diff --git a/modules/tracker/mbt/src/vpMbTracker.cpp b/modules/tracker/mbt/src/vpMbTracker.cpp
index 68b7132512..304485f943 100644
--- a/modules/tracker/mbt/src/vpMbTracker.cpp
+++ b/modules/tracker/mbt/src/vpMbTracker.cpp
@@ -99,13 +99,14 @@
 namespace
 {
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
-  std::mutex g_mutex_cout;
+std::mutex g_mutex_cout;
 #endif
 /*!
   Structure to store info about segment in CAO model files.
  */
-struct SegmentInfo {
-  SegmentInfo() : extremities(), name(), useLod(false), minLineLengthThresh(0.) {}
+struct SegmentInfo
+{
+  SegmentInfo() : extremities(), name(), useLod(false), minLineLengthThresh(0.) { }
 
   std::vector<vpPoint> extremities;
   std::string name;
@@ -117,11 +118,11 @@ struct SegmentInfo {
   Structure to store info about a polygon face represented by a vpPolygon and
   by a list of vpPoint representing the corners of the polygon face in 3D.
  */
-struct PolygonFaceInfo {
+struct PolygonFaceInfo
+{
   PolygonFaceInfo(double dist, const vpPolygon &poly, const std::vector<vpPoint> &corners)
     : distanceToCamera(dist), polygon(poly), faceCorners(corners)
-  {
-  }
+  { }
 
   bool operator<(const PolygonFaceInfo &pfi) const { return distanceToCamera < pfi.distanceToCamera; }
 
@@ -154,16 +155,19 @@ std::istream &safeGetline(std::istream &is, std::string &t)
     int c = sb->sbumpc();
     if (c == '\n') {
       return is;
-    } else if (c == '\r') {
+    }
+    else if (c == '\r') {
       if (sb->sgetc() == '\n')
         sb->sbumpc();
       return is;
-    } else if (c == std::streambuf::traits_type::eof()) {
-      // Also handle the case when the last line has no line ending
+    }
+    else if (c == std::streambuf::traits_type::eof()) {
+   // Also handle the case when the last line has no line ending
       if (t.empty())
         is.setstate(std::ios::eofbit);
       return is;
-    } else { // default case
+    }
+    else { // default case
       t += (char)c;
     }
   }
@@ -178,18 +182,18 @@ std::istream &safeGetline(std::istream &is, std::string &t)
 */
 vpMbTracker::vpMbTracker()
   : m_cam(), m_cMo(), oJo(6, 6), m_isoJoIdentity(true), modelFileName(), modelInitialised(false), poseSavingFilename(),
-    computeCovariance(false), covarianceMatrix(), computeProjError(false), projectionError(90.0),
-    displayFeatures(false), m_optimizationMethod(vpMbTracker::GAUSS_NEWTON_OPT), faces(), angleAppears(vpMath::rad(89)),
-    angleDisappears(vpMath::rad(89)), distNearClip(0.001), distFarClip(100), clippingFlag(vpPolygon3D::NO_CLIPPING),
-    useOgre(false), ogreShowConfigDialog(false), useScanLine(false), nbPoints(0), nbLines(0), nbPolygonLines(0),
-    nbPolygonPoints(0), nbCylinders(0), nbCircles(0), useLodGeneral(false), applyLodSettingInConfig(false),
-    minLineLengthThresholdGeneral(50.0), minPolygonAreaThresholdGeneral(2500.0), mapOfParameterNames(),
-    m_computeInteraction(true), m_lambda(1.0), m_maxIter(30), m_stopCriteriaEpsilon(1e-8), m_initialMu(0.01),
-    m_projectionErrorLines(), m_projectionErrorCylinders(), m_projectionErrorCircles(), m_projectionErrorFaces(),
-    m_projectionErrorOgreShowConfigDialog(false), m_projectionErrorMe(), m_projectionErrorKernelSize(2), m_SobelX(5, 5),
-    m_SobelY(5, 5), m_projectionErrorDisplay(false), m_projectionErrorDisplayLength(20),
-    m_projectionErrorDisplayThickness(1), m_projectionErrorCam(), m_mask(NULL), m_I(), m_sodb_init_called(false),
-    m_rand()
+  computeCovariance(false), covarianceMatrix(), computeProjError(false), projectionError(90.0),
+  displayFeatures(false), m_optimizationMethod(vpMbTracker::GAUSS_NEWTON_OPT), faces(), angleAppears(vpMath::rad(89)),
+  angleDisappears(vpMath::rad(89)), distNearClip(0.001), distFarClip(100), clippingFlag(vpPolygon3D::NO_CLIPPING),
+  useOgre(false), ogreShowConfigDialog(false), useScanLine(false), nbPoints(0), nbLines(0), nbPolygonLines(0),
+  nbPolygonPoints(0), nbCylinders(0), nbCircles(0), useLodGeneral(false), applyLodSettingInConfig(false),
+  minLineLengthThresholdGeneral(50.0), minPolygonAreaThresholdGeneral(2500.0), mapOfParameterNames(),
+  m_computeInteraction(true), m_lambda(1.0), m_maxIter(30), m_stopCriteriaEpsilon(1e-8), m_initialMu(0.01),
+  m_projectionErrorLines(), m_projectionErrorCylinders(), m_projectionErrorCircles(), m_projectionErrorFaces(),
+  m_projectionErrorOgreShowConfigDialog(false), m_projectionErrorMe(), m_projectionErrorKernelSize(2), m_SobelX(5, 5),
+  m_SobelY(5, 5), m_projectionErrorDisplay(false), m_projectionErrorDisplayLength(20),
+  m_projectionErrorDisplayThickness(1), m_projectionErrorCam(), m_mask(NULL), m_I(), m_sodb_init_called(false),
+  m_rand()
 {
   oJo.eye();
   // Map used to parse additional information in CAO model files,
@@ -261,14 +265,16 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
     finitpos.open(str_pose.c_str(), std::ios::in);
     ss << str_pose;
-  } else {
+  }
+  else {
     finitpos.open(poseSavingFilename.c_str(), std::ios::in);
     ss << poseSavingFilename;
   }
   if (finitpos.fail()) {
     std::cout << "Cannot read " << ss.str() << std::endl << "cMo set to identity" << std::endl;
     last_cMo.eye();
-  } else {
+  }
+  else {
     for (unsigned int i = 0; i < 6; i += 1) {
       finitpos >> init_pos[i];
     }
@@ -283,7 +289,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
       display(*I, last_cMo, m_cam, vpColor::green, 1, true);
       vpDisplay::displayFrame(*I, last_cMo, m_cam, 0.05, vpColor::green);
       vpDisplay::flush(*I);
-    } else {
+    }
+    else {
       vpDisplay::display(*I_color);
       display(*I_color, last_cMo, m_cam, vpColor::green, 1, true);
       vpDisplay::displayFrame(*I_color, last_cMo, m_cam, 0.05, vpColor::green);
@@ -300,7 +307,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
       while (!vpDisplay::getClick(*I, ip, button)) {
       }
-    } else {
+    }
+    else {
       vpDisplay::displayText(*I_color, 15, 10, "left click to validate, right click to modify initial pose",
                              vpColor::red);
 
@@ -313,13 +321,15 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
   if (!finitpos.fail() && button == vpMouseButton::button1) {
     m_cMo = last_cMo;
-  } else {
+  }
+  else {
     vpDisplay *d_help = NULL;
 
     if (I) {
       vpDisplay::display(*I);
       vpDisplay::flush(*I);
-    } else {
+    }
+    else {
       vpDisplay::display(*I_color);
       vpDisplay::flush(*I_color);
     }
@@ -337,7 +347,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
     // X Y Z
     if (pos != std::string::npos) {
       ss << initFile;
-    } else {
+    }
+    else {
       ss << initFile;
       ss << ".init";
     }
@@ -357,7 +368,7 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
     // Display window creation and initialisation
     try {
       if (displayHelp) {
-        const std::string imgExtVec[] = {".ppm", ".pgm", ".jpg", ".jpeg", ".png"};
+        const std::string imgExtVec[] = { ".ppm", ".pgm", ".jpg", ".jpeg", ".png" };
         std::string dispF;
         bool foundHelpImg = false;
         if (pos != std::string::npos) {
@@ -365,7 +376,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
             dispF = initFile.substr(0, pos) + imgExtVec[i];
             foundHelpImg = vpIoTools::checkFilename(dispF);
           }
-        } else {
+        }
+        else {
           for (size_t i = 0; i < 5 && !foundHelpImg; i++) {
             dispF = initFile + imgExtVec[i];
             foundHelpImg = vpIoTools::checkFilename(dispF);
@@ -394,7 +406,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 #endif
         }
       }
-    } catch (...) {
+    }
+    catch (...) {
       if (d_help != NULL) {
         delete d_help;
         d_help = NULL;
@@ -428,7 +441,7 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
       vpColVector pt_3d_tf = T * pt_3d;
       std::cout << "Point " << i + 1 << " with 3D coordinates: " << pt_3d_tf[0] << " " << pt_3d_tf[1] << " "
-                << pt_3d_tf[2] << std::endl;
+        << pt_3d_tf[2] << std::endl;
 
       P[i].setWorldCoordinates(pt_3d_tf[0], pt_3d_tf[1], pt_3d_tf[2]); // (X,Y,Z)
     }
@@ -448,7 +461,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
             vpDisplay::displayCross(*I, mem_ip[k], 10, vpColor::green, 2);
           }
           vpDisplay::flush(*I);
-        } else {
+        }
+        else {
           vpDisplay::display(*I_color);
           vpDisplay::displayText(*I_color, 15, 10, text.str(), vpColor::red);
           for (unsigned int k = 0; k < mem_ip.size(); k++) {
@@ -463,7 +477,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
           vpDisplay::getClick(*I, ip);
           mem_ip.push_back(ip);
           vpDisplay::flush(*I);
-        } else {
+        }
+        else {
           vpDisplay::getClick(*I_color, ip);
           mem_ip.push_back(ip);
           vpDisplay::flush(*I_color);
@@ -479,7 +494,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
       if (I) {
         vpDisplay::flush(*I);
         vpDisplay::display(*I);
-      } else {
+      }
+      else {
         vpDisplay::flush(*I_color);
         vpDisplay::display(*I_color);
       }
@@ -498,12 +514,14 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
         if (button == vpMouseButton::button1) {
           isWellInit = true;
-        } else {
+        }
+        else {
           pose.clearPoint();
           vpDisplay::display(*I);
           vpDisplay::flush(*I);
         }
-      } else {
+      }
+      else {
         display(*I_color, m_cMo, m_cam, vpColor::green, 1, true);
         vpDisplay::displayText(*I_color, 15, 10, "left click to validate, right click to re initialize object",
                                vpColor::red);
@@ -516,7 +534,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
         if (button == vpMouseButton::button1) {
           isWellInit = true;
-        } else {
+        }
+        else {
           pose.clearPoint();
           vpDisplay::display(*I_color);
           vpDisplay::flush(*I_color);
@@ -630,7 +649,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
   if (I) {
     vpDisplay::display(*I);
     vpDisplay::flush(*I);
-  } else {
+  }
+  else {
     vpDisplay::display(*I_color);
     vpDisplay::flush(*I_color);
   }
@@ -661,14 +681,16 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
       if (I) {
         d_help->init(Iref, I->display->getWindowXPosition() + (int)I->getWidth() + 80, I->display->getWindowYPosition(),
                      "Where to initialize...");
-      } else {
+      }
+      else {
         d_help->init(Iref, I_color->display->getWindowXPosition() + (int)I_color->getWidth() + 80,
                      I_color->display->getWindowYPosition(), "Where to initialize...");
       }
       vpDisplay::display(Iref);
       vpDisplay::flush(Iref);
 #endif
-    } catch (...) {
+    }
+    catch (...) {
       if (d_help != NULL) {
         delete d_help;
         d_help = NULL;
@@ -689,7 +711,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
         vpDisplay::getClick(*I, ip);
         vpDisplay::displayCross(*I, ip, 5, vpColor::green);
         vpDisplay::flush(*I);
-      } else {
+      }
+      else {
         vpDisplay::getClick(*I_color, ip);
         vpDisplay::displayCross(*I_color, ip, 5, vpColor::green);
         vpDisplay::flush(*I_color);
@@ -702,14 +725,16 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
       if (I) {
         vpDisplay::displayPoint(*I, ip, vpColor::green); // display target point
-      } else {
+      }
+      else {
         vpDisplay::displayPoint(*I_color, ip, vpColor::green); // display target point
       }
       pose.addPoint(P[i]); // and added to the pose computation point list
     }
     if (I) {
       vpDisplay::flush(*I);
-    } else {
+    }
+    else {
       vpDisplay::flush(*I_color);
     }
 
@@ -727,12 +752,14 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
       if (button == vpMouseButton::button1) {
         isWellInit = true;
-      } else {
+      }
+      else {
         pose.clearPoint();
         vpDisplay::display(*I);
         vpDisplay::flush(*I);
       }
-    } else {
+    }
+    else {
       display(*I_color, m_cMo, m_cam, vpColor::green, 1, true);
       vpDisplay::displayText(*I_color, 15, 10, "left click to validate, right click to re initialize object",
                              vpColor::red);
@@ -745,7 +772,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
       if (button == vpMouseButton::button1) {
         isWellInit = true;
-      } else {
+      }
+      else {
         pose.clearPoint();
         vpDisplay::display(*I_color);
         vpDisplay::flush(*I_color);
@@ -755,7 +783,8 @@ void vpMbTracker::initClick(const vpImage<unsigned char> *const I, const vpImage
 
   if (I) {
     vpDisplay::displayFrame(*I, m_cMo, m_cam, 0.05, vpColor::red);
-  } else {
+  }
+  else {
     vpDisplay::displayFrame(*I_color, m_cMo, m_cam, 0.05, vpColor::red);
   }
 
@@ -818,7 +847,8 @@ void vpMbTracker::initFromPoints(const vpImage<unsigned char> *const I, const vp
 
   if (pos == initFile.size() - ext.size() && pos != 0) {
     ss << initFile;
-  } else {
+  }
+  else {
     ss << initFile;
     ss << ".init";
   }
@@ -929,7 +959,8 @@ void vpMbTracker::initFromPoints(const vpImage<unsigned char> *const I, const vp
 
   if (I) {
     init(*I);
-  } else {
+  }
+  else {
     vpImageConvert::convert(*I_color, m_I);
     init(m_I);
   }
@@ -1018,7 +1049,8 @@ void vpMbTracker::initFromPoints(const vpImage<unsigned char> *const I, const vp
 
   if (I) {
     init(*I);
-  } else {
+  }
+  else {
     vpImageConvert::convert(*I_color, m_I);
     init(m_I);
   }
@@ -1064,7 +1096,8 @@ void vpMbTracker::initFromPose(const vpImage<unsigned char> *const I, const vpIm
 
   if (pos == initFile.size() - ext.size() && pos != 0) {
     ss << initFile;
-  } else {
+  }
+  else {
     ss << initFile;
     ss << ".pos";
   }
@@ -1083,7 +1116,8 @@ void vpMbTracker::initFromPose(const vpImage<unsigned char> *const I, const vpIm
 
   if (I) {
     init(*I);
-  } else {
+  }
+  else {
     vpImageConvert::convert(*I_color, m_I);
     init(m_I);
   }
@@ -1438,13 +1472,16 @@ void vpMbTracker::loadModel(const std::string &modelFile, bool verbose, const vp
       nbCylinders = 0;
       nbCircles = 0;
       loadCAOModel(modelFile, vectorOfModelFilename, startIdFace, verbose, true, odTo);
-    } else if ((*(it - 1) == 'l' && *(it - 2) == 'r' && *(it - 3) == 'w' && *(it - 4) == '.') ||
-               (*(it - 1) == 'L' && *(it - 2) == 'R' && *(it - 3) == 'W' && *(it - 4) == '.')) {
+    }
+    else if ((*(it - 1) == 'l' && *(it - 2) == 'r' && *(it - 3) == 'w' && *(it - 4) == '.') ||
+            (*(it - 1) == 'L' && *(it - 2) == 'R' && *(it - 3) == 'W' && *(it - 4) == '.')) {
       loadVRMLModel(modelFile);
-    } else {
+    }
+    else {
       throw vpException(vpException::ioError, "Error: File %s doesn't contain a cao or wrl model", modelFile.c_str());
     }
-  } else {
+  }
+  else {
     throw vpException(vpException::ioError, "Error: File %s doesn't exist", modelFile.c_str());
   }
 
@@ -1497,7 +1534,8 @@ void vpMbTracker::loadVRMLModel(const std::string &modelFile)
     sceneGraphVRML2 = tovrml2.getVRML2SceneGraph();
     sceneGraphVRML2->ref();
     sceneGraph->unref();
-  } else {
+  }
+  else {
     sceneGraphVRML2 = SoDB::readAllVRML(&in);
     if (sceneGraphVRML2 == NULL) { /*return -1;*/
     }
@@ -1515,7 +1553,7 @@ void vpMbTracker::loadVRMLModel(const std::string &modelFile)
   vpERROR_TRACE("coin not detected with ViSP, cannot load model : %s", modelFile.c_str());
   throw vpException(vpException::fatalError, "coin not detected with ViSP, cannot load model");
 #endif
-}
+  }
 
 void vpMbTracker::removeComment(std::ifstream &fileId)
 {
@@ -1561,7 +1599,8 @@ std::map<std::string, std::string> vpMbTracker::parseParameters(std::string &end
             if (pos != std::string::npos) {
               mapOfParams[it->first] = endLine.substr(0, pos);
               endLine = endLine.substr(pos + 1);
-            } else {
+            }
+            else {
               parseQuote = false;
             }
           }
@@ -1662,9 +1701,10 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
     if (c == 'V') {
       fileId >> caoVersion;
       fileId.ignore(std::numeric_limits<std::streamsize>::max(), fileId.widen('\n')); // skip the rest of the line
-    } else {
+    }
+    else {
       std::cout << "in vpMbTracker::loadCAOModel() -> Bad parameter header "
-                   "file : use V0, V1, ...";
+        "file : use V0, V1, ...";
       throw vpException(vpException::badValue, "in vpMbTracker::loadCAOModel() -> Bad parameter "
                                                "header file : use V0, V1, ...");
     }
@@ -1771,12 +1811,14 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
             if (vpIoTools::checkFilename(headerPath)) {
               header = true;
               loadCAOModel(headerPath, vectorOfModelFilename, startIdFace, verbose, false, odTo * oTo_local);
-            } else {
+            }
+            else {
               throw vpException(vpException::ioError, "file cannot be open");
             }
-          } else {
+          }
+          else {
             std::cout << "WARNING Cyclic dependency detected with file " << headerPath << " declared in " << modelFile
-                      << std::endl;
+              << std::endl;
           }
         }
       }
@@ -1903,7 +1945,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
           std::pair<unsigned int, unsigned int> key(index1, index2);
 
           segmentTemporaryMap[key] = segmentInfo;
-        } else {
+        }
+        else {
           vpTRACE(" line %d has wrong coordinates.", k);
         }
       }
@@ -2142,7 +2185,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
         }
       }
 
-    } catch (const std::exception &e) {
+    }
+    catch (const std::exception &e) {
       std::cerr << "Cannot get the number of cylinders. Defaulting to zero." << std::endl;
       std::cerr << "Exception: " << e.what() << std::endl;
       caoNbCylinder = 0;
@@ -2217,7 +2261,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
         }
       }
 
-    } catch (const std::exception &e) {
+    }
+    catch (const std::exception &e) {
       std::cerr << "Cannot get the number of circles. Defaulting to zero." << std::endl;
       std::cerr << "Exception: " << e.what() << std::endl;
       caoNbCircle = 0;
@@ -2240,7 +2285,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
         std::cout << "Total nb of polygon points : " << nbPolygonPoints << std::endl;
         std::cout << "Total nb of cylinders : " << nbCylinders << std::endl;
         std::cout << "Total nb of circles : " << nbCircles << std::endl;
-      } else {
+      }
+      else {
 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
         std::lock_guard<std::mutex> lock(g_mutex_cout);
 #endif
@@ -2255,7 +2301,8 @@ void vpMbTracker::loadCAOModel(const std::string &modelFile, std::vector<std::st
 
     // Go up: remove current model
     vectorOfModelFilename.pop_back();
-  } catch (const std::exception &e) {
+  }
+  catch (const std::exception &e) {
     std::cerr << "Cannot read line!" << std::endl;
     std::cerr << "Exception: " << e.what() << std::endl;
     throw vpException(vpException::ioError, "cannot read line");
@@ -2336,7 +2383,8 @@ void vpMbTracker::extractGroup(SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix
           face_set = (SoVRMLIndexedFaceSet *)child2list->get(j);
           if (!strncmp(face_set->getName().getString(), "cyl", 3)) {
             extractCylinders(face_set, transform, idFace, name);
-          } else {
+          }
+          else {
             extractFaces(face_set, transform, idFace, name);
           }
         }
@@ -2382,7 +2430,8 @@ void vpMbTracker::extractFaces(SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatr
         initProjectionErrorFaceFromCorners(*(m_projectionErrorFaces.getPolygon().back()));
         corners.resize(0);
       }
-    } else {
+    }
+    else {
       coord = (SoVRMLCoordinate *)(face_set->coord.getValue());
       int index = face_set->coordIndex[i];
       pointTransformed[0] = coord->point[index].getValue()[0];
@@ -2445,7 +2494,8 @@ void vpMbTracker::extractCylinders(SoVRMLIndexedFaceSet *face_set, vpHomogeneous
 
     if (i < (int)corners_c1.size()) {
       corners_c1[(unsigned int)i] = pt;
-    } else {
+    }
+    else {
       corners_c2[(unsigned int)i - corners_c1.size()] = pt;
     }
   }
@@ -2487,16 +2537,16 @@ void vpMbTracker::extractCylinders(SoVRMLIndexedFaceSet *face_set, vpHomogeneous
   initProjectionErrorCylinder(p1, p2, radius_c1, idRevolutionAxis, polygonName);
 
   idFace += 4;
-}
+    }
 
-/*!
-  Extract a line of the object to track from the VMRL model. This method calls
-  the initFaceFromCorners() method implemented in the child class.
+    /*!
+      Extract a line of the object to track from the VMRL model. This method calls
+      the initFaceFromCorners() method implemented in the child class.
 
-  \param line_set : Pointer to the line in the vrml format.
-  \param idFace : Id of the face.
-  \param polygonName: Name of the polygon.
-*/
+      \param line_set : Pointer to the line in the vrml format.
+      \param idFace : Id of the face.
+      \param polygonName: Name of the polygon.
+    */
 void vpMbTracker::extractLines(SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName)
 {
   std::vector<vpPoint> corners;
@@ -2518,7 +2568,8 @@ void vpMbTracker::extractLines(SoVRMLIndexedLineSet *line_set, int &idFace, cons
         initProjectionErrorFaceFromCorners(*(m_projectionErrorFaces.getPolygon().back()));
         corners.resize(0);
       }
-    } else {
+    }
+    else {
       coord = (SoVRMLCoordinate *)(line_set->coord.getValue());
       int index = line_set->coordIndex[i];
       point[0] = coord->point[index].getValue()[0];
@@ -2593,7 +2644,8 @@ vpMbTracker::getPolygonFaces(bool orderPolygons, bool useVisibility, bool clipPo
 
         if (clipPolygon) {
           faces.getPolygon()[i]->getRoiClipped(m_cam, roiPts, m_cMo);
-        } else {
+        }
+        else {
           roiPts = faces.getPolygon()[i]->getRoi(m_cam, m_cMo);
         }
 
@@ -2606,7 +2658,8 @@ vpMbTracker::getPolygonFaces(bool orderPolygons, bool useVisibility, bool clipPo
         std::vector<vpPoint> polyPts;
         if (clipPolygon) {
           faces.getPolygon()[i]->getPolygonClipped(polyPts);
-        } else {
+        }
+        else {
           for (unsigned int j = 0; j < faces.getPolygon()[i]->nbpt; j++) {
             polyPts.push_back(faces.getPolygon()[i]->p[j]);
           }
@@ -2650,22 +2703,23 @@ vpMbTracker::getPolygonFaces(bool orderPolygons, bool useVisibility, bool clipPo
 
     pairOfPolygonFaces.first = polygonsTmp;
     pairOfPolygonFaces.second = roisPtTmp;
-  } else {
+    }
+  else {
     pairOfPolygonFaces.first = polygonsTmp;
     pairOfPolygonFaces.second = roisPtTmp;
   }
 
   return pairOfPolygonFaces;
-}
+  }
 
-/*!
-  Use Ogre3D for visibility tests
+  /*!
+    Use Ogre3D for visibility tests
 
-  \warning This function has to be called before the initialization of the
-  tracker.
+    \warning This function has to be called before the initialization of the
+    tracker.
 
-  \param v : True to use it, False otherwise
-*/
+    \param v : True to use it, False otherwise
+  */
 void vpMbTracker::setOgreVisibilityTest(const bool &v)
 {
   useOgre = v;
@@ -2673,8 +2727,8 @@ void vpMbTracker::setOgreVisibilityTest(const bool &v)
 #ifndef VISP_HAVE_OGRE
     useOgre = false;
     std::cout << "WARNING: ViSP doesn't have Ogre3D, basic visibility test "
-                 "will be used. setOgreVisibilityTest() set to false."
-              << std::endl;
+      "will be used. setOgreVisibilityTest() set to false."
+      << std::endl;
 #endif
   }
 }
@@ -2809,7 +2863,8 @@ void vpMbTracker::computeCovarianceMatrixVVS(const bool isoJoIdentity, const vpC
     // computation efficiency
     if (isoJoIdentity) {
       covarianceMatrix = vpMatrix::computeCovarianceMatrixVVS(cMoPrev, error, L_true, D);
-    } else {
+    }
+    else {
       covarianceMatrix = vpMatrix::computeCovarianceMatrixVVS(cMoPrev, error, LVJ_true, D);
     }
   }
@@ -2890,7 +2945,8 @@ void vpMbTracker::computeVVSPoseEstimation(const bool isoJoIdentity, unsigned in
       v = -m_lambda * LTL.pseudoInverse(LTL.getRows() * std::numeric_limits<double>::epsilon()) * LTR;
       break;
     }
-  } else {
+  }
+  else {
     vpVelocityTwistMatrix cVo;
     cVo.buildFrom(m_cMo);
     vpMatrix LVJ = (L * (cVo * oJo));
@@ -2971,7 +3027,8 @@ void vpMbTracker::setEstimatedDoF(const vpColVector &v)
       // if(v[i] != 0){
       if (std::fabs(v[i]) > std::numeric_limits<double>::epsilon()) {
         oJo[i][i] = 1.0;
-      } else {
+      }
+      else {
         oJo[i][i] = 0.0;
         m_isoJoIdentity = false;
       }
@@ -3326,7 +3383,7 @@ void vpMbTracker::addProjectionErrorCircle(const vpPoint &P1, const vpPoint &P2,
     if ((samePoint(*(ci->p1), P1) && samePoint(*(ci->p2), P2) && samePoint(*(ci->p3), P3)) ||
         (samePoint(*(ci->p1), P1) && samePoint(*(ci->p2), P3) && samePoint(*(ci->p3), P2))) {
       already_here =
-          (std::fabs(ci->radius - r) < std::numeric_limits<double>::epsilon() * vpMath::maximum(ci->radius, r));
+        (std::fabs(ci->radius - r) < std::numeric_limits<double>::epsilon() * vpMath::maximum(ci->radius, r));
     }
   }
 
@@ -3357,7 +3414,7 @@ void vpMbTracker::addProjectionErrorCylinder(const vpPoint &P1, const vpPoint &P
     if ((samePoint(*(cy->p1), P1) && samePoint(*(cy->p2), P2)) ||
         (samePoint(*(cy->p1), P2) && samePoint(*(cy->p2), P1))) {
       already_here =
-          (std::fabs(cy->radius - r) < std::numeric_limits<double>::epsilon() * vpMath::maximum(cy->radius, r));
+        (std::fabs(cy->radius - r) < std::numeric_limits<double>::epsilon() * vpMath::maximum(cy->radius, r));
     }
   }
 
@@ -3513,8 +3570,8 @@ double vpMbTracker::computeProjectionErrorImpl(const vpImage<unsigned char> &I,
           nbFeatures += lineNbFeatures;
         }
       }
-    }
-  }
+        }
+      }
 
   for (std::vector<vpMbtDistanceCylinder *>::const_iterator it = m_projectionErrorCylinders.begin();
        it != m_projectionErrorCylinders.end(); ++it) {
@@ -3557,7 +3614,7 @@ double vpMbTracker::computeProjectionErrorImpl(const vpImage<unsigned char> &I,
   }
 
   return totalProjectionError;
-}
+    }
 
 void vpMbTracker::projectionErrorVisibleFace(unsigned int width, unsigned int height, const vpHomogeneousMatrix &_cMo)
 {
@@ -3566,7 +3623,8 @@ void vpMbTracker::projectionErrorVisibleFace(unsigned int width, unsigned int he
   if (!useOgre) {
     m_projectionErrorFaces.setVisible(width, height, m_projectionErrorCam, _cMo, angleAppears, angleDisappears,
                                       changed);
-  } else {
+  }
+  else {
 #ifdef VISP_HAVE_OGRE
     m_projectionErrorFaces.setVisibleOgre(width, height, m_projectionErrorCam, _cMo, angleAppears, angleDisappears,
                                           changed);
@@ -3648,7 +3706,8 @@ void vpMbTracker::projectionErrorInitMovingEdge(const vpImage<unsigned char> &I,
       l->updateTracked();
       if (l->meline.empty() && l->isTracked())
         l->initMovingEdge(I, _cMo, doNotTrack, m_mask);
-    } else {
+    }
+    else {
       l->setVisible(false);
       for (size_t a = 0; a < l->meline.size(); a++) {
         if (l->meline[a] != NULL)
@@ -3683,7 +3742,8 @@ void vpMbTracker::projectionErrorInitMovingEdge(const vpImage<unsigned char> &I,
         if (cy->isTracked())
           cy->initMovingEdge(I, _cMo, doNotTrack, m_mask);
       }
-    } else {
+    }
+    else {
       cy->setVisible(false);
       if (cy->meline1 != NULL)
         delete cy->meline1;
@@ -3716,7 +3776,8 @@ void vpMbTracker::projectionErrorInitMovingEdge(const vpImage<unsigned char> &I,
         if (ci->isTracked())
           ci->initMovingEdge(I, _cMo, doNotTrack, m_mask);
       }
-    } else {
+    }
+    else {
       ci->setVisible(false);
       if (ci->meEllipse != NULL)
         delete ci->meEllipse;
@@ -3738,7 +3799,8 @@ void vpMbTracker::loadConfigFile(const std::string &configFile, bool verbose)
       std::cout << " *********** Parsing XML for ME projection error ************ " << std::endl;
     }
     xmlp.parse(configFile);
-  } catch (...) {
+  }
+  catch (...) {
     throw vpException(vpException::ioError, "Cannot open XML file \"%s\"", configFile.c_str());
   }
 
@@ -3791,4 +3853,18 @@ void vpMbTracker::setProjectionErrorKernelSize(const unsigned int &size)
 
   m_SobelY.resize(size * 2 + 1, size * 2 + 1, false, false);
   vpImageFilter::getSobelKernelY(m_SobelY.data, size);
+
+  // // TODO:
+  // m_SobelX[0][0] = 3;   m_SobelX[0][1] = 10;   m_SobelX[0][2] = 3;
+  // m_SobelX[1][0] = 0;   m_SobelX[1][1] = 0;    m_SobelX[1][2] = 0;
+  // m_SobelX[2][0] = -3;  m_SobelX[2][1] = -10;  m_SobelX[2][2] = -3;
+
+  // m_SobelY[0][0] = 3;   m_SobelY[0][1] = 0;    m_SobelY[0][2] = -3;
+  // m_SobelY[1][0] = 10;  m_SobelY[1][1] = 0;    m_SobelY[1][2] = -10;
+  // m_SobelY[2][0] = 3;   m_SobelY[2][1] = 0;    m_SobelY[2][2] = -3;
+
+  // TODO:
+  std::cout << "---------------------" << std::endl;
+  std::cout << "m_SobelX:\n" << m_SobelX << std::endl;
+  std::cout << "m_SobelY:\n" << m_SobelY << std::endl;
 }
diff --git a/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp b/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp
index 0f7254be5a..9b085c92ab 100644
--- a/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp
+++ b/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp
@@ -9,9 +9,56 @@
 //! [Include]
 #include <visp3/io/vpVideoReader.h>
 #include <visp3/io/vpVideoWriter.h>
+// TODO:
+#include <visp3/core/vpImageFilter.h>
 
 int main(int argc, char **argv)
 {
+  {
+    vpRxyzVector workbench_rpy_vispa1(-1.028722, -0.249099, -2.752058);
+    vpHomogeneousMatrix workbench_T_vispa1(vpTranslationVector(-1.322705, 0.270946, 0.595833), vpRotationMatrix(workbench_rpy_vispa1));
+    vpHomogeneousMatrix vispa1_T_workbench = workbench_T_vispa1.inverse();
+    vpRxyzVector vispa1_rpy_workbench(vispa1_T_workbench.getRotationMatrix());
+
+    std::cout << "vispa1_t_workbench=\n" << vispa1_T_workbench.getTranslationVector() << std::endl;
+    std::cout << "vispa1_rpy_workbench=\n" << vispa1_rpy_workbench << std::endl;
+  }
+  {
+    vpRzyxVector workbench_rpy_vispa1(-1.028722, -0.249099, -2.752058);
+    vpHomogeneousMatrix workbench_T_vispa1(vpTranslationVector(-1.322705, 0.270946, 0.595833), vpRotationMatrix(workbench_rpy_vispa1));
+    vpHomogeneousMatrix vispa1_T_workbench = workbench_T_vispa1.inverse();
+    vpRzyxVector vispa1_rpy_workbench(vispa1_T_workbench.getRotationMatrix());
+
+    std::cout << "\n\nvispa1_t_workbench=\n" << vispa1_T_workbench.getTranslationVector() << std::endl;
+    std::cout << "vispa1_rpy_workbench=\n" << vispa1_rpy_workbench << std::endl;
+  }
+  // {
+  //   vpRzyxVector base_link_rpy_vispa1(-1.028722, -0.249099, -2.752058);
+  //   vpHomogeneousMatrix base_link_T_vispa1(vpTranslationVector(-1.322705, 0.270946, 0.595833), vpRotationMatrix(base_link_rpy_vispa1));
+  //   vpHomogeneousMatrix vispa1_T_base_link = base_link_T_vispa1.inverse();
+  //   vpRxyzVector vispa1_rpy_base_link(vispa1_T_base_link.getRotationMatrix());
+
+  //   std::cout << "\n\nvispa1_t_base_link=\n" << vispa1_T_base_link.getTranslationVector() << std::endl;
+  //   std::cout << "vispa1_rpy_base_link=\n" << vispa1_rpy_base_link << std::endl;
+  // }
+  {
+    // vpRxyzVector workbench_rpy_vispa1(-1.028722, -0.249099, -2.752058);
+    vpQuaternionVector workbench_rpy_vispa1(0.0116296, -0.4998696, -0.8357015, 0.2271524);
+    vpHomogeneousMatrix workbench_T_vispa1(vpTranslationVector(-1.322705, 0.270946, 0.595833), vpRotationMatrix(workbench_rpy_vispa1));
+    vpHomogeneousMatrix base_T_workbench = workbench_T_vispa1.inverse();
+
+    std::cout << "\n\nbase_T_workbench=\n" << base_T_workbench.getTranslationVector() << std::endl;
+    vpQuaternionVector base_q_workbench(base_T_workbench.getRotationMatrix());
+    std::cout << "base_q(x, y, z, w)_workbench=\n"
+      << base_q_workbench.x() << "\n"
+      << base_q_workbench.y() << "\n"
+      << base_q_workbench.z() << "\n"
+      << base_q_workbench.w() << std::endl;
+  }
+
+
+// TODO: 2024-02-20
+#if 0
 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_VIDEOIO) && defined(HAVE_OPENCV_HIGHGUI)
   std::string opt_videoname = "model/teabox/teabox.mp4";
   std::string opt_modelname = "model/teabox/teabox.cao";
@@ -304,6 +351,12 @@ int main(int argc, char **argv)
       //! [Set parameters]
     }
 
+    // TODO:
+    tracker.setProjectionErrorDisplay(true);
+    tracker.setProjectionErrorKernelSize(1);
+    vpImage<unsigned char> I_gauss;
+    cv::Mat1b img, img_gauss;
+
     //! [Set visibility parameters]
     //! [Set ogre visibility]
     tracker.setOgreVisibilityTest(false);
@@ -388,7 +441,13 @@ int main(int argc, char **argv)
         }
       }
       {
-        double proj_error = tracker.computeCurrentProjectionError(I, cMo, cam);
+        // TODO:
+        // double proj_error = tracker.computeCurrentProjectionError(I, cMo, cam);
+        // vpImageFilter::gaussianBlur(I, I_gauss);
+        vpImageConvert::convert(I, img);
+        cv::GaussianBlur(img, img_gauss, cv::Size(5, 5), 0);
+        vpImageConvert::convert(img_gauss, I_gauss);
+        double proj_error = tracker.computeCurrentProjectionError(I_gauss, cMo, cam);
         std::stringstream ss;
         ss << "Projection error: " << std::setprecision(2) << proj_error << " deg";
         vpDisplay::displayText(I, 80 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
@@ -439,6 +498,7 @@ int main(int argc, char **argv)
   (void)argc;
   (void)argv;
   std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
+#endif
 #endif
   return EXIT_SUCCESS;
 }