Included headers changes after running include-what-you-use tool

ChangeLog.txt

@@ -2,7 +2,7 @@
                      Visual Servoing Platform
                      Resume of the change log
 
-     Copyright (C) 2005 - 2023 by Inria. All rights reserved.
+     Copyright (C) 2005 - 2024 by Inria. All rights reserved.
                       https://visp.inria.fr
 
 ViSP 3.x.x (Version in development)

apps/calibration/visp-compute-chessboard-poses.cpp

@@ -36,6 +36,10 @@
 
 #include <visp3/core/vpConfig.h>
 
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
+
 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(VISP_HAVE_PUGIXML)
 
 #include <opencv2/calib3d/calib3d.hpp>
@@ -228,7 +232,7 @@ int main(int argc, const char **argv)
 #elif defined(VISP_HAVE_GTK)
       display = new vpDisplayGTK(I);
 #endif
-  }
+    }
 #endif
 
     std::vector<vpPoint> corners_pts;
@@ -339,7 +343,7 @@ int main(int argc, const char **argv)
       }
     }
 #endif
-}
+  }
   catch (const vpException &e) {
     std::cout << "Catch an exception: " << e.getMessage() << std::endl;
   }

ci/docker/ubuntu-24.04-IWYU/Dockerfile

@@ -0,0 +1,159 @@
+FROM ubuntu:24.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG USER_UID=1001
+ENV TZ=Europe/Paris
+
+## Update aptitude with default packages
+RUN apt-get update \
+    && apt-get install -y \
+      cmake \
+      cmake-curses-gui \
+      curl \
+      gedit \
+      gdb \
+      git \
+      iputils-ping \
+      locales \
+      locate \
+      lsb-release \
+      mercurial \
+      nano \
+      net-tools \
+      python3 \
+      python3-dev \
+      python3-pip \
+      python3-dbg \
+      python3-empy \
+      python3-numpy \
+      python3-pip \
+      python3-psutil \
+      python3-venv \
+      software-properties-common \
+      sudo \
+      tzdata \
+      vim \
+      wget \
+    && apt-get clean
+#    build-essential \
+
+# Update aptitude with recommended ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libdc1394-dev \
+      libeigen3-dev \
+      liblapack-dev \
+      libopencv-dev \
+      libv4l-dev \
+      libx11-dev \
+      libzbar-dev \
+      nlohmann-json3-dev \
+    && apt-get clean
+
+# Update aptitude with other optional ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libcoin-dev \
+      libdmtx-dev \
+      libgsl-dev \
+      libjpeg-turbo8-dev \
+      libpng-dev \
+      libogre-1.9-dev \
+      libois-dev \
+      libpcl-dev \
+    && apt-get clean
+
+RUN apt-get update \
+    && apt-get install -y \
+      libedit-dev \
+    && apt-get clean
+
+# Set Locale
+RUN locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+ENV USERNAME vispci
+
+RUN useradd -U --uid $USER_UID -ms /bin/bash ${USERNAME} \
+    && echo "${USERNAME}:${USERNAME}" | chpasswd \
+    && adduser ${USERNAME} sudo \
+    && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/${USERNAME} \
+    && adduser ${USERNAME} video
+
+# Commands below are now run as normal user
+USER ${USERNAME}
+
+# When running a container start in the home folder
+WORKDIR /home/$USERNAME
+
+# Some apps don't show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# Install visp-images
+RUN mkdir -p ${HOME}/visp-ws \
+    && cd ${HOME}/visp-ws \
+    && git clone https://github.com/lagadic/visp-images.git \
+    && echo "export VISP_WS=${HOME}/visp-ws" >> ${HOME}/.bashrc \
+    && echo "export VISP_INPUT_IMAGE_PATH=${HOME}/visp-ws/visp-images" >> ${HOME}/.bashrc
+
+# Get IWYU
+RUN cd ${HOME}/visp-ws \
+    && mkdir -p 3rdparty \
+    && cd 3rdparty \
+    && git clone https://github.com/include-what-you-use/include-what-you-use.git
+
+# Build llvm + clang + include-what-you-use
+RUN cd ${HOME}/visp-ws \
+    && mkdir -p 3rdparty \
+    && cd 3rdparty \
+    && git clone --depth=1 https://github.com/llvm/llvm-project.git \
+    && cd llvm-project \
+    && mkdir build \
+    && cd build \
+    && cmake -DLLVM_ENABLE_PROJECTS=clang -DCMAKE_BUILD_TYPE=Release -DLLVM_EXTERNAL_PROJECTS=iwyu -DLLVM_EXTERNAL_IWYU_SOURCE_DIR=/home/vispci/visp-ws/3rdparty/include-what-you-use ../llvm \
+    && make -j4 \
+    && sudo make install
+
+# Build and install Panda3D from source
+RUN cd ${HOME}/visp-ws \
+    && mkdir -p 3rdparty \
+    && cd 3rdparty \
+    && git clone https://github.com/panda3d/panda3d \
+    && cd panda3d \
+    && python3 makepanda/makepanda.py --everything --installer --no-egl --no-gles --no-gles2 --no-opencv --threads 4 \
+    && sudo dpkg -i panda3d*.deb \
+    && echo "export Panda3D_DIR=${HOME}/visp-ws/3rdparty/panda3d" >> ~/.bashrc \
+    && . ~/.bashrc
+
+# Build and install YARP from source
+RUN sudo apt-get install -y \
+    libeigen3-dev \
+    libace-dev \
+    libedit-dev \
+    libsqlite3-dev \
+    libtinyxml-dev \
+  && cd ${HOME}/visp-ws \
+  && mkdir -p 3rdparty \
+  && cd 3rdparty \
+  && git clone https://github.com/robotology/ycm-cmake-modules \
+  && cd ycm-cmake-modules \
+  && mkdir build \
+  && cd build \
+  && cmake .. \
+  && make -j4 \
+  && sudo make install \
+  && cd ${HOME}/visp-ws/3rdparty \
+  && git clone https://github.com/robotology/yarp.git \
+  && cd yarp \
+  && mkdir build \
+  && cd build \
+  && cmake .. \
+  && make -j4 \
+  && sudo make install
+
+# Create visp build folder
+RUN cd ${HOME}/visp-ws \
+    && mkdir visp-build
+
+CMD ["/bin/bash"]

ci/docker/ubuntu-24.04-IWYU/README.md

@@ -0,0 +1,86 @@
+# Docker dedicated to IWYU tool
+
+Include-What-You-Use [IWYU](https://include-what-you-use.org/) is a tool for use with clang to analyze
+#includes in C and C++ source files. This docker file contains the receipt to build clang with support of IWYU tool
+that can be used to analyse ViSP c++ includes.
+
+## Build docker image from Dockerfile
+
+- We suppose here that you already installed docker.
+If this is not the case, follow instructions provided for [Ubuntu](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-docker.html#install_docker_engine_ubuntu) or [MacOS](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-docker.html#install_docker_engine_mac).
+
+- Get ViSP source code
+  ```
+  $ cd $VISP_WS/
+  $ git clone https://github.com/lagadic/visp
+  ```
+
+- Build docker image from Dockerfile running the following:
+  ```
+  $ cd $VISP_WS/visp/ci/docker/ubuntu-24.04-IWYU
+  $ docker build -t vispci/vispci:ubuntu-24.04-IWYU .
+  ```
+
+## Start the container
+
+### On Ubuntu host
+
+- On your computer running Ubuntu, allow access to the X11 server
+  ```
+  $ xhost +local:docker
+  non-network local connections being added to access control list
+  ```
+- Run your Docker container. The following command connects to the ubuntu-24.04-IWYU Docker container.
+  ```
+  $ docker run --rm -it --network=host --privileged \
+            --env=DISPLAY \
+            --env=QT_X11_NO_MITSHM=1 \
+            --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
+            --volume=/dev:/dev \
+            --volume=$VISP_WS/visp:/home/vispci/visp-ws/visp \
+            vispci/vispci:ubuntu-24.04-IWYU
+  vispci@6c8d67579659:~$ pwd
+  /home/vispci
+  ```
+- Build ViSP with IWYU support
+  ```
+  vispci@6c8d67579659:~$ cd ~/visp-ws/visp-build
+  vispci@6c8d67579659:~$ CC="clang" CXX="clang++" cmake -DCMAKE_CXX_INCLUDE_WHAT_YOU_USE=include-what-you-use ../visp
+  vispci@6c8d67579659:~$ make -j4 visp_modules > ../visp/iwyu.log 2>&1
+  ```
+
+### On MacOS host
+
+- Get your MacOS computer IP address
+  ```
+  $ IP=$(/usr/sbin/ipconfig getifaddr en0)
+  $ echo $IP
+  $ 192.168.1.18
+  ```
+- Allow connections from MacOS to XQuartz
+  ```
+  $ xhost + "$IP"
+  192.168.1.18 being added to access control list
+  ```
+- Run your Docker container. The following command connects to the ubuntu-24.04-IWYU Docker container.
+  ```
+  $ docker run --rm -it --network=host --privileged \
+            --env=DISPLAY="${IP}:0" \
+            --env=QT_X11_NO_MITSHM=1 \
+            --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
+            --volume=/dev:/dev \
+            --volume=$VISP_WS/visp:/home/vispci/visp-ws/visp \
+            vispci/vispci:ubuntu-24.04-IWYU
+  vispci@6c8d67579659:~$ pwd
+  /home/vispci
+  ```
+- Build ViSP with IWYU support
+  ```
+  vispci@6c8d67579659:~$ cd ~/visp-ws/visp-build
+  vispci@6c8d67579659:~$ CC="clang" CXX="clang++" cmake -DCMAKE_CXX_INCLUDE_WHAT_YOU_USE=include-what-you-use ../visp
+  vispci@6c8d67579659:~$ make -j4 visp_modules > ../visp/iwyu.log 2>&1
+  ```
+
+# Analyse IWYU logs
+
+IWYU logs are available either on your host in `$VISP_WS/visp/iwyu.log` or in your docker container in `/home/vispci/visp-ws/visp/iwyu.log`.

ci/docker/ubuntu-24.04-IWYU/script-build-time.sh

@@ -0,0 +1,10 @@
+rm -rf visp-build-time
+mkdir visp-build-time && cd visp-build-time
+cmake ../visp -DBUILD_JAVA=OFF -DENABLE_AVX=ON
+
+SECONDS=0
+# make -j12
+time make -j4
+duration=$SECONDS
+echo ""
+echo "$((duration / 60)) minutes and $((duration % 60)) seconds elapsed."

demo/wireframe-simulator/servoSimu4Points.cpp

@@ -62,6 +62,9 @@
 #include <visp3/visual_features/vpFeaturePoint.h>
 #include <visp3/vs/vpServo.h>
 
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
 #define GETOPTARGS "dhp"
 
 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))

demo/wireframe-simulator/servoSimuCylinder.cpp

@@ -62,6 +62,9 @@
 #include <visp3/visual_features/vpFeatureBuilder.h>
 #include <visp3/vs/vpServo.h>
 
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
 #define GETOPTARGS "dhp"
 
 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))

demo/wireframe-simulator/servoSimuSphere.cpp

@@ -65,6 +65,9 @@
 #include <visp3/visual_features/vpFeatureBuilder.h>
 #include <visp3/visual_features/vpGenericFeature.h>
 #include <visp3/vs/vpServo.h>
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
 
 #define GETOPTARGS "dhp"
 

example/calibration/calibrate-camera.cpp

@@ -36,6 +36,9 @@
 
 #include <visp3/core/vpConfig.h>
 
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_HIGHGUI) && \
   defined(HAVE_OPENCV_IMGPROC) && defined(VISP_HAVE_PUGIXML)
 
@@ -683,5 +686,5 @@ int main()
   std::cout << "pugixml built-in 3rdparty is requested to run the calibration." << std::endl;
 #endif
   return EXIT_SUCCESS;
-  }
+}
 #endif

example/device/display/displayOpenCV.cpp

@@ -46,6 +46,9 @@
 #include <visp3/core/vpConfig.h>
 #include <visp3/core/vpDebug.h>
 
+#if defined(VISP_HAVE_OPENCV)
+#include <opencv2/opencv_modules.hpp>     // for HAVE_OPENCV_IMGCODECS, HAVE...
+#endif
 #if defined(HAVE_OPENCV_HIGHGUI)
 
 #include <visp3/core/vpImage.h>
@@ -463,5 +466,5 @@ int main()
   std::cout << "Tip:" << std::endl;
   std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
   return EXIT_SUCCESS;
-  }
+}
 #endif

example/tracking/mbtEdgeKltTracking.cpp

@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -30,8 +29,7 @@
  *
  * Description:
  * Example of Hybrid Tracking of MBT and MBT KTL.
- *
-*****************************************************************************/
+ */
 
 /*!
   \example mbtEdgeKltTracking.cpp