Fix various (doxygen warning, command line options names, Panda3D_DIR var, update change log file)

CMakeLists.txt

@@ -1920,8 +1920,11 @@ endif()
 if(USE_PANDA3D)
   if(Panda3D_DIR)
     status("    Panda3D dir:" "${Panda3D_DIR}")
-  else()
+  elseif($ENV{Panda3D_DIR})
     status("    Panda3D dir:" "$ENV{Panda3D_DIR}")
+  else()
+    file(REAL_PATH "${Panda3D_INCLUDE_DIRS}/../.." Panda3D_DIR)
+    status("    Panda3D dir:" "${Panda3D_DIR}")
   endif()
 endif()
 if(USE_YARP)

ChangeLog.txt

@@ -108,6 +108,7 @@ ViSP 3.x.x (Version in development)
     . [#1552] Unabled to use SIFT feature with opencv 4.5.4
     . [#1562] Fix segfault in vpFont
     . [#1523] MAVSDK v2 and v3 compatibility
+    . [#1579] Unable to build vpRobotBebop2.cpp with ffmpeg (libavcodec >= 60)
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

doc/tutorial/detection/tutorial-detection-apriltag.dox

@@ -53,7 +53,7 @@ The following example also available in tutorial-apriltag-detector.cpp detects a
 
 \include tutorial-apriltag-detector.cpp
 
-The default behavior is to detect <a href="https://april.eecs.umich.edu/software/apriltag.html">36h11</a> marker in \c AprilTag.pgm image, but \c --tag_family \<family\> option allows considering other tags. To see which are the options, just run:
+The default behavior is to detect <a href="https://april.eecs.umich.edu/software/apriltag.html">36h11</a> marker in \c AprilTag.pgm image, but \c --tag-family \<family\> option allows considering other tags. To see which are the options, just run:
 \code
 $ ./tutorial-apriltag-detector --help
 \endcode
@@ -119,12 +119,12 @@ This other example also available in tutorial-apriltag-detector-live.cpp shows h
 \include tutorial-apriltag-detector-live.cpp
 
 The usage of this example is similar to the previous one:
-- with option \c --tag_family you select the kind of tag that you want to detect.
+- with option \c --tag-family you select the kind of tag that you want to detect.
 - if more than one camera is connected to you computer, with option \c --input you can select which camera to use. The first camera that is found has number 0.
 
 To detect 36h11 tags on images acquired by a second camera connected to your computer use:
 \code
-$ ./tutorial-apriltag-detector-live --tag_family 0 --input 1
+$ ./tutorial-apriltag-detector-live --tag-family 0 --input 1
 \endcode
 
 The source code of this example is very similar to the previous one except that here we use camera framegrabber devices (see \ref tutorial-grabber). Two different grabber may be used:

doc/tutorial/tracking/tutorial-tracking-mb-generic-apriltag-live.dox

@@ -130,11 +130,11 @@ $ ./tutorial-mb-generic-tracker-apriltag-webcam --cube-size 0.20
 \endcode
 - The AprilTag size is 0.08 by 0.08 meters. To change the tag size to let say 0.10 meter square, use:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --tag_size 0.10
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --tag-size 0.10
 \endcode
 - The AprilTag detection of quads is set to 1.0 by default. You can change it to 2 to speed up the detection using:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --quad_decimate 2
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --quad-decimate 2
 \endcode
 - The AprilTag default number of threads used is 1. To increase the number of threads used during detection to 2, run:
 \code
@@ -143,7 +143,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-webcam --nthreads 2
 - The AprilTag default tag family is 36h11. It is possible to use other tags specifying the tag id (0 to 5):
   0=TAG_36h11, 1=TAG_36h10, 2=TAG_36ARTOOLKIT, 3=TAG_25h9, 4=TAG_25h7, 5=TAG_16h5). To use tag family 36h10, run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --tag_family 1
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --tag-family 1
 \endcode
 - The default camera parameters used are: px=600, py=600, and principal point is set at image center. To specify
   your own parameters, you can provide for example a `camera.xml` parameters file with a camera named `myCam` in it,
@@ -154,7 +154,7 @@ $ ./tutorial-mb-generic-tracker-apriltag-webcam --intrinsic camera.xml --camera_
 See \ref tutorial-calibration-intrinsic to see how to generate `camera.xml` file by calibration your camera.
 - The display is turned on by default, but you can disable it with:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-webcam --display_off
+$ ./tutorial-mb-generic-tracker-apriltag-webcam --display-off
 \endcode
 - Tracking failure detection is achieved thresholding the projection error indicator provided by the tracker.
   The default value of this threshold is set to 40 degrees. To decrease this threshold to 30 degrees (meaning that we
@@ -228,11 +228,11 @@ $ ./tutorial-mb-generic-tracker-apriltag-rs2 --cube-size 0.20
 \endcode
 - The AprilTag size is 0.08 by 0.08 meters. To change the tag size to let say 0.10 meter square, use:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-rs2 --tag_size 0.10
+$ ./tutorial-mb-generic-tracker-apriltag-rs2 --tag-size 0.10
 \endcode
 - The AprilTag detection of quads is set to 1.0 by default. You can change it to 2 to speed up the detection using:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-rs2 --quad_decimate 2
+$ ./tutorial-mb-generic-tracker-apriltag-rs2 --quad-decimate 2
 \endcode
 - The AprilTag default number of threads used is 1. To increase the number of threads used during detection to 2, run:
 \code
@@ -241,11 +241,11 @@ $ ./tutorial-mb-generic-tracker-apriltag-rs2 --nthreads 2
 - The AprilTag default tag family is 36h11. It is possible to use other tags specifying the tag id (0 to 5):
   0=TAG_36h11, 1=TAG_36h10, 2=TAG_36ARTOOLKIT, 3=TAG_25h9, 4=TAG_25h7, 5=TAG_16h5). To use tag family 36h10, run:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-rs2 --tag_family 1
+$ ./tutorial-mb-generic-tracker-apriltag-rs2 --tag-family 1
 \endcode
 - The display is turned on by default, but you can disable it with:
 \code
-$ ./tutorial-mb-generic-tracker-apriltag-rs2 --display_off
+$ ./tutorial-mb-generic-tracker-apriltag-rs2 --display-off
 \endcode
 - Tracking failure detection is achieved thresholding the projection error indicator provided by the tracker.
   The default value of this threshold is set to 40 degrees. To decrease this threshold to 30 degrees (meaning that

doc/tutorial/visual-servo/tutorial-franka-ibvs.dox

@@ -22,7 +22,7 @@ Now enter in `example/servo-franka folder` and run `servoFrankaIBVS` binary usin
 
     $ cd example/servo-franka
     $ ./servoFrankaIBVS --help
-    ./servoFrankaIBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
+    ./servoFrankaIBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
 
 Run the binary activating the plot and using a constant gain:
 
@@ -40,15 +40,15 @@ At this point the behaviour that you should observe is the following:
 
 You can also activate an adaptive gain that will make the convergence faster:
 
-    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --adaptive_gain
+    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --adpative-gain
 
 You can also start the robot with a zero velocity at the beginning introducing task sequencing option:
 
-    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --task_sequencing
+    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --task-sequencing
 
 And finally you can activate the adaptive gain and task sequencing:
 
-    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --adaptive_gain --task_sequencing
+    $ ./servoFrankaIBVS --eMc ../../apps/calibration/eMc.yaml --plot --adpative-gain --task-sequencing
 
 To learn more about adaptive gain and task sequencing see \ref tutorial-boost-vs.
 

doc/tutorial/visual-servo/tutorial-franka-pbvs.dox

@@ -264,7 +264,7 @@ Now enter in `example/servo-franka folder` and run `servoFrankaPBVS` binary usin
 
     $ cd example/servo-franka
     $ ./servoFrankaPBVS --help
-    ./servoFrankaPBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
+    ./servoFrankaPBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>] [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]
 
 Run the binary activating the plot and using a constant gain:
 
@@ -287,15 +287,15 @@ Now you should see new window that shows the image from the camera like in the n
 
 You can also activate an adaptive gain that will make the convergence faster:
 
-    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --adaptive_gain
+    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --adpative-gain
 
 You can also start the robot with a zero velocity at the beginning introducing task sequencing option:
 
-    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --task_sequencing
+    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --task-sequencing
 
 And finally you can activate the adaptive gain and task sequencing:
 
-    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --adaptive_gain --task_sequencing
+    $ ./servoFrankaPBVS --eMc ../../apps/calibration/eMc.yaml --plot --adpative-gain --task-sequencing
 
 To learn more about adaptive gain and task sequencing see \ref tutorial-boost-vs.
 

doc/tutorial/visual-servo/tutorial-universal-robot-ibvs.dox

@@ -137,7 +137,7 @@ $ cd example/servo-universal-robots
 $ ./servoUniversalRobotsIBVS --help
 ./servoUniversalRobotsIBVS [--ip <default 192.168.0.100>] [--tag-size <marker size in meter; default 0.12>] \
                            [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>]           \
-                           [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold]      \
+                           [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold]      \
                            [--verbose] [--help] [-h]
 \endverbatim
 
@@ -160,19 +160,19 @@ At this point the behaviour that you should observe is the following:
 You can also activate an adaptive gain that will make the convergence faster:
 
 \verbatim
-$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adaptive_gain
+$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adpative-gain
 \endverbatim
 
 You can also start the robot with a zero velocity at the beginning introducing task sequencing option:
 
 \verbatim
-$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --task_sequencing
+$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --task-sequencing
 \endverbatim
 
 And finally you can activate the adaptive gain and task sequencing:
 
 \verbatim
-$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adaptive_gain --task_sequencing
+$ ./servoUniversalRobotsIBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adpative-gain --task-sequencing
 \endverbatim
 
 \section ur_ibvs_next Next tutorial

doc/tutorial/visual-servo/tutorial-universal-robot-pbvs.dox

@@ -20,7 +20,7 @@ $ cd example/servo-universal-robots
 $ ./servoUniversalRobotsPBVS --help
 ./servoUniversalRobotsPBVS [--ip <default 192.168.1.1>] [--tag-size <marker size in meter; default 0.12>] \
                            [--eMc <eMc extrinsic file>] [--quad-decimate <decimation; default 2>]         \
-                           [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold]    \
+                           [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold]    \
                            [--verbose] [--help] [-h]
 \endverbatim
 
@@ -43,19 +43,19 @@ At this point the behaviour that you should observe is the following:
 You can also activate an adaptive gain that will make the convergence faster:
 
 \verbatim
-$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adaptive_gain
+$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adpative-gain
 \endverbatim
 
 You can also start the robot with a zero velocity at the beginning introducing task sequencing option:
 
 \verbatim
-$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --task_sequencing
+$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --task-sequencing
 \endverbatim
 
 And finally you can activate the adaptive gain and task sequencing:
 
 \verbatim
-$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adaptive_gain --task_sequencing
+$ ./servoUniversalRobotsPBVS --eMc ../../apps/calibration/ur_eMc.yaml --plot --adpative-gain --task-sequencing
 \endverbatim
 
 \section ur_pbvs_next Next tutorial

example/servo-afma6/servoAfma6AprilTagIBVS.cpp

@@ -46,7 +46,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 */
 
 #include <iostream>

example/servo-afma6/servoAfma6AprilTagPBVS.cpp

@@ -43,7 +43,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 */
 
 #include <iostream>

example/servo-franka/servoFrankaIBVS.cpp

@@ -55,7 +55,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 
 */
 

example/servo-franka/servoFrankaPBVS.cpp

@@ -53,7 +53,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 */
 
 #include <iostream>
@@ -113,7 +113,7 @@ int main(int argc, char **argv)
   double convergence_threshold_tu = 0.5;   // Value in [deg]
 
   for (int i = 1; i < argc; i++) {
-    if ((std::string(argv[i]) == "--tag_size") && (i + 1 < argc)) {
+    if ((std::string(argv[i]) == "--tag-size") && (i + 1 < argc)) {
       opt_tagSize = std::stod(argv[i + 1]);
       ++i;
     }
@@ -131,13 +131,13 @@ int main(int argc, char **argv)
     else if (std::string(argv[i]) == "--plot") {
       opt_plot = true;
     }
-    else if (std::string(argv[i]) == "--adaptive_gain") {
+    else if (std::string(argv[i]) == "--adpative-gain") {
       opt_adaptive_gain = true;
     }
-    else if (std::string(argv[i]) == "--task_sequencing") {
+    else if (std::string(argv[i]) == "--task-sequencing") {
       opt_task_sequencing = true;
     }
-    else if ((std::string(argv[i]) == "--quad_decimate") && (i + 1 < argc)) {
+    else if ((std::string(argv[i]) == "--quad-decimate") && (i + 1 < argc)) {
       opt_quad_decimate = std::stoi(argv[i + 1]);
       ++i;
     }

example/servo-universal-robots/servoUniversalRobotsIBVS.cpp

@@ -52,7 +52,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 
 */
 
@@ -112,7 +112,7 @@ int main(int argc, char **argv)
   double convergence_threshold = 0.00005;
 
   for (int i = 1; i < argc; i++) {
-    if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
+    if (std::string(argv[i]) == "--tag-size" && i + 1 < argc) {
       opt_tagSize = std::stod(argv[i + 1]);
     }
     else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
@@ -127,10 +127,10 @@ int main(int argc, char **argv)
     else if (std::string(argv[i]) == "--plot") {
       opt_plot = true;
     }
-    else if (std::string(argv[i]) == "--adaptive_gain") {
+    else if (std::string(argv[i]) == "--adpative-gain") {
       opt_adaptive_gain = true;
     }
-    else if (std::string(argv[i]) == "--task_sequencing") {
+    else if (std::string(argv[i]) == "--task-sequencing") {
       opt_task_sequencing = true;
     }
     else if (std::string(argv[i]) == "--quad-decimate" && i + 1 < argc) {
@@ -144,7 +144,7 @@ int main(int argc, char **argv)
         << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag-size <marker size in meter; default "
         << opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
         << "[--quad-decimate <decimation; default " << opt_quad_decimate
-        << ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
+        << ">] [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
         << "\n";
       return EXIT_SUCCESS;
     }

example/servo-universal-robots/servoUniversalRobotsPBVS.cpp

@@ -50,7 +50,7 @@
 
   The target is an AprilTag that is by default 12cm large. To print your own tag, see
   https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html
-  You can specify the size of your tag using --tag_size command line option.
+  You can specify the size of your tag using --tag-size command line option.
 */
 
 #include <iostream>
@@ -110,7 +110,7 @@ int main(int argc, char **argv)
   double convergence_threshold_tu = 0.5;   // Value in [deg]
 
   for (int i = 1; i < argc; i++) {
-    if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
+    if (std::string(argv[i]) == "--tag-size" && i + 1 < argc) {
       opt_tagSize = std::stod(argv[i + 1]);
     }
     else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
@@ -125,10 +125,10 @@ int main(int argc, char **argv)
     else if (std::string(argv[i]) == "--plot") {
       opt_plot = true;
     }
-    else if (std::string(argv[i]) == "--adaptive_gain") {
+    else if (std::string(argv[i]) == "--adpative-gain") {
       opt_adaptive_gain = true;
     }
-    else if (std::string(argv[i]) == "--task_sequencing") {
+    else if (std::string(argv[i]) == "--task-sequencing") {
       opt_task_sequencing = true;
     }
     else if (std::string(argv[i]) == "--quad-decimate" && i + 1 < argc) {
@@ -143,7 +143,7 @@ int main(int argc, char **argv)
         << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag-size <marker size in meter; default "
         << opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
         << "[--quad-decimate <decimation; default " << opt_quad_decimate
-        << ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
+        << ">] [--adpative-gain] [--plot] [--task-sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
         << "\n";
       return EXIT_SUCCESS;
     }

modules/core/include/visp3/core/vpArray2D.h

@@ -351,7 +351,7 @@ template <class Type> class vpArray2D
 
   /**
    * \brief Create an array view of a raw data pointer.
-   * After this function has been called, the array \ref data can be modified through the view \ref v.
+   * After this function has been called, the array `data` can be modified through the view `v`.
    * This data is not owned by the resulting array and should be freed after the array is destroyed (not before).
    *
    * \param v The resulting view array

modules/tracker/me/include/visp3/me/vpMeLine.h

@@ -373,7 +373,7 @@ class VISP_EXPORT vpMeLine : public vpMeTracker
    *
    * \param line1 : The first line.
    * \param line2 : The second line.
-   * \param ip : The coordinates of the intersection point.
+   * \param iP : The coordinates of the intersection point.
    *
    * \return Returns a boolean value which depends on the computation
    * success. True means that the computation ends successfully.