From bedffa799183d13279a421c7bc7244369eba18d3 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 15:15:03 +0100
Subject: [PATCH 01/38] [CORE] Added a macro that indicates the OGRE version

---
 CMakeLists.txt                | 1 +
 cmake/templates/vpConfig.h.in | 3 +++
 2 files changed, 4 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6635e2b875..34bf6a769d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -984,6 +984,7 @@ include(cmake/VISPExtraTargets.cmake)
 include(cmake/OgreTools.cmake)
 if(USE_OGRE)
   vp_set_ogre_media()
+  set(VISP_HAVE_OGRE_VERSION "(${OGRE_VERSION_MAJOR}<<16 | ${OGRE_VERSION_MINOR}<<8 | ${OGRE_VERSION_PATCH})") # for vpConfig.h
 endif()
 
 #----------------------------------------------------------------------
diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
index 1703725de2..e18fb2339c 100644
--- a/cmake/templates/vpConfig.h.in
+++ b/cmake/templates/vpConfig.h.in
@@ -274,6 +274,9 @@ namespace vp = VISP_NAMESPACE_NAME;
 
 // Defined if Ogre3d is available.
 #cmakedefine VISP_HAVE_OGRE
+#ifdef VISP_HAVE_OGRE
+#  define VISP_HAVE_OGRE_VERSION ${VISP_HAVE_OGRE_VERSION}
+#endif
 
 // Defined if Ogre3d plugins.cfg is available.
 #cmakedefine VISP_HAVE_OGRE_PLUGINS_PATH "${VISP_HAVE_OGRE_PLUGINS_PATH}"

From 3afccd10b10933874f9e6e15c37b546bbc7ac0f4 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 15:45:05 +0100
Subject: [PATCH 02/38] [CORE] Removed a deprecated warning in vpAROgre

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 199ed37052..1de080b7bc 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -283,6 +283,7 @@ void vpAROgre::init(bool
   cf.load(resourceFile);
 
   // Go through all sections & settings in the file
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   Ogre::ConfigFile::SectionIterator seci = cf.getSectionIterator();
 
   Ogre::String secName, typeName, archName;
@@ -296,6 +297,20 @@ void vpAROgre::init(bool
       Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
     }
   }
+#else
+  const  Ogre::ConfigFile::SettingsBySection_ &sectionsNamesAndSettigns = cf.getSettingsBySection();
+  Ogre::String secName, typeName, archName;
+  for (std::pair<Ogre::String, Ogre::ConfigFile::SettingsMultiMap> name_settings : sectionsNamesAndSettigns) {
+    secName = name_settings.first;
+    Ogre::ConfigFile::SettingsMultiMap settings = name_settings.second;
+    Ogre::ConfigFile::SettingsMultiMap::iterator i;
+    for (i = settings.begin(); i != settings.end(); ++i) {
+      typeName = i->first;
+      archName = i->second;
+      Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
+    }
+}
+#endif
   std::cout << "##################### add resources" << std::endl;
   // Add Optional resources (given by the user).
   for (std::list<std::string>::const_iterator iter = mOptionalResourceLocation.begin();
@@ -934,7 +949,7 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-  }
+}
 #endif
 }
 

From 7853efd28b097bcda676e1ff9781ab211710de0c Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 16:07:00 +0100
Subject: [PATCH 03/38] [FIX] Fix "no matching function for call to
 showConfigDialog" when using Ogre >= 1.10

---
 modules/ar/include/visp3/ar/vpAROgre.h     |  4 ++++
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 11 ++++++++---
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index 87c2baa8ad..b50bdcf8e0 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -61,6 +61,10 @@
 #include <Ogre.h>
 #include <OgreFrameListener.h>
 
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#include <Bites/OgreBitesConfigDialog.h>
+#endif
+
 #ifdef VISP_HAVE_OIS
 #include <OIS.h>
 #endif
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 1de080b7bc..791e4d5602 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -309,7 +309,7 @@ void vpAROgre::init(bool
       archName = i->second;
       Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
     }
-}
+  }
 #endif
   std::cout << "##################### add resources" << std::endl;
   // Add Optional resources (given by the user).
@@ -323,7 +323,12 @@ void vpAROgre::init(bool
   bool canInit = true;
   if (mshowConfigDialog) {
     mRoot->restoreConfig();
-    if (!mRoot->showConfigDialog()) {
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+    bool isOK = mRoot->showConfigDialog();
+#else
+    bool isOK = mRoot->showConfigDialog(OgreBites::getNativeConfigDialog());
+#endif
+    if (!isOK) {
       canInit = false;
     }
   }
@@ -949,7 +954,7 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-}
+  }
 #endif
 }
 

From 1715f01844444b0f00acd78f1a380d6034c97371 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 16:41:22 +0100
Subject: [PATCH 04/38] [FIX] Fixed "error: 'Ogre::WindowEventUtilities' has
 not been declared"  and "Ogre::WindowEventListener : expected class-name
 before '{' token"

---
 modules/ar/include/visp3/ar/vpAROgre.h     |  4 ++++
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 17 ++++++++++++-----
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index b50bdcf8e0..b387eade8d 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -65,6 +65,10 @@
 #include <Bites/OgreBitesConfigDialog.h>
 #endif
 
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
+#include <Bites/OgreWindowEventUtilities.h>
+#endif
+
 #ifdef VISP_HAVE_OIS
 #include <OIS.h>
 #endif
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 791e4d5602..aec421c9c8 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -50,6 +50,13 @@
 
 #include <OgreRectangle2D.h>
 
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
+#include <Bites/OgreWindowEventUtilities.h>
+typedef OgreBites::WindowEventUtilities OgreWindowEventUtilities;
+#else
+typedef Ogre::WindowEventUtilities OgreWindowEventUtilities;
+#endif
+
 BEGIN_VISP_NAMESPACE
 /*!
   Constructor.
@@ -309,7 +316,7 @@ void vpAROgre::init(bool
       archName = i->second;
       Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
     }
-  }
+}
 #endif
   std::cout << "##################### add resources" << std::endl;
   // Add Optional resources (given by the user).
@@ -428,7 +435,7 @@ void vpAROgre::init(bool
   mRoot->addFrameListener(this);
 
   // Register as a Window listener
-  Ogre::WindowEventUtilities::addWindowEventListener(mWindow, this);
+  OgreWindowEventUtilities::addWindowEventListener(mWindow, this);
 
 #ifdef VISP_HAVE_OIS
   // Initialise OIS
@@ -483,7 +490,7 @@ vpAROgre::~vpAROgre(void)
   closeOIS();
 
   if (mWindow) {
-    Ogre::WindowEventUtilities::removeWindowEventListener(mWindow, this);
+    OgreWindowEventUtilities::removeWindowEventListener(mWindow, this);
     windowClosed(mWindow);
   }
 
@@ -526,7 +533,7 @@ bool vpAROgre::frameStarted(const Ogre::FrameEvent &evt)
   bool result = customframeStarted(evt);
 
   // Listen to the window
-  Ogre::WindowEventUtilities::messagePump();
+  OgreWindowEventUtilities::messagePump();
   processInputEvent(evt);
 
   // See if we have to stop rendering
@@ -954,7 +961,7 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-  }
+}
 #endif
 }
 

From 36fe7767c78aa6ec96817f9c1057379c9c495293 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 16:54:27 +0100
Subject: [PATCH 05/38] [FIX] Fixed
 "mBackground->setMaterial(BackgroundMaterial);" related error

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 24 ++++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index aec421c9c8..b7537c5206 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -316,7 +316,7 @@ void vpAROgre::init(bool
       archName = i->second;
       Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
     }
-}
+  }
 #endif
   std::cout << "##################### add resources" << std::endl;
   // Add Optional resources (given by the user).
@@ -864,7 +864,17 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+  Ogre::MaterialPtr mMaterial;
+  Ogre::String matName("BackgroundMaterial");
+  //if it doesnt already exist
+  if (!Ogre::MaterialManager::getSingleton().resourceExists(matName)) {
+    mMaterial = Ogre::MaterialManager::getSingleton().create(matName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
+  }
+  mBackground->setMaterial(mMaterial);                  // Attach the material to the rectangle
+#else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
+#endif
   mBackground->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); // To be rendered in Background
 
   // Add the background to the Scene Graph so it will be rendered
@@ -938,7 +948,17 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+  Ogre::MaterialPtr mMaterial;
+  Ogre::String matName("BackgroundMaterial");
+  //if it doesnt already exist
+  if (!Ogre::MaterialManager::getSingleton().resourceExists(matName)) {
+    mMaterial = Ogre::MaterialManager::getSingleton().create(matName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
+  }
+  mBackground->setMaterial(mMaterial);                  // Attach the material to the rectangle
+#else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
+#endif
   mBackground->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); // To be rendered in Background
 
   // Add the background to the Scene Graph so it will be rendered
@@ -961,7 +981,7 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-}
+  }
 #endif
 }
 

From 5537544f66efcf9c30f73ded5fb1f03bcf358afc Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 4 Dec 2024 17:04:30 +0100
Subject: [PATCH 06/38] [FIX] Fixed "cannot convert 'Ogre::Matrix4' to 'const
 Ogre::Affine3&'"

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index b7537c5206..d97c1d9120 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -51,6 +51,7 @@
 #include <OgreRectangle2D.h>
 
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
+#include <OgreMatrix4.h>
 #include <Bites/OgreWindowEventUtilities.h>
 typedef OgreBites::WindowEventUtilities OgreWindowEventUtilities;
 #else
@@ -1081,7 +1082,12 @@ void vpAROgre::updateCameraParameters(const vpHomogeneousMatrix &cMw)
                     (Ogre::Real)-cMw[1][0], (Ogre::Real)-cMw[1][1], (Ogre::Real)-cMw[1][2], (Ogre::Real)-cMw[1][3],
                     (Ogre::Real)-cMw[2][0], (Ogre::Real)-cMw[2][1], (Ogre::Real)-cMw[2][2], (Ogre::Real)-cMw[2][3],
                     (Ogre::Real)0, (Ogre::Real)0, (Ogre::Real)0, (Ogre::Real)1);
+#if (VISP_HAVE_OGRE_VERSION >= (1 << 16 | 11 << 8 | 0))
+  Ogre::Affine3 ModelViewAsAffine(ModelView);
+  mCamera->setCustomViewMatrix(true, ModelViewAsAffine);
+#else
   mCamera->setCustomViewMatrix(true, ModelView);
+#endif
 }
 
 /*!

From 8bb0792c431216acd8636fb6fdd3606a4fea3c98 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 5 Dec 2024 10:29:10 +0100
Subject: [PATCH 07/38] [FIX] Fixed visp-images dataset detection

Moved detection of the visp-images outside the vp_add_test method, to make the detection possible even when tests are disabled
---
 CMakeLists.txt         | 7 +++++++
 cmake/VISPModule.cmake | 6 ------
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34bf6a769d..dcd35cee4f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,6 +142,13 @@ set(VISP_SOVERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}")
 # Package revision number
 set(VISP_REVISION "1")
 
+# Try to locate visp-images and, if it exists, its version
+vp_find_dataset(VISP_DATASET_FOUND VISP_DATASET_LOCATION
+                    VISP_DATASET_VERSION
+                    VISP_DATASET_VERSION_MAJOR
+                    VISP_DATASET_VERSION_MINOR
+                    VISP_DATASET_VERSION_PATCH)
+
 #-----------------------------------------------------------------------------
 # TO BE CHECKED BEFORE NEXT RELEASE
 #
diff --git a/cmake/VISPModule.cmake b/cmake/VISPModule.cmake
index 3bab489d17..a9f958256e 100644
--- a/cmake/VISPModule.cmake
+++ b/cmake/VISPModule.cmake
@@ -990,12 +990,6 @@ macro(vp_add_tests)
   if(BUILD_TESTS AND EXISTS "${test_path}")
     __vp_parse_test_sources(TEST ${ARGN})
 
-    vp_find_dataset(VISP_DATASET_FOUND VISP_DATASET_LOCATION
-                    VISP_DATASET_VERSION
-                    VISP_DATASET_VERSION_MAJOR
-                    VISP_DATASET_VERSION_MINOR
-                    VISP_DATASET_VERSION_PATCH)
-
     set(__exclude_ctest "")
     foreach(__folder ${VISP_TEST_${the_module}_CTEST_EXCLUDE_FOLDER} )
       file(GLOB_RECURSE __files "${CMAKE_CURRENT_LIST_DIR}/test/${__folder}/*.cpp")

From 6c7cc06760f6cfdbfa37ac413b2bfe6c2a380a17 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 10 Dec 2024 10:55:24 +0100
Subject: [PATCH 08/38] [FIX] Fixed deprecated warnings due to the setting of
 the lights in AROgre

---
 example/ogre-simulator/AROgre.cpp      | 9 +++++++--
 example/ogre-simulator/AROgreBasic.cpp | 6 ++++++
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/example/ogre-simulator/AROgre.cpp b/example/ogre-simulator/AROgre.cpp
index 3bb85a4c08..7417e0ad27 100644
--- a/example/ogre-simulator/AROgre.cpp
+++ b/example/ogre-simulator/AROgre.cpp
@@ -224,7 +224,13 @@ class vpAROgreExample : public vpAROgre
     light->setDiffuseColour(1.0, 1.0, 1.0);  // scaled RGB values
     light->setSpecularColour(1.0, 1.0, 1.0); // scaled RGB values
     // Lumiere ponctuelle
+#if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
     light->setPosition(-5, -5, 10);
+#else
+    Ogre::SceneNode *spotLightNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
+    spotLightNode->attachObject(light);
+    spotLightNode->setPosition(Ogre::Vector3(-5, -5, 10));
+#endif
     light->setType(Ogre::Light::LT_POINT);
     light->setAttenuation((Ogre::Real)100, (Ogre::Real)1.0, (Ogre::Real)0.045, (Ogre::Real)0.0075);
     // Ombres
@@ -655,7 +661,6 @@ int main(int argc, const char **argv)
     vpAROgreExample ogre(mcam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
     // Initialize it
     ogre.init(IC);
-
     double t0 = vpTime::measureTimeMs();
 
     // Rendering loop
@@ -734,5 +739,5 @@ int main()
   std::cout << "- Install Ogre3D, configure again ViSP using cmake and build again this example" << std::endl;
 #endif
   return EXIT_SUCCESS;
-  }
+}
 #endif
diff --git a/example/ogre-simulator/AROgreBasic.cpp b/example/ogre-simulator/AROgreBasic.cpp
index 774156e558..637660775e 100644
--- a/example/ogre-simulator/AROgreBasic.cpp
+++ b/example/ogre-simulator/AROgreBasic.cpp
@@ -527,7 +527,13 @@ int main(int argc, const char **argv)
     Ogre::Light *light = ogre.getSceneManager()->createLight();
     light->setDiffuseColour(1, 1, 1);  // scaled RGB values
     light->setSpecularColour(1, 1, 1); // scaled RGB values
+#if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
     light->setPosition(-5, -5, 10);
+#else
+    Ogre::SceneNode *spotLightNode = ogre.getSceneManager()->getRootSceneNode()->createChildSceneNode();
+    spotLightNode->attachObject(light);
+    spotLightNode->setPosition(Ogre::Vector3(-5, -5, 10));
+#endif
     light->setType(Ogre::Light::LT_POINT);
 
     // Rendering loop

From 9d1813729e2db1ae17aa41014ca640e3eca34562 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 10 Dec 2024 10:56:10 +0100
Subject: [PATCH 09/38] [FIX] Fixed resource loading and setMaterial issue

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 96 ++++++++++------------
 1 file changed, 45 insertions(+), 51 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index d97c1d9120..e73f5f73b3 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -273,52 +273,53 @@ void vpAROgre::init(bool
   std::vector<std::string> resourcesPaths = vpIoTools::splitChain(std::string(mResourcePath), std::string(";"));
   for (size_t i = 0; i < resourcesPaths.size(); i++) {
     resourceFile = resourcesPaths[i] + "/resources.cfg";
-    if (vpIoTools::checkFilename(resourceFile)) {
-      resourcesFileExists = true;
-      break;
+    if (!vpIoTools::checkFilename(resourceFile)) {
+      continue;
+    }
+    resourcesFileExists = true;
+    std::cout << "######################### Load resource file: " << resourceFile << std::endl;
+    Ogre::ConfigFile cf;
+    cf.load(resourceFile);
+    // Go through all sections & settings in the file
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+    Ogre::ConfigFile::SectionIterator seci = cf.getSectionIterator();
+
+    Ogre::String secName, typeName, archName;
+    while (seci.hasMoreElements()) {
+      secName = seci.peekNextKey();
+      Ogre::ConfigFile::SettingsMultiMap *settings = seci.getNext();
+      Ogre::ConfigFile::SettingsMultiMap::iterator i;
+      for (i = settings->begin(); i != settings->end(); ++i) {
+        typeName = i->first;
+        archName = i->second;
+        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
+      }
+    }
+#else
+    const  Ogre::ConfigFile::SettingsBySection_ &sectionsNamesAndSettigns = cf.getSettingsBySection();
+    Ogre::String secName, typeName, archName;
+    for (std::pair<Ogre::String, Ogre::ConfigFile::SettingsMultiMap> name_settings : sectionsNamesAndSettigns) {
+      secName = name_settings.first;
+      Ogre::ConfigFile::SettingsMultiMap settings = name_settings.second;
+      Ogre::ConfigFile::SettingsMultiMap::iterator i;
+      for (i = settings.begin(); i != settings.end(); ++i) {
+        typeName = i->first;
+        archName = i->second;
+        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
+      }
     }
+#endif
   }
   if (!resourcesFileExists) {
     std::string errorMsg = std::string("Error: the requested resource file \"resources.cfg\"") +
       std::string("doesn't exist in ") + std::string(mResourcePath);
 
-    std::cout << errorMsg << std::endl;
+    std::cout << errorMsg << std::endl << std::flush;
 
     throw(vpException(vpException::ioError, errorMsg));
   }
-  std::cout << "######################### Load resource file: " << resourceFile << std::endl;
-  Ogre::ConfigFile cf;
-  cf.load(resourceFile);
 
-  // Go through all sections & settings in the file
-#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
-  Ogre::ConfigFile::SectionIterator seci = cf.getSectionIterator();
-
-  Ogre::String secName, typeName, archName;
-  while (seci.hasMoreElements()) {
-    secName = seci.peekNextKey();
-    Ogre::ConfigFile::SettingsMultiMap *settings = seci.getNext();
-    Ogre::ConfigFile::SettingsMultiMap::iterator i;
-    for (i = settings->begin(); i != settings->end(); ++i) {
-      typeName = i->first;
-      archName = i->second;
-      Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
-    }
-  }
-#else
-  const  Ogre::ConfigFile::SettingsBySection_ &sectionsNamesAndSettigns = cf.getSettingsBySection();
-  Ogre::String secName, typeName, archName;
-  for (std::pair<Ogre::String, Ogre::ConfigFile::SettingsMultiMap> name_settings : sectionsNamesAndSettigns) {
-    secName = name_settings.first;
-    Ogre::ConfigFile::SettingsMultiMap settings = name_settings.second;
-    Ogre::ConfigFile::SettingsMultiMap::iterator i;
-    for (i = settings.begin(); i != settings.end(); ++i) {
-      typeName = i->first;
-      archName = i->second;
-      Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
-    }
-  }
-#endif
+
   std::cout << "##################### add resources" << std::endl;
   // Add Optional resources (given by the user).
   for (std::list<std::string>::const_iterator iter = mOptionalResourceLocation.begin();
@@ -417,9 +418,13 @@ void vpAROgre::init(bool
   //    ST_INTERIOR = Quake3 BSP
   //-----------------------------------------------------
 
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
+#else
+  mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
+#endif
 
-  // Create the camera
+// Create the camera
   createCamera();
 
   // Create a viewport
@@ -866,13 +871,7 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
-  Ogre::MaterialPtr mMaterial;
-  Ogre::String matName("BackgroundMaterial");
-  //if it doesnt already exist
-  if (!Ogre::MaterialManager::getSingleton().resourceExists(matName)) {
-    mMaterial = Ogre::MaterialManager::getSingleton().create(matName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
-  }
-  mBackground->setMaterial(mMaterial);                  // Attach the material to the rectangle
+  mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
 #endif
@@ -949,14 +948,9 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
+
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
-  Ogre::MaterialPtr mMaterial;
-  Ogre::String matName("BackgroundMaterial");
-  //if it doesnt already exist
-  if (!Ogre::MaterialManager::getSingleton().resourceExists(matName)) {
-    mMaterial = Ogre::MaterialManager::getSingleton().create(matName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
-  }
-  mBackground->setMaterial(mMaterial);                  // Attach the material to the rectangle
+  mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
 #endif

From 8472d16787b8e3f3dba5981b79feee6ae2587d16 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 10 Dec 2024 11:07:14 +0100
Subject: [PATCH 10/38] [FIX] Fix deprecated warning due to createSceneManager

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index e73f5f73b3..76103b3e27 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -421,7 +421,7 @@ void vpAROgre::init(bool
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
 #else
-  mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
+  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, Ogre::BLANKSTRING);
 #endif
 
 // Create the camera

From 0ea8a3559a1f6a29d3a55950c230b7dff6ca3135 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 10 Dec 2024 11:17:34 +0100
Subject: [PATCH 11/38] [FIX] Fixed deprecated warning due to
 getSceneManagerIterator

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 26 +++++++++++++++-------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 76103b3e27..1e390f6171 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -501,8 +501,18 @@ vpAROgre::~vpAROgre(void)
   }
 
   // Delete root
-  if (Ogre::Root::getSingletonPtr() && !Ogre::Root::getSingletonPtr()->getSceneManagerIterator().hasMoreElements() &&
-      mRoot) {
+  bool hasNoMoreElements = false;
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+  if (Ogre::Root::getSingletonPtr()) {
+    hasNoMoreElements = !Ogre::Root::getSingletonPtr()->getSceneManagerIterator().hasMoreElements();
+  }
+#else
+  if (Ogre::Root::getSingletonPtr()) {
+    hasNoMoreElements = Ogre::Root::getSingletonPtr()->getSceneManagers().empty();
+  }
+#endif
+
+  if (hasNoMoreElements && mRoot) {
     delete mRoot;
   }
   mRoot = 0;
@@ -978,13 +988,13 @@ void vpAROgre::closeOIS(void)
     mInputManager = 0;
   }
 #endif
-}
+  }
 
-/*!
-  Update the projection parameters of the camera.
-*/
-// Note: equation taken from:
-// http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
+  /*!
+    Update the projection parameters of the camera.
+  */
+  // Note: equation taken from:
+  // http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
 void vpAROgre::updateCameraProjection(void)
 {
   if (mCamera != 0) {

From 31a128b8feef49fde3435f915afa7a0e9f195b05 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 10 Dec 2024 12:22:47 +0100
Subject: [PATCH 12/38] [WIP] Working on the CMake file for Ogre

---
 cmake/OgreTools.cmake | 51 +++++++++++++++++++++++--------------------
 1 file changed, 27 insertions(+), 24 deletions(-)

diff --git a/cmake/OgreTools.cmake b/cmake/OgreTools.cmake
index 4813e5fca9..02c1f8c6f5 100644
--- a/cmake/OgreTools.cmake
+++ b/cmake/OgreTools.cmake
@@ -182,6 +182,7 @@ function(vp_set_ogre_media)
       /usr/share/OGRE-1.8.0/media
       /usr/share/OGRE-1.8.1/media
       /usr/share/OGRE-1.9.0/media
+      /usr/share/OGRE/Media
     )
   endif()
 
@@ -274,13 +275,14 @@ function(vp_set_ogre_media)
   # Here we copy all the minimal media files
   # - media/materials/...
   # - media/models/...
-  if(OGRE_MEDIA_NOT_AVAILABLE)
+  # if(OGRE_MEDIA_NOT_AVAILABLE)
     file(COPY modules/ar/data/ogre-simulator/media DESTINATION ${VISP_BINARY_DIR}/data/ogre-simulator)
-  endif()
+  # endif()
 
   if(ogre_resources_cfg_exists)
-    set(VISP_HAVE_OGRE_RESOURCES_PATH "${ogre_resources_cfg_exists}" CACHE INTERNAL "Ogre resources location")
-  else()
+    set(VISP_HAVE_OGRE_RESOURCES_PATH "${ogre_resources_cfg_exists};" CACHE INTERNAL "Ogre resources location")
+  endif()
+  # else()
     # Here we create a resources.cfg if it was not found
 
     # we create a resources.cfg file for vpAROgre.cpp
@@ -288,22 +290,23 @@ function(vp_set_ogre_media)
     #         If OGRE_MEDIA_DIR is not found, we set it to VISP_HAVE_OGRE_RESOURCES_PATH in order to use
     #         the minimal requested media to run the examples
     #--------------
-    set(VISP_HAVE_OGRE_RESOURCES_PATH "${VISP_BINARY_DIR}/data/ogre-simulator" CACHE INTERNAL "Ogre resources location")
+    set(OGRE_DATA_ROOT_DIR "${VISP_BINARY_DIR}/data/ogre-simulator")
+    set(VISP_HAVE_OGRE_RESOURCES_PATH "${VISP_HAVE_OGRE_RESOURCES_PATH}${OGRE_DATA_ROOT_DIR}" CACHE INTERNAL "Ogre resources location")
 
-    if(OGRE_MEDIA_NOT_AVAILABLE)
-      set(OGRE_MEDIA_DIR ${VISP_HAVE_OGRE_RESOURCES_PATH}/media)
-    endif()
+    # if(OGRE_MEDIA_NOT_AVAILABLE)
+      set(OGRE_VISP_MEDIA_DIR "${VISP_BINARY_DIR}/data/ogre-simulator/media")
+    # endif()
 
-    # Here we add all the subdirs in @OGRE_MEDIA_DIR@/* as resource location.
-    vp_get_relative_subdirs(media_subdirs ${OGRE_MEDIA_DIR})
-    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_MEDIA_DIR}\n")
+    # Here we add all the subdirs in @OGRE_VISP_MEDIA_DIR@/* as resource location.
+    vp_get_relative_subdirs(media_subdirs ${OGRE_VISP_MEDIA_DIR})
+    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_MEDIA_DIR}\n")
     foreach(m ${media_subdirs})
-      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_MEDIA_DIR}/${m}\n")
+      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_MEDIA_DIR}/${m}\n")
     endforeach()
 
     configure_file(
       ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
-      ${VISP_HAVE_OGRE_RESOURCES_PATH}/resources.cfg
+      ${OGRE_DATA_ROOT_DIR}/resources.cfg
       IMMEDIATE @ONLY
     )
 
@@ -316,14 +319,14 @@ function(vp_set_ogre_media)
     # make the var global
     set(VISP_INSTALL_DIR_OGRE_RESOURCES ${VISP_INSTALL_DIR_OGRE_RESOURCES} CACHE INTERNAL "Ogre media install dir")
 
-    if(OGRE_MEDIA_NOT_AVAILABLE)
-      set(OGRE_MEDIA_DIR ${VISP_INSTALL_DIR_OGRE_RESOURCES}/media)
-    endif()
+    # if(OGRE_MEDIA_NOT_AVAILABLE)
+      set(OGRE_VISP_INSTALL_MEDIA_DIR ${VISP_INSTALL_DIR_OGRE_RESOURCES}/media)
+    # endif()
 
-    # Here we add all the subdirs in @OGRE_MEDIA_DIR@/* as resource location.
-    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_MEDIA_DIR}\n")
+    # Here we add all the subdirs in @OGRE_VISP_INSTALL_MEDIA_DIR@/* as resource location.
+    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}\n")
     foreach(m ${media_subdirs})
-      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_MEDIA_DIR}/${m}\n")
+      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}/${m}\n")
     endforeach()
 
     # install rule for resources.cfg and Ogre media if they are not available:
@@ -339,14 +342,14 @@ function(vp_set_ogre_media)
         PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
         COMPONENT dev
       )
-      if(OGRE_MEDIA_NOT_AVAILABLE)
+      # if(OGRE_MEDIA_NOT_AVAILABLE)
         install(DIRECTORY
           ${VISP_BINARY_DIR}/data/ogre-simulator/media
           DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
           FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
           COMPONENT dev
         )
-      endif()
+      # endif()
     else()
       configure_file(
         ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
@@ -359,16 +362,16 @@ function(vp_set_ogre_media)
         PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
         COMPONENT dev
       )
-      if(OGRE_MEDIA_NOT_AVAILABLE)
+      # if(OGRE_MEDIA_NOT_AVAILABLE)
         install(DIRECTORY
           ${VISP_BINARY_DIR}/data/ogre-simulator/media
           DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
           FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
           COMPONENT dev
         )
-      endif()
+      # endif()
     endif()
-  endif()
+  # endif()
 endfunction()
 
 macro(vp_set_ogre_advanced_var)

From f6b69c28702139b682c7fbebb084fed5eee48114 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 11 Dec 2024 11:06:49 +0100
Subject: [PATCH 13/38] [CORE] Fixed deprecated warnings due to
 light->setPosition in tutorials

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp          |  6 ++++--
 .../ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp       | 10 ++++++++--
 .../visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp   | 13 +++++++++----
 3 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 1e390f6171..af5177c746 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -670,8 +670,9 @@ void vpAROgre::display(const vpImage<unsigned char> &I, const vpHomogeneousMatri
     mWindow->update();
     keepOn = true;
   }
-  else
+  else {
     keepOn = false;
+  }
 }
 
 /*!
@@ -686,8 +687,9 @@ void vpAROgre::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMw)
     mWindow->update();
     keepOn = true;
   }
-  else
+  else {
     keepOn = false;
+  }
 }
 
 /*!
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
index 29aaf59e55..c14ef5f598 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
@@ -103,8 +103,14 @@ int main()
     Ogre::Light *light = ogre.getSceneManager()->createLight();
     light->setDiffuseColour(1, 1, 1);  // scaled RGB values
     light->setSpecularColour(1, 1, 1); // scaled RGB values
-    light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
     light->setType(Ogre::Light::LT_POINT);
+#if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
+    light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+#else
+    Ogre::SceneNode *spotLightNode = ogre.getSceneManager()->getRootSceneNode()->createChildSceneNode();
+    spotLightNode->attachObject(light);
+    spotLightNode->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+#endif
 
     vpServo task;
     task.setServo(vpServo::EYEINHAND_CAMERA);
@@ -229,4 +235,4 @@ int main()
   }
   return EXIT_SUCCESS;
 #endif
-  }
+}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
index b4ec58637b..c021f30a58 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
@@ -58,9 +58,14 @@ int main()
     // Add an optional point light source
     Ogre::Light *light = ogre.getSceneManager()->createLight();
     light->setDiffuseColour(1, 1, 1);  // scaled RGB values
-    light->setSpecularColour(1, 1, 1); // scaled RGB values
-    light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
     light->setType(Ogre::Light::LT_POINT);
+#if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
+    light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+#else
+    Ogre::SceneNode *spotLightNode = ogre.getSceneManager()->getRootSceneNode()->createChildSceneNode();
+    spotLightNode->attachObject(light);
+    spotLightNode->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+#endif
 #endif
 
     vpServo task;
@@ -89,7 +94,7 @@ int main()
       for (int i = 0; i < 4; i++) {
         point[i].track(cMo);
         vpFeatureBuilder::create(p[i], point[i]);
-    }
+      }
 #if defined(VISP_HAVE_OGRE)
       // Update the scene from the new camera position
       ogre.display(background, cMo);
@@ -97,8 +102,8 @@ int main()
       vpColVector v = task.computeControlLaw();
       robot.setVelocity(vpRobot::CAMERA_FRAME, v);
       vpTime::wait(robot.getSamplingTime() * 1000);
+    }
   }
-}
   catch (const vpException &e) {
     std::cout << "Catch an exception: " << e << std::endl;
   }

From 2f49d90b596252bc1fe57f62618b0dd30d049b83 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 11 Dec 2024 15:37:10 +0100
Subject: [PATCH 14/38] [CORE] Add Ogre dir log during CMake configuration if
 USE_OGRE

---
 CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dcd35cee4f..cd0e6df1b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1928,6 +1928,13 @@ endif()
 if(USE_YARP)
   status("    Yarp dir:" "${YARP_DIR}")
 endif()
+if(USE_OGRE)
+  if(NOT ${OGRE_DIR} STREQUAL "")
+    status("    Ogre dir:" "${OGRE_DIR}")
+  else()
+    status("    Ogre dir:" "includes in ${OGRE_INCLUDE_DIR} , core lib in ${OGRE_LIBRARY_REL} , other libs in ${OGRE_PLUGIN_DIR_REL}")
+  endif()
+endif()
 
 # ========================== auxiliary ==========================
 status("")

From e6758041ec09ed4da26df8fab7dafae01cb9b388 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Wed, 11 Dec 2024 15:38:45 +0100
Subject: [PATCH 15/38] [FIX] Initialize the VISP_HAVE_OGRE_RESOURCES_PATH to
 empty string because it seemed to cause a problem when running successive
 configure steps

---
 cmake/OgreTools.cmake | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/cmake/OgreTools.cmake b/cmake/OgreTools.cmake
index 02c1f8c6f5..c7e2e4ca78 100644
--- a/cmake/OgreTools.cmake
+++ b/cmake/OgreTools.cmake
@@ -279,6 +279,8 @@ function(vp_set_ogre_media)
     file(COPY modules/ar/data/ogre-simulator/media DESTINATION ${VISP_BINARY_DIR}/data/ogre-simulator)
   # endif()
 
+  # Initialize the variable
+  set(VISP_HAVE_OGRE_RESOURCES_PATH "" CACHE INTERNAL "Ogre resources location")
   if(ogre_resources_cfg_exists)
     set(VISP_HAVE_OGRE_RESOURCES_PATH "${ogre_resources_cfg_exists};" CACHE INTERNAL "Ogre resources location")
   endif()

From 852dd7a8c3218f480423edeb8155185dfc196ced Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 12 Dec 2024 11:06:23 +0100
Subject: [PATCH 16/38] [KO] Pbs : of include in 1.12.10, of linkage in 1.9.0

---
 modules/ar/include/visp3/ar/vpAROgre.h     |  19 ++++
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 112 ++++++++++++++++-----
 2 files changed, 108 insertions(+), 23 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index b387eade8d..b09df0b69c 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -62,6 +62,7 @@
 #include <OgreFrameListener.h>
 
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#include <OgreComponents.h>
 #include <Bites/OgreBitesConfigDialog.h>
 #endif
 
@@ -69,6 +70,13 @@
 #include <Bites/OgreWindowEventUtilities.h>
 #endif
 
+#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#include <RTShaderSystem/OgreShaderGenerator.h>
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#include <Bites/OgreSGTechniqueResolverListener.h>
+#endif
+#endif // INCLUDE_RTSHADER_SYSTEM
+
 #ifdef VISP_HAVE_OIS
 #include <OIS.h>
 #endif
@@ -353,6 +361,10 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
 
   bool stopTest(const Ogre::FrameEvent &evt);
 
+  bool initialiseRTShaderSystem();
+
+  void destroyRTShaderSystem();
+
 protected:
   // Attributes
   Ogre::String name; /**Name of th Window*/
@@ -371,6 +383,13 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
   OIS::Keyboard *mKeyboard;
 #endif
 
+#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+  Ogre::RTShader::ShaderGenerator *mShaderGenerator; // The Shader generator instance.
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+  OgreBites::SGTechniqueResolverListener *mMaterialMgrListener; // Shader generator material manager listener.
+#endif
+#endif // INCLUDE_RTSHADER_SYSTEM
+
   // ViSP AR System
   bool keepOn;                                     /** Has the application received a signal to stop(false) or not
                                                       (true) */
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index af5177c746..0e4eb2a981 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -85,7 +85,64 @@ vpAROgre::vpAROgre(const vpCameraParameters &cam, unsigned int width, unsigned i
   mImageRGBA(), mImage(), mPixelBuffer(), mBackground(nullptr), mBackgroundHeight(0), mBackgroundWidth(0),
   mWindowHeight(height), mWindowWidth(width), windowHidden(false), mNearClipping(0.001), mFarClipping(200), mcam(cam),
   mshowConfigDialog(true), mOptionalResourceLocation()
-{ }
+{
+#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+  mMaterialMgrListener = NULL;
+#endif
+  mShaderGenerator = NULL;
+#endif
+}
+
+/**
+Initialize the RT Shader system.
+*/
+bool vpAROgre::initialiseRTShaderSystem()
+{
+#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+  if (Ogre::RTShader::ShaderGenerator::initialize()) {
+    mShaderGenerator = Ogre::RTShader::ShaderGenerator::getSingletonPtr();
+
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+// Create and register the material manager listener if it doesn't exist yet.
+    if (!mMaterialMgrListener) {
+      mMaterialMgrListener = new OgreBites::SGTechniqueResolverListener(mShaderGenerator);
+      Ogre::MaterialManager::getSingleton().addListener(mMaterialMgrListener);
+    }
+#else
+//TODO
+#endif
+    return true;
+  }
+#endif
+  return false;
+}
+
+/**
+Destroy the RT Shader system.
+*/
+void vpAROgre::destroyRTShaderSystem()
+{
+#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+  // Restore default scheme.
+  Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
+
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+  // Unregister the material manager listener.
+  if (mMaterialMgrListener != NULL) {
+    Ogre::MaterialManager::getSingleton().removeListener(mMaterialMgrListener);
+    delete mMaterialMgrListener;
+    mMaterialMgrListener = NULL;
+  }
+#endif
+
+// Destroy RTShader system.
+  if (mShaderGenerator != NULL) {
+    Ogre::RTShader::ShaderGenerator::destroy();
+    mShaderGenerator = NULL;
+  }
+#endif
+}
 
 /*!
   Initialisation of Ogre with a grey level background.
@@ -256,6 +313,18 @@ void vpAROgre::init(bool
     mRoot = Ogre::Root::getSingletonPtr();
   }
 
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+  mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
+#else
+  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, Ogre::BLANKSTRING);
+#endif
+
+  // Initialize the RTShaderSystem, if available
+  bool hasInitializedTheRTSS = initialiseRTShaderSystem();
+  if (!hasInitializedTheRTSS) {
+    std::cout << "[vpAROgre::init] RTSS is not available." << std::endl;
+  }
+
   // Load resource paths from config file
 
   // File format is:
@@ -293,8 +362,8 @@ void vpAROgre::init(bool
         typeName = i->first;
         archName = i->second;
         Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
-      }
-    }
+  }
+}
 #else
     const  Ogre::ConfigFile::SettingsBySection_ &sectionsNamesAndSettigns = cf.getSettingsBySection();
     Ogre::String secName, typeName, archName;
@@ -309,7 +378,7 @@ void vpAROgre::init(bool
       }
     }
 #endif
-  }
+}
   if (!resourcesFileExists) {
     std::string errorMsg = std::string("Error: the requested resource file \"resources.cfg\"") +
       std::string("doesn't exist in ") + std::string(mResourcePath);
@@ -418,12 +487,6 @@ void vpAROgre::init(bool
   //    ST_INTERIOR = Quake3 BSP
   //-----------------------------------------------------
 
-#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
-  mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
-#else
-  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, Ogre::BLANKSTRING);
-#endif
-
 // Create the camera
   createCamera();
 
@@ -495,6 +558,9 @@ vpAROgre::~vpAROgre(void)
   // Close OIS
   closeOIS();
 
+  // Destroy the RTSS, if available
+  destroyRTShaderSystem();
+
   if (mWindow) {
     OgreWindowEventUtilities::removeWindowEventListener(mWindow, this);
     windowClosed(mWindow);
@@ -505,7 +571,7 @@ vpAROgre::~vpAROgre(void)
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   if (Ogre::Root::getSingletonPtr()) {
     hasNoMoreElements = !Ogre::Root::getSingletonPtr()->getSceneManagerIterator().hasMoreElements();
-  }
+}
 #else
   if (Ogre::Root::getSingletonPtr()) {
     hasNoMoreElements = Ogre::Root::getSingletonPtr()->getSceneManagers().empty();
@@ -516,13 +582,13 @@ vpAROgre::~vpAROgre(void)
     delete mRoot;
   }
   mRoot = 0;
-}
+  }
 
-/*!
-  Function testing if the program must stop rendering or not.
-  \param evt : Frame event to process.
-  \return False if the program must be stopped.
-*/
+  /*!
+    Function testing if the program must stop rendering or not.
+    \param evt : Frame event to process.
+    \return False if the program must be stopped.
+  */
 bool vpAROgre::stopTest(const Ogre::FrameEvent &evt)
 {
   // Always keep this part
@@ -988,7 +1054,7 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-  }
+}
 #endif
   }
 
@@ -1072,11 +1138,11 @@ void vpAROgre::updateBackgroundTexture(const vpImage<vpRGBa> &I)
 
   // Unlock the pixel buffer
   mPixelBuffer->unlock();
-}
+  }
 
-/*!
-  Update Camera parameters from a pose calculation.
-*/
+  /*!
+    Update Camera parameters from a pose calculation.
+  */
 void vpAROgre::updateCameraParameters(const vpHomogeneousMatrix &cMw)
 {
   // The matrix is given to Ogre with some changes to fit with the world
@@ -1138,7 +1204,7 @@ void vpAROgre::getRenderingOutput(vpImage<vpRGBa> &I, const vpHomogeneousMatrix
 
   // Unlock the pixel buffer
   mPixelBuffer->unlock();
-}
+  }
 END_VISP_NAMESPACE
 #elif !defined(VISP_BUILD_SHARED_LIBS)
 // Work around to avoid warning: libvisp_ar.a(vpAROgre.cpp.o) has no symbols

From c5dbc8a07829bfbb38d4003fbcb6ca2e4dc168ff Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Mon, 16 Dec 2024 09:18:35 +0100
Subject: [PATCH 17/38] [FIX] Fixed warnings when loading the resources using
 Ogre 1.12.10

---
 cmake/OgreTools.cmake                      |   3 +-
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 208 ++++++++++-----------
 2 files changed, 106 insertions(+), 105 deletions(-)

diff --git a/cmake/OgreTools.cmake b/cmake/OgreTools.cmake
index c7e2e4ca78..5a2e7f086f 100644
--- a/cmake/OgreTools.cmake
+++ b/cmake/OgreTools.cmake
@@ -108,6 +108,7 @@ macro(vp_create_ogre_plugin_config_file)
   endif()
 
   if(OGRE_PLUGIN_DIR_REL)
+    list(APPEND PLUGIN_REL ${OGRE_RTShaderSystem_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D9_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D10_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D11_LIBRARY_REL})
@@ -377,7 +378,7 @@ function(vp_set_ogre_media)
 endfunction()
 
 macro(vp_set_ogre_advanced_var)
-  set(ogre_components_ Paging Terrain Plugin_BSPSceneManager Plugin_CgProgramManager Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_PCZSceneManager Plugin_ParticleFX RenderSystem_Direct3D11 RenderSystem_Direct3D9 RenderSystem_GLES2 RenderSystem_GLES RenderSystem_GL)
+  set(ogre_components_ Paging Terrain Plugin_BSPSceneManager Plugin_CgProgramManager Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_PCZSceneManager Plugin_ParticleFX RenderSystem_Direct3D11 RenderSystem_Direct3D9 RenderSystem_GLES2 RenderSystem_GLES RenderSystem_GL RTShaderSystem)
   foreach(component_ ${ogre_components_})
     mark_as_advanced(OGRE_${component_}_INCLUDE_DIR)
     mark_as_advanced(OGRE_${component_}_LIBRARY_DBG)
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 0e4eb2a981..78c97dd940 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -313,12 +313,90 @@ void vpAROgre::init(bool
     mRoot = Ogre::Root::getSingletonPtr();
   }
 
+  // Create the window
+  bool canInit = true;
+  if (mshowConfigDialog) {
+    mRoot->restoreConfig();
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+    bool isOK = mRoot->showConfigDialog();
+#else
+    bool isOK = mRoot->showConfigDialog(OgreBites::getNativeConfigDialog());
+#endif
+    if (!isOK) {
+      canInit = false;
+    }
+  }
+  else {
+    if (!mRoot->restoreConfig()) {
+      canInit = false;
+    }
+  }
+
+  if (!mRoot->isInitialised()) {
+    if (!canInit) { // We set the default renderer system
+      const Ogre::RenderSystemList &lRenderSystemList = mRoot->getAvailableRenderers();
+      if (lRenderSystemList.size() == 0) {
+        throw "ConfigDialog aborted"; // Exit the application on cancel
+      }
+
+      Ogre::RenderSystem *lRenderSystem = lRenderSystemList.at(0);
+      std::cout << "Using " << lRenderSystem->getName() << " as renderer." << std::endl;
+      mRoot->setRenderSystem(lRenderSystem);
+    }
+
+    mRoot->initialise(false);
+  }
+
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
 #else
   mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, Ogre::BLANKSTRING);
 #endif
 
+  bool fullscreen = false;
+  Ogre::NameValuePairList misc;
+  Ogre::ConfigOptionMap config = mRoot->getRenderSystem()->getConfigOptions();
+  Ogre::ConfigOptionMap::const_iterator it = config.begin();
+
+  while (it != config.end()) {
+    Ogre::String leftconf = (*it).first;
+    Ogre::String rightconf = (*it).second.currentValue;
+
+    if (leftconf == "Video Mode") {
+      if (canInit) {
+        std::stringstream ss(rightconf.c_str());
+        std::string dummy;
+        ss >> mWindowWidth >> dummy >> mWindowHeight;
+        if (ss.fail()) {
+          std::cout << "Cannot read Ogre video mode" << std::endl;
+        }
+      }
+      else if (mWindowWidth == 0 && mWindowHeight == 0) {
+        mWindowWidth = mBackgroundWidth;
+        mWindowHeight = mBackgroundHeight;
+      }
+    }
+    else if (leftconf == "Full Screen") {
+      if (canInit && (rightconf == "Yes")) {
+        fullscreen = true;
+      }
+    }
+    else {
+      misc[leftconf] = rightconf;
+    }
+
+    ++it;
+  }
+
+  // With Ogre version >= 1.8.1 we hide the window
+  if (hidden) {
+#if (OGRE_VERSION >= (1 << 16 | 8 << 8 | 1))
+    misc["hidden"] = "true";
+    windowHidden = true;
+#endif
+  }
+  mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
+
   // Initialize the RTShaderSystem, if available
   bool hasInitializedTheRTSS = initialiseRTShaderSystem();
   if (!hasInitializedTheRTSS) {
@@ -362,8 +440,8 @@ void vpAROgre::init(bool
         typeName = i->first;
         archName = i->second;
         Ogre::ResourceGroupManager::getSingleton().addResourceLocation(archName, typeName, secName);
-  }
-}
+      }
+    }
 #else
     const  Ogre::ConfigFile::SettingsBySection_ &sectionsNamesAndSettigns = cf.getSettingsBySection();
     Ogre::String secName, typeName, archName;
@@ -378,7 +456,7 @@ void vpAROgre::init(bool
       }
     }
 #endif
-}
+  }
   if (!resourcesFileExists) {
     std::string errorMsg = std::string("Error: the requested resource file \"resources.cfg\"") +
       std::string("doesn't exist in ") + std::string(mResourcePath);
@@ -397,84 +475,6 @@ void vpAROgre::init(bool
         *iter, "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
   }
 
-  // Create the window
-  bool canInit = true;
-  if (mshowConfigDialog) {
-    mRoot->restoreConfig();
-#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
-    bool isOK = mRoot->showConfigDialog();
-#else
-    bool isOK = mRoot->showConfigDialog(OgreBites::getNativeConfigDialog());
-#endif
-    if (!isOK) {
-      canInit = false;
-    }
-  }
-  else {
-    if (!mRoot->restoreConfig()) {
-      canInit = false;
-    }
-  }
-
-  if (!mRoot->isInitialised()) {
-    if (!canInit) { // We set the default renderer system
-      const Ogre::RenderSystemList &lRenderSystemList = mRoot->getAvailableRenderers();
-      if (lRenderSystemList.size() == 0) {
-        throw "ConfigDialog aborted"; // Exit the application on cancel
-      }
-
-      Ogre::RenderSystem *lRenderSystem = lRenderSystemList.at(0);
-      std::cout << "Using " << lRenderSystem->getName() << " as renderer." << std::endl;
-      mRoot->setRenderSystem(lRenderSystem);
-    }
-
-    mRoot->initialise(false);
-  }
-
-  bool fullscreen = false;
-  Ogre::NameValuePairList misc;
-  Ogre::ConfigOptionMap config = mRoot->getRenderSystem()->getConfigOptions();
-  Ogre::ConfigOptionMap::const_iterator it = config.begin();
-
-  while (it != config.end()) {
-    Ogre::String leftconf = (*it).first;
-    Ogre::String rightconf = (*it).second.currentValue;
-
-    if (leftconf == "Video Mode") {
-      if (canInit) {
-        std::stringstream ss(rightconf.c_str());
-        std::string dummy;
-        ss >> mWindowWidth >> dummy >> mWindowHeight;
-        if (ss.fail()) {
-          std::cout << "Cannot read Ogre video mode" << std::endl;
-        }
-      }
-      else if (mWindowWidth == 0 && mWindowHeight == 0) {
-        mWindowWidth = mBackgroundWidth;
-        mWindowHeight = mBackgroundHeight;
-      }
-    }
-    else if (leftconf == "Full Screen") {
-      if (canInit && (rightconf == "Yes")) {
-        fullscreen = true;
-      }
-    }
-    else {
-      misc[leftconf] = rightconf;
-    }
-
-    ++it;
-  }
-
-  // With Ogre version >= 1.8.1 we hide the window
-  if (hidden) {
-#if (OGRE_VERSION >= (1 << 16 | 8 << 8 | 1))
-    misc["hidden"] = "true";
-    windowHidden = true;
-#endif
-  }
-  mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
-
   // Initialise resources
   Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
   //-----------------------------------------------------
@@ -546,11 +546,11 @@ void vpAROgre::init(bool
   /*Ogre::Viewport* Viewport =*/RTarget->addViewport(mCamera);
   RTarget->getViewport(0)->setClearEveryFrame(true);
   RTarget->getViewport(0)->setOverlaysEnabled(false);
-}
+  }
 
-/*!
-  Destructor.
-*/
+  /*!
+    Destructor.
+  */
 vpAROgre::~vpAROgre(void)
 {
   // Destroy 3D scene
@@ -571,7 +571,7 @@ vpAROgre::~vpAROgre(void)
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   if (Ogre::Root::getSingletonPtr()) {
     hasNoMoreElements = !Ogre::Root::getSingletonPtr()->getSceneManagerIterator().hasMoreElements();
-}
+  }
 #else
   if (Ogre::Root::getSingletonPtr()) {
     hasNoMoreElements = Ogre::Root::getSingletonPtr()->getSceneManagers().empty();
@@ -582,13 +582,13 @@ vpAROgre::~vpAROgre(void)
     delete mRoot;
   }
   mRoot = 0;
-  }
+}
 
-  /*!
-    Function testing if the program must stop rendering or not.
-    \param evt : Frame event to process.
-    \return False if the program must be stopped.
-  */
+/*!
+  Function testing if the program must stop rendering or not.
+  \param evt : Frame event to process.
+  \return False if the program must be stopped.
+*/
 bool vpAROgre::stopTest(const Ogre::FrameEvent &evt)
 {
   // Always keep this part
@@ -1054,15 +1054,15 @@ void vpAROgre::closeOIS(void)
 
     OIS::InputManager::destroyInputSystem(mInputManager);
     mInputManager = 0;
-}
-#endif
   }
+#endif
+}
 
-  /*!
-    Update the projection parameters of the camera.
-  */
-  // Note: equation taken from:
-  // http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
+/*!
+  Update the projection parameters of the camera.
+*/
+// Note: equation taken from:
+// http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
 void vpAROgre::updateCameraProjection(void)
 {
   if (mCamera != 0) {
@@ -1138,11 +1138,11 @@ void vpAROgre::updateBackgroundTexture(const vpImage<vpRGBa> &I)
 
   // Unlock the pixel buffer
   mPixelBuffer->unlock();
-  }
+}
 
-  /*!
-    Update Camera parameters from a pose calculation.
-  */
+/*!
+  Update Camera parameters from a pose calculation.
+*/
 void vpAROgre::updateCameraParameters(const vpHomogeneousMatrix &cMw)
 {
   // The matrix is given to Ogre with some changes to fit with the world
@@ -1204,7 +1204,7 @@ void vpAROgre::getRenderingOutput(vpImage<vpRGBa> &I, const vpHomogeneousMatrix
 
   // Unlock the pixel buffer
   mPixelBuffer->unlock();
-  }
+}
 END_VISP_NAMESPACE
 #elif !defined(VISP_BUILD_SHARED_LIBS)
 // Work around to avoid warning: libvisp_ar.a(vpAROgre.cpp.o) has no symbols

From 492c99f44411084502e97f0bf1ff11bbb4b02dae Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Mon, 16 Dec 2024 11:03:05 +0100
Subject: [PATCH 18/38] [FIX] Fixed segfault that occured in
 tuto-ibvs-ogre-tracking

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 78c97dd940..7dd3036bcf 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -546,13 +546,14 @@ void vpAROgre::init(bool
   /*Ogre::Viewport* Viewport =*/RTarget->addViewport(mCamera);
   RTarget->getViewport(0)->setClearEveryFrame(true);
   RTarget->getViewport(0)->setOverlaysEnabled(false);
-  }
+}
 
-  /*!
-    Destructor.
-  */
+/*!
+  Destructor.
+*/
 vpAROgre::~vpAROgre(void)
 {
+  mPixelBuffer.reset();
   // Destroy 3D scene
   destroyScene();
   // Close OIS
@@ -566,7 +567,7 @@ vpAROgre::~vpAROgre(void)
     windowClosed(mWindow);
   }
 
-  // Delete root
+// Delete root
   bool hasNoMoreElements = false;
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   if (Ogre::Root::getSingletonPtr()) {

From 343aea96b37a03ed8e26720b3e924d05ccc03b21 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Mon, 16 Dec 2024 17:05:43 +0100
Subject: [PATCH 19/38] [FIX] FIx include + linkage problems for ogre 1.12+

---
 modules/ar/CMakeLists.txt | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
index 15c70e9c76..252b0a2eb3 100644
--- a/modules/ar/CMakeLists.txt
+++ b/modules/ar/CMakeLists.txt
@@ -51,7 +51,6 @@ if(USE_OGRE)
   endif()
 
   # hack to fix possible presence of NOTFOUND in OGRE_INCLUDE_DIRS
-  #message("OGRE_INCLUDE_DIRS: ${OGRE_INCLUDE_DIRS}")
   foreach(inc_ ${OGRE_INCLUDE_DIRS})
     if(NOT ${inc_} MATCHES "NOTFOUND")
       list(APPEND opt_system_incs ${inc_})
@@ -68,6 +67,18 @@ if(USE_OGRE)
   else()
     list(APPEND opt_libs ${OGRE_LIBRARIES})
   endif()
+
+  if(${OGRE_VERSION} GREATER_EQUAL "1.12.0")
+    foreach(component ${OGRE_COMPONENTS})
+      set(ogre_target "OGRE_${component}_LIBRARIES")
+      if(TARGET ${${ogre_target}})
+        get_target_property(inc_dirs ${${ogre_target}} INTERFACE_INCLUDE_DIRECTORIES)
+        if(inc_dirs)
+          list(APPEND opt_system_incs ${inc_dirs})
+        endif()
+      endif()
+    endforeach()
+  endif()
 endif(USE_OGRE)
 
 if(USE_OIS AND USE_OGRE)
@@ -188,6 +199,5 @@ endif()
 vp_add_module(ar visp_core)
 vp_glob_module_sources()
 
-
 vp_module_include_directories(${opt_incs} SYSTEM ${opt_system_incs})
 vp_create_module(${opt_libs})

From 963737e8725766c1f180125b97ca05b528929bb6 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 17 Dec 2024 10:37:59 +0100
Subject: [PATCH 20/38] [FIX] Fixed CMake errors related to v1.9

---
 cmake/OgreTools.cmake     |  1 -
 modules/ar/CMakeLists.txt | 18 +++++++++++-------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/cmake/OgreTools.cmake b/cmake/OgreTools.cmake
index 5a2e7f086f..fefc0374c8 100644
--- a/cmake/OgreTools.cmake
+++ b/cmake/OgreTools.cmake
@@ -108,7 +108,6 @@ macro(vp_create_ogre_plugin_config_file)
   endif()
 
   if(OGRE_PLUGIN_DIR_REL)
-    list(APPEND PLUGIN_REL ${OGRE_RTShaderSystem_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D9_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D10_LIBRARY_REL})
     list(APPEND PLUGIN_REL ${OGRE_RenderSystem_Direct3D11_LIBRARY_REL})
diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
index 252b0a2eb3..452e7cc02f 100644
--- a/modules/ar/CMakeLists.txt
+++ b/modules/ar/CMakeLists.txt
@@ -68,15 +68,19 @@ if(USE_OGRE)
     list(APPEND opt_libs ${OGRE_LIBRARIES})
   endif()
 
-  if(${OGRE_VERSION} GREATER_EQUAL "1.12.0")
+  if(NOT OGRE_VERSION)
+    set(OGRE_VERSION "${OGRE_VERSION_MAJOR}.${OGRE_VERSION_MINOR}.${OGRE_VERSION_PATCH}")
+  endif()
+
+  if(NOT(${OGRE_VERSION_MAJOR} EQUAL 1 AND ${OGRE_VERSION_MINOR} LESS_EQUAL 9))
     foreach(component ${OGRE_COMPONENTS})
-      set(ogre_target "OGRE_${component}_LIBRARIES")
-      if(TARGET ${${ogre_target}})
-        get_target_property(inc_dirs ${${ogre_target}} INTERFACE_INCLUDE_DIRECTORIES)
-        if(inc_dirs)
-          list(APPEND opt_system_incs ${inc_dirs})
-        endif()
+    set(ogre_target "OGRE_${component}_LIBRARIES")
+    if(TARGET ${${ogre_target}})
+      get_target_property(inc_dirs ${${ogre_target}} INTERFACE_INCLUDE_DIRECTORIES)
+      if(inc_dirs)
+        list(APPEND opt_system_incs ${inc_dirs})
       endif()
+    endif()
     endforeach()
   endif()
 endif(USE_OGRE)

From 2706336f237a5cdf6af9524aa6169b7d6e36ff79 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 17 Dec 2024 10:44:13 +0100
Subject: [PATCH 21/38] [FIX] Fixed release of the shared ptr for ogre v1.9

---
 modules/ar/include/visp3/ar/vpAROgre.h     | 17 +++++++--------
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 24 +++++++++-------------
 2 files changed, 19 insertions(+), 22 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index b09df0b69c..f328932bc9 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -61,8 +61,7 @@
 #include <Ogre.h>
 #include <OgreFrameListener.h>
 
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
-#include <OgreComponents.h>
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
 #include <Bites/OgreBitesConfigDialog.h>
 #endif
 
@@ -70,11 +69,15 @@
 #include <Bites/OgreWindowEventUtilities.h>
 #endif
 
-#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 12 <<8 | 0))
+#include <OgreComponents.h>
+#elif (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
+#include <OgreBuildSettings.h>
+#endif
+
+#if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
 #include <RTShaderSystem/OgreShaderGenerator.h>
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
 #include <Bites/OgreSGTechniqueResolverListener.h>
-#endif
 #endif // INCLUDE_RTSHADER_SYSTEM
 
 #ifdef VISP_HAVE_OIS
@@ -383,11 +386,9 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
   OIS::Keyboard *mKeyboard;
 #endif
 
-#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   Ogre::RTShader::ShaderGenerator *mShaderGenerator; // The Shader generator instance.
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
   OgreBites::SGTechniqueResolverListener *mMaterialMgrListener; // Shader generator material manager listener.
-#endif
 #endif // INCLUDE_RTSHADER_SYSTEM
 
   // ViSP AR System
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 7dd3036bcf..42e65a03fb 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -86,10 +86,8 @@ vpAROgre::vpAROgre(const vpCameraParameters &cam, unsigned int width, unsigned i
   mWindowHeight(height), mWindowWidth(width), windowHidden(false), mNearClipping(0.001), mFarClipping(200), mcam(cam),
   mshowConfigDialog(true), mOptionalResourceLocation()
 {
-#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   mMaterialMgrListener = NULL;
-#endif
   mShaderGenerator = NULL;
 #endif
 }
@@ -99,19 +97,15 @@ Initialize the RT Shader system.
 */
 bool vpAROgre::initialiseRTShaderSystem()
 {
-#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   if (Ogre::RTShader::ShaderGenerator::initialize()) {
     mShaderGenerator = Ogre::RTShader::ShaderGenerator::getSingletonPtr();
 
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
-// Create and register the material manager listener if it doesn't exist yet.
+    // Create and register the material manager listener if it doesn't exist yet.
     if (!mMaterialMgrListener) {
       mMaterialMgrListener = new OgreBites::SGTechniqueResolverListener(mShaderGenerator);
       Ogre::MaterialManager::getSingleton().addListener(mMaterialMgrListener);
     }
-#else
-//TODO
-#endif
     return true;
   }
 #endif
@@ -123,20 +117,18 @@ Destroy the RT Shader system.
 */
 void vpAROgre::destroyRTShaderSystem()
 {
-#ifdef OGRE_BUILD_COMPONENT_RTSHADERSYSTEM
+#if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   // Restore default scheme.
   Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
 
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
   // Unregister the material manager listener.
   if (mMaterialMgrListener != NULL) {
     Ogre::MaterialManager::getSingleton().removeListener(mMaterialMgrListener);
     delete mMaterialMgrListener;
     mMaterialMgrListener = NULL;
   }
-#endif
 
-// Destroy RTShader system.
+  // Destroy RTShader system.
   if (mShaderGenerator != NULL) {
     Ogre::RTShader::ShaderGenerator::destroy();
     mShaderGenerator = NULL;
@@ -553,8 +545,12 @@ void vpAROgre::init(bool
 */
 vpAROgre::~vpAROgre(void)
 {
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
   mPixelBuffer.reset();
-  // Destroy 3D scene
+#else
+  mPixelBuffer.setNull();
+#endif
+// Destroy 3D scene
   destroyScene();
   // Close OIS
   closeOIS();

From 6e013092a2452624b2ea45bb2c8181c585ea39d1 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 17 Dec 2024 15:58:09 +0100
Subject: [PATCH 22/38] [WIP] Working on a fix for Ogre v1.10 and v1.11

---
 modules/ar/CMakeLists.txt | 64 ++++++++++++++++++++++++++++++---------
 1 file changed, 49 insertions(+), 15 deletions(-)

diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
index 452e7cc02f..0cf5f20785 100644
--- a/modules/ar/CMakeLists.txt
+++ b/modules/ar/CMakeLists.txt
@@ -43,7 +43,36 @@ if(USE_OGRE)
   # With Ubuntu 20.04, OGRE_LIBRARIES contains Boost::thread that cannot
   # be exported as is on pain of producing a build issue when ViSP is used
   # as a 3rd party. That's why here we get its imported location.
+
+  if(NOT OGRE_VERSION)
+    set(OGRE_VERSION "${OGRE_VERSION_MAJOR}.${OGRE_VERSION_MINOR}.${OGRE_VERSION_PATCH}")
+  endif()
+
+  if(${OGRE_VERSION_MAJOR} EQUAL 1 AND (${OGRE_VERSION_MINOR} EQUAL 10 OR ${OGRE_VERSION_MINOR} EQUAL 11))
+    find_package(Boost REQUIRED COMPONENTS thread)
+    find_library(OgreMainSEARCH NAMES OgreMain PATHS ${OGRE_LIBRARY_DIRS})
+  endif()
+
+  if(NOT(${OGRE_VERSION_MAJOR} EQUAL 1 AND ${OGRE_VERSION_MINOR} LESS_EQUAL 9))
+    foreach(component ${OGRE_COMPONENTS})
+      set(ogre_target "OGRE_${component}_LIBRARIES")
+      foreach(ogre_libray ${${ogre_target}})
+        if(TARGET ${ogre_libray})
+          get_target_property(inc_dirs ${ogre_libray} INTERFACE_INCLUDE_DIRECTORIES)
+          if(inc_dirs)
+            list(APPEND opt_system_incs ${inc_dirs})
+          endif()
+        endif()
+        if(${OGRE_VERSION_MAJOR} EQUAL 1 AND (${OGRE_VERSION_MINOR} EQUAL 10 OR ${OGRE_VERSION_MINOR} EQUAL 11))
+          message("Looking for library ${ogre_libray} in folder ${OGRE_LIBRARY_DIRS}")
+          find_library(${ogre_libray}SEARCH NAMES ${ogre_libray} PATHS ${OGRE_LIBRARY_DIRS})
+        endif()
+      endforeach()
+    endforeach()
+  endif()
+
   vp_filter_libraries_with_imported_location(OGRE_LIBRARIES)
+
   mark_as_advanced(OGRE_SAMPLES_INCLUDEPATH)
   #message("OGRE_SAMPLES_INCLUDEPATH: ${OGRE_SAMPLES_INCLUDEPATH}")
   if(OGRE_SAMPLES_INCLUDEPATH)
@@ -65,26 +94,18 @@ if(USE_OGRE)
       endif()
     endforeach()
   else()
-    list(APPEND opt_libs ${OGRE_LIBRARIES})
-  endif()
-
-  if(NOT OGRE_VERSION)
-    set(OGRE_VERSION "${OGRE_VERSION_MAJOR}.${OGRE_VERSION_MINOR}.${OGRE_VERSION_PATCH}")
-  endif()
-
-  if(NOT(${OGRE_VERSION_MAJOR} EQUAL 1 AND ${OGRE_VERSION_MINOR} LESS_EQUAL 9))
-    foreach(component ${OGRE_COMPONENTS})
-    set(ogre_target "OGRE_${component}_LIBRARIES")
-    if(TARGET ${${ogre_target}})
-      get_target_property(inc_dirs ${${ogre_target}} INTERFACE_INCLUDE_DIRECTORIES)
-      if(inc_dirs)
-        list(APPEND opt_system_incs ${inc_dirs})
+    foreach(lib_ ${OGRE_LIBRARIES})
+      if(${lib_} MATCHES "^Ogre")
+        list(APPEND opt_libs ${${lib_}SEARCH})
+      else()
+        list(APPEND opt_libs ${lib_})
       endif()
-    endif()
     endforeach()
   endif()
 endif(USE_OGRE)
 
+message("opt_libs = ${opt_libs}")
+
 if(USE_OIS AND USE_OGRE)
   list(APPEND opt_system_incs ${OIS_INCLUDE_DIR})
   list(APPEND opt_libs ${OIS_LIBRARIES})
@@ -205,3 +226,16 @@ vp_glob_module_sources()
 
 vp_module_include_directories(${opt_incs} SYSTEM ${opt_system_incs})
 vp_create_module(${opt_libs})
+
+get_cmake_property(_variableNames VARIABLES)
+list (SORT _variableNames)
+foreach (_variableName ${_variableNames})
+  unset(MATCHED)
+  string(REGEX MATCH ".*O[gG][rR][eE].*" MATCHED ${_variableName})
+  if (NOT MATCHED)
+      continue()
+  endif()
+  message(STATUS "${_variableName}=${${_variableName}}")
+endforeach()
+
+# message(FATAL_ERROR "Stopping after AR module")

From abb8395a4caeed2fa9bf373e5975366bdde031b6 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 08:28:54 +0100
Subject: [PATCH 23/38] [FIX] Fixed compilation error for ogre 1.10

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 42e65a03fb..ff6cd10536 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -420,7 +420,7 @@ void vpAROgre::init(bool
     Ogre::ConfigFile cf;
     cf.load(resourceFile);
     // Go through all sections & settings in the file
-#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 11<<8 | 0))
     Ogre::ConfigFile::SectionIterator seci = cf.getSectionIterator();
 
     Ogre::String secName, typeName, archName;
@@ -545,7 +545,7 @@ void vpAROgre::init(bool
 */
 vpAROgre::~vpAROgre(void)
 {
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
   mPixelBuffer.reset();
 #else
   mPixelBuffer.setNull();
@@ -565,7 +565,7 @@ vpAROgre::~vpAROgre(void)
 
 // Delete root
   bool hasNoMoreElements = false;
-#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
+#if (VISP_HAVE_OGRE_VERSION < (1<<16 | 11<<8 | 0))
   if (Ogre::Root::getSingletonPtr()) {
     hasNoMoreElements = !Ogre::Root::getSingletonPtr()->getSceneManagerIterator().hasMoreElements();
   }
@@ -945,7 +945,7 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
   mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
@@ -1024,7 +1024,7 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
   Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
   Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
 
-#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10<<8 | 0))
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
   mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
   mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle

From 52745ec26ae39e26135cc281c3f9cbaefedcc44b Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 08:29:32 +0100
Subject: [PATCH 24/38] [FIX] Avoid creating Ogre targets if they already exist

---
 modules/ar/CMakeLists.txt | 42 ++++++++++++++++-----------------------
 1 file changed, 17 insertions(+), 25 deletions(-)

diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
index 0cf5f20785..a13d61c238 100644
--- a/modules/ar/CMakeLists.txt
+++ b/modules/ar/CMakeLists.txt
@@ -50,7 +50,12 @@ if(USE_OGRE)
 
   if(${OGRE_VERSION_MAJOR} EQUAL 1 AND (${OGRE_VERSION_MINOR} EQUAL 10 OR ${OGRE_VERSION_MINOR} EQUAL 11))
     find_package(Boost REQUIRED COMPONENTS thread)
-    find_library(OgreMainSEARCH NAMES OgreMain PATHS ${OGRE_LIBRARY_DIRS})
+    link_directories(${OGRE_LIBRARY_DIRS})
+    if(NOT(TARGET OgreMain))
+      find_library(OgreMainSEARCH NAMES OgreMain PATHS ${OGRE_LIBRARY_DIRS})
+      add_library(OgreMain SHARED IMPORTED)
+      set_property(TARGET OgreMain PROPERTY IMPORTED_LOCATION ${OgreMainSEARCH})
+    endif()
   endif()
 
   if(NOT(${OGRE_VERSION_MAJOR} EQUAL 1 AND ${OGRE_VERSION_MINOR} LESS_EQUAL 9))
@@ -64,8 +69,16 @@ if(USE_OGRE)
           endif()
         endif()
         if(${OGRE_VERSION_MAJOR} EQUAL 1 AND (${OGRE_VERSION_MINOR} EQUAL 10 OR ${OGRE_VERSION_MINOR} EQUAL 11))
-          message("Looking for library ${ogre_libray} in folder ${OGRE_LIBRARY_DIRS}")
-          find_library(${ogre_libray}SEARCH NAMES ${ogre_libray} PATHS ${OGRE_LIBRARY_DIRS})
+          unset(MATCHED)
+          string(REGEX MATCH ".*O[gG][rR][eE].*" MATCHED ${ogre_libray})
+          if (NOT MATCHED)
+              continue()
+          endif()
+          if(NOT(TARGET ${ogre_libray}))
+            find_library(${ogre_libray}SEARCH NAMES ${ogre_libray} PATHS ${OGRE_LIBRARY_DIRS})
+            add_library(${ogre_libray} SHARED IMPORTED)
+            set_property(TARGET ${ogre_libray} PROPERTY IMPORTED_LOCATION ${${ogre_libray}SEARCH})
+          endif()
         endif()
       endforeach()
     endforeach()
@@ -94,18 +107,10 @@ if(USE_OGRE)
       endif()
     endforeach()
   else()
-    foreach(lib_ ${OGRE_LIBRARIES})
-      if(${lib_} MATCHES "^Ogre")
-        list(APPEND opt_libs ${${lib_}SEARCH})
-      else()
-        list(APPEND opt_libs ${lib_})
-      endif()
-    endforeach()
+    list(APPEND opt_libs ${OGRE_LIBRARIES})
   endif()
 endif(USE_OGRE)
 
-message("opt_libs = ${opt_libs}")
-
 if(USE_OIS AND USE_OGRE)
   list(APPEND opt_system_incs ${OIS_INCLUDE_DIR})
   list(APPEND opt_libs ${OIS_LIBRARIES})
@@ -226,16 +231,3 @@ vp_glob_module_sources()
 
 vp_module_include_directories(${opt_incs} SYSTEM ${opt_system_incs})
 vp_create_module(${opt_libs})
-
-get_cmake_property(_variableNames VARIABLES)
-list (SORT _variableNames)
-foreach (_variableName ${_variableNames})
-  unset(MATCHED)
-  string(REGEX MATCH ".*O[gG][rR][eE].*" MATCHED ${_variableName})
-  if (NOT MATCHED)
-      continue()
-  endif()
-  message(STATUS "${_variableName}=${${_variableName}}")
-endforeach()
-
-# message(FATAL_ERROR "Stopping after AR module")

From bf95f77493129f583b3f9719ce3f565a752281ba Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 08:57:43 +0100
Subject: [PATCH 25/38] [CLEAN] Solved a warning when using ogre 1.9.1 from apt

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index ff6cd10536..6b1c9a68db 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -389,11 +389,13 @@ void vpAROgre::init(bool
   }
   mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
 
+#if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   // Initialize the RTShaderSystem, if available
   bool hasInitializedTheRTSS = initialiseRTShaderSystem();
   if (!hasInitializedTheRTSS) {
     std::cout << "[vpAROgre::init] RTSS is not available." << std::endl;
   }
+#endif
 
   // Load resource paths from config file
 

From 213589e492556210b6380f4a0e8f0be18a560a26 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 10:55:15 +0100
Subject: [PATCH 26/38] [CORE] Added CMakes lines that might be useful for
 compiled versions of Ogre

---
 modules/ar/CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
index a13d61c238..f9223451ea 100644
--- a/modules/ar/CMakeLists.txt
+++ b/modules/ar/CMakeLists.txt
@@ -67,6 +67,11 @@ if(USE_OGRE)
           if(inc_dirs)
             list(APPEND opt_system_incs ${inc_dirs})
           endif()
+          ## The following lines are not needed for Ogre 1.9 and 1.12, but might be useful for compiled versions of Ogre
+          # get_target_property(interface_libs ${ogre_libray} INTERFACE_LINK_LIBRARIES)
+          # if(interface_libs)
+          #   list(APPEND opt_libs ${interface_libs})
+          # endif()
         endif()
         if(${OGRE_VERSION_MAJOR} EQUAL 1 AND (${OGRE_VERSION_MINOR} EQUAL 10 OR ${OGRE_VERSION_MINOR} EQUAL 11))
           unset(MATCHED)

From 1fdc37b7ad51571d2a1d8b349b9a9033b2489e96 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 11:08:17 +0100
Subject: [PATCH 27/38] [CLEAN] Removed commented CMake lines

---
 cmake/OgreTools.cmake | 150 +++++++++++++++++++-----------------------
 1 file changed, 69 insertions(+), 81 deletions(-)

diff --git a/cmake/OgreTools.cmake b/cmake/OgreTools.cmake
index fefc0374c8..9a240e9d9d 100644
--- a/cmake/OgreTools.cmake
+++ b/cmake/OgreTools.cmake
@@ -275,105 +275,93 @@ function(vp_set_ogre_media)
   # Here we copy all the minimal media files
   # - media/materials/...
   # - media/models/...
-  # if(OGRE_MEDIA_NOT_AVAILABLE)
-    file(COPY modules/ar/data/ogre-simulator/media DESTINATION ${VISP_BINARY_DIR}/data/ogre-simulator)
-  # endif()
+  file(COPY modules/ar/data/ogre-simulator/media DESTINATION ${VISP_BINARY_DIR}/data/ogre-simulator)
 
   # Initialize the variable
   set(VISP_HAVE_OGRE_RESOURCES_PATH "" CACHE INTERNAL "Ogre resources location")
   if(ogre_resources_cfg_exists)
     set(VISP_HAVE_OGRE_RESOURCES_PATH "${ogre_resources_cfg_exists};" CACHE INTERNAL "Ogre resources location")
   endif()
-  # else()
-    # Here we create a resources.cfg if it was not found
-
-    # we create a resources.cfg file for vpAROgre.cpp
-    # case 1: normal case
-    #         If OGRE_MEDIA_DIR is not found, we set it to VISP_HAVE_OGRE_RESOURCES_PATH in order to use
-    #         the minimal requested media to run the examples
-    #--------------
-    set(OGRE_DATA_ROOT_DIR "${VISP_BINARY_DIR}/data/ogre-simulator")
-    set(VISP_HAVE_OGRE_RESOURCES_PATH "${VISP_HAVE_OGRE_RESOURCES_PATH}${OGRE_DATA_ROOT_DIR}" CACHE INTERNAL "Ogre resources location")
-
-    # if(OGRE_MEDIA_NOT_AVAILABLE)
-      set(OGRE_VISP_MEDIA_DIR "${VISP_BINARY_DIR}/data/ogre-simulator/media")
-    # endif()
-
-    # Here we add all the subdirs in @OGRE_VISP_MEDIA_DIR@/* as resource location.
-    vp_get_relative_subdirs(media_subdirs ${OGRE_VISP_MEDIA_DIR})
-    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_MEDIA_DIR}\n")
-    foreach(m ${media_subdirs})
-      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_MEDIA_DIR}/${m}\n")
-    endforeach()
+  # Here we create a resources.cfg if it was not found
+
+  # we create a resources.cfg file for vpAROgre.cpp
+  # case 1: normal case
+  #         If OGRE_MEDIA_DIR is not found, we set it to VISP_HAVE_OGRE_RESOURCES_PATH in order to use
+  #         the minimal requested media to run the examples
+  #--------------
+  set(OGRE_DATA_ROOT_DIR "${VISP_BINARY_DIR}/data/ogre-simulator")
+  set(VISP_HAVE_OGRE_RESOURCES_PATH "${VISP_HAVE_OGRE_RESOURCES_PATH}${OGRE_DATA_ROOT_DIR}" CACHE INTERNAL "Ogre resources location")
+
+  set(OGRE_VISP_MEDIA_DIR "${VISP_BINARY_DIR}/data/ogre-simulator/media")
+
+  # Here we add all the subdirs in @OGRE_VISP_MEDIA_DIR@/* as resource location.
+  vp_get_relative_subdirs(media_subdirs ${OGRE_VISP_MEDIA_DIR})
+  set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_MEDIA_DIR}\n")
+  foreach(m ${media_subdirs})
+    set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_MEDIA_DIR}/${m}\n")
+  endforeach()
 
-    configure_file(
-      ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
-      ${OGRE_DATA_ROOT_DIR}/resources.cfg
-      IMMEDIATE @ONLY
-    )
+  configure_file(
+    ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
+    ${OGRE_DATA_ROOT_DIR}/resources.cfg
+    IMMEDIATE @ONLY
+  )
 
-    # case 2: install or packaging case
-    #         If OGRE_MEDIA_DIR is not found, we set it to VISP_INSTALL_DIR_OGRE_RESOURCES in order to use
-    #         the minimal requested media to run the examples
-    #--------------
-    set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator")
+  # case 2: install or packaging case
+  #         If OGRE_MEDIA_DIR is not found, we set it to VISP_INSTALL_DIR_OGRE_RESOURCES in order to use
+  #         the minimal requested media to run the examples
+  #--------------
+  set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator")
 
-    # make the var global
-    set(VISP_INSTALL_DIR_OGRE_RESOURCES ${VISP_INSTALL_DIR_OGRE_RESOURCES} CACHE INTERNAL "Ogre media install dir")
+  # make the var global
+  set(VISP_INSTALL_DIR_OGRE_RESOURCES ${VISP_INSTALL_DIR_OGRE_RESOURCES} CACHE INTERNAL "Ogre media install dir")
 
-    # if(OGRE_MEDIA_NOT_AVAILABLE)
-      set(OGRE_VISP_INSTALL_MEDIA_DIR ${VISP_INSTALL_DIR_OGRE_RESOURCES}/media)
-    # endif()
+  set(OGRE_VISP_INSTALL_MEDIA_DIR ${VISP_INSTALL_DIR_OGRE_RESOURCES}/media)
 
-    # Here we add all the subdirs in @OGRE_VISP_INSTALL_MEDIA_DIR@/* as resource location.
-    set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}\n")
-    foreach(m ${media_subdirs})
-      set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}/${m}\n")
-    endforeach()
+  # Here we add all the subdirs in @OGRE_VISP_INSTALL_MEDIA_DIR@/* as resource location.
+  set(OGRE_RESOURCES_FileSystem "FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}\n")
+  foreach(m ${media_subdirs})
+    set(OGRE_RESOURCES_FileSystem "${OGRE_RESOURCES_FileSystem}FileSystem=${OGRE_VISP_INSTALL_MEDIA_DIR}/${m}\n")
+  endforeach()
 
-    # install rule for resources.cfg and Ogre media if they are not available:
-    if(UNIX)
-      configure_file(
-        ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
-        ${VISP_BINARY_DIR}/unix-install/resources.cfg
-        IMMEDIATE @ONLY
-      )
-      install(FILES
-        ${VISP_BINARY_DIR}/unix-install/resources.cfg
+  # install rule for resources.cfg and Ogre media if they are not available:
+  if(UNIX)
+    configure_file(
+      ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
+      ${VISP_BINARY_DIR}/unix-install/resources.cfg
+      IMMEDIATE @ONLY
+    )
+    install(FILES
+      ${VISP_BINARY_DIR}/unix-install/resources.cfg
+      DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
+      PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+      COMPONENT dev
+    )
+      install(DIRECTORY
+        ${VISP_BINARY_DIR}/data/ogre-simulator/media
         DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
-        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+        FILE_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 ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
-          FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-          COMPONENT dev
-        )
-      # endif()
-    else()
-      configure_file(
-        ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
-        ${VISP_BINARY_DIR}/win-install/resources.cfg
-        IMMEDIATE @ONLY
-      )
-      install(FILES
-        ${VISP_BINARY_DIR}/win-install/resources.cfg
+  else()
+    configure_file(
+      ${VISP_SOURCE_DIR}/cmake/templates/resources.cfg.in
+      ${VISP_BINARY_DIR}/win-install/resources.cfg
+      IMMEDIATE @ONLY
+    )
+    install(FILES
+      ${VISP_BINARY_DIR}/win-install/resources.cfg
+      DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
+      PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+      COMPONENT dev
+    )
+      install(DIRECTORY
+        ${VISP_BINARY_DIR}/data/ogre-simulator/media
         DESTINATION ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
-        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+        FILE_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 ${VISP_INSTALL_DATAROOTDIR}/data/ogre-simulator
-          FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-          COMPONENT dev
-        )
-      # endif()
-    endif()
-  # endif()
+  endif()
 endfunction()
 
 macro(vp_set_ogre_advanced_var)

From 4f3e5925738b2911c559b1497933d579c9ceba35 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Thu, 19 Dec 2024 11:32:46 +0100
Subject: [PATCH 28/38] [CORE] Made vpAROgre compatible with Ogre 13.1.0

---
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 6b1c9a68db..dd6bab9379 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -101,7 +101,7 @@ bool vpAROgre::initialiseRTShaderSystem()
   if (Ogre::RTShader::ShaderGenerator::initialize()) {
     mShaderGenerator = Ogre::RTShader::ShaderGenerator::getSingletonPtr();
 
-    // Create and register the material manager listener if it doesn't exist yet.
+// Create and register the material manager listener if it doesn't exist yet.
     if (!mMaterialMgrListener) {
       mMaterialMgrListener = new OgreBites::SGTechniqueResolverListener(mShaderGenerator);
       Ogre::MaterialManager::getSingleton().addListener(mMaterialMgrListener);
@@ -182,6 +182,12 @@ void vpAROgre::init(vpImage<unsigned char> &I,
       false,
 #endif
       hidden);
+
+#if (VISP_HAVE_OGRE_VERSION >= (13 <<16 | 0 <<8 | 0))
+// Register the scene manager.
+  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager("SceneManagerInstance0"));
+#endif
+
   // Create the background image which will come from the grabber
   createBackground(I);
 }
@@ -232,6 +238,12 @@ void vpAROgre::init(vpImage<vpRGBa> &I,
       false,
 #endif
       hidden);
+
+#if (VISP_HAVE_OGRE_VERSION >= (13 <<16 | 0 <<8 | 0))
+// Register the scene manager.
+  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager("SceneManagerInstance0"));
+#endif
+
   // Create the background image which will come from the grabber
   createBackground(I);
 }
@@ -342,7 +354,7 @@ void vpAROgre::init(bool
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
 #else
-  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, Ogre::BLANKSTRING);
+  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, "SceneManagerInstance0");
 #endif
 
   bool fullscreen = false;

From d1a074985a71e5026cbdcd7fc2a8b52acdf4f286 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <fabien.spindler@inria.fr>
Date: Mon, 6 Jan 2025 07:55:23 +0100
Subject: [PATCH 29/38] Cleanup Ogre location feedback in ViSP-third-party.txt

---
 CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd0e6df1b0..5570b1b7c6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1932,7 +1932,9 @@ if(USE_OGRE)
   if(NOT ${OGRE_DIR} STREQUAL "")
     status("    Ogre dir:" "${OGRE_DIR}")
   else()
-    status("    Ogre dir:" "includes in ${OGRE_INCLUDE_DIR} , core lib in ${OGRE_LIBRARY_REL} , other libs in ${OGRE_PLUGIN_DIR_REL}")
+    status("    Ogre inc dir:" "${OGRE_INCLUDE_DIR}")
+    status("    Ogre Main lib:" "${OGRE_LIBRARY_REL}")
+    status("    Ogre plugin dir:" "${OGRE_PLUGIN_DIR_REL}")
   endif()
 endif()
 

From b35385512ae80797832d17b4b02816f1b008040e Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Mon, 6 Jan 2025 10:41:42 +0100
Subject: [PATCH 30/38] [FIX] Fix tutorial-ibvs-ogre-tracking when using Ogre
 14.0

---
 modules/ar/include/visp3/ar/vpAROgre.h        |  2 +
 modules/ar/src/ogre-simulator/vpAROgre.cpp    | 16 +++++++-
 .../visual-servo/ibvs/sphere/Sphere.material  | 41 +++++--------------
 .../ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp |  5 ++-
 4 files changed, 31 insertions(+), 33 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index f328932bc9..24b19e3edd 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -217,6 +217,8 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
     updateCameraProjection();
   }
 
+  void setMaterial(const std::string &entityName, const std::string &materialName);
+
   /*!
     Set the near distance for clipping.
 
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index dd6bab9379..3a93997812 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -353,8 +353,10 @@ void vpAROgre::init(bool
 
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
-#else
+#elif (VISP_HAVE_OGRE_VERSION < (14<<16 | 0<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, "SceneManagerInstance0");
+#else
+  mSceneMgr = mRoot->createSceneManager(Ogre::SMT_DEFAULT, "SceneManagerInstance0");
 #endif
 
   bool fullscreen = false;
@@ -792,6 +794,18 @@ void vpAROgre::load(const std::string &entityName, const std::string &model)
   newNode->attachObject(newEntity);
 }
 
+/*!
+  Change the material of an entity.
+  \param entityName : Name of the Entity and SceneNode to create.
+  \param materialName : Name of the material to use, as known by the MaterialManager.
+*/
+void vpAROgre::setMaterial(const std::string &entityName, const std::string &materialName)
+{
+  // Reset the position
+  Ogre::Entity *entity = mSceneMgr->getEntity(entityName);
+  entity->setMaterialName(materialName);
+}
+
 /*!
   Change position of a ScneneNode.
   \param sceneName : Name of the SceneNode to move.
diff --git a/tutorial/visual-servo/ibvs/sphere/Sphere.material b/tutorial/visual-servo/ibvs/sphere/Sphere.material
index 7d7b3e79d4..6fbae096ef 100644
--- a/tutorial/visual-servo/ibvs/sphere/Sphere.material
+++ b/tutorial/visual-servo/ibvs/sphere/Sphere.material
@@ -1,35 +1,16 @@
 // Sphere genrated by blender2ogre 0.5.9
 
-material Sphere 
+material UniformBlue
 {
-    receive_shadows on 
+   technique
+   {
+      pass
+      {
+         lighting on
 
-    technique
-    {
-        pass Sphere
-        {
-            ambient 0.800000011920929 0.05124254152178764 0.020676089450716972 1.0
-            diffuse 0.6400000190734865 0.04099403382828881 0.01654087180705177 1.0
-            specular 0.24183237552642822 0.5 0.13772326707839966 1.0 12.5
-            emissive 0.0 0.0 0.0 1.0
-
-            alpha_to_coverage off
-            colour_write on
-            cull_hardware clockwise
-            depth_check on
-            depth_func less_equal
-            depth_write on
-            illumination_stage 
-            light_clip_planes off
-            light_scissor off
-            lighting on
-            normalise_normals off
-            polygon_mode solid
-            scene_blend one zero
-            scene_blend_op add
-            shading gouraud
-            transparent_sorting on
-
-        }
-    }
+         ambient 0.3 0.3 0.3 1
+         diffuse 0 0 1 1
+         emissive 0 0 0 1
+      }
+   }
 }
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
index c14ef5f598..bbdc2bc587 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
@@ -92,6 +92,7 @@ int main()
       s << "Sphere" << i;
       name[i] = s.str();
       ogre.load(name[i], "Sphere.mesh");
+      ogre.setMaterial(name[i], "UniformBlue");
       ogre.setScale(name[i], 0.02f, 0.02f,
                     0.02f); // Rescale the sphere to 2 cm radius
       // Set the position of each sphere in the object frame
@@ -101,8 +102,8 @@ int main()
 
     // Add an optional point light source
     Ogre::Light *light = ogre.getSceneManager()->createLight();
-    light->setDiffuseColour(1, 1, 1);  // scaled RGB values
-    light->setSpecularColour(1, 1, 1); // scaled RGB values
+    light->setDiffuseColour(1., 1., 1.);  // scaled RGB values
+    light->setSpecularColour(1., 1., 1.); // scaled RGB values
     light->setType(Ogre::Light::LT_POINT);
 #if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
     light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));

From 5b8c7d7e34f7f2e0bed3654e11d9de4faf2cb1aa Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 08:15:41 +0100
Subject: [PATCH 31/38] [CORE] Replaced hard-coded scene manager name by a
 'computed' one

---
 modules/ar/include/visp3/ar/vpAROgre.h     |  2 ++
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 21 +++++++++++----------
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index 24b19e3edd..b26832054a 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -371,12 +371,14 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
   void destroyRTShaderSystem();
 
 protected:
+  static unsigned int sID;
   // Attributes
   Ogre::String name; /**Name of th Window*/
 
   // OGRE 3D System
   Ogre::Root *mRoot;             /** Application's root */
   Ogre::Camera *mCamera;         /** Camera */
+  Ogre::String mSceneManagerName; /**Name of th scene manager*/
   Ogre::SceneManager *mSceneMgr; /** Scene manager */
   Ogre::RenderWindow *mWindow;   /** Display window */
   Ogre::String mResourcePath;    /** Path to resources.cfg */
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 3a93997812..10820f3363 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -59,6 +59,8 @@ typedef Ogre::WindowEventUtilities OgreWindowEventUtilities;
 #endif
 
 BEGIN_VISP_NAMESPACE
+unsigned int vpAROgre::sID = 0;
+
 /*!
   Constructor.
 
@@ -86,6 +88,10 @@ vpAROgre::vpAROgre(const vpCameraParameters &cam, unsigned int width, unsigned i
   mWindowHeight(height), mWindowWidth(width), windowHidden(false), mNearClipping(0.001), mFarClipping(200), mcam(cam),
   mshowConfigDialog(true), mOptionalResourceLocation()
 {
+  std::stringstream nameSceneManager;
+  nameSceneManager << "SceneManagerInstance" << sID;
+  mSceneManagerName = nameSceneManager.str();
+  ++sID;
 #if defined(OGRE_BUILD_COMPONENT_RTSHADERSYSTEM) & (VISP_HAVE_OGRE_VERSION >= (1<<16 | 10 <<8 | 0))
   mMaterialMgrListener = NULL;
   mShaderGenerator = NULL;
@@ -185,7 +191,7 @@ void vpAROgre::init(vpImage<unsigned char> &I,
 
 #if (VISP_HAVE_OGRE_VERSION >= (13 <<16 | 0 <<8 | 0))
 // Register the scene manager.
-  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager("SceneManagerInstance0"));
+  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager(mSceneManagerName));
 #endif
 
   // Create the background image which will come from the grabber
@@ -241,7 +247,7 @@ void vpAROgre::init(vpImage<vpRGBa> &I,
 
 #if (VISP_HAVE_OGRE_VERSION >= (13 <<16 | 0 <<8 | 0))
 // Register the scene manager.
-  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager("SceneManagerInstance0"));
+  Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(Ogre::Root::getSingletonPtr()->getSceneManager(mSceneManagerName));
 #endif
 
   // Create the background image which will come from the grabber
@@ -354,9 +360,9 @@ void vpAROgre::init(bool
 #if (VISP_HAVE_OGRE_VERSION < (1<<16 | 10<<8 | 0))
   mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
 #elif (VISP_HAVE_OGRE_VERSION < (14<<16 | 0<<8 | 0))
-  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, "SceneManagerInstance0");
+  mSceneMgr = mRoot->createSceneManager(Ogre::DefaultSceneManagerFactory::FACTORY_TYPE_NAME, mSceneManagerName);
 #else
-  mSceneMgr = mRoot->createSceneManager(Ogre::SMT_DEFAULT, "SceneManagerInstance0");
+  mSceneMgr = mRoot->createSceneManager(Ogre::SMT_DEFAULT, mSceneManagerName);
 #endif
 
   bool fullscreen = false;
@@ -545,13 +551,8 @@ void vpAROgre::init(bool
       "rtf", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, mWindow->getWidth(),
       mWindow->getHeight(), 0, Ogre::PF_R8G8B8A8, Ogre::TU_RENDERTARGET);
 
-  //   Ogre::TexturePtr Texture =
-  //   Ogre::TextureManager::getSingleton().createManual("rtf",
-  //   Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,Ogre::TEX_TYPE_2D,
-  //                                                                                640,480, 0, Ogre::PF_R8G8B8A8,
-  //                                                                                Ogre::TU_RENDERTARGET);
   Ogre::RenderTexture *RTarget = Texture->getBuffer()->getRenderTarget();
-  /*Ogre::Viewport* Viewport =*/RTarget->addViewport(mCamera);
+  RTarget->addViewport(mCamera);
   RTarget->getViewport(0)->setClearEveryFrame(true);
   RTarget->getViewport(0)->setOverlaysEnabled(false);
 }

From b34b11309aef30ff361c41ff2c0408a73a33c819 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 08:38:32 +0100
Subject: [PATCH 32/38] [CORE] Added AROgreBasic to the unit tests list

---
 example/ogre-simulator/AROgreBasic.cpp | 72 ++++++++++++++++++--------
 example/ogre-simulator/CMakeLists.txt  |  2 +
 2 files changed, 51 insertions(+), 23 deletions(-)

diff --git a/example/ogre-simulator/AROgreBasic.cpp b/example/ogre-simulator/AROgreBasic.cpp
index 637660775e..426cef60b2 100644
--- a/example/ogre-simulator/AROgreBasic.cpp
+++ b/example/ogre-simulator/AROgreBasic.cpp
@@ -73,7 +73,7 @@
 #include <visp3/vision/vpPose.h>
 
 // List of allowed command line options
-#define GETOPTARGS "ci:p:h"
+#define GETOPTARGS "cdi:p:h"
 
 #ifdef ENABLE_VISP_NAMESPACE
 using namespace VISP_NAMESPACE_NAME;
@@ -125,6 +125,9 @@ OPTIONS:                                               Default\n\
   -c\n\
      Disable the mouse click. Useful to automate the \n\
      execution of this program without human intervention.\n\
+\n\
+  -d\n\
+     Disable the display.\n\
 \n\
   -h\n\
      Print the help.\n",
@@ -142,11 +145,12 @@ OPTIONS:                                               Default\n\
   \param ipath : Input image path.
   \param ppath : Personal image path.
   \param click_allowed : Mouse click activation.
+  \param use_display : Activate the display.
 
   \return false if the program has to be stopped, true otherwise.
 
 */
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, bool &click_allowed)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, bool &click_allowed, bool &use_display)
 {
   const char *optarg_;
   int c;
@@ -156,6 +160,9 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
     case 'c':
       click_allowed = false;
       break;
+    case 'd':
+      use_display = false;
+      break;
     case 'i':
       ipath = optarg_;
       break;
@@ -192,29 +199,32 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
   world
 */
 void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I, vpPose *mPose, vpDot2 *md,
-                        vpImagePoint *mcog, vpHomogeneousMatrix *cMo, vpPoint *mP, const bool &opt_click_allowed)
+                        vpImagePoint *mcog, vpHomogeneousMatrix *cMo, vpPoint *mP, const bool &opt_click_allowed, bool opt_display)
 {
   // ---------------------------------------------------
   //    Code inspired from ViSP example of camera pose
   // ----------------------------------------------------
-  bool opt_display = true;
-
-  //#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+  vpDisplay *display = nullptr;
+  if (opt_display) {
 #if defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))
-  // produce an error on OSX: ‘typedef int Cursor’
-  // /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
-  // declaration as ‘typedef XID Cursor’. That's why it should not be
-  // used on APPLE platforms
-  vpDisplayX display;
+    // produce an error on OSX: ‘typedef int Cursor’
+    // /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
+    // declaration as ‘typedef XID Cursor’. That's why it should not be
+    // used on APPLE platforms
+    display = new vpDisplayX();
 #elif defined(VISP_HAVE_GTK)
-  vpDisplayGTK display;
+    display = new vpDisplayGTK();
 #elif defined(VISP_HAVE_GDI)
-  vpDisplayGDI display;
+    display = new vpDisplayGDI();
 #elif defined(HAVE_OPENCV_HIGHGUI)
-  vpDisplayOpenCV display;
+    display = new vpDisplayOpenCV();
 #elif defined(VISP_HAVE_D3D9)
-  vpDisplayD3D display;
+    display = new vpDisplayD3D();
+#else
+    opt_display = false; // No display is available
 #endif
+  }
+  //#if defined(VISP_HAVE_X11) && ! defined(APPLE)
 
   for (unsigned int i = 0; i < 4; i++) {
     if (opt_display) {
@@ -228,7 +238,7 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I, vpP
   if (opt_display) {
     try {
       // Display size is automatically defined by the image (I) size
-      display.init(I, 100, 100, "Preliminary Pose Calculation");
+      display->init(I, 100, 100, "Preliminary Pose Calculation");
       // display the image
       // The image class has a member that specify a pointer toward
       // the display that has been initialized in the display declaration
@@ -288,9 +298,11 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I, vpP
         md[j].display(I);
 
       // flush the display buffer
-      vpDisplay::flush(I);
+      if (opt_display) {
+        vpDisplay::flush(I);
+      }
       try {
-        if (opt_click_allowed) {
+        if (opt_click_allowed && opt_display) {
           md[i].initTracking(I);
           // std::cout << "click " << i << " " << md[i] << std::endl;
         }
@@ -392,6 +404,10 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I, vpP
     vpDisplay::flush(I);
     vpTime::wait(1000);
   }
+
+  if (opt_display && display != nullptr) {
+    delete display;
+  }
 }
 
 int main(int argc, const char **argv)
@@ -409,6 +425,7 @@ int main(int argc, const char **argv)
     std::string dirname;
     std::string filename;
     bool opt_click_allowed = true;
+    bool opt_display = true;
 
     // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
     // environment variable value
@@ -419,7 +436,7 @@ int main(int argc, const char **argv)
       ipath = env_ipath;
 
     // Read the command line options
-    if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
+    if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed, opt_display) == false) {
       return EXIT_FAILURE;
     }
 
@@ -452,6 +469,12 @@ int main(int argc, const char **argv)
       return EXIT_FAILURE;
     }
 
+    if (!opt_display && opt_click_allowed) {
+      std::cerr << std::endl << "ERROR:" << std::endl;
+      std::cerr << "  Display is disabled but clicks are required !" << std::endl;
+      return EXIT_FAILURE;
+    }
+
     std::ostringstream s;
 
     if (opt_ppath.empty()) {
@@ -499,7 +522,7 @@ int main(int argc, const char **argv)
       grabber.acquire(Idisplay);
       vpCameraParameters mcamTmp(592, 570, grabber.getWidth() / 2, grabber.getHeight() / 2);
       // Compute the initial pose of the camera
-      computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP, opt_click_allowed);
+      computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP, opt_click_allowed, opt_display);
       // Close the framegrabber
       grabber.close();
 
@@ -518,7 +541,8 @@ int main(int argc, const char **argv)
     // Create a vpRAOgre object with color background
     vpAROgre ogre(mcam, grabber.getWidth(), grabber.getHeight());
     // Initialize it
-    ogre.init(IC);
+    ogre.setShowConfigDialog(opt_display);
+    ogre.init(IC, false, !opt_display);
     ogre.load("Robot", "robot.mesh");
     ogre.setScale("Robot", 0.001f, 0.001f, 0.001f);
     ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI / 2, -M_PI / 2, 0)));
@@ -571,9 +595,11 @@ int main(int argc, const char **argv)
       mPose.computePose(vpPose::VIRTUAL_VS, cMo);
 
       // Display with ogre
-      ogre.display(IC, cMo);
+      if (opt_display) {
+        ogre.display(IC, cMo);
+      }
 
-      // Wait so that the video does not go too fast
+// Wait so that the video does not go too fast
       vpTime::wait(15);
     }
     // Close the grabber
diff --git a/example/ogre-simulator/CMakeLists.txt b/example/ogre-simulator/CMakeLists.txt
index 7209cc76d4..1a5f65c160 100644
--- a/example/ogre-simulator/CMakeLists.txt
+++ b/example/ogre-simulator/CMakeLists.txt
@@ -56,3 +56,5 @@ foreach(cpp ${example_cpp})
     visp_add_dependency(${cpp} "examples")
   endif()
 endforeach()
+
+visp_add_test(AROgreBasic AROgreBasic ${OPTION_TO_DESACTIVE_DISPLAY} -c)

From 84a6550745abe955b19659e16173cff7b9f014bb Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 11:28:32 +0100
Subject: [PATCH 33/38] [TEST] Test AROgreBasic only if dataset is available

---
 example/ogre-simulator/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/example/ogre-simulator/CMakeLists.txt b/example/ogre-simulator/CMakeLists.txt
index 1a5f65c160..8f327adbde 100644
--- a/example/ogre-simulator/CMakeLists.txt
+++ b/example/ogre-simulator/CMakeLists.txt
@@ -57,4 +57,8 @@ foreach(cpp ${example_cpp})
   endif()
 endforeach()
 
+# Add test only if dataset found for isolated build
+visp_find_dataset(DATASET_FOUND)
+if(DATASET_FOUND)
 visp_add_test(AROgreBasic AROgreBasic ${OPTION_TO_DESACTIVE_DISPLAY} -c)
+endif()

From 8a89f8686eea85797bb1f00d93a23c1cecaa4aa1 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 11:31:40 +0100
Subject: [PATCH 34/38] [FIX] Fix multiple insertion of same resource and
 segfault when destroying uninitialized vpAROgre

---
 modules/ar/include/visp3/ar/vpAROgre.h     |   3 +-
 modules/ar/src/ogre-simulator/vpAROgre.cpp | 125 +++++++++++++--------
 2 files changed, 78 insertions(+), 50 deletions(-)

diff --git a/modules/ar/include/visp3/ar/vpAROgre.h b/modules/ar/include/visp3/ar/vpAROgre.h
index b26832054a..4ff34b97b5 100644
--- a/modules/ar/include/visp3/ar/vpAROgre.h
+++ b/modules/ar/include/visp3/ar/vpAROgre.h
@@ -374,11 +374,12 @@ class VISP_EXPORT vpAROgre : public Ogre::FrameListener,
   static unsigned int sID;
   // Attributes
   Ogre::String name; /**Name of th Window*/
+  bool mInitialized; /** True once init(bool, bool) has been called.*/
 
   // OGRE 3D System
   Ogre::Root *mRoot;             /** Application's root */
   Ogre::Camera *mCamera;         /** Camera */
-  Ogre::String mSceneManagerName; /**Name of th scene manager*/
+  Ogre::String mSceneManagerName; /**Name of the scene manager*/
   Ogre::SceneManager *mSceneMgr; /** Scene manager */
   Ogre::RenderWindow *mWindow;   /** Display window */
   Ogre::String mResourcePath;    /** Path to resources.cfg */
diff --git a/modules/ar/src/ogre-simulator/vpAROgre.cpp b/modules/ar/src/ogre-simulator/vpAROgre.cpp
index 10820f3363..17a84fb4fa 100644
--- a/modules/ar/src/ogre-simulator/vpAROgre.cpp
+++ b/modules/ar/src/ogre-simulator/vpAROgre.cpp
@@ -78,7 +78,7 @@ unsigned int vpAROgre::sID = 0;
 */
 vpAROgre::vpAROgre(const vpCameraParameters &cam, unsigned int width, unsigned int height, const char *resourcePath,
                    const char *pluginsPath)
-  : name("ViSP - Augmented Reality"), mRoot(0), mCamera(0), mSceneMgr(0), mWindow(0), mResourcePath(resourcePath),
+  : name("ViSP - Augmented Reality"), mInitialized(false), mRoot(0), mCamera(0), mSceneMgr(0), mWindow(0), mResourcePath(resourcePath),
   mPluginsPath(pluginsPath),
 #ifdef VISP_HAVE_OIS
   mInputManager(0), mKeyboard(0),
@@ -547,14 +547,21 @@ void vpAROgre::init(bool
 #endif
 
   // Initialise a render to texture to be able to retrieve a screenshot
-  Ogre::TexturePtr Texture = Ogre::TextureManager::getSingleton().createManual(
-      "rtf", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, mWindow->getWidth(),
-      mWindow->getHeight(), 0, Ogre::PF_R8G8B8A8, Ogre::TU_RENDERTARGET);
-
-  Ogre::RenderTexture *RTarget = Texture->getBuffer()->getRenderTarget();
-  RTarget->addViewport(mCamera);
-  RTarget->getViewport(0)->setClearEveryFrame(true);
-  RTarget->getViewport(0)->setOverlaysEnabled(false);
+  try {
+    Ogre::TexturePtr Texture = Ogre::TextureManager::getSingleton().createManual(
+        "rtf", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, mWindow->getWidth(),
+        mWindow->getHeight(), 0, Ogre::PF_R8G8B8A8, Ogre::TU_RENDERTARGET);
+
+    Ogre::RenderTexture *RTarget = Texture->getBuffer()->getRenderTarget();
+    RTarget->addViewport(mCamera);
+    RTarget->getViewport(0)->setClearEveryFrame(true);
+    RTarget->getViewport(0)->setOverlaysEnabled(false);
+  }
+  catch (const Ogre::Exception &e) {
+    std::cout << "Info: Texture rtf is already known by the resource manager." << std::endl;
+  }
+
+  mInitialized = true;
 }
 
 /*!
@@ -562,6 +569,9 @@ void vpAROgre::init(bool
 */
 vpAROgre::~vpAROgre(void)
 {
+  if (!mInitialized) {
+    return;
+  }
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
   mPixelBuffer.reset();
 #else
@@ -935,20 +945,30 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
   // If we are using opengl we can boost a little bit performances with a
   // dynamic texture
   if (mRoot->getRenderSystem()->getName() == "OpenGL Rendering Subsystem") {
-    Ogre::TextureManager::getSingleton().createManual(
+    try {
+      Ogre::TextureManager::getSingleton().createManual(
         "BackgroundTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
         mBackgroundWidth,  // width
         mBackgroundHeight, // height
         0,                 // num of mip maps
         Ogre::PF_BYTE_L, Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);
+    }
+    catch (const Ogre::Exception &e) {
+      std::cout << "Info: Texture BackgroundTexture is already known by the resource manager." << std::endl;
+    }
   }
   else {
-    Ogre::TextureManager::getSingleton().createManual(
+    try {
+      Ogre::TextureManager::getSingleton().createManual(
         "BackgroundTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
         mBackgroundWidth,  // width
         mBackgroundHeight, // height
         0,                 // num of mip maps
         Ogre::PF_BYTE_L, Ogre::TU_DEFAULT);
+    }
+    catch (const Ogre::Exception &e) {
+      std::cout << "Info: Texture BackgroundTexture is already known by the resource manager." << std::endl;
+    }
   }
 
   // Pointer to the dynamic texture
@@ -961,25 +981,24 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
   mPixelBuffer = dynTexPtr->getBuffer();
 
   // Material to apply the texture to the background
-  Ogre::MaterialPtr Backgroundmaterial = Ogre::MaterialManager::getSingleton().create(
+  try {
+    Ogre::MaterialPtr Backgroundmaterial = Ogre::MaterialManager::getSingleton().create(
       "BackgroundMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
-  //#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
-  //      .dynamicCast<Ogre::Material>();
-  //#else
-  //      ;
-  //#endif
-  Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
-  Backgroundtechnique->createPass();
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
-  Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
+    Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
+    Backgroundtechnique->createPass();
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
+    Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
-  mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
+    mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
-  mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
+    mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
 #endif
-  mBackground->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); // To be rendered in Background
+  }
+  catch (const Ogre::Exception &e) {
+    std::cout << "Info: Material BackgroundMaterial is already known by the resource manager." << std::endl;
+  }
 
   // Add the background to the Scene Graph so it will be rendered
   Ogre::SceneNode *BackgroundNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("BackgoundNode");
@@ -1008,23 +1027,31 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
   // If we are using opengl we can boost a little bit performances with a
   // dynamic texture
   if (mRoot->getRenderSystem()->getName() == "OpenGL Rendering Subsystem") {
-    Ogre::TextureManager::getSingleton().createManual(
+    try {
+      Ogre::TextureManager::getSingleton().createManual(
         "BackgroundTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
         mBackgroundWidth,  // width
         mBackgroundHeight, // height
         0,                 // num of mip maps
-        // Ogre::PF_BYTE_RGBA,
         Ogre::PF_BYTE_BGRA, Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);
+    }
+    catch (const Ogre::Exception &e) {
+      std::cout << "Info: Texture BackgroundTexture is already known by the resource manager." << std::endl;
+    }
   }
   else { // As that texture does not seem to work properly with direct3D we
         // use a default texture
-    Ogre::TextureManager::getSingleton().createManual(
-        "BackgroundTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
-        mBackgroundWidth,  // width
-        mBackgroundHeight, // height
-        0,                 // num of mip maps
-        // Ogre::PF_BYTE_RGBA,
-        Ogre::PF_BYTE_BGRA, Ogre::TU_DEFAULT);
+    try {
+      Ogre::TextureManager::getSingleton().createManual(
+         "BackgroundTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
+         mBackgroundWidth,  // width
+         mBackgroundHeight, // height
+         0,                 // num of mip maps
+         Ogre::PF_BYTE_BGRA, Ogre::TU_DEFAULT);
+    }
+    catch (const Ogre::Exception &e) {
+      std::cout << "Info: Texture BackgroundTexture is already known by the resource manager." << std::endl;
+    }
   }
 
   // Pointer to the dynamic texture
@@ -1039,25 +1066,25 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
   mPixelBuffer = dynTexPtr->getBuffer();
 
   // Material to apply the texture to the background
-  Ogre::MaterialPtr Backgroundmaterial = Ogre::MaterialManager::getSingleton().create(
+  try {
+    Ogre::MaterialPtr Backgroundmaterial = Ogre::MaterialManager::getSingleton().create(
       "BackgroundMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
-  //#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
-  //      .dynamicCast<Ogre::Material>();
-  //#else
-  //      ;
-  //#endif
-  Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
-  Backgroundtechnique->createPass();
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
-  Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
-  Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
+    Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
+    Backgroundtechnique->createPass();
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false); // Background
+    Backgroundmaterial->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); // Background
+    Backgroundmaterial->getTechnique(0)->getPass(0)->createTextureUnitState("BackgroundTexture");
 
 #if (VISP_HAVE_OGRE_VERSION >= (1<<16 | 11<<8 | 0))
-  mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
+    mBackground->setMaterial(Backgroundmaterial);                  // Attach the material to the rectangle
 #else
-  mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
+    mBackground->setMaterial("BackgroundMaterial");                  // Attach the material to the rectangle
 #endif
+  }
+  catch (const Ogre::Exception &e) {
+    std::cout << "Info: Material BackgroundMaterial is already known by the resource manager." << std::endl;
+  }
   mBackground->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); // To be rendered in Background
 
   // Add the background to the Scene Graph so it will be rendered

From be230d3e1ee9e9d37c49f973f0aecdc238e0e65e Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 11:56:49 +0100
Subject: [PATCH 35/38] [TEST] Added github action to test ogre

---
 .github/workflows/ubuntu-ogre-apt.yml | 114 ++++++++++++++++++++++++++
 1 file changed, 114 insertions(+)
 create mode 100644 .github/workflows/ubuntu-ogre-apt.yml

diff --git a/.github/workflows/ubuntu-ogre-apt.yml b/.github/workflows/ubuntu-ogre-apt.yml
new file mode 100644
index 0000000000..26078f4cf7
--- /dev/null
+++ b/.github/workflows/ubuntu-ogre-apt.yml
@@ -0,0 +1,114 @@
+name: Ubuntu-dep-apt
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  schedule:
+    - cron: '0 2 * * SUN'
+
+# https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109
+# https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build-ubuntu-dep-apt:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04, 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: [ 11, 17 ]
+        ogre: [ogre-1.9, ogre-1.12]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Print system information
+      run: lscpu
+
+    - name: Print OS information
+      run: lsb_release -a
+
+    - name: Print compiler information
+      run: dpkg --list | grep compiler
+
+    - name: Install dependencies for Ogre 1.9
+      if: matrix.ogre == 'ogre-1.9'
+      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 libogre-1.9-dev
+
+    - name: Install dependencies for Ogre 1.12
+      if: matrix.ogre == 'ogre-1.12'
+      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 libogre-1.12-dev
+
+    - name: Clone visp-images
+      env:
+        BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+      # https://remarkablemark.org/blog/2022/09/25/check-git-branch-exists-in-remote-repository/
+      run: |
+        git clone --depth 1 https://github.com/lagadic/visp-images ${HOME}/visp-images
+        echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV
+        echo ${VISP_INPUT_IMAGE_PATH}
+
+    - name: Clone visp_sample
+      run: |
+        git clone --depth 1 https://github.com/lagadic/visp_sample ${HOME}/visp_sample
+
+    - name: Configure CMake
+      run: |
+        mkdir build
+        cd build
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        CXX_STANDARD=${{ matrix.standard }}
+        echo "CC: $CC"
+        echo "CXX: $CXX"
+        echo "Standard: $CXX_STANDARD"
+        cmake .. -DCMAKE_C_COMPILER="${CC}" -DCMAKE_CXX_COMPILER="${CXX}" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/tmp/usr/local -DCMAKE_VERBOSE_MAKEFILE=ON -DUSE_CXX_STANDARD=$CXX_STANDARD
+        cat ViSP-third-party.txt
+
+    - name: Compile
+      working-directory: build
+      run: |
+        make -j$(nproc) install
+
+    - name: Run unit tests
+      working-directory: build
+      run: ctest -j$(nproc) --output-on-failure
+
+    - name: ViSP as 3rdparty with cmake
+      run: |
+        cd ${HOME}/visp_sample
+        mkdir visp_sample-build
+        cd visp_sample-build
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        cmake .. -DCMAKE_C_COMPILER="${CC}" -DCMAKE_CXX_COMPILER="${CXX}" -DVISP_DIR=/tmp/usr/local/lib/cmake/visp -DCMAKE_VERBOSE_MAKEFILE=ON
+        make -j$(nproc)
+
+    - name: ViSP as 3rdparty with visp.pc and pkg-config
+      run: |
+        cd ${HOME}/visp_sample
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        pkg-config --cflags visp
+        pkg-config --libs visp
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp.pc
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp.pc clean
+
+    - name: ViSP as 3rdparty with visp-config
+      run: |
+        cd ${HOME}/visp_sample
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+        export VISP_INSTALL_PREFIX=/tmp/usr/local
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        $VISP_INSTALL_PREFIX/bin/visp-config --cflags
+        $VISP_INSTALL_PREFIX/bin/visp-config --libs
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp-config
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp-config clean

From 6330e1da54f79e558977285c6f1e740bb29d0535 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 14:50:06 +0100
Subject: [PATCH 36/38] [TEST] Renamed ogre github action

---
 .github/workflows/ubuntu-ogre-apt.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ubuntu-ogre-apt.yml b/.github/workflows/ubuntu-ogre-apt.yml
index 26078f4cf7..dbe5addd58 100644
--- a/.github/workflows/ubuntu-ogre-apt.yml
+++ b/.github/workflows/ubuntu-ogre-apt.yml
@@ -1,4 +1,4 @@
-name: Ubuntu-dep-apt
+name: Ubuntu-ogre-apt
 
 # https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
 on:
@@ -14,7 +14,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-ubuntu-dep-apt:
+  build-ubuntu-ogre-apt:
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false

From 6349a3920eaea2fd742105e4202421d37f4f1676 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 15:09:11 +0100
Subject: [PATCH 37/38] [TEST] Installing ogre dependencies in the github
 action

---
 .github/workflows/ubuntu-ogre-apt.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ubuntu-ogre-apt.yml b/.github/workflows/ubuntu-ogre-apt.yml
index dbe5addd58..e649e68cc3 100644
--- a/.github/workflows/ubuntu-ogre-apt.yml
+++ b/.github/workflows/ubuntu-ogre-apt.yml
@@ -37,13 +37,16 @@ jobs:
     - name: Print compiler information
       run: dpkg --list | grep compiler
 
+    - name: Install ViSP dependencies
+      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: Install dependencies for Ogre 1.9
       if: matrix.ogre == 'ogre-1.9'
-      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 libogre-1.9-dev
+      run: sudo apt-get update && sudo apt-get install -y libgles2-mesa-dev libvulkan-dev glslang-dev libxrandr-dev libxaw7-dev libx11-dev libzzip-dev libsdl2-dev libogre-1.9-dev
 
     - name: Install dependencies for Ogre 1.12
       if: matrix.ogre == 'ogre-1.12'
-      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 libogre-1.12-dev
+      run: sudo apt-get update && sudo apt-get install -y libgles2-mesa-dev libvulkan-dev glslang-dev libxrandr-dev libxaw7-dev libx11-dev libzzip-dev libsdl2-dev libogre-1.12-dev
 
     - name: Clone visp-images
       env:

From 988d23d97a2aa3c4f79d059ecadf4aa3cfa451b3 Mon Sep 17 00:00:00 2001
From: LAGNEAU Romain <romain.lagneau@inria.fr>
Date: Tue, 7 Jan 2025 16:42:26 +0100
Subject: [PATCH 38/38] [TEST] Fix Ogre CI : Ogre cannot be run without a valid
 X11 context

---
 example/ogre-simulator/CMakeLists.txt | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/example/ogre-simulator/CMakeLists.txt b/example/ogre-simulator/CMakeLists.txt
index 8f327adbde..5c5d7434a3 100644
--- a/example/ogre-simulator/CMakeLists.txt
+++ b/example/ogre-simulator/CMakeLists.txt
@@ -57,8 +57,4 @@ foreach(cpp ${example_cpp})
   endif()
 endforeach()
 
-# Add test only if dataset found for isolated build
-visp_find_dataset(DATASET_FOUND)
-if(DATASET_FOUND)
-visp_add_test(AROgreBasic AROgreBasic ${OPTION_TO_DESACTIVE_DISPLAY} -c)
-endif()
+# AROgreBasic cannot be used as unit test because requires a valid X11 context