Merge branch 'develop' into fix-deps

CMakeLists.txt

@@ -8,7 +8,7 @@
 #  For compiling instructions for all compilers and platforms, see
 #   https://docs.mrpt.org/reference/latest/compiling.html
 #
-#  2007-2021, Jose Luis Blanco <jlblanco@ual.es>
+#  2007-2023, Jose Luis Blanco <jlblanco@ual.es>
 # ----------------------------------------------------------------------------
 
 # -------------------------

README.md

@@ -27,7 +27,7 @@ and [much more](https://docs.mrpt.org/reference/latest/applications.html).
 
 ## 2. Resources
   * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --recursive`
-  * Ask questions at: [this Google group](https://www.mrpt.org/forum/) or at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!)
+  * Ask questions at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (use the tag `mrpt`)
   * [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/)
   * [C++ API reference](https://docs.mrpt.org/reference/)
   * [ROS packages](https://docs.mrpt.org/reference/latest/wrappers.html#mrpt-ros-packages)
@@ -92,6 +92,13 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 ## 4. License
 MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
 
+
+**Contributors**
+
+<a href="https://github.com/MRPT/mrpt/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=MRPT/mrpt" />
+</a>
+
 ## 5. Versions in repositories
 
 ![Repology](https://repology.org/badge/vertical-allrepos/mrpt.svg)

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

@@ -187,7 +187,7 @@ void MainWindow::on_button_generate_clicked()
 				xData.at<double>(i) = i;
 				yData.at<double>(i) = distances(i, 0);
 			}
-#if MRPT_OPENCV_VERSION_NUM >= 0x330
+#if MRPT_OPENCV_VERSION_NUM >= 0x030300
 			plot = plot::Plot2d::create(xData, yData);
 #else
 			plot = plot::createPlot2d(xData, yData);
@@ -384,7 +384,7 @@ void MainWindow::on_button_generate_clicked()
 					min_y = -1;
 				}
 
-#if MRPT_OPENCV_VERSION_NUM >= 0x330
+#if MRPT_OPENCV_VERSION_NUM >= 0x030300
 				plot = plot::Plot2d::create(xData, yData);
 #else
 				plot = plot::createPlot2d(xData, yData);
@@ -439,7 +439,7 @@ void MainWindow::on_button_generate_clicked()
 						else
 							yData.at<double>(i) = v2_surf.at(i);
 					}
-#if MRPT_OPENCV_VERSION_NUM >= 0x330
+#if MRPT_OPENCV_VERSION_NUM >= 0x030300
 					plot = plot::Plot2d::create(xData, yData);
 #else
 					plot = plot::createPlot2d(xData, yData);

apps/mrpt-performance/perf-main.cpp

@@ -269,9 +269,9 @@ int main(int argc, char** argv)
 
 			const string fil_name = PERF_DATA_DIR +
 				mrpt::format("/perf-results-%i.%i.%i%s-%s-%ibit.dat",
-							 int((MRPT_VERSION >> 8) & 0x0F),
-							 int((MRPT_VERSION >> 4) & 0x0F),
-							 int((MRPT_VERSION >> 0) & 0x0F), version_postfix,
+							 int((MRPT_VERSION >> 16) & 0xFF),
+							 int((MRPT_VERSION >> 8) & 0xFF),
+							 int((MRPT_VERSION >> 0) & 0xFF), version_postfix,
 							 compiler_name, int(MRPT_WORD_SIZE));
 			cout << "Saving perf-data to: " << fil_name << endl;
 			CFileOutputStream f(fil_name);

cmakemodules/UtilsMacros.cmake

@@ -57,42 +57,21 @@ macro(pkgconfig_parse _FLAGS _OUT_PREFIX)
 	endforeach(str)
 endmacro(pkgconfig_parse )
 
-# Convert a decimal value [0,15] to hexadecimal
-# From: http://stackoverflow.com/questions/26182289/convert-from-decimal-to-hexadecimal-in-cmake
-macro(DECCHAR2HEX VAR VAL)
-        if (${VAL} LESS 10)
-            set(${VAR} ${VAL})
-        elseif(${VAL} EQUAL 10)
-            set(${VAR} "A")
-        elseif(${VAL} EQUAL 11)
-            set(${VAR} "B")
-        elseif(${VAL} EQUAL 12)
-            set(${VAR} "C")
-        elseif(${VAL} EQUAL 13)
-            set(${VAR} "D")
-        elseif(${VAL} EQUAL 14)
-            set(${VAR} "E")
-        elseif(${VAL} EQUAL 15)
-            set(${VAR} "F")
-        else(${VAL} LESS 10)
-            message(FATAL_ERROR "Invalid format for hexidecimal character")
-        endif(${VAL} LESS 10)
-endmacro(DECCHAR2HEX)
-
-# Converts a version like "1.2.3" into a string "0x123"
+# Converts a version like "1.2.3" into a string "0x10203",
+# or "3.4.19" into "0x30413".
 # Usage: VERSION_TO_HEXADECIMAL(TARGET_VAR "1.2.3")
-macro(VERSION_TO_HEXADECIMAL  OUT_VAR IN_VERSION)
-	string(REGEX MATCHALL "[0-9]+" VERSION_PARTS "${IN_VERSION}")
-	list(GET VERSION_PARTS 0 VERSION_NUMBER_MAJOR)
-	list(GET VERSION_PARTS 1 VERSION_NUMBER_MINOR)
-	list(GET VERSION_PARTS 2 VERSION_NUMBER_PATCH)
-	# Convert each part to hex:
-	DECCHAR2HEX(VERSION_NUMBER_MAJOR_HEX ${VERSION_NUMBER_MAJOR})
-	DECCHAR2HEX(VERSION_NUMBER_MINOR_HEX ${VERSION_NUMBER_MINOR})
-	DECCHAR2HEX(VERSION_NUMBER_PATCH_HEX ${VERSION_NUMBER_PATCH})
-	# Concat version string:
-	set(${OUT_VAR} "0x${VERSION_NUMBER_MAJOR_HEX}${VERSION_NUMBER_MINOR_HEX}${VERSION_NUMBER_PATCH_HEX}")
-endmacro(VERSION_TO_HEXADECIMAL)
+macro(VERSION_TO_HEXADECIMAL OUT_VAR IN_VERSION)
+  string(REGEX MATCHALL "[0-9]+" VERSION_PARTS "${IN_VERSION}")
+  list(GET VERSION_PARTS 0 VERSION_NUMBER_MAJOR)
+  list(GET VERSION_PARTS 1 VERSION_NUMBER_MINOR)
+  list(GET VERSION_PARTS 2 VERSION_NUMBER_PATCH)
+
+  # Convert each part to hex:
+  math(EXPR ${OUT_VAR}
+  "(${VERSION_NUMBER_MAJOR} << 16) + \
+    (${VERSION_NUMBER_MINOR} << 8) + \
+    (${VERSION_NUMBER_PATCH})" OUTPUT_FORMAT HEXADECIMAL )
+endmacro()
 
 
 # GOOD & BAD are single strings, INPUT is a list wrapped in string

cmakemodules/script_create_version_h.cmake

@@ -5,31 +5,8 @@
 # ----------------------------------------------------------------------------
 set(CMAKE_MRPT_COMPLETE_NAME "MRPT ${CMAKE_MRPT_VERSION_NUMBER_MAJOR}.${CMAKE_MRPT_VERSION_NUMBER_MINOR}.${CMAKE_MRPT_VERSION_NUMBER_PATCH}")
 
-# There is no built-in support for dec to hex in cmake, sigh...
-function(digit_to_hex DIGIT RET)
-  if (NOT ${DIGIT} GREATER 9)
-    set(${RET} ${DIGIT} PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "10")
-    set(${RET} "A" PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "11")
-    set(${RET} "B" PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "12")
-    set(${RET} "C" PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "13")
-    set(${RET} "D" PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "14")
-    set(${RET} "E" PARENT_SCOPE)
-  elseif (${DIGIT} MATCHES "15")
-    set(${RET} "F" PARENT_SCOPE)
-  endif()
-endfunction()
-
-digit_to_hex(${CMAKE_MRPT_VERSION_NUMBER_MAJOR} CMAKE_MRPT_VERSION_NUMBER_MAJOR_HEX)
-digit_to_hex(${CMAKE_MRPT_VERSION_NUMBER_MINOR} CMAKE_MRPT_VERSION_NUMBER_MINOR_HEX)
-digit_to_hex(${CMAKE_MRPT_VERSION_NUMBER_PATCH} CMAKE_MRPT_VERSION_NUMBER_PATCH_HEX)
-
-# Build a three digits version code, eg. 0.5.1 -> 051,  1.2.0 -> 120
-set(CMAKE_MRPT_VERSION_CODE "0x${CMAKE_MRPT_VERSION_NUMBER_MAJOR_HEX}${CMAKE_MRPT_VERSION_NUMBER_MINOR_HEX}${CMAKE_MRPT_VERSION_NUMBER_PATCH_HEX}")
+# Build a six digits hex version code, eg. 1.2.0 -> 0x010200
+VERSION_TO_HEXADECIMAL(CMAKE_MRPT_VERSION_CODE ${CMAKE_MRPT_COMPLETE_NAME})
 
 # SOURCE_DATE_EPOCH: See Specs in https://reproducible-builds.org/specs/source-date-epoch/
 # Take its value from:
@@ -80,6 +57,6 @@ if (WIN32)
 		${MRPT_BINARY_DIR}/version.rc
 		@ONLY)
 	set(MRPT_VERSION_RC_FILE "${MRPT_BINARY_DIR}/version.rc")
-else(WIN32)
+else()
 	set(MRPT_VERSION_RC_FILE "")
-endif (WIN32)
+endif()

doc/source/doxygen-docs/changelog.md

@@ -1,6 +1,8 @@
 \page changelog Change Log
 
 # Version 2.10.2: UNRELEASED
+- Build system:
+  - MRPT and OpenCV versions were until now exposed as macros with 3 hexadecimal digits (e.g. `2.4.0`->`0x240`), with a clear limitation of versions greater than 15. Now, both symbols `MRPT_VERSION` and `MRPT_OPENCV_VERSION_NUM` use TWO hexadecimal digits per version part, like: `2.10.2` -> `0x010A02`, which is much more general and safe for the future. For backwards compatibility, just make sure your user code only uses `MRPT_VERSION>=xxx` or `MRPT_VERSION>xxx` comparisons, instead of less-than comparisons (Fixes [issue #1285](https://github.com/MRPT/mrpt/issues/1285)).
 - Changes in apps:
   - rawlog-edit: Add `--select-label` optional filter to command `--remap-timestamps`.
 - Changes in libraries:

libs/detectors/src/CCascadeClassifierDetection.cpp

@@ -24,7 +24,7 @@ using namespace mrpt::obs;
 using namespace mrpt::img;
 using namespace std;
 
-#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
+#if MRPT_HAS_OPENCV
 using namespace cv;
 #endif
 
@@ -38,7 +38,7 @@ using namespace cv;
 CCascadeClassifierDetection::CCascadeClassifierDetection()
 {
 // Check if MRPT is using OpenCV
-#if !MRPT_HAS_OPENCV || MRPT_OPENCV_VERSION_NUM < 0x200
+#if !MRPT_HAS_OPENCV
 	THROW_EXCEPTION(
 		"CCascadeClassifierDetection class requires MRPT built against OpenCV "
 		">=2.0");
@@ -51,7 +51,7 @@ CCascadeClassifierDetection::CCascadeClassifierDetection()
 
 CCascadeClassifierDetection::~CCascadeClassifierDetection()
 {
-#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
+#if MRPT_HAS_OPENCV
 	delete CASCADE;
 #endif
 }
@@ -63,7 +63,7 @@ CCascadeClassifierDetection::~CCascadeClassifierDetection()
 void CCascadeClassifierDetection::init(
 	const mrpt::config::CConfigFileBase& config)
 {
-#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
+#if MRPT_HAS_OPENCV
 	// load configuration values
 	m_options.cascadeFileName =
 		config.read_string("CascadeClassifier", "cascadeFilename", "");
@@ -91,7 +91,7 @@ void CCascadeClassifierDetection::init(
 void CCascadeClassifierDetection::detectObjects_Impl(
 	const CObservation& obs, vector_detectable_object& detected)
 {
-#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
+#if MRPT_HAS_OPENCV
 	// Obtain image from generic observation
 	const mrpt::img::CImage* img = nullptr;
 

libs/img/include/mrpt/3rdparty/do_opencv_includes.h

@@ -18,14 +18,14 @@
 // OPENCV HEADERS
 #define CV_NO_CVV_IMAGE	 // Avoid CImage name crash
 
-#if MRPT_OPENCV_VERSION_NUM < 0x240
+#if MRPT_OPENCV_VERSION_NUM < 0x020400
 #error "MRPT requires OpenCV 2.4.0 or newer"
 #endif
 
 #include <opencv2/opencv_modules.hpp>
 
 // C++ API:
-#if MRPT_OPENCV_VERSION_NUM >= 0x300
+#if MRPT_OPENCV_VERSION_NUM >= 0x030000
 // C++ API - opencv >=3
 #include <opencv2/calib3d.hpp>
 #include <opencv2/core.hpp>
@@ -72,7 +72,7 @@
 #endif
 
 // Backwards compatible macro:
-#if MRPT_OPENCV_VERSION_NUM < 0x344
+#if MRPT_OPENCV_VERSION_NUM < 0x030404
 #define cvIplImage(X) (X)
 #endif
 

libs/img/src/CImage.cpp

@@ -2223,7 +2223,7 @@ void CImage::getAsIplImage(IplImage* dest) const
 #if MRPT_HAS_OPENCV
 	makeSureImageIsLoaded();
 
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	ASSERT_(dest != nullptr);
 	*dest = cvIplImage(m_impl->img);
 #else

libs/vision/src/CFeatureExtraction_AKAZE.cpp

@@ -37,7 +37,7 @@ void CFeatureExtraction::extractFeaturesAKAZE(
 	mrpt::system::CTimeLoggerEntry tle(profiler, "extractFeaturesAKAZE");
 
 #if MRPT_HAS_OPENCV
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	THROW_EXCEPTION("This function requires OpenCV > 3.0.0");
 #else
 
@@ -46,11 +46,11 @@ void CFeatureExtraction::extractFeaturesAKAZE(
 	// Make sure we operate on a gray-scale version of the image:
 	const CImage inImg_gray(inImg, FAST_REF_OR_CONVERT_TO_GRAY);
 
-#if MRPT_OPENCV_VERSION_NUM >= 0x300
+#if MRPT_OPENCV_VERSION_NUM >= 0x030000
 
 	Mat theImg = inImg_gray.asCvMat<Mat>(SHALLOW_COPY);
 	Ptr<AKAZE> akaze = AKAZE::create(
-#if MRPT_OPENCV_VERSION_NUM >= 0x400
+#if MRPT_OPENCV_VERSION_NUM >= 0x040000
 		static_cast<cv::AKAZE::DescriptorType>(
 			options.AKAZEOptions.descriptor_type),
 #else
@@ -60,7 +60,7 @@ void CFeatureExtraction::extractFeaturesAKAZE(
 		options.AKAZEOptions.descriptor_channels,
 		options.AKAZEOptions.threshold, options.AKAZEOptions.nOctaves,
 		options.AKAZEOptions.nOctaveLayers,
-#if MRPT_OPENCV_VERSION_NUM >= 0x400
+#if MRPT_OPENCV_VERSION_NUM >= 0x040000
 		static_cast<cv::KAZE::DiffusivityType>(options.AKAZEOptions.diffusivity)
 #else
 		options.AKAZEOptions.diffusivity

libs/vision/src/CFeatureExtraction_FAST.cpp

@@ -39,7 +39,7 @@ void CFeatureExtraction::extractFeaturesFAST(
 	const CImage inImg_gray(inImg, FAST_REF_OR_CONVERT_TO_GRAY);
 	const Mat theImg = inImg_gray.asCvMat<cv::Mat>(SHALLOW_COPY);
 
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	FastFeatureDetector fastDetector(
 		options.FASTOptions.threshold, options.FASTOptions.nonmax_suppression);
 	fastDetector.detect(theImg, cv_feats);

libs/vision/src/CFeatureExtraction_ORB.cpp

@@ -55,7 +55,7 @@ void CFeatureExtraction::extractFeaturesORB(
 	// The detector and descriptor
 	profiler.enter("extractFeaturesORB.openCV_detectAndCompute");
 
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	Ptr<Feature2D> orb = Algorithm::create<Feature2D>("Feature2D.ORB");
 	orb->operator()(cvImg, Mat(), cv_feats, cv_descs, use_precomputed_feats);
 #else
@@ -250,7 +250,7 @@ void CFeatureExtraction::internal_computeORBDescriptors(
 	const Mat& cvImg = inImg_gray.asCvMatRef();
 	Mat cv_descs;
 
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	Ptr<Feature2D> orb = Algorithm::create<Feature2D>("Feature2D.ORB");
 	orb->operator()(
 		cvImg, cv::noArray(), cv_feats, cv_descs,

libs/vision/src/CFeatureExtraction_SIFT.cpp

@@ -18,7 +18,7 @@
 #include <opencv2/nonfree/nonfree.hpp>
 #endif
 #ifdef HAVE_OPENCV_FEATURES2D
-#if MRPT_OPENCV_VERSION_NUM >= 0x300
+#if MRPT_OPENCV_VERSION_NUM >= 0x030000
 #include <opencv2/features2d.hpp>
 #else
 #include <opencv2/features2d/features2d.hpp>
@@ -71,9 +71,9 @@ void CFeatureExtraction::extractFeaturesSIFT(
 
 	// in opencv 4.4 SIFT got into the main repo
 #if defined(HAVE_OPENCV_NONFREE) || defined(HAVE_OPENCV_XFEATURES2D) ||        \
-	(MRPT_OPENCV_VERSION_NUM >= 0x440)
+	(MRPT_OPENCV_VERSION_NUM >= 0x040400)
 
-#if MRPT_OPENCV_VERSION_NUM < 0x300
+#if MRPT_OPENCV_VERSION_NUM < 0x030000
 	SiftFeatureDetector SIFTDetector(
 		options.SIFTOptions.threshold, options.SIFTOptions.edgeThreshold);
 
@@ -84,11 +84,11 @@ void CFeatureExtraction::extractFeaturesSIFT(
 	Mat desc;
 	SIFTDescriptor.compute(theImg, cv_feats, desc);
 #else
-	// MRPT_OPENCV_VERSION_NUM >= 0x300
+	// MRPT_OPENCV_VERSION_NUM >= 0x030000
 	using namespace cv;
 	vector<KeyPoint> cv_feats;
 
-#if MRPT_OPENCV_VERSION_NUM >= 0x440
+#if MRPT_OPENCV_VERSION_NUM >= 0x040400
 	using sift_t = cv::SIFT;
 #else
 	using sift_t = cv::xfeatures2d::SIFT;
@@ -180,7 +180,7 @@ void CFeatureExtraction::internal_computeSiftDescriptors(
 	ASSERT_(options.SIFTOptions.implementation == OpenCV);
 
 	// in opencv 4.4 SIFT got into the main repo
-#if MRPT_OPENCV_VERSION_NUM >= 0x440
+#if MRPT_OPENCV_VERSION_NUM >= 0x040400
 	using namespace cv;
 	vector<KeyPoint> cv_feats;
 

libs/vision/src/CFeatureExtraction_SURF.cpp

@@ -33,7 +33,8 @@ using namespace std;
 
 // Was: MRPT_HAS_OPENCV_NONFREE
 #if defined(HAVE_OPENCV_XFEATURES2D) ||                                        \
-	(MRPT_OPENCV_VERSION_NUM < 0x300 && MRPT_OPENCV_VERSION_NUM >= 0x240)
+	(MRPT_OPENCV_VERSION_NUM < 0x030000 &&                                     \
+	 MRPT_OPENCV_VERSION_NUM >= 0x020400)
 #define HAVE_OPENCV_WITH_SURF 1
 #else
 #define HAVE_OPENCV_WITH_SURF 0
@@ -56,7 +57,7 @@ void CFeatureExtraction::extractFeaturesSURF(
 
 // gb redesign start -make sure that the Algorithm::create is used only for
 // older openCV versions
-#if MRPT_OPENCV_VERSION_NUM < 0x300 && MRPT_OPENCV_VERSION_NUM >= 0x240
+#if MRPT_OPENCV_VERSION_NUM < 0x030000 && MRPT_OPENCV_VERSION_NUM >= 0x020400
 
 	Ptr<Feature2D> surf = Algorithm::create<Feature2D>("Feature2D.SURF");
 	if (surf.empty())
@@ -181,7 +182,7 @@ void CFeatureExtraction::internal_computeSurfDescriptors(
 
 // Only computes the descriptors:
 // gb redesign
-#if MRPT_OPENCV_VERSION_NUM < 0x300 && MRPT_OPENCV_VERSION_NUM >= 0x240
+#if MRPT_OPENCV_VERSION_NUM < 0x030000 && MRPT_OPENCV_VERSION_NUM >= 0x020400
 
 	Ptr<Feature2D> surf = Algorithm::create<Feature2D>("Feature2D.SURF");
 	if (surf.empty())