
+      Type **tmp_rowPtrs = reinterpret_cast<Type **>(realloc(this->rowPtrs, nrows * sizeof(Type *)));
+      if (tmp_rowPtrs) {
+        this->rowPtrs = tmp_rowPtrs;
+      }
+      else {
+        this->rowPtrs = nullptr;
+      }
       if ((nullptr == this->rowPtrs) && (0 != this->dsize)) {
         if (copyTmp != nullptr) {
           delete[] copyTmp;
@@ -389,11 +402,18 @@ template <class Type> class vpArray2D
 
     rowNum = nrows;
     colNum = ncols;
-    rowPtrs = reinterpret_cast<Type **>(realloc(rowPtrs, nrows * sizeof(Type *)));
-    // Update rowPtrs
-    Type **t_ = rowPtrs;
-    for (unsigned int i = 0; i < dsize; i += ncols) {
-      *t_++ = data + i;
+    if (rowPtrs) {
+      Type **tmp = reinterpret_cast<Type **>(realloc(rowPtrs, nrows * sizeof(Type *)));
+      if (tmp) {
+        this->rowPtrs = tmp;
+      }
+    }
+    if (rowPtrs) {
+      // Update rowPtrs
+      Type **t_ = rowPtrs;
+      for (unsigned int i = 0; i < dsize; i += ncols) {
+        *t_++ = data + i;
+      }
     }
   }
 
@@ -458,8 +478,12 @@ template <class Type> class vpArray2D
   vpArray2D<Type> &operator=(vpArray2D<Type> &&other) noexcept
   {
     if (this != &other) {
-      free(data);
-      free(rowPtrs);
+      if (data) {
+        free(data);
+      }
+      if (rowPtrs) {
+        free(rowPtrs);
+      }
 
       rowNum = other.rowNum;
       colNum = other.colNum;

modules/core/include/visp3/core/vpHinkley.h

@@ -43,6 +43,7 @@
 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
 /*!
   \class vpHinkley
+  \deprecated This class is deprecated. You should rather use vpStatisticalTestHinkley.
 
   \ingroup group_core_math_tools
   \brief This class implements the Hinkley's cumulative sum test.
@@ -89,7 +90,7 @@
   N_{k^{'}} = 0 \f$.
 
 */
-class vp_deprecated vpHinkley
+class VISP_EXPORT vpHinkley
 {
 public:
   /*! \enum vpHinkleyJumpType
@@ -103,9 +104,9 @@ class vp_deprecated vpHinkley
   } vpHinkleyJumpType;
 
 public:
-  vpHinkley();
+  vp_deprecated vpHinkley();
   virtual ~vpHinkley();
-  vpHinkley(double alpha, double delta);
+  vp_deprecated vpHinkley(double alpha, double delta);
 
   void init();
   void init(double alpha, double delta);

modules/core/include/visp3/core/vpImage.h

@@ -844,7 +844,9 @@ vpImage<Type>::vpImage(const vpImage<Type> &I)
   : bitmap(nullptr), display(nullptr), npixels(0), width(0), height(0), row(nullptr), hasOwnership(true)
 {
   resize(I.getHeight(), I.getWidth());
-  memcpy(static_cast<void *>(bitmap), static_cast<void *>(I.bitmap), I.npixels * sizeof(Type));
+  if (bitmap) {
+    memcpy(static_cast<void *>(bitmap), static_cast<void *>(I.bitmap), I.npixels * sizeof(Type));
+  }
 }
 
 #if ((__cplusplus >= 201103L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201103L))) // Check if cxx11 or higher

modules/core/include/visp3/core/vpImageConvert.h

@@ -49,7 +49,7 @@
 #include <visp3/core/vpRGBa.h>
 
 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
-#include <opencv2/imgproc.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/imgproc/types_c.h>
 #endif
 

modules/core/include/visp3/core/vpImageFilter.h

@@ -88,7 +88,7 @@ class VISP_EXPORT vpImageFilter
     }
     else {
       // Need to reset the image because some points will not be computed
-      I.resize(height, width, static_cast<ImageType>(0.));
+      I.resize(height, width, static_cast<ImageType>(0));
     }
   }
 
@@ -227,7 +227,7 @@ class VISP_EXPORT vpImageFilter
       cv::Mat cv_I, cv_dIx, cv_dIy;
       vpImageConvert::convert(I, cv_I);
       computePartialDerivatives(cv_I, cv_dIx, cv_dIy, computeDx, computeDy, normalize, gaussianKernelSize,
-                                gaussianStdev, apertureGradient, filteringType);
+                                static_cast<float>(gaussianStdev), apertureGradient, filteringType);
       if (computeDx) {
         vpImageConvert::convert(cv_dIx, dIx);
       }
@@ -796,9 +796,9 @@ class VISP_EXPORT vpImageFilter
     FilterType result = static_cast<FilterType>(0.);
 
     for (unsigned int i = 1; i <= stop; ++i) {
-      result += filter[i] * static_cast<double>(I[r][c + i] + I[r][c - i]);
+      result += filter[i] * static_cast<FilterType>(I[r][c + i] + I[r][c - i]);
     }
-    return result + filter[0] * static_cast<double>(I[r][c]);
+    return result + filter[0] * static_cast<FilterType>(I[r][c]);
   }
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS

modules/core/include/visp3/core/vpImageTools.h

@@ -57,6 +57,7 @@
 #include <iostream>
 #include <math.h>
 #include <string.h>
+#include <cmath>
 
 #if defined(_OPENMP)
 #include <omp.h>
@@ -1113,12 +1114,12 @@ void vpImageTools::resize(const vpImage<Type> &I, vpImage<Type> &Ires, const vpI
 #endif
   for (int i = 0; i < static_cast<int>(Ires.getHeight()); i++) {
     const float v = (i + half) * scaleY - half;
-    const int v0 = static_cast<int>(v);
+    const float v0 = std::floor(v);
     const float yFrac = v - v0;
 
     for (unsigned int j = 0; j < Ires.getWidth(); j++) {
       const float u = (j + half) * scaleX - half;
-      const int u0 = static_cast<int>(u);
+      const float u0 = std::floor(u);
       const float xFrac = u - u0;
 
       if (method == INTERPOLATION_NEAREST) {

modules/core/include/visp3/core/vpMunkres.h

@@ -314,8 +314,8 @@ inline vpMunkres::STEP_T vpMunkres::stepSix(std::vector<std::vector<Type> > &cos
 template <typename Type>
 inline std::vector<std::pair<unsigned int, unsigned int> > vpMunkres::run(std::vector<std::vector<Type> > costs)
 {
-  const auto original_row_size = costs.size();
-  const auto original_col_size = costs.front().size();
+  const auto original_row_size = static_cast<Type>(costs.size());
+  const auto original_col_size = static_cast<Type>(costs.front().size());
   const auto sq_size = std::max<Type>(original_row_size, original_col_size);
 
   auto mask = std::vector<std::vector<vpMunkres::ZERO_T> >(