From d299b039089873af1eebb8366e7e0ad198c8a842 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Tue, 25 Jun 2024 10:27:56 +0200
Subject: [PATCH] Remove deprecated buildFrom() usage

---
 modules/python/examples/yolo-centering-task-afma6.py | 10 +++++-----
 modules/python/examples/yolo-centering-task.py       |  6 +++---
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/modules/python/examples/yolo-centering-task-afma6.py b/modules/python/examples/yolo-centering-task-afma6.py
index 48a24e4153..8221727309 100644
--- a/modules/python/examples/yolo-centering-task-afma6.py
+++ b/modules/python/examples/yolo-centering-task-afma6.py
@@ -255,10 +255,10 @@ def animate(i):
   Zd = I_depth[h // 2, w // 2] * depth_scale
   print(f'Desired depth is {Zd}')
   sd = FeaturePoint()
-  sd.buildFrom(xd, yd, Zd)
+  sd.build(xd, yd, Zd)
 
   s = FeaturePoint()
-  s.buildFrom(0.0, 0.0, Zd)
+  s.build(0.0, 0.0, Zd)
 
   task = Servo()
   task.addFeature(s, sd)
@@ -309,14 +309,14 @@ def has_class_box(box):
       kalman.filter(ColVector([x, y]), (1 / fps))
       kalman_state = kalman.getXest()
       last_detection_time = time.time()
-      s.buildFrom(kalman_state[0], kalman_state[3], Zd)
+      s.build(kalman_state[0], kalman_state[3], Zd)
       v = task.computeControlLaw()
     else:
       if last_detection_time < 0.0:
         raise RuntimeError('No detection at first iteration')
       kalman.predict(time.time() - last_detection_time)
       kalman_pred = kalman.getXpred()
-      s.buildFrom(kalman_pred[0], kalman_pred[3], Zd)
+      s.build(kalman_pred[0], kalman_pred[3], Zd)
       task.computeControlLaw()
 
     error: ColVector = task.getError()
@@ -333,7 +333,7 @@ def has_class_box(box):
     Display.flush(I)
     Display.getImage(I, Idisp)
     robot.getPosition(Robot.ControlFrameType.REFERENCE_FRAME, r)
-    cTw.buildFrom(r)
+    cTw.build(r)
     plotter.on_iter(Idisp, v, error, cTw)
 
     # Move robot/update simulator
diff --git a/modules/python/examples/yolo-centering-task.py b/modules/python/examples/yolo-centering-task.py
index 1d91c53d3e..06ed1b08ed 100644
--- a/modules/python/examples/yolo-centering-task.py
+++ b/modules/python/examples/yolo-centering-task.py
@@ -125,10 +125,10 @@ def animate(i):
   # Define centering task
   xd, yd = PixelMeterConversion.convertPoint(cam, w / 2.0, h / 2.0)
   sd = FeaturePoint()
-  sd.buildFrom(xd, yd, Z)
+  sd.build(xd, yd, Z)
 
   s = FeaturePoint()
-  s.buildFrom(0.0, 0.0, Z)
+  s.build(0.0, 0.0, Z)
 
   task = Servo()
   task.addFeature(s, sd)
@@ -177,7 +177,7 @@ def has_class_box(box):
     if bb is not None:
       u, v = bb[0], bb[1]
       x, y = PixelMeterConversion.convertPoint(cam, u, v)
-      s.buildFrom(x, y, Z)
+      s.build(x, y, Z)
       v = task.computeControlLaw()
       prev_v = v
     else: