2 files changed, 42 insertions, 2 deletions
diff --git a/misc/visp/files/patch-CMakeLists.txt b/misc/visp/files/patch-CMakeLists.txt
index 893083431163..f5c75760570d 100644
--- a/misc/visp/files/patch-CMakeLists.txt
+++ b/misc/visp/files/patch-CMakeLists.txt
@@ -1,8 +1,17 @@
 https://github.com/lagadic/visp/issues/423
 
---- CMakeLists.txt.orig	2021-03-05 01:09:20 UTC
+--- CMakeLists.txt.orig	2023-09-22 05:39:36 UTC
 +++ CMakeLists.txt
-@@ -230,7 +230,7 @@ else() # UNIX
+@@ -124,6 +124,8 @@ project(VISP C CXX)
+ 
+ project(VISP C CXX)
+ 
++find_package(VTK REQUIRED) # workaround for https://gitlab.kitware.com/vtk/vtk/-/issues/19716
++
+ list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
+ 
+ include(cmake/VISPUtils.cmake)
+@@ -244,7 +246,7 @@ else() # UNIX
      vp_update(VISP_LIB_INSTALL_PATH       "${CMAKE_INSTALL_LIBDIR}")
    endif()
    vp_update(VISP_BIN_INSTALL_PATH         "${CMAKE_INSTALL_BINDIR}")
diff --git a/misc/visp/files/patch-modules_tracker_mbt_src_depth_vpMbtFaceDepthDense.cpp b/misc/visp/files/patch-modules_tracker_mbt_src_depth_vpMbtFaceDepthDense.cpp
new file mode 100644
index 000000000000..38198d2375fb
--- /dev/null
+++ b/misc/visp/files/patch-modules_tracker_mbt_src_depth_vpMbtFaceDepthDense.cpp
@@ -0,0 +1,31 @@
+--- modules/tracker/mbt/src/depth/vpMbtFaceDepthDense.cpp.orig	2023-09-22 05:39:36 UTC
++++ modules/tracker/mbt/src/depth/vpMbtFaceDepthDense.cpp
+@@ -518,9 +518,15 @@ void vpMbtFaceDepthDense::computeInteractionMatrixAndR
+         cv::v_float64x2 vx, vy, vz;
+         cv::v_load_deinterleave(ptr_point_cloud, vx, vy, vz);
+ 
++#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
++        cv::v_float64x2 va1 = cv::v_sub(cv::v_mul(vnz, vy), cv::v_mul(vny, vz)); // vnz*vy - vny*vz
++        cv::v_float64x2 va2 = cv::v_sub(cv::v_mul(vnx, vz), cv::v_mul(vnz, vx)); // vnx*vz - vnz*vx
++        cv::v_float64x2 va3 = cv::v_sub(cv::v_mul(vny, vx), cv::v_mul(vnx, vy)); // vny*vx - vnx*vy
++#else
+         cv::v_float64x2 va1 = vnz*vy - vny*vz;
+         cv::v_float64x2 va2 = vnx*vz - vnz*vx;
+         cv::v_float64x2 va3 = vny*vx - vnx*vy;
++#endif
+ 
+         cv::v_float64x2 vnxy = cv::v_combine_low(vnx, vny);
+         cv::v_store(ptr_L, vnxy);
+@@ -542,7 +548,12 @@ void vpMbtFaceDepthDense::computeInteractionMatrixAndR
+         cv::v_store(ptr_L, vnxy);
+         ptr_L += 2;
+ 
++#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
++        cv::v_float64x2 verr = cv::v_add(vd, cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, cv::v_mul(vnz, vz))));
++#else
+         cv::v_float64x2 verr = vd + cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, vnz*vz));
++#endif
++
+         cv::v_store(ptr_error, verr);
+         ptr_error += 2;
+ #elif USE_SSE