diff --git a/.github/workflows/macos-dep-src.yml b/.github/workflows/macos-dep-src.yml
new file mode 100644
index 0000000..bf234f8
--- /dev/null
+++ b/.github/workflows/macos-dep-src.yml
@@ -0,0 +1,65 @@
+name: MacOS-dep-src
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: '0 2 * * SUN'
+
+jobs:
+  build-macos-dep-sec:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [macos-11, macos-12.0]
+
+    steps:
+    # https://github.com/marketplace/actions/cancel-workflow-action
+    - name: Cancel Previous Runs
+      uses: styfle/cancel-workflow-action@0.9.1
+      with:
+        access_token: ${{ github.token }}
+
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    - name: Print system information
+      run: |
+        sysctl -a | grep machdep.cpu
+        sysctl -a | grep logical
+
+    - name: Print OS information
+      run: system_profiler SPSoftwareDataType
+
+    - name: Install dependencies
+      run: brew install libpng libjpeg libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
+
+    # Openblas location is exported explicitly because openblas is keg-only,
+    # which means it was not symlinked into /usr/local/.
+    # qt@5 is as a requested dependency for vtk and thus for pcl 1.13.0
+    # qt@5 is keg-only, which means it was not symlinked into /usr/local that's why we need to set Qt5_DIR
+    - name: Clone and configure ViSP
+      run: |
+        git clone --depth 1 https://github.com/lagadic/visp.git ${HOME}/visp
+        cd ${HOME}/visp
+        export LDFLAGS="-L/usr/local/opt/openblas/lib"
+        export CPPFLAGS="-I/usr/local/opt/openblas/include"
+        export Qt5_DIR="$(brew --prefix qt5)/lib/cmake/Qt5"
+        mkdir build && cd build
+        cmake .. -DQt5_DIR=$(brew --prefix qt5)/lib/cmake/Qt5 -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        cat ViSP-third-party.txt
+
+    - name: Build and install ViSP
+      run: |
+        cd ${HOME}/visp/build
+        make -j$(sysctl -n hw.logicalcpu) install
+        echo "VISP_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $VISP_DIR
+
+    - name: Configure CMake and build visp_sample
+      run: |
+        mkdir build && cd build
+        cmake .. -DCMAKE_BUILD_TYPE=Release
+        make -j$(sysctl -n hw.logicalcpu)
diff --git a/.github/workflows/ubuntu-dep-src.yml b/.github/workflows/ubuntu-dep-src.yml
new file mode 100644
index 0000000..8d3352a
--- /dev/null
+++ b/.github/workflows/ubuntu-dep-src.yml
@@ -0,0 +1,74 @@
+name: Ubuntu-dep-src
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: '0 2 * * SUN'
+
+jobs:
+  build-ubuntu-dep-src:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-22.04]
+
+    steps:
+    # https://github.com/marketplace/actions/cancel-workflow-action
+    - name: Cancel Previous Runs
+      uses: styfle/cancel-workflow-action@0.5.0
+      with:
+        access_token: ${{ github.token }}
+
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    - name: Print system information
+      run: lscpu
+
+    - name: Print OS information
+      run: lsb_release -a
+
+    - name: Install dependencies for ubuntu 18.04 and 20.04
+      if: matrix.os != 'ubuntu-22.04'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev libxml2-dev libpcl-dev nlohmann-json3-dev
+        sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+
+    - name: Install dependencies for ubuntu 22.04
+      if: matrix.os == 'ubuntu-22.04'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev libxml2-dev libpcl-dev nlohmann-json3-dev
+        sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+
+    - name: Build librealsense2 from source
+      run: |
+        pwd
+        git clone --depth 1 https://github.com/IntelRealSense/librealsense.git ${HOME}/librealsense
+        cd ${HOME}/librealsense
+        mkdir build && cd build && mkdir install
+        cmake .. -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        make -j$(nproc) install
+        echo "REALSENSE2_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $REALSENSE2_DIR
+
+    - name: Build ViSP from source
+      run: |
+        git clone --depth 1 https://github.com/lagadic/visp.git ${HOME}/visp
+        cd ${HOME}/visp
+        mkdir build && cd build && mkdir install
+        cmake .. -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        cat ViSP-third-party.txt
+        make -j$(nproc) install
+        echo "VISP_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $VISP_DIR
+
+    - name: Configure CMake and build visp_sample
+      run: |
+        mkdir build && cd build
+        cmake .. -DCMAKE_BUILD_TYPE=Release
+        make -j$(nproc)
diff --git a/.github/workflows/ubuntu-extra.yml b/.github/workflows/ubuntu-extra.yml
new file mode 100644
index 0000000..c51587f
--- /dev/null
+++ b/.github/workflows/ubuntu-extra.yml
@@ -0,0 +1,97 @@
+name: Ubuntu-extra
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: '0 2 * * SUN'
+
+jobs:
+  build-ubuntu-extra:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-22.04]
+
+    steps:
+    # https://github.com/marketplace/actions/cancel-workflow-action
+    - name: Cancel Previous Runs
+      uses: styfle/cancel-workflow-action@0.5.0
+      with:
+        access_token: ${{ github.token }}
+
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    - name: Print system information
+      run: lscpu
+
+    - name: Print OS information
+      run: lsb_release -a
+
+    - name: Install dependencies for ubuntu 18.04 and 20.04
+      if: matrix.os != 'ubuntu-22.04'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libdc1394-22-dev libv4l-dev gfortran liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev libxml2-dev libpcl-dev nlohmann-json3-dev
+        sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+
+    - name: Install dependencies for ubuntu 22.04
+      if: matrix.os == 'ubuntu-22.04'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev gfortran liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev libxml2-dev libpcl-dev nlohmann-json3-dev
+        sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+
+    - name: Build librealsense2 from source
+      run: |
+        pwd
+        git clone --depth 1 https://github.com/IntelRealSense/librealsense.git ${HOME}/librealsense
+        cd ${HOME}/librealsense
+        mkdir build && cd build && mkdir install
+        cmake .. -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        make -j$(nproc) install
+        echo "REALSENSE2_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $REALSENSE2_DIR
+
+    - name: Build ViSP from source
+      run: |
+        git clone --depth 1 https://github.com/lagadic/visp.git ${HOME}/visp
+        cd ${HOME}/visp
+        mkdir build && cd build && mkdir install
+        cmake .. -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        cat ViSP-third-party.txt
+        make -j$(nproc) install
+        echo "ViSP_WS=${HOME}" >> $GITHUB_ENV
+        echo $ViSP_WS
+
+    - name: Build visp_sample with ViSP from build tree
+      run: |
+        mkdir visp_sample-build && cd visp_sample-build
+        cmake .. -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=$ViSP_WS/visp/build
+        make -j$(nproc)
+
+    - name: Build visp_sample using visp-config from build tree
+      run: |
+        make -f Makefile.visp-config VISP_INSTALL_PREFIX=$ViSP_WS/visp/build
+        make -j$(nproc) -f Makefile.visp-config clean
+
+    - name: Build visp_sample with ViSP from install tree
+      run: |
+        mkdir visp_sample-build_2 && cd visp_sample-build_2
+        cmake .. -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=$ViSP_WS/visp/build/install/lib/cmake/visp
+        make -j$(nproc)
+
+    - name: Build visp_sample using visp.pc from install tree
+      run: |
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$ViSP_WS/visp/build/install/lib/pkgconfig
+        make -j$(nproc) -f Makefile.visp.pc
+        make -j$(nproc) -f Makefile.visp.pc clean
+
+    - name: Build visp_sample using visp-config from install tree
+      run: |
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$ViSP_WS/visp/build/install/lib/pkgconfig
+        make -j$(nproc) -f Makefile.visp-config VISP_INSTALL_PREFIX=$ViSP_WS/visp/build/install
+        make -j$(nproc) -f Makefile.visp-config clean
diff --git a/Makefile.visp-config b/Makefile.visp-config
index 9577cf5..ff4a66b 100644
--- a/Makefile.visp-config
+++ b/Makefile.visp-config
@@ -1,7 +1,6 @@
-#CXX            = g++
-VISP_BUILD_DIR = /tmp/usr/local
-VISP_CFLAGS    = `$(VISP_BUILD_DIR)/bin/visp-config --cflags`
-VISP_LDFLAGS   = `$(VISP_BUILD_DIR)/bin/visp-config --libs`
+CXX            = g++
+VISP_CFLAGS    = `$(VISP_INSTALL_PREFIX)/bin/visp-config --cflags`
+VISP_LDFLAGS   = `$(VISP_INSTALL_PREFIX)/bin/visp-config --libs`
 
 SOURCES=$(shell find . -name "sample*.cpp")
 TARGETS=$(SOURCES:%.cpp=%)
diff --git a/README.md b/README.md
index 4b5ff40..3b7e38d 100644
--- a/README.md
+++ b/README.md
@@ -2,14 +2,51 @@
 
 ViSP sample code used as code snippet in ViSP doxygen [documentation](https://visp-doc.inria.fr/doxygen/visp-daily/index.html).
 
+This project uses [ViSP](https://github.com/lagadic/visp) that needs to be build with the following as 3rd-parties:
+- OpenCV
+- librealsense
+- libxml2
+- PCL
 
-This project uses [ViSP](https://github.com/lagadic/visp) as 3rd-party.
+## 1. Prerequisities
 
-## Build visp_sample with ViSP build tree
+### 1.1. Install required 3rd parties
+
+- On ubuntu
+
+  - Install required packages:
+
+    ```
+    $ sudo apt-get update
+    $ sudo apt-get install pkg-config libopencv-dev libxml2-dev libpcl-dev
+    ```
+
+  - Install librealsense from source following these [instructions](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-ubuntu.html#install_ubuntu_3rdparty_realsense)
+
+- On OSX
+```
+$ brew update; brew upgrade
+$ brew install opencv librealsense libxml2 pcl
+```
+
+### 1.2. Build and install ViSP from source
 
 See ViSP installation from source [tutorials](https://visp-doc.inria.fr/doxygen/visp-daily/tutorial_install_src.html).
 
-Once ViSP is build, you can build `visp_sample` project:
+```
+$ cd $VISP_WS
+$ git clone https://github.com/lagadic/visp.git
+$ mkdir $VISP_WS/visp-build
+$ cd $VISP_WS/visp-build
+$ cmake ../visp -DCMAKE_INSTALL_PREFIX=/tmp/usr/local
+$ make -j4 install
+```
+
+Once ViSP is build, you can build `visp_sample` project using one of the 5 different ways that are given in the next sections.
+
+## 2. Build visp_sample project
+
+### 2.1. Build visp_sample with ViSP from build tree
 
 ```
 $ cd $ViSP_WS
@@ -17,41 +54,42 @@ $ git clone https://github.com/lagadic/visp_sample
 $ mkdir visp_sample-build
 $ cd visp_sample-build
 $ cmake ../visp_sample -DVISP_DIR=$ViSP_WS/visp-build
+$ make -j4
+```
+
+### 2.2. Build visp_sample using `visp-config` from build tree
+
+```
+$ cd $ViSP_WS/visp_sample
+$ make -j4 -f Makefile.visp-config VISP_INSTALL_PREFIX=$ViSP_WS/visp-build
+$ make -j4 -f Makefile.visp-config clean
 ```
 
-## Build visp_sample with ViSP install tree
-
-- build and install ViSP
-  ```
-  $ cd $ViSP_WS/visp-build
-  $ cmake ../visp -DCMAKE_INSTALL_PREFIX=/tmp/usr/local
-  $ make -j4
-  $ make -j4 install
-  ```
-
-- build `visp_sample` using `cmake`
-  ```
-  $ cd $ViSP_WS/visp_sample
-  $ mkdir build
-  $ cd build
-  $ cmake ../ -DVISP_DIR=/tmp/usr/local/lib/cmake/visp
-  $ make -j4
-  ```
-
-- build `visp_sample` using `visp-config`
-  ```
-  $ cd $ViSP_WS/visp_sample
-  $ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
-  $ make -j4 -f Makefile.visp-config
-  $ make -j4 -f Makefile.visp-config clean
-  ```
-
-- build `visp_sample` using `visp.pc`
-  ```
-  $ cd $ViSP_WS/visp_sample
-  $ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
-  $ make -j4 -f Makefile.visp.pc
-  $ make -j4 -f Makefile.visp.pc clean
-  ```
+### 2.3. Build visp_sample with ViSP from install tree
 
+```
+$ cd $ViSP_WS
+$ git clone https://github.com/lagadic/visp_sample
+$ mkdir visp_sample-build
+$ cd visp_sample-build
+$ cmake ../visp_sample -DVISP_DIR=/tmp/usr/local/lib/cmake/visp
+$ make -j4
+```
 
+### 2.4. Build visp_sample using `visp.pc` from install tree
+
+```
+$ cd $ViSP_WS/visp_sample
+$ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+$ make -j4 -f Makefile.visp.pc
+$ make -j4 -f Makefile.visp.pc clean
+```
+
+### 2.5. Build visp_sample using `visp-config` from install tree
+
+```
+$ cd $ViSP_WS/visp_sample
+$ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+$ make -j4 -f Makefile.visp-config VISP_INSTALL_PREFIX=/tmp/usr/local
+$ make -j4 -f Makefile.visp-config clean
+```
diff --git a/mbt/sample-vpMbEdgeKltTracker-1.cpp b/mbt/sample-vpMbEdgeKltTracker-1.cpp
index 3cc7667..e3032c3 100644
--- a/mbt/sample-vpMbEdgeKltTracker-1.cpp
+++ b/mbt/sample-vpMbEdgeKltTracker-1.cpp
@@ -21,9 +21,7 @@ int main()
   display.init(I,100,100,"Mb Hybrid Tracker");
 #endif
 
-#if defined VISP_HAVE_PUGIXML
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
   // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
   tracker.loadModel("cube.cao");
diff --git a/mbt/sample-vpMbEdgeKltTracker-2.cpp b/mbt/sample-vpMbEdgeKltTracker-2.cpp
index da1f663..72afdac 100644
--- a/mbt/sample-vpMbEdgeKltTracker-2.cpp
+++ b/mbt/sample-vpMbEdgeKltTracker-2.cpp
@@ -10,20 +10,18 @@ int main()
 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
   vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
   vpImage<unsigned char> I;
-  vpHomogeneousMatrix cMo; // Pose used to display the model. 
+  vpHomogeneousMatrix cMo; // Pose used to display the model.
   vpCameraParameters cam;
-  
+
   // Acquire an image
   vpImageIo::readPGM(I, "cube.pgm");
-  
+
 #if defined VISP_HAVE_X11
   vpDisplayX display;
   display.init(I,100,100,"Mb Hybrid Tracker");
 #endif
 
-#if defined VISP_HAVE_XML2
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
   tracker.loadModel("cube.cao"); // load the 3d model, to read .wrl model coi is required, if coin is not installed .cao file can be used.
 
@@ -34,11 +32,6 @@ int main()
     tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
     vpDisplay::flush(I);
   }
-  
-#if defined VISP_HAVE_XML2
-  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
-  vpXmlParser::cleanup();
-#endif
 
   return 0;
 #endif
diff --git a/mbt/sample-vpMbEdgeKltTracker.cpp b/mbt/sample-vpMbEdgeKltTracker.cpp
index 7b00de7..b3d7622 100644
--- a/mbt/sample-vpMbEdgeKltTracker.cpp
+++ b/mbt/sample-vpMbEdgeKltTracker.cpp
@@ -8,7 +8,7 @@
 
 int main()
 {
-#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
   vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
   vpImage<unsigned char> I;
   vpHomogeneousMatrix cMo; // Pose computed using the tracker.
@@ -22,9 +22,7 @@ int main()
   display.init(I,100,100,"Mb Hybrid Tracker");
 #endif
 
-#if defined VISP_HAVE_XML2
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam);   // Get the camera parameters used by the tracker (from the configuration file).
   tracker.loadModel("cube.cao");      // Load the 3d model in cao format. No 3rd party library is required
   tracker.initClick(I, "cube.init");  // Initialise manually the pose by clicking on the image points associated to the 3d points containned in the cube.init file.
@@ -39,11 +37,6 @@ int main()
     vpDisplay::flush(I);
   }
 
-#if defined VISP_HAVE_XML2
-  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
-  vpXmlParser::cleanup();
-#endif
-
   return 0;
 #endif
 }
diff --git a/mbt/sample-vpMbEdgeTracker-1.cpp b/mbt/sample-vpMbEdgeTracker-1.cpp
index 48d1ff2..fb50e5f 100644
--- a/mbt/sample-vpMbEdgeTracker-1.cpp
+++ b/mbt/sample-vpMbEdgeTracker-1.cpp
@@ -13,9 +13,7 @@ int main()
   //acquire an image
   vpImageIo::read(I, "cube.pgm"); // Example of acquisition
 
-#if defined VISP_HAVE_PUGIXML
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
   tracker.loadModel("cube.cao");
   tracker.initFromPose(I, cMo); // initialize the tracker with the given pose.
diff --git a/mbt/sample-vpMbEdgeTracker-2.cpp b/mbt/sample-vpMbEdgeTracker-2.cpp
index 5d9d59d..6bf2ca7 100644
--- a/mbt/sample-vpMbEdgeTracker-2.cpp
+++ b/mbt/sample-vpMbEdgeTracker-2.cpp
@@ -20,9 +20,7 @@ int main()
   display.init(I,100,100,"Mb Edge Tracker");
 #endif
 
-#if defined VISP_HAVE_PUGIXML
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
   // load the 3d model, to read .wrl model coin is required, if coin is not installed
   // .cao file can be used.
diff --git a/mbt/sample-vpMbKltTracker-1.cpp b/mbt/sample-vpMbKltTracker-1.cpp
index 93d2112..954ba0d 100644
--- a/mbt/sample-vpMbKltTracker-1.cpp
+++ b/mbt/sample-vpMbKltTracker-1.cpp
@@ -6,28 +6,23 @@
 
 int main()
 {
-#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
   vpMbKltTracker tracker; // Create a model based tracker via Klt Points.
   vpImage<unsigned char> I;
-  vpHomogeneousMatrix cMo; // Pose used in entry (has to be defined), then computed using the tracker. 
-  
+  vpHomogeneousMatrix cMo; // Pose used in entry (has to be defined), then computed using the tracker.
+
   //acquire an image
   vpImageIo::readPGM(I, "cube.pgm"); // Example of acquisition
 
-#if defined VISP_HAVE_XML2
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.loadModel("cube.cao"); // load the 3d model, to read .wrl model coi is required, if coin is not installed .cao file can be used.
   tracker.initFromPose(I, cMo); // initialise the tracker with the given pose.
 
   while(true){
     // acquire a new image
     tracker.track(I); // track the object on this image
-    tracker.getPose(cMo); // get the pose 
+    tracker.getPose(cMo); // get the pose
   }
-  
-  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
-  vpXmlParser::cleanup();
 
   return 0;
 #endif
diff --git a/mbt/sample-vpMbKltTracker-2.cpp b/mbt/sample-vpMbKltTracker-2.cpp
index 73b4870..207d304 100644
--- a/mbt/sample-vpMbKltTracker-2.cpp
+++ b/mbt/sample-vpMbKltTracker-2.cpp
@@ -7,23 +7,21 @@
 
 int main()
 {
-#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
   vpMbKltTracker tracker; // Create a model based tracker via Klt Points.
   vpImage<unsigned char> I;
-  vpHomogeneousMatrix cMo; // Pose used to display the model. 
+  vpHomogeneousMatrix cMo; // Pose used to display the model.
   vpCameraParameters cam;
-  
+
   // Acquire an image
   vpImageIo::readPGM(I, "cube.pgm");
-  
+
 #if defined VISP_HAVE_X11
   vpDisplayX display;
   display.init(I,100,100,"Mb Klt Tracker");
 #endif
 
-#if defined VISP_HAVE_XML2
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
   tracker.loadModel("cube.cao"); // load the 3d model, to read .wrl model coi is required, if coin is not installed .cao file can be used.
 
@@ -34,11 +32,6 @@ int main()
     tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
     vpDisplay::flush(I);
   }
-  
-#if defined VISP_HAVE_XML2
-  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
-  vpXmlParser::cleanup();
-#endif
 
   return 0;
 #endif
diff --git a/mbt/sample-vpMbKltTracker.cpp b/mbt/sample-vpMbKltTracker.cpp
index 77e2ab4..20305df 100644
--- a/mbt/sample-vpMbKltTracker.cpp
+++ b/mbt/sample-vpMbKltTracker.cpp
@@ -8,7 +8,7 @@
 
 int main()
 {
-#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
+#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
   vpMbKltTracker tracker; // Create a model based tracker via KLT points.
   vpImage<unsigned char> I;
   vpHomogeneousMatrix cMo; // Pose computed using the tracker.
@@ -22,9 +22,7 @@ int main()
   display.init(I,100,100,"Mb Klt Tracker");
 #endif
 
-#if defined VISP_HAVE_XML2
   tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
-#endif
   tracker.getCameraParameters(cam);   // Get the camera parameters used by the tracker (from the configuration file).
   tracker.loadModel("cube.cao");      // Load the 3d model in cao format. No 3rd party library is required
   tracker.initClick(I, "cube.init");  // Initialise manually the pose by clicking on the image points associated to the 3d points containned in the cube.init file.
@@ -39,11 +37,6 @@ int main()
     vpDisplay::flush(I);
   }
 
-#if defined VISP_HAVE_XML2
-  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
-  vpXmlParser::cleanup();
-#endif
-
   return 0;
 #endif
 }