Merge pull request #1263 from MRPT/develop

Merge for release v2.5.7

.circleci/config.yml

@@ -78,7 +78,7 @@ jobs:
       - image: mrpt/mrpt-build-env:full-bionic
     steps:
       - checkout
-      - run: apt install clang-format-10 -yq
+      - run: apt install clang-format-11 -yq
       - run: git submodule sync
       - run: git submodule update --init --recursive
       - run: pip3 install --user -r .circleci/python_reqs.txt

.github/workflows/build-linux.yml

@@ -20,30 +20,21 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          ubuntu-22.04-gcc,
           ubuntu-latest-clang,
           ubuntu-latest-gcc
         ]
 
         build_type: [ Release ]
         include:
-          - name: ubuntu-22.04-gcc
-            os: ubuntu-22.04
-            compiler: gcc
-            coverage: OFF
-            extra_pkgs_to_install: libdc1394-dev
-
           - name: ubuntu-latest-clang
             os: ubuntu-latest
             compiler: clang
             coverage: OFF
-            extra_pkgs_to_install: libdc1394-22-dev
 
           - name: ubuntu-latest-gcc
             os: ubuntu-latest
             compiler: gcc
             coverage: ON
-            extra_pkgs_to_install: libdc1394-22-dev
 
     steps:
       - name: Checkout
@@ -68,10 +59,9 @@ jobs:
                            libavformat-dev libswscale-dev libpcap-dev \
                            liboctomap-dev libopenni2-dev \
                            libtinyxml2-dev \
+                           libdc1394-dev \
                            yamllint
-                           
-          sudo apt install ${{ matrix.extra_pkgs_to_install }}
-          
+
           if [ "${{ matrix.os }}" = "ubuntu-latest" ]; then
             sudo apt install libicu-dev libsimpleini-dev
             # to enable pymrpt:

.github/workflows/check-clang-format.yml

@@ -31,7 +31,7 @@ jobs:
 
       - name: Install Dependencies
         run: |
-          sudo apt install clang-format-10 -yq
+          sudo apt install clang-format-11 -yq
           pip3 install --user -r .circleci/python_reqs.txt
 
       - name: Check code style

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

@@ -1908,7 +1908,9 @@ void slamdemoFrame::executeOneStep()
 
 			// Save dataset to file?
 			if (m_rawlog_out_file.fileOpenCorrectly())
-			{ archiveFrom(m_rawlog_out_file) << act << sf; }
+			{
+				archiveFrom(m_rawlog_out_file) << act << sf;
+			}
 		}
 
 		// For the case of doing D.A., save the correspondences REAL_MAP <->

apps/RawLogViewer/CFormEdit.cpp

@@ -1174,7 +1174,9 @@ void leave_horizontalScans(
 				auto* o = static_cast<CObservation2DRangeScan*>(obs.get());
 
 				if (fabs(o->sensorPose.pitch()) > minPitchToDeleteLaserScan)
-				{ it = SF->erase(it); }
+				{
+					it = SF->erase(it);
+				}
 				else
 				{
 					changesCount++;	 // Count success

apps/RawLogViewer/CFormPlayVideo.cpp

@@ -501,7 +501,9 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent&)
 			bool doDelay = false;
 
 			if (auto sf = std::dynamic_pointer_cast<CSensoryFrame>(obj); sf)
-			{ doDelay = showSensoryFrame(*sf, nImgs, imgTimestamp); }
+			{
+				doDelay = showSensoryFrame(*sf, nImgs, imgTimestamp);
+			}
 			else if (IS_DERIVED(*obj, CObservation))
 			{
 				CSensoryFrame sf2;

apps/RawLogViewer/CFormRawMap.cpp

@@ -436,7 +436,9 @@ void loadMapInto3DScene(COpenGLScene& scene)
 			auto this_t = it.first;
 
 			if (distanceBetweenPoints(x0, y0, z0, p.x, p.y, p.z) < 5.5)
-			{ obj->appendLine(x0, y0, z0, p.x, p.y, p.z); }
+			{
+				obj->appendLine(x0, y0, z0, p.x, p.y, p.z);
+			}
 			else if (last_t)
 			{
 				// We have a gap without GT:

apps/RawLogViewer/CScanAnimation.cpp

@@ -549,7 +549,9 @@ bool CScanAnimation::update_opengl_viz(const CSensoryFrame& sf)
 			(tim_last != INVALID_TIMESTAMP &&
 			 fabs(mrpt::system::timeDifference(ro.timestamp, tim_last)) >
 				 largest_period))
-		{ lst_to_delete.push_back(o.first); }
+		{
+			lst_to_delete.push_back(o.first);
+		}
 	}
 
 	// Remove too old observations:

apps/RawLogViewer/main_convert_ops.cpp

@@ -964,7 +964,9 @@ void xRawLogViewerFrame::OnMenuShiftTimestampsByLabel(wxCommandEvent& event)
 				_("%u changes. Do you want to re-order by timestamp?"),
 				nChanges),
 			_("Done"), wxYES_NO, this))
-	{ OnMenuResortByTimestamp(event); }
+	{
+		OnMenuResortByTimestamp(event);
+	}
 
 	WX_END_TRY
 }
@@ -1016,7 +1018,9 @@ void xRawLogViewerFrame::OnMenuConvertSF(wxCommandEvent& event)
 					countLoop,
 					wxString::Format(
 						wxT("Parsing rawlog... %u objects"), countLoop)))
-			{ return; }
+			{
+				return;
+			}
 			wxTheApp->Yield();	// Let the app. process messages
 		}
 

apps/RawLogViewer/main_gps_ops.cpp

@@ -114,7 +114,9 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
 				CObservation::Ptr o =
 					sf->getObservationBySensorLabel(the_label);
 				if (o && IS_CLASS(*o, CObservationGPS))
-				{ obs = std::dynamic_pointer_cast<CObservationGPS>(o); }
+				{
+					obs = std::dynamic_pointer_cast<CObservationGPS>(o);
+				}
 			}
 			break;
 
@@ -124,7 +126,9 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
 
 				if (!os::_strcmpi(o->sensorLabel.c_str(), the_label.c_str()) &&
 					IS_CLASS(*o, CObservationGPS))
-				{ obs = std::dynamic_pointer_cast<CObservationGPS>(o); }
+				{
+					obs = std::dynamic_pointer_cast<CObservationGPS>(o);
+				}
 			}
 			break;
 
@@ -134,7 +138,9 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
 		// If we had a GPS obs, process it:
 		const mrpt::obs::gnss::Message_NMEA_GGA* gga = nullptr;
 		if (obs && obs->hasMsgClass<mrpt::obs::gnss::Message_NMEA_GGA>())
-		{ gga = &obs->getMsgByClass<mrpt::obs::gnss::Message_NMEA_GGA>(); }
+		{
+			gga = &obs->getMsgByClass<mrpt::obs::gnss::Message_NMEA_GGA>();
+		}
 
 		if (gga &&
 			(!only_rtk || gga->fields.fix_quality == 4 ||
@@ -219,10 +225,14 @@ void fixGPStimestamp(
 
 	const gnss::Message_NMEA_GGA* gga = nullptr;
 	if (obs && obs->hasMsgClass<gnss::Message_NMEA_GGA>())
-	{ gga = &obs->getMsgByClass<gnss::Message_NMEA_GGA>(); }
+	{
+		gga = &obs->getMsgByClass<gnss::Message_NMEA_GGA>();
+	}
 	const gnss::Message_NMEA_RMC* rmc = nullptr;
 	if (obs && obs->hasMsgClass<gnss::Message_NMEA_RMC>())
-	{ rmc = &obs->getMsgByClass<gnss::Message_NMEA_RMC>(); }
+	{
+		rmc = &obs->getMsgByClass<gnss::Message_NMEA_RMC>();
+	}
 
 	if (gga && gga->fields.fix_quality > 0)
 	{
@@ -354,7 +364,9 @@ void xRawLogViewerFrame::OnMenuRegenerateGPSTimestamps(wxCommandEvent& event)
 				  "Do you want to re-order by timestamp?"),
 				nChanges, average_time_change, std_time_change),
 			_("Done"), wxYES_NO, this))
-	{ OnMenuResortByTimestamp(event); }
+	{
+		OnMenuResortByTimestamp(event);
+	}
 
 	WX_END_TRY
 }

apps/RawLogViewer/main_images_ops.cpp

@@ -206,7 +206,9 @@ void xRawLogViewerFrame::OnMenuMono2Stereo(wxCommandEvent& event)
 					countLoop,
 					wxString::Format(
 						wxT("Parsing rawlog... %u objects"), countLoop)))
-			{ return; }
+			{
+				return;
+			}
 			wxTheApp->Yield();	// Let the app. process messages
 		}
 

apps/RawLogViewer/main_show_selected_object.cpp

@@ -523,7 +523,9 @@ catch (CExceptionExternalImageNotFound& e)
 			this, _("Choose the base directory for relative image paths"),
 			CImage::getImagesPathBase().c_str(), 0, wxDefaultPosition);
 		if (dirDialog.ShowModal() == wxID_OK)
-		{ CImage::setImagesPathBase(string(dirDialog.GetPath().mb_str())); }
+		{
+			CImage::setImagesPathBase(string(dirDialog.GetPath().mb_str()));
+		}
 	}
 }
 catch (const std::exception& e)

apps/RawLogViewer/main_timeline.cpp

@@ -660,7 +660,9 @@ std::optional<std::pair<double, size_t>>
 
 		if (trackedSensorLabel.has_value() &&
 			glLb->getString() == *trackedSensorLabel)
-		{ glLb->setColor_u8(0xff, 0x00, 0x00, 0xff); }
+		{
+			glLb->setColor_u8(0xff, 0x00, 0x00, 0xff);
+		}
 		else
 		{
 			glLb->setColor_u8(0x00, 0x00, 0x00, 0xff);

apps/RawLogViewer/xRawLogViewerMain.cpp

@@ -2942,7 +2942,9 @@ void xRawLogViewerFrame::OnFileCountEntries(wxCommandEvent&)
 			if (newObj->GetRuntimeClass() == CLASS_ID(CSensoryFrame) ||
 				newObj->GetRuntimeClass() == CLASS_ID(CActionCollection) ||
 				newObj->GetRuntimeClass() == CLASS_ID(CPose2D))
-			{ entryIndex++; }
+			{
+				entryIndex++;
+			}
 			else
 			{
 				// Unknown class:
@@ -3654,7 +3656,9 @@ void xRawLogViewerFrame::OnRemoveSpecificRangeMeas(wxCommandEvent&)
 										 obs_2->sensedData[q].sensedDistance);
 
 							if (filter)
-							{ obs_2->sensedData[q].sensedDistance = 0; }
+							{
+								obs_2->sensedData[q].sensedDistance = 0;
+							}
 							nFilt++;
 						}
 					}
@@ -4076,7 +4080,9 @@ void xRawLogViewerFrame::OnRecalculateActionsICP(wxCommandEvent&)
 		{
 			// Check type:
 			if (rawlog.getType(countLoop) == CRawlog::etActionCollection)
-			{ act_between = rawlog.getAsAction(countLoop); }
+			{
+				act_between = rawlog.getAsAction(countLoop);
+			}
 			else if (rawlog.getType(countLoop) == CRawlog::etSensoryFrame)
 			{
 				// This is a SF:

apps/ReactiveNav3D-Demo/ReactiveNav3D_demo.h

@@ -153,7 +153,9 @@ class CRobotKinects
 		{
 			if ((kinectrelpose.distance3DTo(x[i], y[i], z[i]) < m_min_range) ||
 				(kinectrelpose.distance3DTo(x[i], y[i], z[i]) > m_max_range))
-			{ deletion.push_back(1); }
+			{
+				deletion.push_back(1);
+			}
 			else
 			{
 				deletion.push_back(0);
@@ -217,18 +219,24 @@ class CRobotKinects
 							if (k == 0)
 							{
 								if (point.z < heights[k])
-								{ m_points.insertPoint(point); }
+								{
+									m_points.insertPoint(point);
+								}
 							}
 							else if (k == m_maps.size() - 1)
 							{
 								if (point.z >= h)
-								{ m_points.insertPoint(point); }
+								{
+									m_points.insertPoint(point);
+								}
 							}
 							else
 							{
 								if ((point.z >= h) &&
 									(point.z < h + heights[k]))
-								{ m_points.insertPoint(point); }
+								{
+									m_points.insertPoint(point);
+								}
 							}
 						}
 					}

apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp

@@ -1335,7 +1335,9 @@ void reactive_navigator_demoframe::simulateOneStep(double time_step)
 
 	static int decim_path = 0;
 	if (gl_robot_path->empty() || ++decim_path > 10)
-	{ gl_robot_path->appendLine(cur_pt, cur_pt); }
+	{
+		gl_robot_path->appendLine(cur_pt, cur_pt);
+	}
 	else
 	{
 		gl_robot_path->appendLineStrip(cur_pt);

apps/SceneViewer3D/_DSceneViewerMain.cpp

@@ -966,7 +966,9 @@ void _DSceneViewerFrame::OntimLoadFileCmdLineTrigger(wxTimerEvent&)
 				"3Dscene",
 				mrpt::system::extractFileExtension(
 					global_fileToOpen, true /*ignore .gz*/)))
-		{ loadFromFile(global_fileToOpen); }
+		{
+			loadFromFile(global_fileToOpen);
+		}
 		else
 		{
 			std::cout << "Filename extension does not match `3Dscene`, "
@@ -1207,7 +1209,9 @@ void _DSceneViewerFrame::OnTravellingTrigger(wxTimerEvent& event)
 		if ((openGLSceneRef->viewportsCount() == 0) ||
 			!openGLSceneRef->getViewport("main") ||
 			(openGLSceneRef->getViewport("main")->size() == 0))
-		{ wxMessageBox(_("Canvas is empty"), _("Warning"), wxOK, this); }
+		{
+			wxMessageBox(_("Canvas is empty"), _("Warning"), wxOK, this);
+		}
 		else
 		{
 			// Change the camera
@@ -1293,7 +1297,9 @@ void _DSceneViewerFrame::OnStartCameraTravelling(wxCommandEvent& event)
 		if ((openGLSceneRef->viewportsCount() == 0) ||
 			!openGLSceneRef->getViewport("main") ||
 			(openGLSceneRef->getViewport("main")->size() == 0))
-		{ wxMessageBox(_("Canvas is empty"), _("Warning"), wxOK, this); }
+		{
+			wxMessageBox(_("Canvas is empty"), _("Warning"), wxOK, this);
+		}
 		else
 		{
 			// Change the camera

apps/benchmarking-image-features/src/mainwindow.cpp

@@ -237,14 +237,18 @@ void MainWindow::on_button_generate_clicked()
 					auxImg1 = *ft1.patch;
 					if (currentInputIndex == 1 || currentInputIndex == 4 ||
 						(currentInputIndex == 2 && rawlog_type == 1))
-					{ auxImg2 = *best_ft2.patch; }
+					{
+						auxImg2 = *best_ft2.patch;
+					}
 				}
 				else if (descriptor_selected == 3)	// descPolarImages
 				{
 					auxImg1.setFromMatrix(*ft1.descriptors.PolarImg);
 					if (currentInputIndex == 1 || currentInputIndex == 4 ||
 						(currentInputIndex == 2 && rawlog_type == 1))
-					{ auxImg2.setFromMatrix(*best_ft2.descriptors.PolarImg); }
+					{
+						auxImg2.setFromMatrix(*best_ft2.descriptors.PolarImg);
+					}
 				}
 				else if (descriptor_selected == 4)	// descLogPolarImages
 				{
@@ -1875,7 +1879,9 @@ void MainWindow::ReadInputFormat()
 	// numFeatures = numFeaturesLineEdit->text().toInt();
 
 	if (currentInputIndex == 0)
-	{ file_path1 = inputFilePath->text().toStdString(); }
+	{
+		file_path1 = inputFilePath->text().toStdString();
+	}
 	else if (currentInputIndex == 1)  // only read the single images if a single
 	// image or stereo image input is
 	// specified
@@ -4086,7 +4092,9 @@ void MainWindow::Mouse_Pressed()
 		images_static = images1[pos];
 		if (currentInputIndex == 1 || currentInputIndex == 4 ||
 			(currentInputIndex == 2 && rawlog_type == 1))
-		{ images_static2 = images2[pos]; }
+		{
+			images_static2 = images2[pos];
+		}
 
 		/// this is done to fix the overlaying of labels on top of each other.
 		if (flag_descriptor_match) featureMatched->setVisible(false);