Merge branch 'develop'

.circleci/config.yml

@@ -98,7 +98,8 @@ workflows:
   build:
     jobs:
       - full-u20.04-focal-codecov
-      - full-u18.04-bionic
+        # Disabled to avoid circle CI concurrency limit timeouts
+        #      - full-u18.04-bionic
       - clang-u18.04-bionic
       - headless-u18.04-bionic
       - minimal-u18.04-bionic

AUTHORS

@@ -113,7 +113,7 @@ the GitHub contributors page (https://github.com/MRPT/mrpt/graphs/contributors).
 * Vicente Arevalo Espejo, University of Malaga.
   - The application camera-calib.
   - Some classes: mrpt::opengl::CSetOfTexturedTriangles, etc..
-  - Some minor changes in: 3DSceneViewer and RawlogViewer applications.
+  - Some minor changes in: SceneViewer3D and RawlogViewer applications.
   - Some image-related functions.
 
 * Adrien Barral - Robopec (France).

apps/2d-slam-demo/slamdemoMain.cpp

@@ -847,7 +847,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotGT->AddLayer(m_lyGTvisibleRange);
 
 	plotGT->LockAspect();
-	plotGT->EnableDoubleBuffer(true);
 
 	// Map plot ------------
 	m_lyMapRobot = new mpPolygon();
@@ -857,7 +856,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	m_lyMapRobot->SetCoordinateBase(0, 0, 0);
 	plotMap->AddLayer(m_lyMapRobot);
 	plotMap->LockAspect();
-	plotMap->EnableDoubleBuffer(true);
 
 	// Observations plot ------------
 	m_lyObsRobot = new mpPolygon();
@@ -874,7 +872,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotObs->AddLayer(m_lyObsvisibleRange);
 
 	plotObs->LockAspect();
-	plotObs->EnableDoubleBuffer(true);
 
 	// IC plot ------------
 	m_lyICvisibleRange = new mpPolygon();
@@ -884,7 +881,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotIndivCompat->AddLayer(m_lyICvisibleRange);
 
 	plotIndivCompat->LockAspect(false);
-	plotIndivCompat->EnableDoubleBuffer(true);
 
 	// X ERROR plot ------------
 	m_lyERRX_err = new mpFXYVector();
@@ -903,7 +899,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorX->AddLayer(m_lyERRX_boundDown);
 
 	plotErrorX->LockAspect(false);
-	plotErrorX->EnableDoubleBuffer(true);
 
 	// Y ERROR plot ------------
 	m_lyERRY_err = new mpFXYVector();
@@ -922,7 +917,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorY->AddLayer(m_lyERRY_boundDown);
 
 	plotErrorY->LockAspect(false);
-	plotErrorY->EnableDoubleBuffer(true);
 
 	// Phi ERROR plot ------------
 	m_lyERRPHI_err = new mpFXYVector();
@@ -941,7 +935,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorPhi->AddLayer(m_lyERRPHI_boundDown);
 
 	plotErrorPhi->LockAspect(false);
-	plotErrorPhi->EnableDoubleBuffer(true);
 
 	// Stats Time plot ------------
 	m_lyStatTimes = new mpFXYVector();
@@ -950,16 +943,14 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotStatTime->AddLayer(m_lyStatTimes);
 
 	plotStatTime->LockAspect(false);
-	plotStatTime->EnableDoubleBuffer(true);
 
 // DA Stats plots ------------
 #define INIT_DA_PLOT(CODE)                                                     \
 	m_lyDa##CODE = new mpFXYVector();                                          \
 	m_lyDa##CODE->SetPen(wxPen(wxColour(0, 0, 0), 5));                         \
 	m_lyDa##CODE->SetContinuity(false);                                        \
 	plotDa##CODE->AddLayer(m_lyDa##CODE);                                      \
-	plotDa##CODE->LockAspect(false);                                           \
-	plotDa##CODE->EnableDoubleBuffer(true);
+	plotDa##CODE->LockAspect(false);
 
 	INIT_DA_PLOT(FP);
 	INIT_DA_PLOT(FN);

apps/RawLogViewer/CFormPlayVideo.cpp

@@ -513,6 +513,7 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent& event)
 		{
 			wxTheApp->Yield();
 			CSerializable::Ptr obj;
+			mrpt::Clock::time_point imgTimestamp = INVALID_TIMESTAMP;
 
 			if (fil) { archiveFrom(*fil) >> obj; }
 			else
@@ -523,25 +524,38 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent& event)
 
 			bool doDelay = false;
 
-			if (IS_CLASS(*obj, CSensoryFrame))
-			{ doDelay = showSensoryFrame(obj.get(), nImgs); }
+			if (auto sf = std::dynamic_pointer_cast<CSensoryFrame>(obj); sf)
+			{ doDelay = showSensoryFrame(*sf, nImgs, imgTimestamp); }
 			else if (IS_DERIVED(*obj, CObservation))
 			{
-				CSensoryFrame sf;
-				sf.insert(std::dynamic_pointer_cast<CObservation>(obj));
-				doDelay = showSensoryFrame(&sf, nImgs);
+				CSensoryFrame sf2;
+				sf2.insert(std::dynamic_pointer_cast<CObservation>(obj));
+				doDelay = showSensoryFrame(sf2, nImgs, imgTimestamp);
 			}
 
 			// Free the loaded object!
 			if (fil) obj.reset();
 
 			// Update UI
-			if ((count++) % 100 == 0)
+			count++;
+			// if ((count) % 10 == 0)
 			{
 				progressBar->SetValue(
 					fil ? (int)fil->getPosition() : (int)count);
 				wxString str;
-				str.sprintf(_("Processed: %d images"), nImgs);
+				if (imgTimestamp != INVALID_TIMESTAMP)
+				{
+					str.sprintf(
+						_("Processed: %d images. Timestamp: %f [%s UTC]"),
+						static_cast<int>(nImgs),
+						mrpt::Clock::toDouble(imgTimestamp),
+						mrpt::system::dateTimeToString(imgTimestamp).c_str());
+				}
+				else
+				{
+					str.sprintf(
+						_("Processed: %d images."), static_cast<int>(nImgs));
+				}
 				lbProgress->SetLabel(str);
 				if (!doDelay) wxTheApp->Yield();
 			}
@@ -652,12 +666,12 @@ void CFormPlayVideo::drawHorzRules(mrpt::img::CImage& img)
 		img.line(0, y, w - 1, y, mrpt::img::TColor::white());
 }
 
-bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
+bool CFormPlayVideo::showSensoryFrame(
+	mrpt::obs::CSensoryFrame& SF, size_t& nImgs, Clock::time_point& timestamp)
 {
 	WX_START_TRY
 
-	ASSERT_(SF);
-	auto* sf = (CSensoryFrame*)SF;
+	auto* sf = &SF;
 
 	bool doDelay = false;
 	bool doReduceLargeImgs = cbReduceLarge->GetValue();
@@ -685,6 +699,8 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 				sf->getObservationByClass<CObservationImage>(img_idx_sf);
 			if (!obsImg) break;	 // No more images, go on...
 
+			timestamp = obsImg->timestamp;
+
 			// Onto which panel to draw??
 			if (!orderByYaw && !orderByY)
 			{
@@ -810,8 +826,10 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	{
 		CObservationStereoImages::Ptr obsImg2 =
 			sf->getObservationByClass<CObservationStereoImages>();
+
 		if (obsImg2)
 		{
+			timestamp = obsImg2->timestamp;
 			nImgs++;
 
 			// Left:
@@ -944,8 +962,10 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	{
 		CObservation3DRangeScan::Ptr obs3D =
 			sf->getObservationByClass<CObservation3DRangeScan>();
+
 		if (obs3D && obs3D->hasIntensityImage)
 		{
+			timestamp = obs3D->timestamp;
 			nImgs++;
 
 			// Intensity channel
@@ -997,32 +1017,45 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	return false;
 }
 
-void CFormPlayVideo::OnprogressBarCmdScrollChanged(wxScrollEvent& event)
+void CFormPlayVideo::OnprogressBarCmdScrollChanged(wxScrollEvent&)
 {
 	int idx = progressBar->GetValue();
 	m_idxInRawlog = idx;
+	mrpt::Clock::time_point imgTimestamp;
+	size_t nImgs = 0;
+
 	if (idx > 0 && idx < (int)rawlog.size())
 	{
 		if (rawlog.getType(idx) == CRawlog::etSensoryFrame)
 		{
-			size_t dummy = 0;
-
 			CSensoryFrame::Ptr sf = rawlog.getAsObservations(idx);
-			showSensoryFrame(sf.get(), dummy);
+			showSensoryFrame(*sf.get(), nImgs, imgTimestamp);
 			edIndex->SetValue(idx);
 		}
 		else if (rawlog.getType(idx) == CRawlog::etObservation)
 		{
-			size_t dummy = 0;
-
 			CObservation::Ptr o = rawlog.getAsObservation(idx);
 
 			CSensoryFrame sf;
 			sf.insert(o);
-			showSensoryFrame(&sf, dummy);
+			showSensoryFrame(sf, nImgs, imgTimestamp);
 
 			edIndex->SetValue(idx);
 		}
+
+		wxString str;
+		if (imgTimestamp != INVALID_TIMESTAMP)
+		{
+			str.sprintf(
+				_("Processed: %d images. Timestamp: %f [%s UTC]"),
+				static_cast<int>(nImgs), mrpt::Clock::toDouble(imgTimestamp),
+				mrpt::system::dateTimeToString(imgTimestamp).c_str());
+		}
+		else
+		{
+			str.sprintf(_("Processed: %d images."), static_cast<int>(nImgs));
+		}
+		lbProgress->SetLabel(str);
 	}
 }
 
@@ -1103,20 +1136,11 @@ void CFormPlayVideo::saveCamImage(int n)
 	WX_END_TRY
 }
 
-void CFormPlayVideo::OnbtnSaveCam1Click(wxCommandEvent& event)
-{
-	saveCamImage(0);
-}
-void CFormPlayVideo::OnbtnSaveCam2Click(wxCommandEvent& event)
-{
-	saveCamImage(1);
-}
-void CFormPlayVideo::OnbtnSaveCam3Click(wxCommandEvent& event)
-{
-	saveCamImage(2);
-}
+void CFormPlayVideo::OnbtnSaveCam1Click(wxCommandEvent&) { saveCamImage(0); }
+void CFormPlayVideo::OnbtnSaveCam2Click(wxCommandEvent&) { saveCamImage(1); }
+void CFormPlayVideo::OnbtnSaveCam3Click(wxCommandEvent&) { saveCamImage(2); }
 
-void CFormPlayVideo::OncbImageDirsSelect(wxCommandEvent& event)
+void CFormPlayVideo::OncbImageDirsSelect(wxCommandEvent&)
 {
 	wxString dir = cbImageDirs->GetValue();
 	string dirc = string(dir.mb_str());

apps/RawLogViewer/CFormPlayVideo.h

@@ -24,7 +24,9 @@
 #include <wx/textctrl.h>
 //*)
 
+#include <mrpt/core/Clock.h>
 #include <mrpt/img/CImage.h>
+#include <mrpt/obs/obs_frwds.h>
 
 class CFormPlayVideo : public wxDialog
 {
@@ -87,7 +89,9 @@ class CFormPlayVideo : public wxDialog
 	void OncbImageDirsSelect(wxCommandEvent& event);
 	//*)
 
-	bool showSensoryFrame(void* SF, size_t& nImgs);
+	bool showSensoryFrame(
+		mrpt::obs::CSensoryFrame& SF, size_t& nImgs,
+		mrpt::Clock::time_point& timestamp);
 
 	void drawHorzRules(mrpt::img::CImage& img);
 

apps/RawLogViewer/CFormRawMap.cpp

@@ -715,7 +715,6 @@ void CFormRawMap::OnbtnGenerateClick(wxCommandEvent&)
 
 	plotMap->AddLayer(lyPoints);
 	plotMap->AddLayer(lyPath);
-	plotMap->EnableDoubleBuffer(true);
 
 	lyPath->SetData(pathX, pathY);
 
@@ -976,7 +975,6 @@ void CFormRawMap::OnbtnGeneratePathsClick(wxCommandEvent&)
 	plotMap->AddLayer(lyCov, false);
 
 	//
-	plotMap->EnableDoubleBuffer(true);
 
 	plotMap->Fit();	 // Update the window to show the new data fitted.
 	plotMap->LockAspect(true);
@@ -1121,7 +1119,6 @@ void CFormRawMap::OnGenerateFromRTK(wxCommandEvent&)
 
 	plotMap->AddLayer(lyPoints);
 	plotMap->AddLayer(lyPath);
-	plotMap->EnableDoubleBuffer(true);
 
 	lyPath->SetData(pathX, pathY);
 

apps/RawLogViewer/CRawlogTreeView.cpp

@@ -36,6 +36,7 @@ std::atomic_bool CRawlogTreeView::RAWLOG_UNDERGOING_CHANGES{false};
 #define MRPT_NO_WARN_BIG_HDR  // It's ok here
 #include <mrpt/gui/WxUtils.h>
 #include <mrpt/obs.h>
+#include <mrpt/obs/CObservationPointCloud.h>  // this one is in mrpt-maps
 
 using namespace mrpt;
 using namespace mrpt::system;
@@ -413,6 +414,15 @@ int CRawlogTreeView::iconIndexFromClass(const TRuntimeClassId* class_ID)
 		iconIndex = 8;
 	else if (class_ID == CLASS_ID(CObservationRFID))
 		iconIndex = 8;
+	else if (class_ID == CLASS_ID(CObservationOdometry))
+		iconIndex = 9;
+	else if (
+		class_ID == CLASS_ID(CObservation3DRangeScan) ||
+		class_ID == CLASS_ID(CObservationVelodyneScan) ||
+		class_ID == CLASS_ID(CObservationPointCloud))
+		iconIndex = 10;
+	else if (class_ID == CLASS_ID(CObservationIMU))
+		iconIndex = 11;
 	else if (class_ID->derivedFrom(CLASS_ID(CObservation)))
 		iconIndex = 2;	// Default observation
 	else if (class_ID == CLASS_ID(CActionCollection))

apps/RawLogViewer/CScanAnimation.cpp

@@ -634,7 +634,7 @@ void CScanAnimation::OnbtnVizOptions(wxCommandEvent&)
 		wxDefaultSize, wxDEFAULT_DIALOG_STYLE, _T("wxID_ANY"));
 	dlgViz = &dlg;
 
-	auto sizer1 = new wxFlexGridSizer(2, 1, 0, 0);
+	auto sizer1 = new wxFlexGridSizer(0, 1, 0, 0);
 	sizer1->AddGrowableCol(0);
 
 	auto panel = new ViewOptions3DPoints(&dlg);