Merge pull request #1478 from fspindle/various_fixes

Various fixes detected with CDash ci and reverting changes around buildFrom() functions to make them no more deprecated

3rdparty/apriltag/CMakeLists.txt

@@ -63,7 +63,7 @@ endif()
 
 if(MSVC)
   if(BUILD_SHARED_LIBS)
-    vp_warnings_disable(CMAKE_CXX_FLAGS /wd4018 /wd4098 /wd4244 /wd4267 /wd4305 /wd4334 /wd4244 /wd4838 /wd4996 /wd6011 /wd6385 /wd6386 /wd6387 /wd6011 /wd26451)
+    vp_warnings_disable(CMAKE_CXX_FLAGS /wd4018 /wd4098 /wd4200 /wd4244 /wd4267 /wd4305 /wd4334 /wd4244 /wd4838 /wd4996 /wd6011 /wd6385 /wd6386 /wd6387 /wd6011 /wd26451)
     vp_set_source_file_compile_flag(common/matd.c /wd4244)
     vp_set_source_file_compile_flag(common/g2d.c /wd4244)
     vp_set_source_file_compile_flag(common/homography.c /wd4244)
@@ -82,7 +82,7 @@ if(MSVC)
     vp_set_source_file_compile_flag(tag16h5.c /wd4996 /wd4244)
     vp_set_source_file_compile_flag(tag25h7.c /wd4996 /wd4244)
     vp_set_source_file_compile_flag(tag25h9.c /wd4996 /wd4244)
-    vp_set_source_file_compile_flag(tag36h10.c /wd4996 /wd42446)
+    vp_set_source_file_compile_flag(tag36h10.c /wd4996 /wd4244)
     vp_set_source_file_compile_flag(tag36h11.c /wd4996 /wd4244)
     vp_set_source_file_compile_flag(tagCircle21h7.c /wd4996 /wd4244)
     # disable optimization

demo/wireframe-simulator/servoSimu4Points.cpp

@@ -420,7 +420,7 @@ int main(int argc, const char **argv)
 
       // Compute the position of the external view which is fixed in the
       // object frame
-      camoMf.build(0, 0.0, 1.5, 0, vpMath::rad(150), 0);
+      camoMf.buildFrom(0, 0.0, 1.5, 0, vpMath::rad(150), 0);
       camoMf = camoMf * (sim.get_fMo().inverse());
 
       if (opt_plot) {

demo/wireframe-simulator/servoSimuSphere.cpp

@@ -427,9 +427,8 @@ int main(int argc, const char **argv)
       robot.setVelocity(vpRobot::CAMERA_FRAME, v);
       sim.setCameraPositionRelObj(cMo);
 
-      // Compute the position of the external view which is fixed in the
-      // object frame
-      camoMf.build(0, 0.0, 2.5, 0, vpMath::rad(150), 0);
+      // Compute the position of the external view which is fixed in the object frame
+      camoMf.buildFrom(0, 0.0, 2.5, 0, vpMath::rad(150), 0);
       camoMf = camoMf * (sim.get_fMo().inverse());
 
       if (opt_plot) {

doc/tutorial/rendering/tutorial-panda3d.dox

@@ -38,7 +38,7 @@ vpPanda3DBaseRenderer, which implements basic functions for a panda renderer.
   $ cd $VISP_WS/3rdparty/panda3d
   $ git clone https://github.com/panda3d/panda3d
   $ cd panda3d
-  $ python3 makepanda/makepanda.py --everything --installer --no-egl --no-gles --no-gles2 --no-opencv
+  $ python3 makepanda/makepanda.py --everything --installer --no-egl --no-gles --no-gles2 --no-opencv --threads $(nproc)
   \endcode
   At this point you can either:
   1. install the produced Debian package (recommended) with

doc/tutorial/tracking/tutorial-tracking-tt.dox

@@ -210,7 +210,7 @@ vpTemplateTracker::setIterationMax() function.
 In tutorial-template-tracker.cpp we use vpTemplateTrackerSSDInverseCompositional class that implements the
 "Sum of Square Differences" as similarity function. To use Mutual Information that is more robust to occlusion and
 lighting changes, the code needs to be modified, first introducing vpTemplateTrackerMIInverseCompositional header,
-then instanciating the tracker, and finally setting the paramaters to speed up the MI tracker that is slower than
+then instantiating the tracker, and finally setting the paramaters to speed up the MI tracker that is slower than
 the SSD one:
 
 - **Adding vpTemplateTrackerMIInverseCompositional header** consists in adding the following line at the beginning

doc/tutorial/visual-servo/tutorial-simu-robot-pioneer.dox

@@ -143,7 +143,7 @@ frame.
 The desired position of the feature is set to (0,0). The depth of the point \c cdMo[2][3] is required to compute the
 feature position.
 \code
-  s_xd.build(0, 0, cdMo[2][3]);
+  s_xd.buildFrom(0, 0, cdMo[2][3]);
 \endcode
 
 Finally only the position of the feature along x is added to the task.
@@ -167,12 +167,12 @@ Then, we get the current \c Z and desired \c Zd depth of the target.
 From these values, we are able to initialize the current depth feature:
 
 \code
-  s_Z.build(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
+  s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
 \endcode
 
 and also the desired one:
 \code
-  s_Zd.build(0, 0, Zd, 0);
+  s_Zd.buildFrom(0, 0, Zd, 0);
 \endcode
 
 Finally, we add the feature to the task:
@@ -204,7 +204,7 @@ Based on these new coordinates, we update the point visual feature \c s_x:
 and also the depth visual feature:
 \code
       Z = point.get_Z() ;
-      s_Z.build(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ;
+      s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ;
 \endcode
 
 We also update the task with the values of the velocity twist matrix \c cVe and the robot jacobian \c eJe:

example/calibration/calibrate-hand-eye.cpp

@@ -79,7 +79,7 @@ int main()
     erc[1] = vpMath::rad(-10); // -10 deg
     erc[2] = vpMath::rad(25);  // 25 deg
 
-    eMc.build(etc, erc);
+    eMc.buildFrom(etc, erc);
     std::cout << "Simulated hand-eye transformation: eMc " << std::endl;
     std::cout << eMc << std::endl;
     std::cout << "Theta U rotation: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2])
@@ -90,8 +90,8 @@ int main()
       v_c = 0;
       if (i == 0) {
         // Initialize first poses
-        cMo[0].build(0, 0, 0.5, 0, 0, 0); // z=0.5 m
-        wMe[0].build(0, 0, 0, 0, 0, 0);   // Id
+        cMo[0].buildFrom(0, 0, 0.5, 0, 0, 0); // z=0.5 m
+        wMe[0].buildFrom(0, 0, 0, 0, 0, 0);   // Id
       }
       else if (i == 1)
         v_c[3] = M_PI / 8;
@@ -171,4 +171,4 @@ int main()
   std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
   return EXIT_SUCCESS;
 #endif
-  }
+}

example/coin-simulator/simulateFourPoints2DCartesianCamVelocity.cpp

@@ -226,10 +226,10 @@ static void *mainLoop(void *_simu)
   // Sets the desired position of the point
   vpFeaturePoint pd[4];
 
-  pd[0].build(-0.1, -0.1, 1);
-  pd[1].build(0.1, -0.1, 1);
-  pd[2].build(0.1, 0.1, 1);
-  pd[3].build(-0.1, 0.1, 1);
+  pd[0].buildFrom(-0.1, -0.1, 1);
+  pd[1].buildFrom(0.1, -0.1, 1);
+  pd[2].buildFrom(0.1, 0.1, 1);
+  pd[3].buildFrom(-0.1, 0.1, 1);
 
   // Define the task
   // We want an eye-in-hand control law

example/device/framegrabber/CMakeLists.txt

@@ -70,7 +70,6 @@ if(VISP_HAVE_REALSENSE OR VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-missing-field-initializers")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-float-equal")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-ignored-qualifiers")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-inconsistent-missing-override")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-overloaded-virtual")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-pessimizing-move")
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-reorder")
@@ -79,7 +78,6 @@ if(VISP_HAVE_REALSENSE OR VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-sign-conversion")
   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(getRealSense2Info.cpp ${CXX_FLAGS_MUTE_WARNINGS})

example/device/framegrabber/readRealSenseData.cpp

@@ -165,6 +165,8 @@ bool getOptions(int argc, const char *argv[], std::string &input_directory, std:
     case 'z':
       read_npz = true;
       break;
+#else
+      (void)read_npz;
 #endif
     case 'o':
       save_video = true;

example/direct-visual-servoing/photometricMappingVisualServoing.cpp

@@ -399,7 +399,7 @@ int main(int argc, const char **argv)
 
     // camera desired position
     vpHomogeneousMatrix cMo;
-    cMo.build(0.0, 0, Z + 0.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(5));
+    cMo.buildFrom(0.0, 0, Z + 0.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(5));
     vpHomogeneousMatrix wMo; // Set to identity
     vpHomogeneousMatrix wMc; // Camera position in the world frame
 
@@ -460,15 +460,15 @@ int main(int argc, const char **argv)
     luminanceI.init(I.getHeight(), I.getWidth(), Z);
     luminanceI.setCameraParameters(cam);
     vpFeatureLuminanceMapping sI(luminanceI, sMapping);
-    sI.build(I);
+    sI.buildFrom(I);
     sI.getMapping()->inverse(sI.get_s(), Irec);
 
     // desired visual feature built from the image
     vpFeatureLuminance luminanceId;
     luminanceId.init(I.getHeight(), I.getWidth(), Z);
     luminanceId.setCameraParameters(cam);
     vpFeatureLuminanceMapping sId(luminanceId, sdMapping);
-    sId.build(Id);
+    sId.buildFrom(Id);
 
     // set a velocity control mode
     robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
@@ -497,7 +497,7 @@ int main(int argc, const char **argv)
       vpImageTools::imageDifference(I, Id, Idiff);
 
       // Compute current visual features
-      sI.build(I);
+      sI.buildFrom(I);
       sI.getMapping()->inverse(sI.get_s(), Irec);
 
       if (iter > iterGN) {

example/direct-visual-servoing/photometricVisualServoing.cpp

@@ -300,7 +300,7 @@ int main(int argc, const char **argv)
 
     // camera desired position
     vpHomogeneousMatrix cMo;
-    cMo.build(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
+    cMo.buildFrom(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
     vpHomogeneousMatrix wMo; // Set to identity
     vpHomogeneousMatrix wMc; // Camera position in the world frame
 
@@ -356,13 +356,13 @@ int main(int argc, const char **argv)
     vpFeatureLuminance sI;
     sI.init(I.getHeight(), I.getWidth(), Z);
     sI.setCameraParameters(cam);
-    sI.build(I);
+    sI.buildFrom(I);
 
     // desired visual feature built from the image
     vpFeatureLuminance sId;
     sId.init(I.getHeight(), I.getWidth(), Z);
     sId.setCameraParameters(cam);
-    sId.build(Id);
+    sId.buildFrom(Id);
 
     // Create visual-servoing task
     vpServo servo;
@@ -406,7 +406,7 @@ int main(int argc, const char **argv)
       }
 #endif
       // Compute current visual feature
-      sI.build(I);
+      sI.buildFrom(I);
 
       v = servo.computeControlLaw(); // camera velocity send to the robot
 

example/direct-visual-servoing/photometricVisualServoingWithoutVpServo.cpp

@@ -301,7 +301,7 @@ int main(int argc, const char **argv)
 
     // camera desired position
     vpHomogeneousMatrix cMo;
-    cMo.build(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
+    cMo.buildFrom(0, 0, 1.2, vpMath::rad(15), vpMath::rad(-5), vpMath::rad(20));
     vpHomogeneousMatrix wMo; // Set to identity
     vpHomogeneousMatrix wMc; // Camera position in the world frame
 
@@ -357,13 +357,13 @@ int main(int argc, const char **argv)
     vpFeatureLuminance sI;
     sI.init(I.getHeight(), I.getWidth(), Z);
     sI.setCameraParameters(cam);
-    sI.build(I);
+    sI.buildFrom(I);
 
     // desired visual feature built from the image
     vpFeatureLuminance sId;
     sId.init(I.getHeight(), I.getWidth(), Z);
     sId.setCameraParameters(cam);
-    sId.build(Id);
+    sId.buildFrom(Id);
 
     // Matrice d'interaction, Hessien, erreur,...
     vpMatrix Lsd;      // matrice d'interaction a la position desiree
@@ -435,7 +435,7 @@ int main(int argc, const char **argv)
       }
 #endif
       // Compute current visual feature
-      sI.build(I);
+      sI.buildFrom(I);
 
       // compute current error
       sI.error(sId, error);

example/kalman/ukf-nonlinear-complex-example.cpp

@@ -74,6 +74,8 @@
  * the interval \f$[- \pi ; \pi ]\f$ .
 */
 
+#include <iostream>
+
 // UKF includes
 #include <visp3/core/vpUKSigmaDrawerMerwe.h>
 #include <visp3/core/vpUnscentedKalman.h>

example/manual/hello-world/CMake/HelloWorld.cpp

@@ -53,7 +53,7 @@ int main()
     vpRotationMatrix R(vpMath::rad(0.), vpMath::rad(180) + 100 * std::numeric_limits<double>::epsilon(), 0.);
 
     // Extract the theta U angles from a rotation matrix
-    tu.build(R);
+    tu.buildFrom(R);
 
     // Since the rotation vector is 3 values column vector, the
     // transpose operation produce a row vector.

example/math/exponentialMap.cpp

@@ -66,7 +66,7 @@ int main()
 
     // Build a ThetaU rotation vector from a Rxyz vector
     vpThetaUVector tu;
-    tu.build(rxyz);
+    tu.buildFrom(rxyz);
 
     vpColVector v(6); // Velocity vector [t, thetaU]^t
 

example/particle-filter/pf-nonlinear-complex-example.cpp

@@ -469,7 +469,7 @@ class vpLandmarksGrid
   */
   vpLandmarksGrid(const std::vector<vpLandmarkMeasurements> &landmarks, const double &distMaxAllowed)
     : m_landmarks(landmarks)
-    , m_nbLandmarks(landmarks.size())
+    , m_nbLandmarks(static_cast<unsigned int>(landmarks.size()))
   {
     double sigmaDistance = distMaxAllowed / 3.;
     double sigmaDistanceSquared = sigmaDistance * sigmaDistance;

example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocity.cpp

@@ -225,11 +225,11 @@ int main(int argc, const char **argv)
 
     // Build the 3D translation feature: ctc*
     vpFeatureTranslation t(vpFeatureTranslation::cMcd);
-    t.build(cMcd);
+    t.buildFrom(cMcd);
 
     // Build the 3D rotation feature: thetaU_cRc*
     vpFeatureThetaU tu(vpFeatureThetaU::cRcd); // current feature
-    tu.build(cMcd);
+    tu.buildFrom(cMcd);
 
     // Sets the desired rotation (always zero !)  since s is the
     // rotation that the camera has to achieve. Here s* = (0, 0)^T
@@ -269,8 +269,8 @@ int main(int argc, const char **argv)
       cMcd = cMo * cdMo.inverse();
 
       // Update the current visual features
-      t.build(cMcd);
-      tu.build(cMcd);
+      t.buildFrom(cMcd);
+      tu.buildFrom(cMcd);
 
       // Compute the control law
       v = task.computeControlLaw();
@@ -307,4 +307,4 @@ int main(int argc, const char **argv)
   std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
   return EXIT_SUCCESS;
 #endif
-  }
+}

example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocity.cpp

@@ -226,8 +226,8 @@ int main(int argc, const char **argv)
     // Build the current visual features s = (c*tc, thetaU_c*Rc)^T
     vpFeatureTranslation t(vpFeatureTranslation::cdMc);
     vpFeatureThetaU tu(vpFeatureThetaU::cdRc); // current feature
-    t.build(cdMc);
-    tu.build(cdMc);
+    t.buildFrom(cdMc);
+    tu.buildFrom(cdMc);
 
     // Sets the desired rotation (always zero !)  since s is the
     // rotation that the camera has to achieve. Here s* = (0, 0)^T
@@ -267,8 +267,8 @@ int main(int argc, const char **argv)
       cdMc = cdMo * cMo.inverse();
 
       // Update the current visual features
-      t.build(cdMc);
-      tu.build(cdMc);
+      t.buildFrom(cdMc);
+      tu.buildFrom(cdMc);
 
       // Compute the control law
       v = task.computeControlLaw();
@@ -303,4 +303,4 @@ int main(int argc, const char **argv)
   std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
   return EXIT_SUCCESS;
 #endif
-  }
+}

example/robot-simulator/camera/servoSimuFourPoints2DCamVelocity.cpp

@@ -192,10 +192,10 @@ int main(int argc, const char **argv)
     // sets the desired position of the point
     vpFeaturePoint pd[4];
 
-    pd[0].build(-0.1, -0.1, 1);
-    pd[1].build(0.1, -0.1, 1);
-    pd[2].build(0.1, 0.1, 1);
-    pd[3].build(-0.1, 0.1, 1);
+    pd[0].buildFrom(-0.1, -0.1, 1);
+    pd[1].buildFrom(0.1, -0.1, 1);
+    pd[2].buildFrom(0.1, 0.1, 1);
+    pd[3].buildFrom(-0.1, 0.1, 1);
 
     // define the task
     // - we want an eye-in-hand control law
@@ -247,10 +247,10 @@ int main(int argc, const char **argv)
       }
       // since vpServo::MEAN interaction matrix is used, we need also to
       // update the desired features at each iteration
-      pd[0].build(-0.1, -0.1, 1);
-      pd[1].build(0.1, -0.1, 1);
-      pd[2].build(0.1, 0.1, 1);
-      pd[3].build(-0.1, 0.1, 1);
+      pd[0].buildFrom(-0.1, -0.1, 1);
+      pd[1].buildFrom(0.1, -0.1, 1);
+      pd[2].buildFrom(0.1, 0.1, 1);
+      pd[3].buildFrom(-0.1, 0.1, 1);
 
       // compute the control law ") ;
       v = task.computeControlLaw();
@@ -275,4 +275,4 @@ int main(int argc, const char **argv)
   std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
   return EXIT_SUCCESS;
 #endif
-  }
+}