diff --git a/ChangeLog.txt b/ChangeLog.txt
index 6af835006b..281b973c9a 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -62,6 +62,12 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-hsv-segmentation-pcl.html
     . New tutorial: Rendering a 3D scene with Panda3D
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-panda3d.html
+    . New tutorial: Using Unscented Kalman Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-ukf.html
+    . New tutorial: Using Particle Filter to filter your data
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf.html
+    . New tutorial: Using Particle Filter to model a wire using polynomial interpolation
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf-curve-fitting.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17
diff --git a/doc/tutorial/misc/tutorial-pf-curve-fitting.dox b/doc/tutorial/misc/tutorial-pf-curve-fitting.dox
index 82a77a20fa..6837047503 100644
--- a/doc/tutorial/misc/tutorial-pf-curve-fitting.dox
+++ b/doc/tutorial/misc/tutorial-pf-curve-fitting.dox
@@ -1,10 +1,10 @@
 /**
-  \page tutorial-pf-curve-fitting Tutorial: Using Particle Filter to model a wire using polynomial interpolation.
+  \page tutorial-pf-curve-fitting Tutorial: Using Particle Filter to model a wire using polynomial interpolation
   \tableofcontents
 
 \section tuto-pf-cf-intro Introduction
 
-We suppose that you are already familiar with the \ref tutorial-pf .
+We suppose that you are already familiar with the \ref tutorial-pf.
 
 The Particle Filters (PF) are a set of Monte Carlo algorithms that
 permit to approximate solutions for filtering problems even when
diff --git a/doc/tutorial/misc/tutorial-pf.dox b/doc/tutorial/misc/tutorial-pf.dox
index d31db1bb34..a8f275b0c0 100644
--- a/doc/tutorial/misc/tutorial-pf.dox
+++ b/doc/tutorial/misc/tutorial-pf.dox
@@ -4,13 +4,13 @@
 
 \section tuto-pf-intro Introduction
 
-We suppose that you are already familiar with the \ref tutorial-ukf .
+We suppose that you are already familiar with the \ref tutorial-ukf.
 
 The Particle Filters (PF) are a set of Monte Carlo algorithms that
 permit to approximate solutions for filtering problems even when
 the state-space and/or measurement space are non-linear.
 
-In this tutorial, we will use a PF on the same use-case than presented in \ref tutorial-ukf . The PF is used to
+In this tutorial, we will use a PF on the same use-case than presented in \ref tutorial-ukf. The PF is used to
 filter the 3D position of a simulated object, which revolves in a plane parallel
 to the ground around a static point, which is the origin of the world frame \f$ {F}_W \f$. The coordinate frame
 attached to the object is denoted \f$ {F}_O \f$. The object is observed by a static camera whose coordinate
@@ -426,5 +426,5 @@ Finally, we update the renderer that displays the projection in the image of the
 The program stops once the `Return` key is pressed.
 
 \section tuto-pf_next Next tutorial
-You are now ready to see the next \ref tutorial-pf-curve-fitting .
+You are now ready to see the next \ref tutorial-pf-curve-fitting.
 */
diff --git a/doc/tutorial/misc/tutorial-ukf.dox b/doc/tutorial/misc/tutorial-ukf.dox
index bd4b24a540..7297c2a859 100644
--- a/doc/tutorial/misc/tutorial-ukf.dox
+++ b/doc/tutorial/misc/tutorial-ukf.dox
@@ -426,15 +426,9 @@ Finally, we update the renderer that displays the projection in the image of the
 
 \snippet tutorial-ukf.cpp Update_renderer
 
-\subsubsection tuto-ukf-tutorial-explained-cleaning Details on the cleaning at the end of the program
-
-Finally, we clean the allocated memory for the renderer:
-
-\snippet tutorial-ukf.cpp Delete_renderer
-
 The program stops once the `Return` key is pressed.
 
 \section tuto-ukf_next Next tutorial
-You are now ready to see the next \ref tutorial-pf .
+You are now ready to see the next \ref tutorial-pf.
 
 */
diff --git a/modules/core/include/visp3/core/vpCannyEdgeDetection.h b/modules/core/include/visp3/core/vpCannyEdgeDetection.h
index 0b89b43978..e70360f40e 100644
--- a/modules/core/include/visp3/core/vpCannyEdgeDetection.h
+++ b/modules/core/include/visp3/core/vpCannyEdgeDetection.h
@@ -81,7 +81,8 @@ class VISP_EXPORT vpCannyEdgeDetection
    * upper threshold.
    * \param[in] filteringType : The filtering and gradient operators to apply to the image before the edge detection
    * operation.
-   * \param[in] storeEdgePoints : If true, the list of edge-points will be available using \b vpCannyEdgeDetection::getEdgePointsList .
+   * \param[in] storeEdgePoints : If true, the list of edge-points will be available using
+   * \b vpCannyEdgeDetection::getEdgePointsList().
    */
   vpCannyEdgeDetection(const int &gaussianKernelSize, const float &gaussianStdev, const unsigned int &sobelAperture,
                        const float &lowerThreshold = -1.f, const float &upperThreshold = -1.f,
@@ -261,7 +262,7 @@ class VISP_EXPORT vpCannyEdgeDetection
 
   /**
    * \brief If set to true, the list of the detected edge-points will be available
-   * calling the method \b vpCannyEdgeDetection::getEdgePointsList .
+   * calling the method \b vpCannyEdgeDetection::getEdgePointsList().
    *
    * \param[in] storeEdgePoints The new desired status.
    */
diff --git a/modules/core/include/visp3/core/vpUniRand.h b/modules/core/include/visp3/core/vpUniRand.h
index 14272718e4..7d09b87970 100644
--- a/modules/core/include/visp3/core/vpUniRand.h
+++ b/modules/core/include/visp3/core/vpUniRand.h
@@ -138,12 +138,13 @@ class VISP_EXPORT vpUniRand
   void setSeed(uint64_t initstate, uint64_t initseq);
 
   /**
- * @brief Create a new vector that is a shuffled version of the \b inputVector.
- *
- * @tparam T : A class that possesses a copy constructor.
- * @param inputVector : The input vector that must be shuffled. It will not be modified.
- * @return std::vector<T> A vector containing the same objects than \b inputVector, but that are shuffled.
- */
+   * @brief Create a new vector that is a shuffled version of the \b inputVector.
+   *
+   * @tparam T : A class that possesses a copy constructor.
+   * @param inputVector : The input vector that must be shuffled. It will not be modified.
+   * @param seed : The seed value.
+   * @return std::vector<T> A vector containing the same objects than \b inputVector, but that are shuffled.
+   */
   template<typename T>
   inline static std::vector<T> shuffleVector(const std::vector<T> &inputVector, const int32_t &seed = -1)
   {
diff --git a/modules/core/test/math/testParticleFilter.cpp b/modules/core/test/math/testParticleFilter.cpp
index 09be846b5e..c0c7bec11e 100644
--- a/modules/core/test/math/testParticleFilter.cpp
+++ b/modules/core/test/math/testParticleFilter.cpp
@@ -215,8 +215,8 @@ class vpParabolaModel
  * \brief Compute the coefficients of the 2nd degree curve for the simulated data.
  * The polynomial is written as y = a x^2 + b x + c.
  *
- * \param[in] x0 Horizontal coordinate of the inflexion point.
- * \param[in] y0 Vertical coordinate of the inflexion point.
+ * \param[in] x0 Horizontal coordinate of the inflection point.
+ * \param[in] y0 Vertical coordinate of the inflection point.
  * \param[in] x1 Horizontal coordinate of another point of the curve.
  * \param[in] y1 Vertical coordinate of another point of the curve.
  * \return vpColVector The coefficients such as v[0] = c ; v[1] = b ; v[2] = a
@@ -233,8 +233,8 @@ vpColVector computeABC(const double &x0, const double &y0, const double &x1, con
  * \brief Compute the coefficients of the 2nd degree curve for the simulated data.
  * The polynomial is written as y = a x^3 + b x^2 + c x + d.
  *
- * \param[in] x0 Horizontal coordinate of the inflexion point.
- * \param[in] y0 Vertical coordinate of the inflexion point.
+ * \param[in] x0 Horizontal coordinate of the inflection point.
+ * \param[in] y0 Vertical coordinate of the inflection point.
  * \param[in] x1 Horizontal coordinate of another point of the curve.
  * \param[in] y1 Vertical coordinate of another point of the curve.
  * \return vpColVector The coefficients such as v[0] = d ; v[1] = c ; v[2] = b ; v[3] = a
@@ -478,7 +478,7 @@ TEST_CASE("2nd-degree", "[vpParticleFilter][Polynomial interpolation]")
   /// ----- PF parameters -----
   // The maximum amplitude for the likelihood compute.
   // A particle whose "distance" with the measurements is greater than this value has a likelihood of 0
-  const double ampliMaxLikelihood = 15.;
+  const double ampliMaxLikelihood = 16.;
   const double sigmaLikelihood = ampliMaxLikelihood / 3.; //:< The corresponding standard deviation
   const unsigned int nbParticles = 300; //!< Number of particles used by the particle filter
   const double ratioAmpliMax(0.25); //!< Ratio of the initial guess values to use to add noise to the PF state
@@ -565,7 +565,7 @@ TEST_CASE("2nd-degree", "[vpParticleFilter][Polynomial interpolation]")
 
   SECTION("Noisy", "Noise is added to the init points")
   {
-    const double maxToleratedError = 10.;
+    const double maxToleratedError = 12.;
     double x0 = rngCurvePoints.uniform(0., width);
     double x1 = rngCurvePoints.uniform(0., width);
     double y0 = rngCurvePoints.uniform(0., height);
@@ -752,7 +752,7 @@ TEST_CASE("3rd-degree", "[vpParticleFilter][Polynomial interpolation]")
 
   SECTION("Noisy", "Noise is added to the init points")
   {
-    const double maxToleratedError = 15.;
+    const double maxToleratedError = 16.;
     double x0 = rngCurvePoints.uniform(0., width);
     double x1 = rngCurvePoints.uniform(0., width);
     double y0 = rngCurvePoints.uniform(0., height);
diff --git a/modules/gui/include/visp3/gui/vpDisplayFactory.h b/modules/gui/include/visp3/gui/vpDisplayFactory.h
index 052db7aefd..a43322fefa 100644
--- a/modules/gui/include/visp3/gui/vpDisplayFactory.h
+++ b/modules/gui/include/visp3/gui/vpDisplayFactory.h
@@ -214,9 +214,9 @@ struct GridSettings
 };
 
 inline void makeDisplayGridHelper(std::vector<std::shared_ptr<vpDisplay>> &res, const GridSettings &settings,
-                           unsigned int currRow, unsigned int currCol,
-                           unsigned int currentPixelX, unsigned int currentPixelY,
-                           unsigned int maxRowHeightPixel)
+                                  unsigned int currRow, unsigned int currCol,
+                                  unsigned int currentPixelX, unsigned int currentPixelY,
+                                  unsigned int maxRowHeightPixel)
 {
   if (currRow != (settings.rows - 1)  && (currCol != settings.cols - 1)) {
     throw vpException(vpException::dimensionError, "Too few images for the grid size");
diff --git a/tutorial/image/tutorial-canny.cpp b/tutorial/image/tutorial-canny.cpp
index 586fdf3b59..2ea2f73fac 100644
--- a/tutorial/image/tutorial-canny.cpp
+++ b/tutorial/image/tutorial-canny.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-canny.cpp
 
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.h b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.h
index 7c3abf2c58..323fd65e0c 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.h
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <Foundation/Foundation.h>
 #import <UIKit/UIKit.h>
@@ -41,12 +39,11 @@
 
 @interface ImageConversion : NSObject
 
-+ (vpImage<vpRGBa>)vpImageColorFromUIImage:(UIImage *)image;
-+ (vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
-+ (UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
-+ (UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
++ (vpImage<vpRGBa>)vpImageColorFromUIImage : (UIImage *)image;
++(vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
++(UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
++(UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
 
 @end
 
 #endif
-
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.mm b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.mm
index 3eab39980f..8d55fdce28 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.mm
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageConversion.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.h b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.h
index 30cc1f2328..de0c09a37b 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.h
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <UIKit/UIKit.h>
 #ifdef __cplusplus
@@ -41,11 +39,10 @@
 
 @interface ImageDisplay : NSObject
 
-+ (UIImage *)displayLine:(UIImage *)image :(vpImagePoint &)ip1 :(vpImagePoint &)ip2 :(UIColor*)color :(int)tickness;
-+ (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(const vpCameraParameters &)cam
-                         :(double) size :(int)tickness;
++ (UIImage *)displayLine : (UIImage *)image : (vpImagePoint &)ip1 : (vpImagePoint &)ip2 : (UIColor *)color : (int)tickness;
++(UIImage *)displayFrame:(UIImage *)image : (const vpHomogeneousMatrix &)cMo : (const vpCameraParameters &)cam
+  : (double)size : (int)tickness;
 
 @end
 
 #endif
-
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.mm b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.mm
index 1b3a369ea4..f94cc3b5be 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.mm
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
@@ -137,4 +135,3 @@ + (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(c
 @end
 
 #endif
-
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h
index 1b41a85db4..361847e95d 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <UIKit/UIKit.h>
 #ifdef __cplusplus
@@ -39,13 +37,13 @@
 
 NS_ASSUME_NONnullptr_BEGIN
 
-@interface ImageDisplay (withContext)
+@interface ImageDisplay(withContext)
 
-+ (void)displayLineWithContext:(CGContextRef)context :(std::vector<vpImagePoint>)polygon :(UIColor*)color :(int)tickness;
++ (void)displayLineWithContext :(CGContextRef)context : (std::vector<vpImagePoint>)polygon : (UIColor *)color : (int)tickness;
 
-+ (void)displayFrameWithContext:(CGContextRef)context :(const vpHomogeneousMatrix &)cMo :(const vpCameraParameters &)cam :(double) size :(int)tickness;
++(void)displayFrameWithContext:(CGContextRef)context : (const vpHomogeneousMatrix &)cMo : (const vpCameraParameters &)cam : (double)size : (int)tickness;
 
-+ (void)displayText:(NSString*)text :(double)x :(double)y :(int)width :(int)height :(UIColor*)color :(UIColor*)bgColor;
++(void)displayText:(NSString *)text : (double)x : (double)y : (int)width : (int)height : (UIColor *)color : (UIColor *)bgColor;
 
 @end
 
diff --git a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.mm b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.mm
index 9c1dc3b57a..151955c4b8 100644
--- a/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.mm
+++ b/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * This file is part of the ViSP software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import "ImageDisplayWithContext.h"
 
diff --git a/tutorial/ios/GettingStarted/GettingStarted/ViewController.mm b/tutorial/ios/GettingStarted/GettingStarted/ViewController.mm
index 1a390eae40..c59cd350c4 100644
--- a/tutorial/ios/GettingStarted/GettingStarted/ViewController.mm
+++ b/tutorial/ios/GettingStarted/GettingStarted/ViewController.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
@@ -113,4 +111,3 @@ - (void)didReceiveMemoryWarning {
 @end
 
 #endif
-
diff --git a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.h b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.h
index 9767439702..7514db6c0d 100644
--- a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.h
+++ b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <Foundation/Foundation.h>
 #import <UIKit/UIKit.h>
@@ -41,12 +39,11 @@
 
 @interface ImageConversion : NSObject
 
-+ (vpImage<vpRGBa>)vpImageColorFromUIImage:(UIImage *)image;
-+ (vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
-+ (UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
-+ (UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
++ (vpImage<vpRGBa>)vpImageColorFromUIImage : (UIImage *)image;
++(vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
++(UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
++(UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
 
 @end
 
 #endif
-
diff --git a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.mm b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.mm
index 156710a531..431348b513 100644
--- a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.mm
+++ b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageConversion.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
diff --git a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.h b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.h
index b552c513ec..657250a336 100644
--- a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.h
+++ b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <UIKit/UIKit.h>
 #ifdef __cplusplus
@@ -39,11 +37,10 @@
 
 @interface ImageDisplay : NSObject
 
-+ (UIImage *)displayLine:(UIImage *)image :(vpImagePoint &)ip1 :(vpImagePoint &)ip2 :(UIColor*)color :(int)tickness;
-+ (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(const vpCameraParameters &)cam
-                         :(double) size :(int)tickness;
++ (UIImage *)displayLine : (UIImage *)image : (vpImagePoint &)ip1 : (vpImagePoint &)ip2 : (UIColor *)color : (int)tickness;
++(UIImage *)displayFrame:(UIImage *)image : (const vpHomogeneousMatrix &)cMo : (const vpCameraParameters &)cam
+  : (double)size : (int)tickness;
 
 @end
 
 #endif
-
diff --git a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.mm b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.mm
index 1b3a369ea4..f94cc3b5be 100644
--- a/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.mm
+++ b/tutorial/ios/StartedAprilTag/StartedAprilTag/ImageDisplay.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
@@ -137,4 +135,3 @@ + (UIImage *)displayFrame:(UIImage *)image :(const vpHomogeneousMatrix &)cMo :(c
 @end
 
 #endif
-
diff --git a/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.h b/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.h
index 9767439702..7514db6c0d 100644
--- a/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.h
+++ b/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #import <Foundation/Foundation.h>
 #import <UIKit/UIKit.h>
@@ -41,12 +39,11 @@
 
 @interface ImageConversion : NSObject
 
-+ (vpImage<vpRGBa>)vpImageColorFromUIImage:(UIImage *)image;
-+ (vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
-+ (UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
-+ (UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
++ (vpImage<vpRGBa>)vpImageColorFromUIImage : (UIImage *)image;
++(vpImage<unsigned char>)vpImageGrayFromUIImage:(UIImage *)image;
++(UIImage *)UIImageFromVpImageColor:(const vpImage<vpRGBa> &)I;
++(UIImage *)UIImageFromVpImageGray:(const vpImage<unsigned char> &)I;
 
 @end
 
 #endif
-
diff --git a/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.mm b/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.mm
index 156710a531..431348b513 100644
--- a/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.mm
+++ b/tutorial/ios/StartedImageProc/StartedImageProc/ImageConversion.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
diff --git a/tutorial/ios/StartedImageProc/StartedImageProc/ViewController.mm b/tutorial/ios/StartedImageProc/StartedImageProc/ViewController.mm
index 07b7544acf..39d850872d 100644
--- a/tutorial/ios/StartedImageProc/StartedImageProc/ViewController.mm
+++ b/tutorial/ios/StartedImageProc/StartedImageProc/ViewController.mm
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
diff --git a/tutorial/kalman/tutorial-ukf.cpp b/tutorial/kalman/tutorial-ukf.cpp
index 8bcfa470f6..318c53fd83 100644
--- a/tutorial/kalman/tutorial-ukf.cpp
+++ b/tutorial/kalman/tutorial-ukf.cpp
@@ -39,11 +39,7 @@
 //! [Display_includes]
 #ifdef VISP_HAVE_DISPLAY
 #include <visp3/gui/vpPlot.h>
-#include <visp3/gui/vpDisplayD3D.h>
-#include <visp3/gui/vpDisplayGDI.h>
-#include <visp3/gui/vpDisplayGTK.h>
-#include <visp3/gui/vpDisplayOpenCV.h>
-#include <visp3/gui/vpDisplayX.h>
+#include <visp3/gui/vpDisplayFactory.h>
 #endif
 //! [Display_includes]
 #include <visp3/vision/vpPose.h>
@@ -263,10 +259,12 @@ int main(/*const int argc, const char *argv[]*/)
   const double radius = 0.25; // Radius of revolution of 0.25m
   const double w = 2 * M_PI * 10; // Pulsation of the motion of revolution
   const double phi = 2; // Phase of the motion of revolution
-  const std::vector<vpColVector> markers = { vpColVector({-0.05, 0.05, 0., 1.})
-                                           , vpColVector({0.05, 0.05, 0., 1.})
-                                           , vpColVector({0.05, -0.05, 0., 1.})
-                                           , vpColVector({-0.05, -0.05, 0., 1.}) }; // Vector of the markers sticked on the object
+
+  // Vector of the markers sticked on the object
+  const std::vector<vpColVector> markers = { vpColVector({-0.05, 0.05, 0., 1.}),
+                                             vpColVector({0.05, 0.05, 0., 1.}),
+                                             vpColVector({0.05, -0.05, 0., 1.}),
+                                             vpColVector({-0.05, -0.05, 0., 1.}) };
   const unsigned int nbMarkers = static_cast<unsigned int>(markers.size());
   std::vector<vpPoint> markersAsVpPoint;
   for (unsigned int i = 0; i < nbMarkers; ++i) {
@@ -370,22 +368,8 @@ int main(/*const int argc, const char *argv[]*/)
   // Depending on the detected third party libraries, we instantiate here the
   // first video device which is available
 #ifdef VISP_HAVE_DISPLAY
-  vpDisplay *d = nullptr;
-#if defined(VISP_HAVE_X11)
-  d = new vpDisplayX;
-#elif defined(VISP_HAVE_GTK)
-  d = new vpDisplayGTK;
-#elif defined(VISP_HAVE_GDI)
-  d = new vpDisplayGDI;
-#elif defined(VISP_HAVE_D3D9)
-  d = new vpDisplayD3D;
-#elif defined(HAVE_OPENCV_HIGHGUI)
-  d = new vpDisplayOpenCV;
-#endif
-  vpImage<vpRGBa> Idisp(800, 800, vpRGBa(255));
-  if (d != nullptr) {
-    d->init(Idisp, 800, 50, "Projection of the markers");
-  }
+  vpImage<vpRGBa> Idisp(700, 700, vpRGBa(255));
+  std::shared_ptr<vpDisplay> d = vpDisplayFactory::createDisplay(Idisp, 800, -1, "Projection of the markers");
 #endif
   //! [Init_renderer]
 
@@ -475,14 +459,6 @@ int main(/*const int argc, const char *argv[]*/)
   std::cout << "Press Enter to quit..." << std::endl;
   std::cin.get();
 
-  //! [Delete_renderer]
-  // Delete the renderer if it was allocated
-#ifdef VISP_HAVE_DISPLAY
-  if (d != nullptr) {
-    delete d;
-  }
-#endif
-//! [Delete_renderer]
   return 0;
 }
 #else
diff --git a/tutorial/mean-drift/tutorial-meandrift.cpp b/tutorial/mean-drift/tutorial-meandrift.cpp
index 6f75533925..9e457c151f 100644
--- a/tutorial/mean-drift/tutorial-meandrift.cpp
+++ b/tutorial/mean-drift/tutorial-meandrift.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-meandrift.cpp
 
diff --git a/tutorial/misc/npz/tutorial-npz.cpp b/tutorial/misc/npz/tutorial-npz.cpp
index 29957ee770..a8415cfa4d 100644
--- a/tutorial/misc/npz/tutorial-npz.cpp
+++ b/tutorial/misc/npz/tutorial-npz.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-npz.cpp
 
diff --git a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-all.cpp b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-all.cpp
index e6cc73930b..9528d18de5 100644
--- a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-all.cpp
+++ b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-all.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-pf-curve-fitting-all.cpp
 
diff --git a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-lms.cpp b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-lms.cpp
index e9fa415227..381256e595 100644
--- a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-lms.cpp
+++ b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-lms.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-pf-curve-fitting-lms.cpp
 
diff --git a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-pf.cpp b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-pf.cpp
index 1bc29b4cea..9f605abf89 100644
--- a/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-pf.cpp
+++ b/tutorial/particle-filter-curve-fitting/tutorial-pf-curve-fitting-pf.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 //! \example tutorial-pf-curve-fitting-pf.cpp
 
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoCommonData.h b/tutorial/particle-filter-curve-fitting/vpTutoCommonData.h
index a1f35a3d1a..f6d6757681 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoCommonData.h
+++ b/tutorial/particle-filter-curve-fitting/vpTutoCommonData.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 #ifndef VP_COMMMON_DATA_H
 #define VP_COMMMON_DATA_H
 #include <iostream>
@@ -293,7 +291,7 @@ typedef struct vpTutoCommonData
     m_IskeletonNoisy.resize(m_I_orig.getHeight(), m_I_orig.getWidth()); // Resize the edge-map.
 
     // Init the displays
-    const int horOffset = 20, vertOffset = 20;
+    const int horOffset = 20, vertOffset = 25;
     std::string skeletonTitle("Skeletonized image (");
     skeletonTitle += (m_ratioSaltPepperNoise == 0 ? "without" : std::to_string(static_cast<unsigned int>(m_ratioSaltPepperNoise * 100.)) + "%");
     skeletonTitle += " noise)";
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.cpp b/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.cpp
index 164bbf72af..a357909b52 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.cpp
+++ b/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #include "vpTutoMeanSquareFitting.h"
 
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.h b/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.h
index a68bd7c5b7..66b771ce83 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.h
+++ b/tutorial/particle-filter-curve-fitting/vpTutoMeanSquareFitting.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef VP_TUTO_MEAN_SQUARE_FITTING_H
 #define VP_TUTO_MEAN_SQUARE_FITTING_H
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoParabolaModel.h b/tutorial/particle-filter-curve-fitting/vpTutoParabolaModel.h
index a817911de5..ba71e2cf9f 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoParabolaModel.h
+++ b/tutorial/particle-filter-curve-fitting/vpTutoParabolaModel.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #ifndef VP_PARABOLA_MODEL_H
 #define VP_PARABOLA_MODEL_H
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.cpp b/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.cpp
index e869b7810b..d533494be3 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.cpp
+++ b/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 
 #include "vpTutoSegmentation.h"
 
diff --git a/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.h b/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.h
index 344d5c91dd..ce489fa734 100644
--- a/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.h
+++ b/tutorial/particle-filter-curve-fitting/vpTutoSegmentation.h
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
  *
@@ -27,8 +26,7 @@
  *
  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
-*****************************************************************************/
+ */
 #ifndef VP_TUTO_SEGMENTATION_H
 #define VP_TUTO_SEGMENTATION_H
 
diff --git a/tutorial/particle-filter/tutorial-pf.cpp b/tutorial/particle-filter/tutorial-pf.cpp
index 37656223f6..737ea9e21b 100644
--- a/tutorial/particle-filter/tutorial-pf.cpp
+++ b/tutorial/particle-filter/tutorial-pf.cpp
@@ -550,10 +550,12 @@ int main(const int argc, const char *argv[])
   const double radius = 0.25; // Radius of revolution of 0.25m
   const double w = 2 * M_PI * 10; // Pulsation of the motion of revolution
   const double phi = 2; // Phase of the motion of revolution
-  const std::vector<vpColVector> markers = { vpColVector({-0.05, 0.05, 0., 1.})
-                                           , vpColVector({0.05, 0.05, 0., 1.})
-                                           , vpColVector({0.05, -0.05, 0., 1.})
-                                           , vpColVector({-0.05, -0.05, 0., 1.}) }; // Vector of the markers sticked on the object
+
+  // Vector of the markers sticked on the object
+  const std::vector<vpColVector> markers = { vpColVector({-0.05, 0.05, 0., 1.}),
+                                             vpColVector({0.05, 0.05, 0., 1.}),
+                                             vpColVector({0.05, -0.05, 0., 1.}),
+                                             vpColVector({-0.05, -0.05, 0., 1.}) };
   const unsigned int nbMarkers = static_cast<unsigned int>(markers.size());
   std::vector<vpPoint> markersAsVpPoint;
   for (unsigned int i = 0; i < nbMarkers; ++i) {
@@ -604,9 +606,6 @@ int main(const int argc, const char *argv[])
   if (seedPF < 0) {
     seedPF = vpTime::measureTimeMicros();
   }
-  else {
-    seedPF = seedPF;
-  }
   //! [Constants_for_the_PF]
 
   // Object that converts the pose of the object into measurements
@@ -701,8 +700,8 @@ int main(const int argc, const char *argv[])
   // Depending on the detected third party libraries, we instantiate here the
   // first video device which is available
 #ifdef VISP_HAVE_DISPLAY
-  vpImage<vpRGBa> Idisp(800, 800, vpRGBa(255));
-  std::shared_ptr<vpDisplay> d = vpDisplayFactory::createDisplay(Idisp, 800, 50, "Projection of the markers");
+  vpImage<vpRGBa> Idisp(700, 700, vpRGBa(255));
+  std::shared_ptr<vpDisplay> d = vpDisplayFactory::createDisplay(Idisp, 800, -1, "Projection of the markers");
 #endif
   //! [Init_renderer]
 
diff --git a/tutorial/robot/flir-ptu/tutorial-flir-ptu-ibvs.cpp b/tutorial/robot/flir-ptu/tutorial-flir-ptu-ibvs.cpp
index b4d2699d27..13e89d0015 100644
--- a/tutorial/robot/flir-ptu/tutorial-flir-ptu-ibvs.cpp
+++ b/tutorial/robot/flir-ptu/tutorial-flir-ptu-ibvs.cpp
@@ -1,5 +1,4 @@
-/****************************************************************************
- *
+/*
  * ViSP, open source Visual Servoing Platform software.
  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
  *
@@ -32,8 +31,7 @@
  *   tests the control law
  *   eye-in-hand control
  *   velocity computed in the camera frame
- *
-*****************************************************************************/
+ */
 /*!
   \example tutorial-flir-ptu-ibvs.cpp