Merge branch 'develop'

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.5.8-{branch}-build{build}
+version: 2.6.0-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,14 @@
 \page changelog Change Log
 
+# Version 2.6.0: Released January 12th, 2023
+- Changes in libraries:
+    - \ref mrpt_math_grp
+      - Remove unused header: `<mrpt/math/bits_math.h>`
+    - \ref mrpt_opengl_grp
+      - New method mrpt::opengl::CAssimpModel::texturedObjects()
+- BUG FIXES:
+    - Fix wrong evaluation of the pivor point for the angular threshold parameters in ICP (Closes [#1264](https://github.com/MRPT/mrpt/issues/1264))
+
 # Version 2.5.8: Released January 7th, 2023
 - Changes in libraries:
     - \ref mrpt_core_grp

libs/opengl/include/mrpt/opengl/CAssimpModel.h

@@ -129,6 +129,12 @@ class CAssimpModel : public CRenderizableShaderTriangles,
 		std::optional<mrpt::img::CImage> img_alpha;
 	};
 
+	/** Read-only access to textured objects \note [New in MRPT 2.6.0] */
+	auto texturedObjects() -> const std::vector<CSetOfTexturedTriangles::Ptr>&
+	{
+		return m_texturedObjects;
+	}
+
    private:
 	/** The interface to the file: */
 	struct Impl;

libs/slam/src/slam/CICP.cpp

@@ -247,9 +247,8 @@ CPosePDF::Ptr CICP::ICP_Method_Classic(
 			// ------------------------------------------------------
 			//		Find the matching (for a points map)
 			// ------------------------------------------------------
-			matchParams.angularDistPivotPoint = TPoint3D(
-				gaussPdf->mean.x(), gaussPdf->mean.y(),
-				0);	 // Pivot point for angular measurements
+			// Pivot point for angular measurements
+			matchParams.angularDistPivotPoint = gaussPdf->mean.translation();
 
 			m1->determineMatching2D(
 				m2,	 // The other map
@@ -472,8 +471,9 @@ CPosePDF::Ptr CICP::ICP_Method_Classic(
 			CPose2D PY2(P0);
 			PY2.y_incr(+Axy);
 
-			matchParams.angularDistPivotPoint =
-				TPoint3D(gaussPdf->mean.x(), gaussPdf->mean.y(), 0);
+			// Pivot point for angular measurements
+			matchParams.angularDistPivotPoint = gaussPdf->mean.translation();
+
 			m1->determineMatching2D(
 				m2,	 // The other map
 				P0,	 // The other map pose
@@ -594,8 +594,6 @@ CPosePDF::Ptr CICP::ICP_Method_LM(
 		options.thresholdDist;	// Distance threshold
 	matchParams.maxAngularDistForCorrespondence =
 		options.thresholdAng;  // Angular threshold
-	matchParams.angularDistPivotPoint =
-		TPoint3D(q.x(), q.y(), 0);	// Pivot point for angular measurements
 	matchParams.onlyKeepTheClosest = true;
 	matchParams.onlyUniqueRobust = onlyUniqueRobust;
 	matchParams.decimation_other_map_points =
@@ -624,6 +622,9 @@ CPosePDF::Ptr CICP::ICP_Method_LM(
 			// ------------------------------------------------------
 			//		Find the matching (for a points map)
 			// ------------------------------------------------------
+			// Pivot point for angular measurements:
+			matchParams.angularDistPivotPoint = q.translation();
+
 			m1->determineMatching2D(
 				m2,	 // The other map
 				q,	// The other map pose
@@ -1006,8 +1007,8 @@ CPose3DPDF::Ptr CICP::ICP3D_Method_Classic(
 		// ------------------------------------------------------
 		do
 		{
-			matchParams.angularDistPivotPoint = TPoint3D(
-				gaussPdf->mean.x(), gaussPdf->mean.y(), gaussPdf->mean.z());
+			// Pivot point for angular measurements:
+			matchParams.angularDistPivotPoint = gaussPdf->mean.translation();
 
 			// ------------------------------------------------------
 			//		Find the matching (for a points map)

package.xml

@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.5.8</version>
+  <version>2.6.0</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>

version_prefix.txt

@@ -1,4 +1,4 @@
-2.5.8
+2.6.0
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically