Merge branch 'develop'

apps/kinect-stereo-calib/kinect_calibrate_guiMain.cpp

@@ -780,7 +780,7 @@ kinect_calibrate_guiDialog::kinect_calibrate_guiDialog(
 	cbOptK3 = new wxCheckBox(
 		Panel12, ID_CHECKBOX6, _("k3 (r^6 dist.)"), wxDefaultPosition,
 		wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX6"));
-	cbOptK3->SetValue(false);
+	cbOptK3->SetValue(true);
 	FlexGridSizer35->Add(
 		cbOptK3, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 1);
 	FlexGridSizer35->Add(
@@ -789,13 +789,13 @@ kinect_calibrate_guiDialog::kinect_calibrate_guiDialog(
 	cbOptT1 = new wxCheckBox(
 		Panel12, ID_CHECKBOX7, _("t1 (tang. dist.)"), wxDefaultPosition,
 		wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX7"));
-	cbOptT1->SetValue(false);
+	cbOptT1->SetValue(true);
 	FlexGridSizer35->Add(
 		cbOptT1, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 1);
 	cbOptT2 = new wxCheckBox(
 		Panel12, ID_CHECKBOX8, _("t2 (tang. dist.)"), wxDefaultPosition,
 		wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX8"));
-	cbOptT2->SetValue(false);
+	cbOptT2->SetValue(true);
 	FlexGridSizer35->Add(
 		cbOptT2, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 1);
 	Panel12->SetSizer(FlexGridSizer35);
@@ -826,7 +826,7 @@ kinect_calibrate_guiDialog::kinect_calibrate_guiDialog(
 		Panel13, ID_CHECKBOX3, _("Pseudo-Huber robust kernel"),
 		wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator,
 		_T("ID_CHECKBOX3"));
-	cbCalibUseRobust->SetValue(false);
+	cbCalibUseRobust->SetValue(true);
 	FlexGridSizer34->Add(
 		cbCalibUseRobust, 1,
 		wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
@@ -1752,28 +1752,34 @@ void kinect_calibrate_guiDialog::ProcessNewSelectedImageListBox()
 {
 	try
 	{
+		static std::optional<mrpt::img::CImage> noImg;
+		if (!noImg)
+		{
+			noImg.emplace(320, 240, CH_RGB);
+			noImg->filledRectangle(0, 0, 319, 239, TColor(200, 200, 200));
+			noImg->textOut(100, 110, "(No image selected)", TColor::white());
+		}
+
 		const int sel = lbImagePairs->GetSelection();
 
 		if (sel == wxNOT_FOUND || sel >= (int)m_calib_images.size())
 		{
-			mrpt::img::CImage img(320, 240, CH_RGB);
-			img.filledRectangle(0, 0, 319, 239, TColor(200, 200, 200));
-			img.textOut(100, 110, "(No image selected)", TColor::white());
-
-			this->m_view_left->AssignImage(img);
-			this->m_view_right->AssignImage(img);
+			this->m_view_left->AssignImage(*noImg);
+			this->m_view_right->AssignImage(*noImg);
 		}
 		else
 		{
 			const int image_mode = rbShowImages->GetSelection();
 
 			CImage il, ir;
 
+			const auto& selPair = m_calib_images[sel];
+
 			// Common part to all (but one) modes:
 			if (image_mode != 1)
 			{
-				il = m_calib_images[sel].left.img_original;
-				ir = m_calib_images[sel].right.img_original;
+				il = selPair.left.img_original;
+				ir = selPair.right.img_original;
 
 				if (cbCalibNormalize->IsChecked())
 				{
@@ -1792,8 +1798,15 @@ void kinect_calibrate_guiDialog::ProcessNewSelectedImageListBox()
 				// ======= Detected chessboard =======
 				case 1:
 				{
-					il = m_calib_images[sel].left.img_checkboard;
-					ir = m_calib_images[sel].right.img_checkboard;
+					if (!selPair.left.img_checkboard.isEmpty())
+						il = selPair.left.img_checkboard;
+					else
+						il = *noImg;
+
+					if (!selPair.right.img_checkboard.isEmpty())
+						ir = selPair.right.img_checkboard;
+					else
+						ir = *noImg;
 				}
 				break;
 
@@ -1804,11 +1817,11 @@ void kinect_calibrate_guiDialog::ProcessNewSelectedImageListBox()
 					ir = ir.colorImage();
 
 					il.drawChessboardCorners(
-						m_calib_images[sel].left.projectedPoints_distorted,
+						selPair.left.projectedPoints_distorted,
 						m_calib_params.check_size_x,
 						m_calib_params.check_size_y);
 					ir.drawChessboardCorners(
-						m_calib_images[sel].right.projectedPoints_distorted,
+						selPair.right.projectedPoints_distorted,
 						m_calib_params.check_size_x,
 						m_calib_params.check_size_y);
 				}
@@ -2133,7 +2146,7 @@ void kinect_calibrate_guiDialog::OnbtnSaveCalibClick(wxCommandEvent& event)
 		c["right_camera_pose"] =
 			m_calib_result.cam_params.rightCameraPose.asString();
 
-		auto& r = c["calibration_results"] = mrpt::containers::yaml::Map();
+		auto r = c["calibration_results"] = mrpt::containers::yaml::Map();
 		r["iters"] = m_calib_result.final_iters;
 		r["good_image_pairs"] = m_calib_result.final_number_good_image_pairs;
 		r["final_rmse"] = m_calib_result.final_rmse;

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.11.8-{branch}-build{build}
+version: 2.11.9-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,17 @@
 \page changelog Change Log
 
+# Version 2.11.9: Released Feb 11th, 2024
+- Changes in libraries:
+  - \ref mrpt_vision_grp:
+    - mrpt::vision::TStereoCalibParams::use_robust_kernel now defaults to `true`.
+  - \ref mrpt_img_grp:
+    - Fix const-correctness of arguments in mrpt::img::CImage::drawChessboardCorners()
+  - \ref mrpt_obs_grp:
+    - Added support for mrpt::typemeta::TEnumType to mrpt::obs::CActionRobotMovement3D::TDrawSampleMotionModel and mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel.
+- BUG FIXES:
+  - Fix missing build dep on tf2_geometry_msgs for ROS 1 only.
+  - Application kinect-stereo-calib: fix exceptions when selecting images without a good chessboard detection on the left list box.
+
 # Version 2.11.8: Released Feb 7th, 2024
 - Changes in apps:
   - RawLogViewer: Show pointcloud ring, intensity, and time min/max ranges.

libs/img/include/mrpt/img/CImage.h

@@ -445,9 +445,9 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 	 * \sa mrpt::vision::findChessboardCorners
 	 */
 	bool drawChessboardCorners(
-		std::vector<TPixelCoordf>& cornerCoords, unsigned int check_size_x,
-		unsigned int check_size_y, unsigned int lines_width = 1,
-		unsigned int circles_radius = 4);
+		const std::vector<TPixelCoordf>& cornerCoords,
+		unsigned int check_size_x, unsigned int check_size_y,
+		unsigned int lines_width = 1, unsigned int circles_radius = 4);
 
 	/** Joins two images side-by-side horizontally. Both images must have the
 	 * same number of rows and be of the same type (i.e. depth and color mode)

libs/img/src/CImage.cpp

@@ -1847,7 +1847,7 @@ void CImage::rotateImage(
 }
 
 bool CImage::drawChessboardCorners(
-	std::vector<TPixelCoordf>& cornerCoords, unsigned int check_size_x,
+	const std::vector<TPixelCoordf>& cornerCoords, unsigned int check_size_x,
 	unsigned int check_size_y, unsigned int lines_width, unsigned int r)
 {
 #if MRPT_HAS_OPENCV

libs/obs/include/mrpt/obs/CActionRobotMovement2D.h

@@ -247,3 +247,8 @@ MRPT_ENUM_TYPE_BEGIN(mrpt::obs::CActionRobotMovement2D::TEstimationMethod)
 MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement2D, emOdometry);
 MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement2D, emScan2DMatching);
 MRPT_ENUM_TYPE_END()
+
+MRPT_ENUM_TYPE_BEGIN(mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel)
+MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement2D, mmGaussian);
+MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement2D, mmThrun);
+MRPT_ENUM_TYPE_END()

libs/obs/include/mrpt/obs/CActionRobotMovement3D.h

@@ -10,6 +10,7 @@
 
 #include <mrpt/obs/CAction.h>
 #include <mrpt/poses/CPose3DPDFGaussian.h>
+#include <mrpt/typemeta/TEnumType.h>
 
 namespace mrpt::obs
 {
@@ -125,3 +126,8 @@ class CActionRobotMovement3D : public CAction
 };	// End of class def.
 
 }  // namespace mrpt::obs
+
+MRPT_ENUM_TYPE_BEGIN(mrpt::obs::CActionRobotMovement3D::TDrawSampleMotionModel)
+MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement3D, mmGaussian);
+MRPT_FILL_ENUM_MEMBER(mrpt::obs::CActionRobotMovement3D, mm6DOF);
+MRPT_ENUM_TYPE_END()

libs/obs/src/CSimpleMap.cpp

@@ -16,6 +16,8 @@
 #include <mrpt/serialization/metaprogramming_serialization.h>
 #include <mrpt/serialization/optional_serialization.h>
 
+#include <iostream>
+
 using namespace mrpt::obs;
 using namespace mrpt::maps;
 using namespace mrpt::poses;
@@ -131,8 +133,9 @@ bool CSimpleMap::loadFromFile(const std::string& filName)
 		archiveFrom(fi) >> *this;
 		return true;
 	}
-	catch (...)
+	catch (const std::exception& e)
 	{
+		std::cerr << "[CSimpleMap::loadFromFile]" << e.what() << std::endl;
 		return false;
 	}
 }

libs/vision/include/mrpt/vision/chessboard_stereo_camera_calib.h

@@ -80,11 +80,11 @@ struct TStereoCalibParams
 	bool optimize_k1{true}, optimize_k2{true}, optimize_k3{false},
 		optimize_t1{false}, optimize_t2{false};
 
-	/** Employ a Pseudo-Huber robustifier kernel (Default: false) */
-	bool use_robust_kernel{false};
+	/** Employ a Pseudo-Huber robustifier kernel (Default: true) */
+	bool use_robust_kernel = true;
 	/** The parameter of the robust kernel, in pixels (only if
-	 * use_robust_kernel=true) (Default=10) */
-	double robust_kernel_param{10};
+	 * use_robust_kernel=true) (Default=5) */
+	double robust_kernel_param = 5;
 
 	/** If set to !=NULL, this function will be called within each Lev-Marq.
 	 * iteration (don't do heavy stuff here since performance will degrade) */

libs/vision/src/chessboard_stereo_camera_calib.cpp

@@ -149,7 +149,7 @@ bool mrpt::vision::checkerBoardStereoCalibration(
 					if (!dat.img_original.isExternallyStored())
 					{
 						// Checkboad as color image:
-						dat.img_original.colorImage(dat.img_checkboard);
+						dat.img_checkboard = dat.img_original.colorImage();
 						dat.img_checkboard.drawChessboardCorners(
 							dat.detected_corners, check_size.x, check_size.y);
 					}
@@ -199,8 +199,8 @@ bool mrpt::vision::checkerBoardStereoCalibration(
 				if (has_to_redraw_corners)
 				{
 					// Checkboad as color image:
-					images[i].right.img_original.colorImage(
-						images[i].right.img_checkboard);
+					images[i].right.img_checkboard =
+						images[i].right.img_original.colorImage();
 					images[i].right.img_checkboard.drawChessboardCorners(
 						images[i].right.detected_corners, check_size.x,
 						check_size.y);
@@ -276,7 +276,6 @@ bool mrpt::vision::checkerBoardStereoCalibration(
 		//   Run stereo calibration in two stages:
 		//   (0) Estimate all parameters except distortion
 		//   (1) Estimate all parameters, using as starting point the guess from
-		//   (0)
 		// ===============================================================================
 		size_t nUnknownsCamParams = 0;
 		size_t iter = 0;

package.xml

@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.11.8</version>
+  <version>2.11.9</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>
@@ -72,6 +72,9 @@
   <depend condition="$ROS_VERSION == 1">roscpp</depend>
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
 
+  <!-- for rosbag2rawlog (ROS 1 only, ROS 2 version lives in the mrpt_navigation repository) -->
+  <depend condition="$ROS_VERSION == 1">tf2_geometry_msgs</depend>
+
   <doc_depend>doxygen</doc_depend>
 
   <!-- Minimum entries to release non-catkin pkgs: -->

version_prefix.txt

@@ -1,4 +1,4 @@
-2.11.8
+2.11.9
 # 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