lagadic · fspindle · Jun 10, 2024 · May 21, 2024 · May 22, 2024 · May 22, 2024
diff --git a/.github/workflows/ubuntu-dep-src.yml b/.github/workflows/ubuntu-dep-src.yml
@@ -74,7 +74,7 @@ jobs:
         pwd
         echo "GIT_CLONE_PROTECTION_ACTIVE=false" >> $GITHUB_ENV
         export GIT_CLONE_PROTECTION_ACTIVE=false
-        git clone --recursive --depth 1 https://github.com/Kitware/VTK.git ${HOME}/VTK
+        git clone --recursive --depth 1 --branch v9.3.0 https://github.com/Kitware/VTK.git ${HOME}/VTK
         cd ${HOME}/VTK
         mkdir build && cd build && mkdir install
         cmake .. -DVTK_ANDROID_BUILD=OFF -DVTK_BUILD_DOCUMENTATION=OFF -DVTK_BUILD_EXAMPLES=OFF -DVTK_BUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release \

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -195,4 +195,5 @@
   "editor.rulers": [
     {"column": 120, "color": "#ffcc00"}
   ],
+  "C_Cpp.default.compilerPath": "/usr/bin/g++",
 }
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -541,6 +541,9 @@ VP_OPTION(ENABLE_MOMENTS_COMBINE_MATRICES  "" "" "Use linear combination of matr
 VP_OPTION(ENABLE_TEST_WITHOUT_DISPLAY      "" "" "Don't use display feature when testing" "" ON)
 VP_OPTION(ENABLE_FULL_DOC      "" "" "Build doc with internal classes that are by default not part of the doc" "" OFF)
 
+# Allow introduction of "visp" namespace. By default disabled to keep compat with previous versions
+VP_OPTION(ENABLE_VISP_NAMESPACE "" "" "Enable visp namespace" "" OFF)
+
 if(ENABLE_SOLUTION_FOLDERS)
   set_property(GLOBAL PROPERTY USE_FOLDERS ON)
   set_property(GLOBAL PROPERTY PREDEFINED_TARGETS_FOLDER "CMakeTargets")
@@ -777,17 +780,18 @@ endif()
 # ----------------------------------------------------------------------------
 # Build-in 3rd parties. Should be after c++ standard potential modification
 # ----------------------------------------------------------------------------
-VP_OPTION(WITH_PTHREAD    ""           ""    "Build pthread as built-in library"   "" ON IF (WIN32 OR MINGW) AND (NOT WINRT))
+VP_OPTION(WITH_PTHREAD    ""           ""    "Use pthread as built-in library"   "" ON IF (WIN32 OR MINGW) AND (NOT WINRT))
 # Since C99 is not supported by MSVC 2010 or prior, we disable apriltag if MSVC < 2012
-VP_OPTION(WITH_APRILTAG   ""           ""    "Build AprilTag as built-in library"  "" ON IF (USE_THREADS OR USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
-VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Build AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
-VP_OPTION(WITH_ATIDAQ     ""           ""    "Build atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
-VP_OPTION(WITH_CLIPPER    ""           ""    "Build clipper as built-in library"   "" ON IF USE_OPENCV)
-VP_OPTION(WITH_LAPACK     ""           ""    "Build lapack as built-in library"    "" ON IF NOT USE_LAPACK)
-VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
-VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_APRILTAG   ""           ""    "Use AprilTag as built-in library"  "" ON IF (USE_THREADS OR USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
+VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Use AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
+VP_OPTION(WITH_MINIZ      ""           ""    "Use npz related I/O as built-in functions"   "" ON)
+VP_OPTION(WITH_ATIDAQ     ""           ""    "Use atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
+VP_OPTION(WITH_CLIPPER    ""           ""    "Use clipper as built-in library"   "" ON IF USE_OPENCV)
+VP_OPTION(WITH_LAPACK     ""           ""    "Use lapack as built-in library"    "" ON IF NOT USE_LAPACK)
+VP_OPTION(WITH_QBDEVICE   ""           ""    "Use qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
+VP_OPTION(WITH_TAKKTILE2  ""           ""    "Use Right Hand takktile2 driver as built-in library"   "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2 built-in library" "" ON)
-VP_OPTION(WITH_POLOLU     ""           ""    "Build rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_POLOLU     ""           ""    "Use rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_PUGIXML    ""           ""    "Use pugixml built-in third-party" "" ON)
 VP_OPTION(WITH_SIMDLIB    ""           ""    "Use simdlib built-in third-party" "" ON)
 VP_OPTION(WITH_STBIMAGE   ""           ""    "Use std_image built-in third-party" "" ON)
@@ -1146,6 +1150,7 @@ VP_SET(VISP_HAVE_SIMDLIB     TRUE IF (BUILD_MODULE_visp_core AND WITH_SIMDLIB))
 VP_SET(VISP_HAVE_STBIMAGE    TRUE IF (BUILD_MODULE_visp_core AND WITH_STBIMAGE))
 VP_SET(VISP_HAVE_TINYEXR     TRUE IF (BUILD_MODULE_visp_core AND WITH_TINYEXR))
 VP_SET(VISP_HAVE_PUGIXML     TRUE IF (BUILD_MODULE_visp_core AND WITH_PUGIXML))
+VP_SET(VISP_HAVE_MINIZ       TRUE IF (BUILD_MODULE_visp_core AND WITH_MINIZ))
 
 VP_SET(VISP_HAVE_QUALISYS    TRUE IF (BUILD_MODULE_visp_sensor AND USE_QUALISYS))
 VP_SET(VISP_HAVE_VICON       TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
@@ -1603,6 +1608,7 @@ status("    To be built:"            VISP_MODULES_BUILD          THEN ${VISP_MOD
 status("    Disabled:"               VISP_MODULES_DISABLED_USER  THEN ${VISP_MODULES_DISABLED_USER_ST}  ELSE "-")
 status("    Disabled by dependency:" VISP_MODULES_DISABLED_AUTO  THEN ${VISP_MODULES_DISABLED_AUTO_ST}  ELSE "-")
 status("    Unavailable:"            VISP_MODULES_DISABLED_FORCE THEN ${VISP_MODULES_DISABLED_FORCE_ST} ELSE "-")
+status("    Enable visp namespace:"  ENABLE_VISP_NAMESPACE       THEN "yes" ELSE "no")
 
 # ========================== Android details ==========================
 if(ANDROID)
@@ -1739,6 +1745,7 @@ status("    Use OpenCV:"             USE_OPENCV       THEN "yes (ver ${OpenCV_VE
 status("    Use stb_image (built-in):" WITH_STBIMAGE  THEN "yes (ver ${STBIMAGE_VERSION})" ELSE "no")
 status("    Use TinyEXR (built-in):" WITH_TINYEXR     THEN "yes (ver ${TINYEXR_VERSION})" ELSE "no")
 status("    Use simdlib (built-in):" WITH_SIMDLIB     THEN "yes" ELSE "no")
+status("    Use npz I/O (built-in):" WITH_MINIZ       THEN "yes" ELSE "no")
 status("")
 status("  Real robots: ")
 status("    Use Afma4:"              USE_AFMA4        THEN "yes" ELSE "no")

diff --git a/apps/calibration/CMakeLists.txt b/apps/calibration/CMakeLists.txt
@@ -37,6 +37,7 @@ if(VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-function")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-parameter")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-missing-field-initializers")
 
   visp_set_source_file_compile_flag(visp-acquire-franka-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})
   visp_set_source_file_compile_flag(visp-acquire-universal-robots-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})

diff --git a/apps/calibration/visp-acquire-franka-calib-data.cpp b/apps/calibration/visp-acquire-franka-calib-data.cpp
@@ -35,6 +35,7 @@
 #include <iostream>
 
 #include <visp3/core/vpCameraParameters.h>
+#include <visp3/core/vpConfig.h>
 #include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/gui/vpDisplayGDI.h>
 #include <visp3/gui/vpDisplayX.h>
@@ -66,6 +67,9 @@ void usage(const char **argv, int error, const std::string &robot_ip)
 
 int main(int argc, const char **argv)
 {
+#if defined(ENABLE_VISP_NAMESPACE)
+  using namespace VISP_NAMESPACE_NAME;
+#endif
   try {
     std::string opt_robot_ip = "192.168.1.1";
 

diff --git a/apps/calibration/visp-acquire-universal-robots-calib-data.cpp b/apps/calibration/visp-acquire-universal-robots-calib-data.cpp
@@ -35,6 +35,7 @@
 #include <iostream>
 
 #include <visp3/core/vpCameraParameters.h>
+#include <visp3/core/vpConfig.h>
 #include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/gui/vpDisplayGDI.h>
 #include <visp3/gui/vpDisplayX.h>
@@ -66,6 +67,9 @@ void usage(const char **argv, int error, const std::string &robot_ip)
 
 int main(int argc, const char **argv)
 {
+#if defined(ENABLE_VISP_NAMESPACE)
+  using namespace VISP_NAMESPACE_NAME;
+#endif
   try {
     std::string opt_robot_ip = "192.168.0.100";
 

diff --git a/apps/calibration/visp-compute-chessboard-poses.cpp b/apps/calibration/visp-compute-chessboard-poses.cpp
@@ -57,6 +57,10 @@
 #include <visp3/io/vpVideoReader.h>
 #include <visp3/vision/vpPose.h>
 
+#if defined(ENABLE_VISP_NAMESPACE)
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
 namespace
 {
 void calcChessboardCorners(int width, int height, double squareSize, std::vector<vpPoint> &corners)
@@ -224,7 +228,7 @@ int main(int argc, const char **argv)
 #elif defined(VISP_HAVE_GTK)
       display = new vpDisplayGTK(I);
 #endif
-    }
+  }
 #endif
 
     std::vector<vpPoint> corners_pts;
@@ -335,7 +339,7 @@ int main(int argc, const char **argv)
       }
     }
 #endif
-  }
+}
   catch (const vpException &e) {
     std::cout << "Catch an exception: " << e.getMessage() << std::endl;
   }

diff --git a/apps/calibration/visp-compute-hand-eye-calibration.cpp b/apps/calibration/visp-compute-hand-eye-calibration.cpp
@@ -34,6 +34,7 @@
 //! \example visp-compute-hand-eye-calibration.cpp
 #include <map>
 
+#include <visp3/core/vpConfig.h>
 #include <visp3/core/vpIoTools.h>
 #include <visp3/vision/vpHandEyeCalibration.h>
 
@@ -74,6 +75,10 @@ void usage(const char *argv[], int error)
 
 int main(int argc, const char *argv[])
 {
+#if defined(ENABLE_VISP_NAMESPACE)
+  using namespace VISP_NAMESPACE_NAME;
+#endif
+
   std::string opt_data_path = "./";
   std::string opt_fPe_files = "pose_fPe_%d.yaml";
   std::string opt_cPo_files = "pose_cPo_%d.yaml";

diff --git a/cmake/FindVirtuose.cmake b/cmake/FindVirtuose.cmake
@@ -82,7 +82,7 @@ elseif(MSVC)
     set(VIRTUOSE_MSVC_RUNTIME VC2017)
   elseif(MSVC_VERSION MATCHES "^192[0-9]$")
     set(VIRTUOSE_MSVC_RUNTIME VC2019)
-  elseif(MSVC_VERSION MATCHES "^193[0-9]$")
+  elseif(MSVC_VERSION MATCHES "^19[34][0-9]$")
     set(VIRTUOSE_MSVC_RUNTIME VC2022)
   endif()
 

diff --git a/cmake/VISPDetectPlatform.cmake b/cmake/VISPDetectPlatform.cmake
@@ -153,7 +153,7 @@ elseif(MSVC)
     set(VISP_RUNTIME vc15)
   elseif(MSVC_VERSION MATCHES "^192[0-9]$")
     set(VISP_RUNTIME vc16)
-  elseif(MSVC_VERSION MATCHES "^193[0-9]$")
+  elseif(MSVC_VERSION MATCHES "^19[34][0-9]$")
     set(VISP_RUNTIME vc17)
   else()
     message(WARNING "ViSP does not recognize MSVC_VERSION \"${MSVC_VERSION}\". Cannot set VISP_RUNTIME")

diff --git a/cmake/templates/VISPConfig.cmake.in b/cmake/templates/VISPConfig.cmake.in
@@ -189,6 +189,7 @@ set(VISP_BIN_INSTALL_PATH "@VISP_BIN_INSTALL_PATH@")
 #----------------------------------------------------------------------
 # Remember VISP third party libs configuration
 #----------------------------------------------------------------------
+set(ENABLE_VISP_NAMESPACE    "@ENABLE_VISP_NAMESPACE@")
 set(VISP_HAVE_AFMA4          "@VISP_HAVE_AFMA4@")
 set(VISP_HAVE_AFMA6          "@VISP_HAVE_AFMA6@")
 set(VISP_HAVE_APRILTAG       "@VISP_HAVE_APRILTAG@")
@@ -228,6 +229,7 @@ set(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES "@VISP_HAVE_LIBFREENECT_AND_DEPENDENC
 set(VISP_HAVE_LIBFREENECT_OLD "@VISP_HAVE_LIBFREENECT_OLD@")
 set(VISP_HAVE_LIBUSB_1       "@VISP_HAVE_LIBUSB_1@")
 set(VISP_HAVE_MAVSDK         "@VISP_HAVE_MAVSDK@")
+set(VISP_HAVE_MINIZ          "@VISP_HAVE_MINIZ@")
 set(VISP_HAVE_MKL            "@VISP_HAVE_MKL@")
 set(VISP_HAVE_NETLIB         "@VISP_HAVE_NETLIB@")
 set(VISP_HAVE_NULLPTR        "@VISP_HAVE_NULLPTR@")

diff --git a/cmake/templates/VISPConfig.root-WIN32.cmake.in b/cmake/templates/VISPConfig.root-WIN32.cmake.in
@@ -154,7 +154,7 @@ elseif(MSVC)
         set(VISP_RUNTIME vc14) # selecting previous compatible runtime version
       endif()
     endif()
-  elseif(MSVC_VERSION MATCHES "^193[0-9]$")
+  elseif(MSVC_VERSION MATCHES "^19[34][0-9]$")
     set(VISP_RUNTIME vc17)
     check_one_config(has_VS2022)
     if(NOT has_VS2022)

diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
@@ -112,6 +112,24 @@
                                         VISP_VERSION_MINOR, \
                                         VISP_VERSION_PATCH)
 
+// Defined if the user wants to protect the classes in a dedicated visp namespace
+#cmakedefine ENABLE_VISP_NAMESPACE
+#define VISP_NAMESPACE_NAME visp
+#ifdef ENABLE_VISP_NAMESPACE
+#define VISP_NAMESPACE_ADDRESSING visp::
+#define BEGIN_VISP_NAMESPACE namespace visp {
+#define END_VISP_NAMESPACE }
+// Create an empty namespace to ensure that "using VISP_NAMESPACE_NAME;" does not raise an error
+namespace VISP_NAMESPACE_NAME {}
+
+// Create an alias for compatibility with older versions of ViSP
+namespace vp = VISP_NAMESPACE_NAME;
+#else
+#define VISP_NAMESPACE_ADDRESSING
+#define BEGIN_VISP_NAMESPACE
+#define END_VISP_NAMESPACE
+#endif
+
 // Enable debug and trace printings
 #cmakedefine VP_TRACE
 #cmakedefine VP_DEBUG
@@ -143,6 +161,9 @@
 // Always define pugixml for compatibility.
 #cmakedefine VISP_HAVE_PUGIXML
 
+// Defined if basisu_miniz is used internally
+#cmakedefine VISP_HAVE_MINIZ
+
 // Defined if XML2 library available.
 #cmakedefine VISP_HAVE_XML2
 

diff --git a/demo/wireframe-simulator/servoSimu4Points.cpp b/demo/wireframe-simulator/servoSimu4Points.cpp
@@ -66,6 +66,10 @@
 
 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
 
+#if defined(ENABLE_VISP_NAMESPACE)
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
 /*!
 
   Print the program options.

diff --git a/demo/wireframe-simulator/servoSimuCylinder.cpp b/demo/wireframe-simulator/servoSimuCylinder.cpp
@@ -66,6 +66,10 @@
 
 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
 
+#if defined(ENABLE_VISP_NAMESPACE)
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
 /*!
 
   Print the program options.

diff --git a/demo/wireframe-simulator/servoSimuSphere.cpp b/demo/wireframe-simulator/servoSimuSphere.cpp
@@ -44,6 +44,7 @@
 #include <stdlib.h>
 
 #include <visp3/core/vpCameraParameters.h>
+#include <visp3/core/vpConfig.h>
 #include <visp3/core/vpHomogeneousMatrix.h>
 #include <visp3/core/vpImage.h>
 #include <visp3/core/vpIoTools.h>
@@ -69,6 +70,10 @@
 
 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
 
+#if defined(ENABLE_VISP_NAMESPACE)
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
 /*!
 
   Print the program options.

diff --git a/doc/config-doxygen.in b/doc/config-doxygen.in
@@ -2390,6 +2390,7 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES \
                          VISP_HAVE_LIBUSB_1 \
                          VISP_HAVE_MAVSDK \
+                         VISP_HAVE_MINIZ \
                          VISP_HAVE_NLOHMANN_JSON \
                          VISP_HAVE_NULLPTR \
                          VISP_HAVE_OCCIPITAL_STRUCTURE \

diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -98,6 +98,6 @@ visp_add_subdirectory(servo-universal-robots   REQUIRED_DEPS visp_core visp_robo
 visp_add_subdirectory(servo-viper650           REQUIRED_DEPS visp_core visp_blob visp_vs visp_robot visp_sensor visp_vision visp_gui)
 visp_add_subdirectory(servo-viper850           REQUIRED_DEPS visp_core visp_blob visp_vs visp_robot visp_sensor visp_vision visp_gui)
 visp_add_subdirectory(tools                    REQUIRED_DEPS visp_core visp_robot visp_io visp_gui)
-visp_add_subdirectory(tracking                 REQUIRED_DEPS visp_core visp_io visp_gui)
+visp_add_subdirectory(tracking                 REQUIRED_DEPS visp_core visp_core visp_blob visp_io visp_gui visp_mbt visp_me visp_tt visp_tt_mi)
 visp_add_subdirectory(video                    REQUIRED_DEPS visp_core visp_io visp_gui)
 visp_add_subdirectory(wireframe-simulator      REQUIRED_DEPS visp_core visp_robot visp_io visp_gui)
diff --git a/example/calibration/calibrate-camera.cpp b/example/calibration/calibrate-camera.cpp
@@ -101,6 +101,10 @@ void usage(const char *argv[], int error)
 
 int main(int argc, const char *argv[])
 {
+#if defined(ENABLE_VISP_NAMESPACE)
+  using namespace VISP_NAMESPACE_NAME;
+#endif
+
   try {
     if (argc == 1) {
       usage(argv, 0);
@@ -679,5 +683,5 @@ int main()
   std::cout << "pugixml built-in 3rdparty is requested to run the calibration." << std::endl;
 #endif
   return EXIT_SUCCESS;
-}
+  }
 #endif
diff --git a/example/calibration/calibrate-hand-eye.cpp b/example/calibration/calibrate-hand-eye.cpp
@@ -45,6 +45,7 @@
 #include <stdio.h>
 #include <vector>
 
+#include <visp3/core/vpConfig.h>
 #include <visp3/core/vpDebug.h>
 #include <visp3/core/vpExponentialMap.h>
 #include <visp3/core/vpIoTools.h>
@@ -54,6 +55,9 @@
 int main()
 {
 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
+#if defined(ENABLE_VISP_NAMESPACE)
+  using namespace VISP_NAMESPACE_NAME;
+#endif
   try {
     // We want to calibrate the hand-eye extrinsic camera parameters from 6
     // couple of poses: cMo and wMe
@@ -167,4 +171,4 @@ int main()
   std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
   return EXIT_SUCCESS;
 #endif
-}
+  }