More fixes since some constructors are explicit

example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp

@@ -28,7 +28,7 @@
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Description:
+ * Description
  * Simulation of a 3D visual servoing.
  *
 *****************************************************************************/
@@ -267,7 +267,7 @@ int main(int argc, const char **argv)
 
       // Compute the camera translational velocity
       vpColVector v(3);
-      v = lambda * (I - vpColVector::skew(tu_cRcd)) * ctcd;
+      v = lambda * (I - vpColVector::skew(vpColVector(tu_cRcd))) * ctcd;
       // Compute the camera rotational velocity
       vpColVector w(3);
       w = lambda * tu_cRcd;

modules/core/test/math/testColVector.cpp

@@ -147,7 +147,7 @@ int main()
       M[i][0] = i;
       bench[i] = i;
     }
-    if (test("M", M, bench) == false)
+    if (test("M", vpColVector(M), bench) == false)
       return EXIT_FAILURE;
     vpColVector v;
     v = M;
@@ -159,7 +159,7 @@ int main()
     vpColVector z1(bench);
     if (test("z1", z1, bench) == false)
       return EXIT_FAILURE;
-    vpColVector z2 = bench;
+    vpColVector z2 = vpColVector(bench);
     if (test("z2", z2, bench) == false)
       return EXIT_FAILURE;
   }
@@ -191,7 +191,7 @@ int main()
     vpColVector y1(bench2);
     if (test("y1", y1, bench1) == false)
       return EXIT_FAILURE;
-    vpColVector y2 = bench2;
+    vpColVector y2 = vpColVector(bench2);
     if (test("y2", y2, bench1) == false)
       return EXIT_FAILURE;
   }

modules/core/test/math/testMathUtils.cpp

@@ -74,7 +74,7 @@ TEST_CASE("Lon-Lat generator", "[math_lonlat]")
   SECTION("NED")
   {
     std::vector<vpHomogeneousMatrix> ecef_M_ned_vec =
-        vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::ned2ecef);
+      vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::ned2ecef);
     for (const auto &ecef_M_ned : ecef_M_ned_vec) {
 #ifdef VERBOSE
       std::cout << "Lon-Lat ecef_M_ned:\n" << ecef_M_ned << std::endl;
@@ -108,7 +108,7 @@ TEST_CASE("Lon-Lat generator", "[math_lonlat]")
   SECTION("ENU")
   {
     std::vector<vpHomogeneousMatrix> ecef_M_enu_vec =
-        vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::enu2ecef);
+      vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::enu2ecef);
     for (const auto &ecef_M_enu : ecef_M_enu_vec) {
 #ifdef VERBOSE
       std::cout << "Lon-Lat ecef_M_enu:\n" << ecef_M_enu << std::endl;
@@ -147,7 +147,7 @@ TEST_CASE("Equidistributed sphere point", "[math_equi_sphere_pts]")
   SECTION("NED")
   {
     std::vector<vpHomogeneousMatrix> ecef_M_ned_vec =
-        vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::ned2ecef);
+      vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::ned2ecef);
     CHECK(!ecef_M_ned_vec.empty());
     for (const auto &ecef_M_ned : ecef_M_ned_vec) {
 #ifdef VERBOSE
@@ -182,7 +182,7 @@ TEST_CASE("Equidistributed sphere point", "[math_equi_sphere_pts]")
   SECTION("ENU")
   {
     std::vector<vpHomogeneousMatrix> ecef_M_enu_vec =
-        vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::enu2ecef);
+      vpMath::getLocalTangentPlaneTransformations(lonlatVec, radius, vpMath::enu2ecef);
     CHECK(!ecef_M_enu_vec.empty());
     for (const auto &ecef_M_enu : ecef_M_enu_vec) {
 #ifdef VERBOSE
@@ -216,7 +216,7 @@ TEST_CASE("Equidistributed sphere point", "[math_equi_sphere_pts]")
 TEST_CASE("Look-at", "[math_look_at]")
 {
   // Set camera to an arbitrary pose (only translation)
-  vpColVector from_blender = {8.867762565612793, -1.1965436935424805, 2.1211400032043457};
+  vpColVector from_blender = { 8.867762565612793, -1.1965436935424805, 2.1211400032043457 };
   // Transformation from OpenGL to Blender frame
   vpHomogeneousMatrix blender_M_gl;
   blender_M_gl[0][0] = 0;
@@ -229,9 +229,9 @@ TEST_CASE("Look-at", "[math_look_at]")
   // From is the current camera pose expressed in the OpenGL coordinate system
   vpColVector from = (blender_M_gl.getRotationMatrix().t() * from_blender);
   // To is the desired point toward the camera must look
-  vpColVector to = {0, 0, 0};
+  vpColVector to = { 0, 0, 0 };
   // Up is an arbitrary vector
-  vpColVector up = {0, 1, 0};
+  vpColVector up = { 0, 1, 0 };
 
   // Compute the look-at transformation
   vpHomogeneousMatrix gl_M_cam = vpMath::lookAt(from, to, up);
@@ -246,10 +246,10 @@ TEST_CASE("Look-at", "[math_look_at]")
   std::cout << "\nbl_M_cv:\n" << bl_M_cv << std::endl;
 
   // Ground truth using Blender look-at
-  vpHomogeneousMatrix bl_M_cv_gt = {0.13372008502483368, 0.22858507931232452,  -0.9642965197563171,
+  vpHomogeneousMatrix bl_M_cv_gt = vpHomogeneousMatrix({ 0.13372008502483368, 0.22858507931232452,  -0.9642965197563171,
                                     8.867762565612793,   0.9910191297531128,   -0.030843468382954597,
                                     0.13011434674263,    -1.1965436935424805,  -5.4016709327697754e-08,
-                                    -0.9730352163314819, -0.23065657913684845, 2.121140241622925};
+                                    -0.9730352163314819, -0.23065657913684845, 2.121140241622925 });
   std::cout << "\nbl_M_cv_gt:\n" << bl_M_cv_gt << std::endl;
 
   const double tolerance = 1e-6;

modules/core/test/math/testRotation.cpp

@@ -373,7 +373,7 @@ TEST_CASE("Common rotation operations", "[rotation]")
       std::cout << "From vpRotationMatrix to vpRzyzVector " << std::endl;
       vpRzyzVector rzyz_final;
       rzyz_final.buildFrom(R);
-      CHECK(test("rzyz", rzyz_final, rzyz));
+      CHECK(test("rzyz", rzyz_final, vpColVector(rzyz)));
       std::cout << rzyz_final << std::endl;
     }
     SECTION("Conversion from and to rzyx vector")
@@ -388,7 +388,7 @@ TEST_CASE("Common rotation operations", "[rotation]")
       std::cout << "From vpRotationMatrix to vpRzyxVector " << std::endl;
       vpRzyxVector rzyx_final;
       rzyx_final.buildFrom(R);
-      bool ret = test("rzyx", rzyx_final, rzyx);
+      bool ret = test("rzyx", rzyx_final, vpColVector(rzyx));
       if (ret == false) {
         // Euler angle representation is not unique
         std::cout << "Rzyx vector differ. Test rotation matrix..." << std::endl;

modules/core/test/math/testRowVector.cpp

@@ -125,7 +125,7 @@ int main()
       M[0][i] = i;
       bench[i] = i;
     }
-    if (test("M", M, bench) == false)
+    if (test("M", vpRowVector(M), bench) == false)
       return err;
     vpRowVector v;
     v = M;
@@ -137,7 +137,7 @@ int main()
     vpRowVector z1(bench);
     if (test("z1", z1, bench) == false)
       return err;
-    vpRowVector z2 = bench;
+    vpRowVector z2 = vpRowVector(bench);
     if (test("z2", z2, bench) == false)
       return err;
   }
@@ -168,7 +168,7 @@ int main()
     vpRowVector y1(bench2);
     if (test("y1", y1, bench1) == false)
       return err;
-    vpRowVector y2 = bench2;
+    vpRowVector y2 = vpRowVector(bench2);
     if (test("y2", y2, bench1) == false)
       return err;
   }

modules/detection/test/apriltag-with-dataset/testAprilTag.cpp

@@ -54,11 +54,12 @@
 #include <visp3/vision/vpPose.h>
 namespace
 {
-struct TagGroundTruth {
+struct TagGroundTruth
+{
   std::string m_message;
   std::vector<vpImagePoint> m_corners;
 
-  TagGroundTruth(const std::string &msg, const std::vector<vpImagePoint> &c) : m_message(msg), m_corners(c) {}
+  TagGroundTruth(const std::string &msg, const std::vector<vpImagePoint> &c) : m_message(msg), m_corners(c) { }
 
   bool operator==(const TagGroundTruth &b) const
   {
@@ -89,7 +90,8 @@ struct TagGroundTruth {
         const vpImagePoint &b = c[i];
         error += (a.get_i() - b.get_i()) * (a.get_i() - b.get_i()) + (a.get_j() - b.get_j()) * (a.get_j() - b.get_j());
       }
-    } else {
+    }
+    else {
       return -1;
     }
 
@@ -109,16 +111,16 @@ std::ostream &operator<<(std::ostream &os, TagGroundTruth &t)
 }
 #endif
 
-struct FailedTestCase {
+struct FailedTestCase
+{
   vpDetectorAprilTag::vpAprilTagFamily m_family;
   vpDetectorAprilTag::vpPoseEstimationMethod m_method;
   int m_tagId;
 
   FailedTestCase(const vpDetectorAprilTag::vpAprilTagFamily &family,
                  const vpDetectorAprilTag::vpPoseEstimationMethod &method, int tagId)
     : m_family(family), m_method(method), m_tagId(tagId)
-  {
-  }
+  { }
 
   bool operator==(const FailedTestCase &b) const
   {
@@ -195,16 +197,16 @@ TEST_CASE("Apriltag pose estimation test", "[apriltag_pose_estimation_test]")
   std::vector<FailedTestCase> ignoreTests = {
       FailedTestCase(vpDetectorAprilTag::TAG_STANDARD41h12, vpDetectorAprilTag::LAGRANGE_VIRTUAL_VS, 3),
       FailedTestCase(vpDetectorAprilTag::TAG_STANDARD41h12, vpDetectorAprilTag::LAGRANGE_VIRTUAL_VS, 4),
-      FailedTestCase(vpDetectorAprilTag::TAG_CIRCLE21h7, vpDetectorAprilTag::LAGRANGE_VIRTUAL_VS, 3)};
+      FailedTestCase(vpDetectorAprilTag::TAG_CIRCLE21h7, vpDetectorAprilTag::LAGRANGE_VIRTUAL_VS, 3) };
 
   vpCameraParameters cam;
   cam.initPersProjWithoutDistortion(700.0, 700.0, 320.0, 240.0);
 
   std::map<int, vpHomogeneousMatrix> groundTruthPoses;
   for (size_t i = 0; i < nbTags; i++) {
     std::string filename =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), std::string("AprilTag/benchmark/640x480/cMo_") +
-                                                                          std::to_string(i) + std::string(".txt"));
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), std::string("AprilTag/benchmark/640x480/cMo_") +
+                                                                        std::to_string(i) + std::string(".txt"));
     std::ifstream file(filename);
     groundTruthPoses[static_cast<int>(i)].load(file);
   }
@@ -213,8 +215,8 @@ TEST_CASE("Apriltag pose estimation test", "[apriltag_pose_estimation_test]")
     auto family = kv.first;
     std::cout << "\nApriltag family: " << family << std::endl;
     std::string filename =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
-                                  std::string("AprilTag/benchmark/640x480/") + kv.second + std::string("_640x480.png"));
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
+                                std::string("AprilTag/benchmark/640x480/") + kv.second + std::string("_640x480.png"));
     const double tagSize = tagSize_ * tagSizeScales[family];
     REQUIRE(vpIoTools::checkFilename(filename));
 
@@ -260,12 +262,12 @@ TEST_CASE("Apriltag pose estimation test", "[apriltag_pose_estimation_test]")
           const vpHomogeneousMatrix &cMo_truth = groundTruthPoses[id];
           const vpPoseVector pose_truth(cMo_truth);
 
-          vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
+          vpColVector error_translation = vpColVector(pose.getTranslationVector() - pose_truth.getTranslationVector());
           vpColVector error_thetau = vpColVector(pose.getThetaUVector()) - vpColVector(pose_truth.getThetaUVector());
           double error_trans = sqrt(error_translation.sumSquare() / 3);
           double error_orientation = sqrt(error_thetau.sumSquare() / 3);
           std::cout << "\t\t\tTranslation error: " << error_trans << " / Rotation error: " << error_orientation
-                    << std::endl;
+            << std::endl;
           CHECK((error_trans < errorTranslationThresh[id] && error_orientation < errorRotationThresh[id]));
         }
       }
@@ -299,12 +301,12 @@ TEST_CASE("Apriltag pose estimation test", "[apriltag_pose_estimation_test]")
           const vpHomogeneousMatrix &cMo_truth = groundTruthPoses[id];
           const vpPoseVector pose_truth(cMo_truth);
 
-          vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
+          vpColVector error_translation = vpColVector(pose.getTranslationVector() - pose_truth.getTranslationVector());
           vpColVector error_thetau = vpColVector(pose.getThetaUVector()) - vpColVector(pose_truth.getThetaUVector());
           double error_trans = sqrt(error_translation.sumSquare() / 3);
           double error_orientation = sqrt(error_thetau.sumSquare() / 3);
           std::cout << "\t\t\tTranslation error: " << error_trans << " / Rotation error: " << error_orientation
-                    << std::endl;
+            << std::endl;
           if (std::find(ignoreTests.begin(), ignoreTests.end(),
                         FailedTestCase(family, method, static_cast<int>(idx))) == ignoreTests.end()) {
             CHECK((error_trans < errorTranslationThresh[id] && error_orientation < errorRotationThresh[id]));
@@ -344,12 +346,12 @@ TEST_CASE("Apriltag pose estimation test", "[apriltag_pose_estimation_test]")
           const vpHomogeneousMatrix cMo_truth = groundTruthPoses[id] * oMo2;
           const vpPoseVector pose_truth(cMo_truth);
 
-          vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
+          vpColVector error_translation = vpColVector(pose.getTranslationVector() - pose_truth.getTranslationVector());
           vpColVector error_thetau = vpColVector(pose.getThetaUVector()) - vpColVector(pose_truth.getThetaUVector());
           double error_trans = sqrt(error_translation.sumSquare() / 3);
           double error_orientation = sqrt(error_thetau.sumSquare() / 3);
           std::cout << "\t\t\tTranslation error: " << error_trans << " / Rotation error: " << error_orientation
-                    << std::endl;
+            << std::endl;
           if (std::find(ignoreTests.begin(), ignoreTests.end(),
                         FailedTestCase(family, method, static_cast<int>(idx))) == ignoreTests.end()) {
             CHECK((error_trans < errorTranslationThresh[id] && error_orientation < errorRotationThresh[id]));
@@ -380,8 +382,8 @@ TEST_CASE("Apriltag corners accuracy test", "[apriltag_corners_accuracy_test]")
   std::map<vpDetectorAprilTag::vpAprilTagFamily, std::map<int, std::vector<vpImagePoint> > > groundTruthCorners;
   for (const auto &kv : apriltagMap) {
     std::string filename =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
-                                  std::string("AprilTag/benchmark/640x480/corners_") + kv.second + std::string(".txt"));
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
+                                std::string("AprilTag/benchmark/640x480/corners_") + kv.second + std::string(".txt"));
     std::ifstream file(filename);
     REQUIRE(file.is_open());
 
@@ -403,8 +405,8 @@ TEST_CASE("Apriltag corners accuracy test", "[apriltag_corners_accuracy_test]")
     auto family = kv.first;
     std::cout << "\nApriltag family: " << family << std::endl;
     std::string filename =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
-                                  std::string("AprilTag/benchmark/640x480/") + kv.second + std::string("_640x480.png"));
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(),
+                                std::string("AprilTag/benchmark/640x480/") + kv.second + std::string("_640x480.png"));
     REQUIRE(vpIoTools::checkFilename(filename));
 
     vpImage<unsigned char> I;
@@ -463,7 +465,7 @@ TEST_CASE("Apriltag regression test", "[apriltag_regression_test]")
   std::map<std::string, TagGroundTruth> mapOfTagsGroundTruth;
   {
     std::string filename_ground_truth =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/ground_truth_detection.txt");
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/ground_truth_detection.txt");
     std::ifstream file_ground_truth(filename_ground_truth.c_str());
     REQUIRE(file_ground_truth.is_open());
     std::string message = "";
@@ -482,7 +484,7 @@ TEST_CASE("Apriltag regression test", "[apriltag_regression_test]")
   std::map<std::string, vpPoseVector> mapOfPosesGroundTruth;
   {
     std::string filename_ground_truth =
-        vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/ground_truth_pose.txt");
+      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/ground_truth_pose.txt");
     std::ifstream file_ground_truth(filename_ground_truth.c_str());
     REQUIRE(file_ground_truth.is_open());
     std::string message = "";
@@ -502,7 +504,8 @@ TEST_CASE("Apriltag regression test", "[apriltag_regression_test]")
     TagGroundTruth current(message, p);
     if (it == mapOfTagsGroundTruth.end()) {
       std::cerr << "Problem with tag decoding (tag_family or id): " << message << std::endl;
-    } else if (it->second != current) {
+    }
+    else if (it->second != current) {
       std::cerr << "Problem, current detection:\n" << current << "\nReference:\n" << it->second << std::endl;
     }
     REQUIRE(it != mapOfTagsGroundTruth.end());
@@ -538,7 +541,7 @@ TEST_CASE("Apriltag regression test", "[apriltag_regression_test]")
 TEST_CASE("Apriltag copy constructor test", "[apriltag_copy_constructor_test]")
 {
   const std::string filename =
-      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
+    vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
   REQUIRE(vpIoTools::checkFilename(filename));
 
   vpImage<unsigned char> I;
@@ -604,7 +607,7 @@ TEST_CASE("Apriltag copy constructor test", "[apriltag_copy_constructor_test]")
 TEST_CASE("Apriltag assignment operator test", "[apriltag_assignment_operator_test]")
 {
   const std::string filename =
-      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
+    vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
   REQUIRE(vpIoTools::checkFilename(filename));
 
   vpImage<unsigned char> I;
@@ -670,7 +673,7 @@ TEST_CASE("Apriltag assignment operator test", "[apriltag_assignment_operator_te
 TEST_CASE("Apriltag getTagsPoints3D test", "[apriltag_get_tags_points3D_test]")
 {
   const std::string filename =
-      vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
+    vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "AprilTag/benchmark/640x480/tag21_07_640x480.png");
   REQUIRE(vpIoTools::checkFilename(filename));
 
   vpImage<unsigned char> I;
@@ -682,7 +685,7 @@ TEST_CASE("Apriltag getTagsPoints3D test", "[apriltag_get_tags_points3D_test]")
   const double familyScale = 5.0 / 9;
   const double tagSize = 0.25;
   std::map<int, double> tagsSize = {
-      {-1, tagSize * familyScale}, {3, tagSize / 2 * familyScale}, {4, tagSize / 2 * familyScale}};
+      {-1, tagSize * familyScale}, {3, tagSize / 2 * familyScale}, {4, tagSize / 2 * familyScale} };
 
   vpDetectorAprilTag detector(tagFamily, poseEstimationMethod);