9 files changed, 72 insertions, 117 deletions

diff --git a/misc/visp/Makefile b/misc/visp/Makefile
index 32cd03da00be..6dea0ac7a2d1 100644
--- a/misc/visp/Makefile
+++ b/misc/visp/Makefile
@@ -1,8 +1,7 @@
 # $FreeBSD$
 
 PORTNAME=	visp
-DISTVERSION=	3.1.0
-PORTREVISION=	3
+DISTVERSION=	3.2.0
 CATEGORIES=	misc
 MASTER_SITES=	http://gforge.inria.fr/frs/download.php/latestfile/475/
 
@@ -13,15 +12,19 @@ LICENSE=	GPLv2+
 LICENSE_FILE=	${WRKSRC}/LICENSE.txt
 
 LIB_DEPENDS=	libblas.so:math/blas \
+		libboost_system.so:devel/boost-libs \
 		libdmtx.so:graphics/libdmtx \
+		libflann.so:math/flann \
 		libgsl.so:math/gsl \
 		liblapack.so:math/lapack \
 		libopencv_core.so:graphics/opencv-core \
 		libopencv_videoio.so:graphics/opencv \
+		libpcl_common.so:graphics/pcl-pointclouds \
+		libqhull.so:math/qhull5 \
 		libpng16.so:graphics/png \
 		libv4l2.so:multimedia/libv4l
 
-USES=		cmake eigen:3 fortran jpeg
+USES=		cmake eigen:3 fortran gnome jpeg
 USE_GNOME=	libxml2
 USE_XORG=	ice sm x11 xext
 USE_LDCONFIG=	yes
diff --git a/misc/visp/distinfo b/misc/visp/distinfo
index 1e04e23f73f4..024e72ae270e 100644
--- a/misc/visp/distinfo
+++ b/misc/visp/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1534577768
-SHA256 (visp-3.1.0.tar.gz) = 2a1df8195b06f9a057bd4c7d987697be2fdcc9d169e8d550fcf68e5d7f129d96
-SIZE (visp-3.1.0.tar.gz) = 38743434
+TIMESTAMP = 1549763319
+SHA256 (visp-3.2.0.tar.gz) = 072237ed5c6fcbc6a87300fa036014ec574fd081724907e41ae2d6fb5a222fbc
+SIZE (visp-3.2.0.tar.gz) = 52737424
diff --git a/misc/visp/files/patch-3rdparty_apriltag_common_workerpool.c b/misc/visp/files/patch-3rdparty_apriltag_common_workerpool.c
new file mode 100644
index 000000000000..090dd5ad9167
--- /dev/null
+++ b/misc/visp/files/patch-3rdparty_apriltag_common_workerpool.c
@@ -0,0 +1,10 @@
+--- 3rdparty/apriltag/common/workerpool.c.orig	2019-01-23 14:54:34 UTC
++++ 3rdparty/apriltag/common/workerpool.c
+@@ -34,6 +34,7 @@ either expressed or implied, of the Rege
+ #include <pthread.h>
+ #include <sched.h>
+ #include <assert.h>
++#define _WITH_GETLINE
+ #include <stdio.h>
+ #include <stdlib.h>
+ //#include <inttypes.h>
diff --git a/misc/visp/files/patch-CMakeLists.txt b/misc/visp/files/patch-CMakeLists.txt
index 3bafabd51394..27936d97037a 100644
--- a/misc/visp/files/patch-CMakeLists.txt
+++ b/misc/visp/files/patch-CMakeLists.txt
@@ -1,8 +1,8 @@
 https://github.com/lagadic/visp/issues/423
 
---- CMakeLists.txt.orig	2018-08-18 08:03:58 UTC
+--- CMakeLists.txt.orig	2019-01-23 14:54:34 UTC
 +++ CMakeLists.txt
-@@ -605,7 +605,7 @@ if(UNIX)
+@@ -751,7 +751,7 @@ if(UNIX AND NOT ANDROID)
      )
      install(FILES
        ${VISP_BINARY_DIR}/doc/man/man1/visp-config.1.gz
diff --git a/misc/visp/files/patch-cmake_OgreTools.cmake b/misc/visp/files/patch-cmake_OgreTools.cmake
deleted file mode 100644
index d70ae3903641..000000000000
--- a/misc/visp/files/patch-cmake_OgreTools.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
---- cmake/OgreTools.cmake.orig	2018-08-18 08:13:51 UTC
-+++ cmake/OgreTools.cmake
-@@ -315,7 +315,7 @@ function(vp_set_ogre_media)
-     #         the minimal requested media to run the examples
-     #--------------
-     if(UNIX)
--      set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}/data/ogre-simulator")
-+      set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator")
-     else()
-       set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/data/ogre-simulator")
-     endif()
-@@ -341,14 +341,14 @@ function(vp_set_ogre_media)
-       )
-       install(FILES
-         ${VISP_BINARY_DIR}/unix-install/resources.cfg
--        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}/data/ogre-simulator
-+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator
-         PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-         COMPONENT dev
-       )
-       if(OGRE_MEDIA_NOT_AVAILABLE)
-         install(DIRECTORY
-           ${VISP_BINARY_DIR}/data/ogre-simulator/media
--          DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}/data/ogre-simulator
-+          DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator
-           FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-           COMPONENT dev
-         )
diff --git a/misc/visp/files/patch-cmake_VISPGenerateHeaders.cmake b/misc/visp/files/patch-cmake_VISPGenerateHeaders.cmake
deleted file mode 100644
index 5b1d20b8ac22..000000000000
--- a/misc/visp/files/patch-cmake_VISPGenerateHeaders.cmake
+++ /dev/null
@@ -1,20 +0,0 @@
---- cmake/VISPGenerateHeaders.cmake.orig	2017-12-22 17:48:26 UTC
-+++ cmake/VISPGenerateHeaders.cmake
-@@ -43,7 +43,7 @@ set(VISP_SCENES_DIR ${data_location_}/da
- set(VISP_ROBOT_ARMS_DIR ${data_location_}/data/robot-simulator)
- # Note that VISP_HAVE_OGRE_RESOURCES_PATH and VISP_HAVE_OGRE_PLUGINS_PATH are set in OgreTools.cmake
- if(UNIX)
--  set(data_location_ "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}")
-+  set(data_location_ "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp")
- else()
-   set(data_location_ "${CMAKE_INSTALL_PREFIX}")
- endif()
-@@ -62,7 +62,7 @@ configure_file("${VISP_SOURCE_DIR}/cmake
- 
- # case 2: when ViSP is build with make install; files are used in <install dir>
- if(UNIX)
--  set(data_location_ "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}")
-+  set(data_location_ "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp")
- else()
-   set(data_location_ "${CMAKE_INSTALL_PREFIX}")
- endif()
diff --git a/misc/visp/files/patch-cmake_VISPModule.cmake b/misc/visp/files/patch-cmake_VISPModule.cmake
deleted file mode 100644
index 1fdb25f0f3de..000000000000
--- a/misc/visp/files/patch-cmake_VISPModule.cmake
+++ /dev/null
@@ -1,11 +0,0 @@
---- cmake/VISPModule.cmake.orig	2018-08-18 08:13:20 UTC
-+++ cmake/VISPModule.cmake
-@@ -660,7 +660,7 @@ macro(vp_glob_module_copy_data src dst)
- 
-     # install
-     if(UNIX)
--      set(__install_dst "${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}/${dst}")
-+      set(__install_dst "${CMAKE_INSTALL_DATAROOTDIR}/visp/${dst}")
-     else()
-       set(__install_dst "${dst}")
-     endif()
diff --git a/misc/visp/files/patch-modules_sensor_include_visp3_sensor_vpV4l2Grabber.h b/misc/visp/files/patch-modules_sensor_include_visp3_sensor_vpV4l2Grabber.h
deleted file mode 100644
index 78db8c0a090f..000000000000
--- a/misc/visp/files/patch-modules_sensor_include_visp3_sensor_vpV4l2Grabber.h
+++ /dev/null
@@ -1,15 +0,0 @@
-https://github.com/lagadic/visp/issues/422
-
---- modules/sensor/include/visp3/sensor/vpV4l2Grabber.h.orig	2018-08-18 07:45:47 UTC
-+++ modules/sensor/include/visp3/sensor/vpV4l2Grabber.h
-@@ -50,8 +50,8 @@
- #ifdef VISP_HAVE_V4L2
- 
- #include <libv4l2.h> // Video For Linux Two interface
--#include <linux/kernel.h>
--#include <linux/types.h>
-+//#include <linux/kernel.h>
-+//#include <linux/types.h>
- #include <linux/videodev2.h> // Video For Linux Two interface
- 
- #include <visp3/core/vpFrameGrabber.h>
diff --git a/misc/visp/pkg-plist b/misc/visp/pkg-plist
index 848a140737ea..644acaefabfb 100644
--- a/misc/visp/pkg-plist
+++ b/misc/visp/pkg-plist
@@ -29,6 +29,7 @@ include/visp/vpD3DRenderer.h
 include/visp/vpDebug.h
 include/visp/vpDetectorAprilTag.h
 include/visp/vpDetectorBase.h
+include/visp/vpDetectorDNN.h
 include/visp/vpDetectorDataMatrixCode.h
 include/visp/vpDetectorFace.h
 include/visp/vpDetectorQRCode.h
@@ -85,6 +86,7 @@ include/visp/vpGDIRenderer.h
 include/visp/vpGEMM.h
 include/visp/vpGaussRand.h
 include/visp/vpGenericFeature.h
+include/visp/vpHandEyeCalibration.h
 include/visp/vpHinkley.h
 include/visp/vpHistogram.h
 include/visp/vpHistogramPeak.h
@@ -112,6 +114,7 @@ include/visp/vpKltOpencv.h
 include/visp/vpLaserScan.h
 include/visp/vpLaserScanner.h
 include/visp/vpLevenbergMarquartd.h
+include/visp/vpLinProg.h
 include/visp/vpLine.h
 include/visp/vpLinearKalmanFilterInstantiation.h
 include/visp/vpList.h
@@ -193,12 +196,14 @@ include/visp/vpProjectionDisplay.h
 include/visp/vpPtu46.h
 include/visp/vpPylonFactory.h
 include/visp/vpPylonGrabber.h
+include/visp/vpQuadProg.h
 include/visp/vpQuaternionVector.h
 include/visp/vpRGBa.h
 include/visp/vpRansac.h
 include/visp/vpRealSense.h
 include/visp/vpRealSense2.h
 include/visp/vpRect.h
+include/visp/vpRectOriented.h
 include/visp/vpRequest.h
 include/visp/vpRingLight.h
 include/visp/vpRobot.h
@@ -208,6 +213,7 @@ include/visp/vpRobotBiclops.h
 include/visp/vpRobotBiclopsController.h
 include/visp/vpRobotCamera.h
 include/visp/vpRobotException.h
+include/visp/vpRobotFranka.h
 include/visp/vpRobotPioneer.h
 include/visp/vpRobotPtu46.h
 include/visp/vpRobotSimulator.h
@@ -224,6 +230,7 @@ include/visp/vpRzyxVector.h
 include/visp/vpRzyzVector.h
 include/visp/vpScale.h
 include/visp/vpScanPoint.h
+include/visp/vpSerial.h
 include/visp/vpServer.h
 include/visp/vpServo.h
 include/visp/vpServoData.h
@@ -297,6 +304,7 @@ include/visp/vpXmlConfigParserKeyPoint.h
 include/visp/vpXmlParser.h
 include/visp/vpXmlParserCamera.h
 include/visp/vpXmlParserHomogeneousMatrix.h
+include/visp/vpXmlParserRectOriented.h
 include/visp3/ar/vpAR.h
 include/visp3/ar/vpAROgre.h
 include/visp3/ar/vpSimulator.h
@@ -342,6 +350,7 @@ include/visp3/core/vpImageTools.h
 include/visp3/core/vpIoException.h
 include/visp3/core/vpIoTools.h
 include/visp3/core/vpKalmanFilter.h
+include/visp3/core/vpLinProg.h
 include/visp3/core/vpLine.h
 include/visp3/core/vpLinearKalmanFilterInstantiation.h
 include/visp3/core/vpList.h
@@ -371,10 +380,12 @@ include/visp3/core/vpPoint.h
 include/visp3/core/vpPolygon.h
 include/visp3/core/vpPolygon3D.h
 include/visp3/core/vpPoseVector.h
+include/visp3/core/vpQuadProg.h
 include/visp3/core/vpQuaternionVector.h
 include/visp3/core/vpRGBa.h
 include/visp3/core/vpRansac.h
 include/visp3/core/vpRect.h
+include/visp3/core/vpRectOriented.h
 include/visp3/core/vpRequest.h
 include/visp3/core/vpRobust.h
 include/visp3/core/vpRotationMatrix.h
@@ -384,6 +395,7 @@ include/visp3/core/vpRxyzVector.h
 include/visp3/core/vpRzyxVector.h
 include/visp3/core/vpRzyzVector.h
 include/visp3/core/vpScale.h
+include/visp3/core/vpSerial.h
 include/visp3/core/vpServer.h
 include/visp3/core/vpSphere.h
 include/visp3/core/vpSubColVector.h
@@ -403,8 +415,10 @@ include/visp3/core/vpVelocityTwistMatrix.h
 include/visp3/core/vpXmlParser.h
 include/visp3/core/vpXmlParserCamera.h
 include/visp3/core/vpXmlParserHomogeneousMatrix.h
+include/visp3/core/vpXmlParserRectOriented.h
 include/visp3/detection/vpDetectorAprilTag.h
 include/visp3/detection/vpDetectorBase.h
+include/visp3/detection/vpDetectorDNN.h
 include/visp3/detection/vpDetectorDataMatrixCode.h
 include/visp3/detection/vpDetectorFace.h
 include/visp3/detection/vpDetectorQRCode.h
@@ -484,6 +498,7 @@ include/visp3/robot/vpRobotBiclops.h
 include/visp3/robot/vpRobotBiclopsController.h
 include/visp3/robot/vpRobotCamera.h
 include/visp3/robot/vpRobotException.h
+include/visp3/robot/vpRobotFranka.h
 include/visp3/robot/vpRobotPioneer.h
 include/visp3/robot/vpRobotPtu46.h
 include/visp3/robot/vpRobotSimulator.h
@@ -554,6 +569,7 @@ include/visp3/vision/vpBasicKeyPoint.h
 include/visp3/vision/vpCalibration.h
 include/visp3/vision/vpCalibrationException.h
 include/visp3/vision/vpFernClassifier.h
+include/visp3/vision/vpHandEyeCalibration.h
 include/visp3/vision/vpHomography.h
 include/visp3/vision/vpKeyPoint.h
 include/visp3/vision/vpKeyPointSurf.h
@@ -613,62 +629,62 @@ include/visp3/vs/vpServo.h
 include/visp3/vs/vpServoData.h
 include/visp3/vs/vpServoDisplay.h
 include/visp3/vs/vpServoException.h
+lib/cmake/visp/VISPConfig-version.cmake
 lib/cmake/visp/VISPConfig.cmake
-lib/cmake/visp/VISPConfigVersion.cmake
 lib/cmake/visp/VISPModules-%%CMAKE_BUILD_TYPE%%.cmake
 lib/cmake/visp/VISPModules.cmake
 lib/cmake/visp/VISPUse.cmake
 lib/libvisp_ar.so
-lib/libvisp_ar.so.3.1
-lib/libvisp_ar.so.3.1.0
+lib/libvisp_ar.so.3.2
+lib/libvisp_ar.so.3.2.0
 lib/libvisp_blob.so
-lib/libvisp_blob.so.3.1
-lib/libvisp_blob.so.3.1.0
+lib/libvisp_blob.so.3.2
+lib/libvisp_blob.so.3.2.0
 lib/libvisp_core.so
-lib/libvisp_core.so.3.1
-lib/libvisp_core.so.3.1.0
+lib/libvisp_core.so.3.2
+lib/libvisp_core.so.3.2.0
 lib/libvisp_detection.so
-lib/libvisp_detection.so.3.1
-lib/libvisp_detection.so.3.1.0
+lib/libvisp_detection.so.3.2
+lib/libvisp_detection.so.3.2.0
 lib/libvisp_gui.so
-lib/libvisp_gui.so.3.1
-lib/libvisp_gui.so.3.1.0
+lib/libvisp_gui.so.3.2
+lib/libvisp_gui.so.3.2.0
 lib/libvisp_imgproc.so
-lib/libvisp_imgproc.so.3.1
-lib/libvisp_imgproc.so.3.1.0
+lib/libvisp_imgproc.so.3.2
+lib/libvisp_imgproc.so.3.2.0
 lib/libvisp_io.so
-lib/libvisp_io.so.3.1
-lib/libvisp_io.so.3.1.0
+lib/libvisp_io.so.3.2
+lib/libvisp_io.so.3.2.0
 lib/libvisp_klt.so
-lib/libvisp_klt.so.3.1
-lib/libvisp_klt.so.3.1.0
+lib/libvisp_klt.so.3.2
+lib/libvisp_klt.so.3.2.0
 lib/libvisp_mbt.so
-lib/libvisp_mbt.so.3.1
-lib/libvisp_mbt.so.3.1.0
+lib/libvisp_mbt.so.3.2
+lib/libvisp_mbt.so.3.2.0
 lib/libvisp_me.so
-lib/libvisp_me.so.3.1
-lib/libvisp_me.so.3.1.0
+lib/libvisp_me.so.3.2
+lib/libvisp_me.so.3.2.0
 lib/libvisp_robot.so
-lib/libvisp_robot.so.3.1
-lib/libvisp_robot.so.3.1.0
+lib/libvisp_robot.so.3.2
+lib/libvisp_robot.so.3.2.0
 lib/libvisp_sensor.so
-lib/libvisp_sensor.so.3.1
-lib/libvisp_sensor.so.3.1.0
+lib/libvisp_sensor.so.3.2
+lib/libvisp_sensor.so.3.2.0
 lib/libvisp_tt.so
-lib/libvisp_tt.so.3.1
-lib/libvisp_tt.so.3.1.0
+lib/libvisp_tt.so.3.2
+lib/libvisp_tt.so.3.2.0
 lib/libvisp_tt_mi.so
-lib/libvisp_tt_mi.so.3.1
-lib/libvisp_tt_mi.so.3.1.0
+lib/libvisp_tt_mi.so.3.2
+lib/libvisp_tt_mi.so.3.2.0
 lib/libvisp_vision.so
-lib/libvisp_vision.so.3.1
-lib/libvisp_vision.so.3.1.0
+lib/libvisp_vision.so.3.2
+lib/libvisp_vision.so.3.2.0
 lib/libvisp_visual_features.so
-lib/libvisp_visual_features.so.3.1
-lib/libvisp_visual_features.so.3.1.0
+lib/libvisp_visual_features.so.3.2
+lib/libvisp_visual_features.so.3.2.0
 lib/libvisp_vs.so
-lib/libvisp_vs.so.3.1
-lib/libvisp_vs.so.3.1.0
+lib/libvisp_vs.so.3.2
+lib/libvisp_vs.so.3.2.0
 libdata/pkgconfig/visp.pc
 man/man1/visp-config.1.gz
 %%DATADIR%%/data/robot-simulator/afma6_arm1.bnd