Merge pull request #1233 from fspindle/fix_various_next_release

Fix various for next release

.vscode/settings.json

@@ -126,6 +126,6 @@
   "C_Cpp.formatting": "vcFormat",
   "C_Cpp.vcFormat.space.aroundBinaryOperator": "ignore",
   "editor.comments.insertSpace": true,
-  "C_Cpp.vcFormat.indent.preserveComments": false,
+  "C_Cpp.vcFormat.indent.preserveComments": true,
   "C_Cpp.doxygen.generatedStyle": "/*!"
 }

README.md

@@ -1,7 +1,7 @@
 <h1>ViSP: Open source Visual Servoing Platform</h1>
 
 [![Github Releases](https://img.shields.io/github/release/lagadic/visp.svg)](https://github.com/lagadic/visp/releases)
-[![License](https://img.shields.io/badge/License-GPLv2-bright)](https://opensource.org/licenses/GPL-2.0)
+[![License](https://eddelbuettel.github.io/badges/GPL2+.svg)](https://opensource.org/license/gpl-2-0/)
 
 Platform | Build Status |
 -------- | ------------ |

cmake/FindMyOpenCV.cmake

@@ -57,7 +57,7 @@ macro(vp_get_opencv_version_from_hpp FILENAME DEFINE VAR)
       set(${__var} 0)
     endif()
   else()
-    message("Warning: Cannot retrive OpenCV version from non existing file ${FILENAME}. This may produce build issues.")
+    message("Warning: Cannot retrieve OpenCV version from non existing file ${FILENAME}. This may produce build issues.")
     set(${__var} 0)
   endif()
 endmacro()
@@ -201,4 +201,3 @@ if(CMAKE_TOOLCHAIN_FILE AND I_AM_A_ROBOT)
     endforeach()
   endif()
 endif()
-

cmake/FindWS2_32.cmake

@@ -64,7 +64,6 @@ if(WIN32 AND NOT CYGWIN)
     set(WS2_32_LIBNAME "ws2_32.lib")
     check_library_exists(${WS2_32_LIBNAME} getch "" HAVE_LIBWS2_32) # for inet_ntoa() and socket functionalities
     if(HAVE_LIBWS2_32)
-      message("-----------> ${WS2_32_LIBNAME} is found")
       set(WS2_32_LIBRARY ${WS2_32_LIBNAME})
       set(WS2_32_FOUND TRUE)
     else()

cmake/templates/VISPConfig.root-WIN32.cmake.in

@@ -64,9 +64,57 @@
 #     include(${VISP_USE_FILE})
 #   endif()
 #
-#
 #############################################################################
 
+if(NOT DEFINED VISP_STATIC)
+  # look for global setting
+  if (NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
+    set(VISP_STATIC OFF)
+  else()
+    set(VISP_STATIC ON)
+  endif()
+endif()
+
+function(check_one_config RES)
+  set($ { RES } "" PARENT_SCOPE)
+  if (NOT VISP_RUNTIME OR NOT VISP_ARCH)
+    return()
+  endif()
+  set(candidates)
+  if (VISP_STATIC)
+    list(APPEND candidates "${VISP_ARCH}/${VISP_RUNTIME}/staticlib")
+  endif()
+  list(APPEND candidates "${VISP_ARCH}/${VISP_RUNTIME}/lib")
+  foreach(c $ { candidates })
+    set(p "${VISP_CONFIG_PATH}/${c}")
+    if (EXISTS "${p}/VISPConfig.cmake")
+      set($ { RES } "${p}" PARENT_SCOPE)
+      return()
+    endif()
+  endforeach()
+endfunction()
+
+get_filename_component(VISP_CONFIG_PATH "${CMAKE_CURRENT_LIST_FILE}" DIRECTORY)
+
+function(check_one_config RES)
+  set(${RES} "" PARENT_SCOPE)
+  if(NOT VISP_RUNTIME OR NOT VISP_ARCH)
+    return()
+  endif()
+  set(candidates)
+  if(VISP_STATIC)
+    list(APPEND candidates "${VISP_ARCH}/${VISP_RUNTIME}/staticlib")
+  endif()
+  list(APPEND candidates "${VISP_ARCH}/${VISP_RUNTIME}/lib")
+  foreach(c ${candidates})
+    set(p "${VISP_CONFIG_PATH}/${c}")
+    if(EXISTS "${p}/VISPConfig.cmake")
+      set(${RES} "${p}" PARENT_SCOPE)
+      return()
+    endif()
+  endforeach()
+endfunction()
+
 # similar code exist in VISPDetectPlatform.cmake
 if(DEFINED VISP_ARCH AND DEFINED VISP_RUNTIME)
   # custom overridden values
@@ -92,10 +140,34 @@ elseif(MSVC)
     set(VISP_RUNTIME vc14)
   elseif(MSVC_VERSION MATCHES "^191[0-9]$")
     set(VISP_RUNTIME vc15)
+    check_one_config(has_VS2017)
+    if(NOT has_VS2017)
+      set(VISP_RUNTIME vc14) # selecting previous compatible runtime version
+    endif()
   elseif(MSVC_VERSION MATCHES "^192[0-9]$")
     set(VISP_RUNTIME vc16)
+    check_one_config(has_VS2019)
+    if(NOT has_VS2019)
+      set(VISP_RUNTIME vc15) # selecting previous compatible runtime version
+      check_one_config(has_VS2017)
+      if(NOT has_VS2017)
+        set(VISP_RUNTIME vc14) # selecting previous compatible runtime version
+      endif()
+    endif()
   elseif(MSVC_VERSION MATCHES "^193[0-9]$")
     set(VISP_RUNTIME vc17)
+    check_one_config(has_VS2022)
+    if(NOT has_VS2022)
+     set(VISP_RUNTIME vc16)
+     check_one_config(has_VS2019)
+     if(NOT has_VS2019)
+       set(VISP_RUNTIME vc15) # selecting previous compatible runtime version
+       check_one_config(has_VS2017)
+       if(NOT has_VS2017)
+         set(VISP_RUNTIME vc14) # selecting previous compatible runtime version
+       endif()
+     endif()
+    endif()
   else()
     message(WARNING "ViSP does not recognize MSVC_VERSION \"${MSVC_VERSION}\". Cannot set VISP_RUNTIME")
   endif()
@@ -109,33 +181,17 @@ elseif(MINGW)
   endif()
 endif()
 
-if(CMAKE_VERSION VERSION_GREATER 2.6.2)
-  unset(VISP_CONFIG_PATH CACHE)
-endif()
+check_one_config(VISP_LIB_PATH)
 
 if(NOT VISP_FIND_QUIETLY)
   message(STATUS "ViSP ARCH: ${VISP_ARCH}")
   message(STATUS "ViSP RUNTIME: ${VISP_RUNTIME}")
-endif()
-
-get_filename_component(VISP_CONFIG_PATH "${CMAKE_CURRENT_LIST_FILE}" PATH CACHE)
-if(VISP_RUNTIME AND VISP_ARCH)
-  if(NOT DEFINED VISP_STATIC AND EXISTS "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/lib/VISPConfig.cmake")
-    set(VISP_LIB_PATH "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/lib")
-  elseif(NOT DEFINED VISP_STATIC AND EXISTS "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/staticlib/VISPConfig.cmake")
-    set(VISP_LIB_PATH "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/staticlib")
-  elseif(VISP_STATIC AND EXISTS "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/staticlib/VISPConfig.cmake")
-    set(VISP_LIB_PATH "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/staticlib")
-  elseif(VISP_STATIC AND EXISTS "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/lib/VISPConfig.cmake")
-    set(VISP_LIB_PATH "${VISP_CONFIG_PATH}/${VISP_ARCH}/${VISP_RUNTIME}/lib")
-  endif()
+  message(STATUS "ViSP STATIC: ${VISP_STATIC}")
 endif()
 
 if(VISP_LIB_PATH AND EXISTS "${VISP_LIB_PATH}/VISPConfig.cmake")
   include("${VISP_LIB_PATH}/VISPConfig.cmake")
 
-  set(VISP_FOUND TRUE CACHE BOOL "" FORCE)
-
   if(NOT VISP_FIND_QUIETLY)
     message(STATUS "Found VISP ${VISP_VERSION} in ${VISP_LIB_PATH}")
     if(NOT VISP_LIB_PATH MATCHES "/staticlib")
@@ -151,5 +207,5 @@ else()
 You should manually point CMake variable VISP_DIR to your build of ViSP library."
     )
   endif()
-  set(VISP_FOUND FALSE CACHE BOOL "" FORCE)
+  set(VISP_FOUND FALSE)
 endif()

modules/core/include/visp3/core/vpCannyEdgeDetection.h

@@ -261,6 +261,8 @@ class VISP_EXPORT vpCannyEdgeDetection
    * linked somehow to a strong edge point.
    *
    * \param[in] lowerThresh : The lower threshold: each point whose gradient is below this threshold is discarded.
+   * When lower threshold value is negative, Canny recommendation is applied to have the lower threshold 3 times lower
+   * than the upper threshold.
    * \param[in] upperThresh : The upper threshold: each point whose gradient is greater than this threshold is
    * said to be a strong edge point and is kept.
    */

modules/core/include/visp3/core/vpMatrix.h

@@ -573,7 +573,7 @@ vpMatrix M(R);
   /** @name Eigen values  */
 
   //@{
-  // compute the eigen values using Lapack
+  // Compute the eigen values using Lapack.
   vpColVector eigenValues() const;
   void eigenValues(vpColVector &evalue, vpMatrix &evector) const;
   //@}

modules/core/src/math/matrix/vpColVector.cpp

@@ -1492,9 +1492,9 @@ double vpColVector::sumSquare() const { return SimdVectorSumSquare(data, rowNum)
 
 
 /*!
-  Compute and return the Fronebius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
+  Compute and return the Frobenius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
 
-  \return The Fronebius norm if the vector is initialized, 0 otherwise.
+  \return The Frobenius norm if the vector is initialized, 0 otherwise.
 
   \sa infinityNorm()
 
@@ -1746,7 +1746,7 @@ void vpColVector::insert(const vpColVector &v, unsigned int r, unsigned int c)
 /*!
   \deprecated This function is deprecated. You should rather use frobeniusNorm().
 
-  Compute and return the Euclidean norm also called Fronebius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
+  Compute and return the Euclidean norm also called Frobenius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
 
   \return The Euclidean norm if the vector is initialized, 0 otherwise.
 

modules/core/src/math/matrix/vpRowVector.cpp

@@ -1087,9 +1087,9 @@ double vpRowVector::sumSquare() const
 }
 
 /*!
-  Compute and return the Fronebius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
+  Compute and return the Frobenius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
 
-  \return The Fronebius norm if the vector is initialized, 0 otherwise.
+  \return The Frobenius norm if the vector is initialized, 0 otherwise.
 */
 double vpRowVector::frobeniusNorm() const
 {
@@ -1102,7 +1102,7 @@ double vpRowVector::frobeniusNorm() const
 /*!
   \deprecated This function is deprecated. You should rather use frobeniusNorm().
 
-  Compute and return the Euclidean norm also called Fronebius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
+  Compute and return the Euclidean norm also called Frobenius norm \f$ ||v|| = \sqrt{ \sum{v_{i}^2}} \f$.
 
   \return The Euclidean norm if the vector is initialized, 0 otherwise.
 

modules/core/src/math/transformation/vpTranslationVector.cpp

@@ -714,7 +714,7 @@ vpRowVector vpTranslationVector::t() const
 /*!
   \deprecated This function is deprecated. You should rather use frobeniusNorm().
 
-  Compute and return the Euclidean norm also called Fronebius nom of the translation vector
+  Compute and return the Euclidean norm also called Frobenius nom of the translation vector
   \f$ ||t|| = \sqrt{ \sum{t_{i}^2}} \f$.
 
   \return The Euclidean norm if the vector is initialized, 0 otherwise.
@@ -726,9 +726,9 @@ double vpTranslationVector::euclideanNorm() const { return frobeniusNorm(); }
 #endif
 
 /*!
-  Compute and return the Fronebius norm \f$ ||t|| = \sqrt{ \sum{t_{i}^2}} \f$.
+  Compute and return the Frobenius norm \f$ ||t|| = \sqrt{ \sum{t_{i}^2}} \f$.
 
-  \return The Fronebius norm if the vector is initialized, 0 otherwise.
+  \return The Frobenius norm if the vector is initialized, 0 otherwise.
 */
 double vpTranslationVector::frobeniusNorm() const
 {

modules/imgproc/src/vpCircleHoughTransform.cpp

@@ -228,7 +228,7 @@ vpCircleHoughTransform::edgeDetection(const vpImage<unsigned char> &I)
     upperCannyThresh = vpImageFilter::computeCannyThreshold(I, lowerCannyThresh);
   }
   else if (m_algoParams.m_lowerCannyThresh < 0) {
-    lowerCannyThresh = upperCannyThresh / 3.;
+    lowerCannyThresh = upperCannyThresh / 3.f;
   }
   vpImageFilter::canny(I, m_edgeMap, m_algoParams.m_gaussianKernelSize, lowerCannyThresh, upperCannyThresh, m_algoParams.m_sobelKernelSize);
 #else

modules/robot/src/real-robot/viper/vpRobotViper850.cpp

@@ -268,7 +268,7 @@ void vpRobotViper850::init(void)
     throw(vpException(vpException::ioError, "ATI F/T calib file \"%s\" doesn't exist", calibfile.c_str()));
 #else
   throw(vpException(vpException::ioError, "You don't have access to Viper850 "
-                                          "data to retrive ATI F/T calib "
+                                          "data to retrieve ATI F/T calib "
                                           "file"));
 #endif
   m_ati.setCalibrationFile(calibfile);

modules/vs/include/visp3/vs/vpServoData.h

@@ -53,10 +53,7 @@
 */
 class VISP_EXPORT vpServoData
 {
-
 private:
-  char baseDirectory[FILENAME_MAX];
-
   std::ofstream velocityFile;
   std::ofstream errorFile;
   std::ofstream errorNormFile;

script/megapose_server/install.py

@@ -30,7 +30,7 @@ def get_megapose_env_path(megapose_env: str) -> Union[Path, None]:
 
 def get_megapose_bin_conda_env(megapose_env: str) -> Path:
   '''
-  Retrive the bin folder of a conda environment
+  Retrieve the bin folder of a conda environment
   '''
   megapose_env_path = get_megapose_env_path(megapose_env)
   assert megapose_env_path is not None