Merge branch 'master' into fix_afma6_warnings

.github/workflows/coverage.yml

@@ -14,7 +14,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build:
+  build-coverage:
     runs-on: ubuntu-latest
 
     steps:

.github/workflows/other-arch-isolated.yml

@@ -15,9 +15,9 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-other-architectures:
+  build-other-architectures-isolated:
     # The host should always be linux
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     name: Build on ${{ matrix.distro }} ${{ matrix.arch }} ${{ matrix.endianness }}
 
     # Run steps on a matrix of different arch/distro combinations
@@ -29,19 +29,22 @@ jobs:
           #   distro: bullseye
           #   target: ARMV6
           - arch: armv7
-            distro: ubuntu22.04
+            distro: ubuntu_latest
             target: ARMV7
             endianness: (Little Endian)
           - arch: aarch64
-            distro: ubuntu22.04 #fedora_latest
-            target: ARMV8
+            distro: ubuntu_latest
+            endianness: (Little Endian)
+          - arch: riscv64
+            distro: ubuntu_latest
+            target: RISC-V
             endianness: (Little Endian)
           - arch: ppc64le
-            distro: ubuntu22.04
+            distro: ubuntu_latest
             target: POWER8
             endianness: (Little Endian)
           - arch: s390x
-            distro: ubuntu22.04
+            distro: ubuntu_latest
             target: Z13
             endianness: (Big Endian)
 
@@ -50,7 +53,7 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Run on arch
-      uses: uraimo/run-on-arch-action@v2.2.1
+      uses: uraimo/run-on-arch-action@v2.7.2
       with:
         githubToken: ${{ github.token }}
         arch: ${{ matrix.arch }}

.github/workflows/other-arch.yml

@@ -17,7 +17,7 @@ concurrency:
 jobs:
   build-other-architectures:
     # The host should always be linux
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     name: Build on ${{ matrix.distro }} ${{ matrix.arch }} ${{ matrix.endianness }}
 
     # Run steps on a matrix of 3 arch/distro combinations
@@ -32,14 +32,14 @@ jobs:
           #   distro: ubuntu20.04
           #   target: ARMV7
           - arch: aarch64
-            distro: ubuntu20.04 #fedora_latest
+            distro: ubuntu_latest
             target: ARMV8
             endianness: (Little Endian)
           # - arch: ppc64le
           #   distro: ubuntu20.04
           #   target: POWER8
           - arch: s390x
-            distro: ubuntu20.04
+            distro: ubuntu_latest
             target: Z13
             endianness: (Big Endian)
 
@@ -48,7 +48,7 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Run on arch
-      uses: uraimo/run-on-arch-action@v2.1.1
+      uses: uraimo/run-on-arch-action@v2.7.2
       with:
         githubToken: ${{ github.token }}
         arch: ${{ matrix.arch }}
@@ -60,7 +60,7 @@ jobs:
           apt-get update && apt-get install -y  lsb-release git build-essential cmake
           lsb_release -a
 
-          apt-get update && apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev gfortran liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev
+          apt-get update && apt-get install -y libx11-dev libdc1394-dev libv4l-dev gfortran liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev
           apt-get update && apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
 
           git clone --depth 1 https://github.com/lagadic/visp-images ${HOME}/visp-images

.github/workflows/ubuntu-3rdparty.yml

@@ -14,12 +14,12 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-dep-apt-3rdparty:
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-latest]
         compiler: [ {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
 
     steps:
@@ -35,12 +35,12 @@ jobs:
     - name: Print compiler information
       run: dpkg --list | grep compiler
 
-    - name: Install dependencies for ubuntu 18.04 and 20.04
-      if: matrix.os != 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu 20.04
+      if: matrix.os == 'ubuntu-20.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
     - name: Clone camera_localization

.github/workflows/ubuntu-contrib.yml

@@ -14,12 +14,12 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-dep-apt-contrib:
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-latest]
         compiler: [ {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
 
     steps:
@@ -36,11 +36,11 @@ jobs:
       run: dpkg --list | grep compiler
 
     - name: Install dependencies for ubuntu 20.04
-      if: matrix.os != 'ubuntu-22.04'
+      if: matrix.os == 'ubuntu-20.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
     - name: Clone visp_contrib

.github/workflows/ubuntu-dep-apt.yml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-latest]
         compiler: [ {CC: /usr/bin/gcc-9, CXX: /usr/bin/g++-9}, {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
         standard: [ 98, 11, 17 ]
 
@@ -37,11 +37,11 @@ jobs:
       run: dpkg --list | grep compiler
 
     - name: Install dependencies for ubuntu 20.04
-      if: matrix.os != 'ubuntu-22.04'
+      if: matrix.os == 'ubuntu-20.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
     - name: Clone visp-images

.github/workflows/ubuntu-dep-src.yml

@@ -23,7 +23,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-latest]
 
     steps:
     - name: Checkout repository
@@ -36,15 +36,10 @@ jobs:
       run: lsb_release -a
 
     - name: Install dependencies for ubuntu 20.04
-      if: matrix.os != 'ubuntu-22.04'
+      if: matrix.os == 'ubuntu-20.04'
       run: |
         sudo apt-get update && sudo apt-get install -y libdc1394-22-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
-      run: |
-        sudo apt-get update && sudo apt-get install -y libdc1394-dev
-
     - name: Install common dependencies for ubuntu
       run: |
         sudo apt-get update
@@ -53,8 +48,8 @@ jobs:
         sudo apt-get install -y mesa-common-dev mesa-utils freeglut3-dev libflann-dev libboost-all-dev
         sudo apt-get install -y nlohmann-json3-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
       run: |
         sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev gfortran liblapack-dev libeigen3-dev
         sudo apt-get update && sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

.github/workflows/ubuntu-isolated.yml

@@ -15,7 +15,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-dep-apt-isolated:
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false

.github/workflows/ubuntu-ustk.yml

@@ -14,12 +14,12 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-dep-apt-ustk:
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04, ubuntu-latest]
 
     steps:
     - name: Checkout repository
@@ -35,11 +35,11 @@ jobs:
       run: dpkg --list | grep compiler
 
     - name: Install dependencies for ubuntu 20.04
-      if: matrix.os != 'ubuntu-22.04'
+      if: matrix.os == 'ubuntu-20.04'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
-    - name: Install dependencies for ubuntu 22.04
-      if: matrix.os == 'ubuntu-22.04'
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
       run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
 
     - name: Clone visp-images

.github/workflows/ubuntu-venv.yml

@@ -14,7 +14,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-dep-apt-venv:
     runs-on: ubuntu-latest
 
     steps:

.github/workflows/windows-clang.yaml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build:
+  build-windows-clang:
     runs-on: ${{ matrix.os }}
     defaults:
       run:

.github/workflows/windows-conda.yml

@@ -8,7 +8,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  visp-conda:
+  build-windows-conda:
     name: ${{ matrix.os }} ${{ matrix.compiler }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
 
@@ -85,7 +85,7 @@ jobs:
     name: check-windows-conda
 
     needs:
-    - visp-conda
+    - build-windows-conda
 
     runs-on: Ubuntu-latest
 

.github/workflows/windows-msvc.yaml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build:
+  build-windows-msvc:
     runs-on: ${{ matrix.os }}
     defaults:
       run:

3rdparty/clapack/CMakeLists.txt

@@ -37,7 +37,7 @@ if(NOT BUILD_SHARED_LIBS)
   vp_install_target(${LAPACK_LIBRARY} EXPORT VISPModules ARCHIVE DESTINATION ${VISP_3P_LIB_INSTALL_PATH} COMPONENT dev)
 endif()
 
-if(MSVC AND NOT ((CMAKE_CXX_COMPILER MATCHES "clang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
+if(MSVC AND NOT ((CMAKE_CXX_COMPILER_ID MATCHES "AppleClang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
   # Disable Visual C++ warnings
   foreach(f ${lib_srcs})
     vp_set_source_file_compile_flag(${f} /wd4244 /wd4267 /wd4273 /wd4554 /wd4723 /wd4996)

3rdparty/simdlib/CMakeLists.txt

@@ -25,7 +25,7 @@ if(X86 OR X86_64)
     set(AVX_FLAG    "")
     set(AVX2_FLAG   "")
 
-    if(MSVC AND NOT ((CMAKE_CXX_COMPILER MATCHES "clang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
+    if(MSVC AND NOT ((CMAKE_CXX_COMPILER_ID MATCHES "AppleClang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
         if(NOT MSVC64)
             vp_check_compiler_flag(CXX "/arch:SSE2"   HAVE_SSE2_FLAG    "${VISP_SOURCE_DIR}/cmake/checks/cpu_sse2.cpp")
         endif()
@@ -140,7 +140,7 @@ if(X86 OR X86_64)
         if(HAVE_NO_STRINGOP_OVERFLOW_EQUAL_FLAG)
             set(COMMON_CXX_FLAGS "${COMMON_CXX_FLAGS} -Wno-stringop-overflow")
         endif()
-        if(MSVC AND ((CMAKE_CXX_COMPILER MATCHES "clang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
+        if(MSVC AND ((CMAKE_CXX_COMPILER_ID MATCHES "AppleClang") OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang")))
             # Clang under windows needs AVX flags
             set(COMMON_CXX_FLAGS "${COMMON_CXX_FLAGS} ${AVX_FLAG} ${AVX2_FLAG}")
         endif()
@@ -176,8 +176,14 @@ elseif(ARM OR AARCH64)
     vp_check_compiler_flag(CXX "-Wno-unused-command-line-argument" HAVE_NO_UNUSED_CMD_LINE_FLAG "${VISP_SOURCE_DIR}/cmake/checks/cpu_warning.cpp")
     vp_check_compiler_flag(CXX "-Wno-asm-operand-widths"           HAVE_NO_ASM_WIDTHS_FLAG      "${VISP_SOURCE_DIR}/cmake/checks/cpu_warning.cpp")
     vp_check_compiler_flag(CXX "-Wno-switch"                       HAVE_NO_SWITCH_FLAG          "${VISP_SOURCE_DIR}/cmake/checks/cpu_warning.cpp")
+
     if(CMAKE_SYSTEM_PROCESSOR MATCHES "arm")
-        set(CXX_NEON_FLAG "-mfpu=neon")
+        if( NOT ((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")))
+            set(CXX_NEON_FLAG "-mfpu=neon -mfpu=neon-fp16")
+        endif()
+        if(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+            set(CXX_NEON_FLAG "${CXX_NEON_FLAG} -mfp16-format=ieee")
+        endif()
     else()
         set(CXX_NEON_FLAG "")
     endif()
@@ -192,7 +198,7 @@ elseif(ARM OR AARCH64)
         set(COMMON_CXX_FLAGS "${COMMON_CXX_FLAGS} -Wno-unused-command-line-argument")
     endif()
 
-    if((CMAKE_CXX_COMPILER_ID STREQUAL "Clang") OR (CMAKE_CXX_COMPILER MATCHES "clang"))
+    if((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
         add_definitions(-DSIMD_NEON_FP16_DISABLE)
     endif()
 

ChangeLog.txt

@@ -65,6 +65,12 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-hsv-segmentation-pcl.html
     . New tutorial: Rendering a 3D scene with Panda3D
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-panda3d.html
+    . New tutorial: Using Unscented Kalman Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-ukf.html
+    . New tutorial: Using Particle Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf.html
+    . New tutorial: Using Particle Filter to model a wire using polynomial interpolation
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf-curve-fitting.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17