V1 Readme + rangement

2018-08-13 11:25:26 +02:00 · 2018-08-13 11:25:26 +02:00 · 406e6d9b5d
commit 406e6d9b5d
parent 3300e0efd3
1339 changed files with 248781 additions and 4282 deletions
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+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_C = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMC__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMC__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+/* sdcc, the small devices C compiler for embedded systems,
+   http://sdcc.sourceforge.net  */
+#elif defined(SDCC)
+# define COMPILER_ID "SDCC"
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
--- a/ongoing/Visp_tests/matching/CMakeFiles/2.8.12.2/CompilerIdC/a.out
+++ b/ongoing/Visp_tests/matching/CMakeFiles/2.8.12.2/CompilerIdC/a.out
--- a/ongoing/Visp_tests/matching/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
+++ b/ongoing/Visp_tests/matching/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@ -0,0 +1,377 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
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+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+	@echo "... tutorial-matching-keypoint"
+	@echo "... tutorial-matching-keypoint-SIFT"
+	@echo "... tutorial-matching-keypoint-homography"
+	@echo "... tutorial-matching-surf-deprecated"
+	@echo "... tutorial-matching-surf-homography-deprecated"
+	@echo "... tutorial-matching-keypoint-SIFT.o"
+	@echo "... tutorial-matching-keypoint-SIFT.i"
+	@echo "... tutorial-matching-keypoint-SIFT.s"
+	@echo "... tutorial-matching-keypoint-homography.o"
+	@echo "... tutorial-matching-keypoint-homography.i"
+	@echo "... tutorial-matching-keypoint-homography.s"
+	@echo "... tutorial-matching-keypoint.o"
+	@echo "... tutorial-matching-keypoint.i"
+	@echo "... tutorial-matching-keypoint.s"
+	@echo "... tutorial-matching-surf-deprecated.o"
+	@echo "... tutorial-matching-surf-deprecated.i"
+	@echo "... tutorial-matching-surf-deprecated.s"
+	@echo "... tutorial-matching-surf-homography-deprecated.o"
+	@echo "... tutorial-matching-surf-homography-deprecated.i"
+	@echo "... tutorial-matching-surf-homography-deprecated.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
--- a/ongoing/Visp_tests/matching/cmake_install.cmake
+++ b/ongoing/Visp_tests/matching/cmake_install.cmake
@ -0,0 +1,44 @@
+# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/Visp_tests/matching
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/harle/catkin_ws/src/BaxterInterface/Visp_tests/matching/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/harle/catkin_ws/src/BaxterInterface/Visp_tests/matching/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint-SIFT
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint-SIFT
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint-SIFT.cpp
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint-SIFT.cpp
@ -0,0 +1,86 @@
+//! \example tutorial-matching-keypoint-SIFT.cpp
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/io/vpImageIo.h>
+#include <visp3/io/vpVideoReader.h>
+//! [Include]
+#include <visp3/vision/vpKeyPoint.h>
+//! [Include]
+
+int main()
+{
+//! [Define]
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) &&                                                                          \
+    (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
+  //! [Define]
+  vpImage<unsigned char> I;
+
+  vpVideoReader reader;
+  reader.setFileName("video-postcard.mpeg");
+  reader.acquire(I);
+
+  //! [Construction]
+  const std::string detectorName = "SIFT";
+  const std::string extractorName = "SIFT";
+  // Use L2 distance with a matching done using FLANN (Fast Library for
+  // Approximate Nearest Neighbors)
+  const std::string matcherName = "FlannBased";
+  vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
+  vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
+  //! [Construction]
+
+  //! [Build Reference]
+  std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
+  //! [Build Reference]
+
+  //! [Create image]
+  vpImage<unsigned char> Idisp;
+  Idisp.resize(I.getHeight(), 2 * I.getWidth());
+  Idisp.insert(I, vpImagePoint(0, 0));
+  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+  //! [Create image]
+  //! [Init display]
+  vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with SIFT keypoints");
+  vpDisplay::display(Idisp);
+  vpDisplay::flush(Idisp);
+  //! [Init display]
+
+  while (!reader.end()) {
+    //! [Acquisition]
+    reader.acquire(I);
+    Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+    //! [Acquisition]
+
+    //! [Display]
+    vpDisplay::display(Idisp);
+    vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
+                           vpColor::white, 2);
+    //! [Display]
+
+    //! [Matching]
+    unsigned int nbMatch = keypoint.matchPoint(I);
+    //! [Matching]
+
+    std::cout << "Matches=" << nbMatch << std::endl;
+
+    //! [Get matches]
+    vpImagePoint iPref, iPcur;
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      keypoint.getMatchedPoints(i, iPref, iPcur);
+      //! [Get matches]
+      //! [Display matches]
+      vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
+      //! [Display matches]
+    }
+    //! [Display flush]
+    vpDisplay::flush(Idisp);
+    //! [Display flush]
+
+    if (vpDisplay::getClick(Idisp, false))
+      break;
+  }
+
+  vpDisplay::getClick(Idisp);
+#endif
+
+  return 0;
+}
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint-homography
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint-homography
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint-homography.cpp
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint-homography.cpp
@ -0,0 +1,143 @@
+//! \example tutorial-matching-keypoint-homography.cpp
+#include <visp3/core/vpPixelMeterConversion.h>
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/io/vpVideoReader.h>
+#include <visp3/vision/vpHomography.h>
+#include <visp3/vision/vpKeyPoint.h>
+
+int main(int argc, const char **argv)
+{
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
+  //! [Select method]
+  int method = 0;
+
+  if (argc > 1)
+    method = atoi(argv[1]);
+
+  if (method == 0)
+    std::cout << "Uses Ransac to estimate the homography" << std::endl;
+  else
+    std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
+  //! [Select method]
+
+  vpImage<unsigned char> I;
+
+  vpVideoReader reader;
+  reader.setFileName("video-postcard.mpeg");
+  reader.acquire(I);
+
+  const std::string detectorName = "ORB";
+  const std::string extractorName = "ORB";
+  // Hamming distance must be used with ORB
+  const std::string matcherName = "BruteForce-Hamming";
+  vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
+  vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
+  keypoint.buildReference(I);
+
+  vpImage<unsigned char> Idisp;
+  Idisp.resize(I.getHeight(), 2 * I.getWidth());
+  Idisp.insert(I, vpImagePoint(0, 0));
+  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+
+  vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched keypoints");
+  vpDisplay::display(Idisp);
+  vpDisplay::flush(Idisp);
+
+  //! [Set coordinates]
+  vpImagePoint corner_ref[4];
+  corner_ref[0].set_ij(115, 64);
+  corner_ref[1].set_ij(83, 253);
+  corner_ref[2].set_ij(282, 307);
+  corner_ref[3].set_ij(330, 72);
+  //! [Set coordinates]
+  //! [Display]
+  for (unsigned int i = 0; i < 4; i++) {
+    vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
+  }
+  vpDisplay::flush(Idisp);
+  //! [Display]
+
+  //! [Camera]
+  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
+  //! [Camera]
+
+  vpHomography curHref;
+
+  while (!reader.end()) {
+    reader.acquire(I);
+    Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+    vpDisplay::display(Idisp);
+    vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
+                           vpColor::white, 2);
+
+    //! [Matching]
+    unsigned int nbMatch = keypoint.matchPoint(I);
+    std::cout << "Nb matches: " << nbMatch << std::endl;
+    //! [Matching]
+
+    std::vector<vpImagePoint> iPref(nbMatch),
+        iPcur(nbMatch); // Coordinates in pixels (for display only)
+    //! [Allocation]
+    std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
+    std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
+    std::vector<bool> inliers(nbMatch);
+    //! [Allocation]
+
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      keypoint.getMatchedPoints(i, iPref[i], iPcur[i]);
+      //! [Pixel conversion]
+      vpPixelMeterConversion::convertPoint(cam, iPref[i], mPref_x[i], mPref_y[i]);
+      vpPixelMeterConversion::convertPoint(cam, iPcur[i], mPcur_x[i], mPcur_y[i]);
+      //! [Pixel conversion]
+    }
+
+    //! [Homography estimation]
+    try {
+      double residual;
+      if (method == 0)
+        vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+                             (unsigned int)(mPref_x.size() * 0.25), 2.0 / cam.get_px(), true);
+      else
+        vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual, 0.4, 4, true);
+    } catch (...) {
+      std::cout << "Cannot compute homography from matches..." << std::endl;
+    }
+
+    //! [Homography estimation]
+
+    //! [Projection]
+    vpImagePoint corner_cur[4];
+    for (int i = 0; i < 4; i++) {
+      corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
+    }
+    //! [Projection]
+
+    //! [Display contour]
+    vpImagePoint offset(0, I.getWidth());
+    for (int i = 0; i < 4; i++) {
+      vpDisplay::displayLine(Idisp, corner_cur[i] + offset, corner_cur[(i + 1) % 4] + offset, vpColor::blue, 3);
+    }
+    //! [Display contour]
+
+    //! [Display matches]
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      if (inliers[i] == true)
+        vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
+      else
+        vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
+    }
+    //! [Display matches]
+
+    vpDisplay::flush(Idisp);
+
+    if (vpDisplay::getClick(Idisp, false))
+      break;
+  }
+
+  vpDisplay::getClick(Idisp);
+#else
+  (void)argc;
+  (void)argv;
+#endif
+  return 0;
+}
--- a/ongoing/Visp_tests/matching/tutorial-matching-keypoint.cpp
+++ b/ongoing/Visp_tests/matching/tutorial-matching-keypoint.cpp
@ -0,0 +1,81 @@
+//! \example tutorial-matching-keypoint.cpp
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/io/vpImageIo.h>
+#include <visp3/io/vpVideoReader.h>
+//! [Include]
+#include <visp3/vision/vpKeyPoint.h>
+//! [Include]
+
+int main()
+{
+//! [Define]
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
+  //! [Define]
+  vpImage<unsigned char> I;
+
+  vpVideoReader reader;
+  reader.setFileName("video-postcard.mpeg");
+  reader.acquire(I);
+
+  //! [Construction]
+  const std::string detectorName = "ORB";
+  const std::string extractorName = "ORB";
+  // Hamming distance must be used with ORB
+  const std::string matcherName = "BruteForce-Hamming";
+  vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
+  vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
+  std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
+  //! [Construction]
+
+  //! [Create image]
+  vpImage<unsigned char> Idisp;
+  Idisp.resize(I.getHeight(), 2 * I.getWidth());
+  Idisp.insert(I, vpImagePoint(0, 0));
+  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+  //! [Create image]
+  //! [Init display]
+  vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with ORB keypoints");
+  vpDisplay::display(Idisp);
+  vpDisplay::flush(Idisp);
+  //! [Init display]
+
+  while (!reader.end()) {
+    //! [Acquisition]
+    reader.acquire(I);
+    Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+    //! [Acquisition]
+
+    //! [Display]
+    vpDisplay::display(Idisp);
+    vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
+                           vpColor::white, 2);
+    //! [Display]
+
+    //! [Matching]
+    unsigned int nbMatch = keypoint.matchPoint(I);
+    //! [Matching]
+
+    std::cout << "Matches=" << nbMatch << std::endl;
+
+    //! [Get matches]
+    vpImagePoint iPref, iPcur;
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      keypoint.getMatchedPoints(i, iPref, iPcur);
+      //! [Get matches]
+      //! [Display matches]
+      vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
+      //! [Display matches]
+    }
+    //! [Display flush]
+    vpDisplay::flush(Idisp);
+    //! [Display flush]
+
+    if (vpDisplay::getClick(Idisp, false))
+      break;
+  }
+
+  vpDisplay::getClick(Idisp);
+#endif
+
+  return 0;
+}
--- a/ongoing/Visp_tests/matching/tutorial-matching-surf-deprecated
+++ b/ongoing/Visp_tests/matching/tutorial-matching-surf-deprecated
--- a/ongoing/Visp_tests/matching/tutorial-matching-surf-deprecated.cpp
+++ b/ongoing/Visp_tests/matching/tutorial-matching-surf-deprecated.cpp
@ -0,0 +1,73 @@
+//! \example tutorial-matching-surf-deprecated.cpp
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/io/vpVideoReader.h>
+//! [Include]
+#include <visp3/vision/vpKeyPointSurf.h>
+//! [Include]
+
+int main()
+{
+//! [Define]
+#if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+  //! [Define]
+  vpImage<unsigned char> I;
+
+  vpVideoReader reader;
+  reader.setFileName("video-postcard.mpeg");
+  reader.acquire(I);
+
+  //! [Construction]
+  vpKeyPointSurf surf;
+  surf.buildReference(I);
+  //! [Construction]
+
+  //! [Create image]
+  vpImage<unsigned char> Idisp;
+  Idisp.resize(I.getHeight(), 2 * I.getWidth());
+  Idisp.insert(I, vpImagePoint(0, 0));
+  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+  //! [Create image]
+  //! [Init display]
+  vpDisplayOpenCV d(Idisp, 0, 0, "Matching surf keypoints");
+  vpDisplay::display(Idisp);
+  vpDisplay::flush(Idisp);
+  //! [Init display]
+
+  while (!reader.end()) {
+    //! [Acquisition]
+    reader.acquire(I);
+    Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+    //! [Acquisition]
+
+    //! [Display]
+    vpDisplay::display(Idisp);
+    vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
+                           vpColor::white, 2);
+    //! [Display]
+
+    //! [Matching]
+    unsigned int nbMatch = surf.matchPoint(I);
+    //! [Matching]
+
+    //! [Get matches]
+    vpImagePoint iPref, iPcur;
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      surf.getMatchedPoints(i, iPref, iPcur);
+      //! [Get matches]
+      //! [Display matches]
+      vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
+      //! [Display matches]
+    }
+    //! [Display flush]
+    vpDisplay::flush(Idisp);
+    //! [Display flush]
+
+    if (vpDisplay::getClick(Idisp, false))
+      break;
+  }
+
+  vpDisplay::getClick(Idisp);
+#endif
+
+  return 0;
+}
--- a/ongoing/Visp_tests/matching/tutorial-matching-surf-homography-deprecated
+++ b/ongoing/Visp_tests/matching/tutorial-matching-surf-homography-deprecated
--- a/ongoing/Visp_tests/matching/tutorial-matching-surf-homography-deprecated.cpp
+++ b/ongoing/Visp_tests/matching/tutorial-matching-surf-homography-deprecated.cpp
@ -0,0 +1,136 @@
+//! \example tutorial-matching-surf-homography-deprecated.cpp
+#include <visp3/core/vpPixelMeterConversion.h>
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/io/vpVideoReader.h>
+#include <visp3/vision/vpHomography.h>
+#include <visp3/vision/vpKeyPointSurf.h>
+
+int main(int argc, const char **argv)
+{
+#if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+  //! [Select method]
+  int method = 0;
+
+  if (argc > 1)
+    method = atoi(argv[1]);
+
+  if (method == 0)
+    std::cout << "Uses Ransac to estimate the homography" << std::endl;
+  else
+    std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
+  //! [Select method]
+
+  vpImage<unsigned char> I;
+
+  vpVideoReader reader;
+  reader.setFileName("video-postcard.mpeg");
+  reader.acquire(I);
+
+  vpKeyPointSurf surf;
+  surf.buildReference(I);
+
+  vpImage<unsigned char> Idisp;
+  Idisp.resize(I.getHeight(), 2 * I.getWidth());
+  Idisp.insert(I, vpImagePoint(0, 0));
+  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+
+  vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched Surf keypoints");
+  vpDisplay::display(Idisp);
+  vpDisplay::flush(Idisp);
+
+  //! [Set coordinates]
+  vpImagePoint corner_ref[4];
+  corner_ref[0].set_ij(115, 64);
+  corner_ref[1].set_ij(83, 253);
+  corner_ref[2].set_ij(282, 307);
+  corner_ref[3].set_ij(330, 72);
+  //! [Set coordinates]
+  //! [Display]
+  for (unsigned int i = 0; i < 4; i++) {
+    vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
+  }
+  vpDisplay::flush(Idisp);
+  //! [Display]
+
+  //! [Camera]
+  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
+  //! [Camera]
+
+  vpHomography curHref;
+  while (!reader.end()) {
+    reader.acquire(I);
+    Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+    vpDisplay::display(Idisp);
+    vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
+                           vpColor::white, 2);
+
+    //! [Matching]
+    unsigned int nbMatch = surf.matchPoint(I);
+    //! [Matching]
+
+    std::vector<vpImagePoint> iPref(nbMatch),
+        iPcur(nbMatch); // Coordinates in pixels (for display only)
+    //! [Allocation]
+    std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
+    std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
+    std::vector<bool> inliers(nbMatch);
+    //! [Allocation]
+
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      vpImagePoint matched_ref, matched_cur;
+      surf.getMatchedPoints(i, matched_ref, matched_cur);
+      //! [Pixel conversion]
+      vpPixelMeterConversion::convertPoint(cam, matched_ref, mPref_x[i], mPref_y[i]);
+      vpPixelMeterConversion::convertPoint(cam, matched_cur, mPcur_x[i], mPcur_y[i]);
+      //! [Pixel conversion]
+
+      // Store the image coordinates in pixel of the matched points
+      iPref[i] = matched_ref;
+      iPcur[i] = matched_cur;
+    }
+
+    //! [Homography estimation]
+    double residual;
+    if (method == 0)
+      vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+                           (unsigned int)mPref_x.size() / 2, 2.0 / cam.get_px(), true);
+    else
+      vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual, 0.4, 4, true);
+    //! [Homography estimation]
+
+    //! [Projection]
+    vpImagePoint corner_cur[4];
+    for (int i = 0; i < 4; i++) {
+      corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
+    }
+    //! [Projection]
+
+    //! [Display contour]
+    vpImagePoint offset(0, I.getWidth());
+    for (int i = 0; i < 4; i++) {
+      vpDisplay::displayLine(Idisp, corner_cur[i] + offset, corner_cur[(i + 1) % 4] + offset, vpColor::blue, 3);
+    }
+    //! [Display contour]
+
+    //! [Display matches]
+    for (unsigned int i = 0; i < nbMatch; i++) {
+      if (inliers[i] == true)
+        vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
+      else
+        vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
+    }
+    //! [Display matches]
+
+    vpDisplay::flush(Idisp);
+
+    if (vpDisplay::getClick(Idisp, false))
+      break;
+  }
+
+  vpDisplay::getClick(Idisp);
+#else
+  (void)argc;
+  (void)argv;
+#endif
+  return 0;
+}
--- a/ongoing/Visp_tests/matching/video-postcard.mpeg
+++ b/ongoing/Visp_tests/matching/video-postcard.mpeg
				`@ -0,0 +1 @@`
				`# This file is generated by cmake for dependency checking of the CMakeCache.txt file`
				`@ -0,0 +1 @@`
				/usr/bin/c++ -fopenmp CMakeFiles/tutorial-matching-keypoint-SIFT.dir/tutorial-matching-keypoint-SIFT.cpp.o -o tutorial-matching-keypoint-SIFT -rdynamic /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_core.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_vision.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_io.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_gui.so.3.1.0 -ljpeg -lpng /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_visual_features.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_me.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_blob.so.3.1.0 /opt/ros/indigo/lib/x86_64-linux-gnu/libvisp_core.so.3.1.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_video.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_ts.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_ocl.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_legacy.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_gpu.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.2.4.8 -llapack -lblas -lxml2 -lpthread -lz -lSM -lICE -lX11 -lXext -lm -lnsl -Wl,-rpath,/opt/ros/indigo/lib/x86_64-linux-gnu