Merge branch 'develop'

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);

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.10.1-{branch}-build{build}
+version: 2.10.2-{branch}-build{build}
 
 os: Visual Studio 2019
 

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/graphslam-engine-guide/Makefile

@@ -24,4 +24,5 @@ graphslam-engine-guide.ps.gz: graphslam-engine-guide.pdf
 
 clean:
 	latexmk -CA
+	rm *.bbl *.nlo
 

doc/man-pages/CMakeLists.txt

@@ -19,15 +19,15 @@ if (PROG_GZIP AND PROG_POD2MAN)
 	# Macro for declaring man-pages targets:
 	macro(CREATE_MANPAGE_PROJECT appname)
 		add_custom_target(man_page_${appname}
-			COMMAND 			pod2man --center="Mobile Robot Programming Toolkit - MRPT"  ${MRPT_SOURCE_DIR}/doc/man-pages/pod/${appname}.pod |gzip -c > ${MRPT_BINARY_DIR}/man-pages/${appname}.1.gz
-			WORKING_DIRECTORY	${MRPT_SOURCE_DIR}/
+			COMMAND 			pod2man --center="Mobile Robot Programming Toolkit - MRPT"  ${MRPT_SOURCE_DIR}/doc/man-pages/pod/${appname}.pod | gzip -c > ${appname}.1.gz
+			WORKING_DIRECTORY	"${MRPT_BINARY_DIR}/man-pages"
 			COMMENT 		"Generating MRPT man pages"
 			)
 		add_dependencies(man_pages_all man_page_${appname})
 		if (UNIX)
 			install(FILES "${MRPT_BINARY_DIR}/man-pages/${appname}.1.gz" DESTINATION ${mrpt_apps_INSTALL_PREFIX}share/man/man1/ )
 		endif()
-	endmacro(CREATE_MANPAGE_PROJECT)
+	endmacro()
 
 	# The main (empty) target:
 	add_custom_target(man_pages_all ALL)

doc/requirements.txt

@@ -1,5 +1,32 @@
-sphinx_rtd_theme
-sphinx_design
-sphinxcontrib-bibtex
-mistune<2.0.0
-m2r2
+alabaster==0.7.13
+Babel==2.12.1
+certifi==2023.7.22
+charset-normalizer==3.2.0
+docutils==0.17.1
+idna==3.4
+imagesize==1.4.1
+Jinja2==3.1.2
+latexcodec==2.0.1
+m2r2==0.3.2
+MarkupSafe==2.1.3
+mistune==0.8.4
+packaging==23.1
+pybtex==0.24.0
+pybtex-docutils==1.0.3
+Pygments==2.16.1
+PyYAML==6.0.1
+requests==2.31.0
+six==1.16.0
+snowballstemmer==2.2.0
+Sphinx==5.3.0
+sphinx-rtd-theme==1.3.0
+sphinx_design==0.5.0
+sphinxcontrib-applehelp==1.0.7
+sphinxcontrib-bibtex==2.6.1
+sphinxcontrib-devhelp==1.0.5
+sphinxcontrib-htmlhelp==2.0.4
+sphinxcontrib-jquery==4.1
+sphinxcontrib-jsmath==1.0.1
+sphinxcontrib-qthelp==1.0.6
+sphinxcontrib-serializinghtml==1.1.9
+urllib3==2.0.6

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,21 @@
 \page changelog Change Log
 
+# Version 2.10.2: Released Oct 5th, 2023
+- Build system:
+  - ROS: fix missing deps in package.xml needed for build via Nix.
+  - 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:
+  - mrpt-ros1bridge and mrpt-ros2bridge: Remove leftover printf debugging trace printing ``Ok`` to console.
+  - \ref mrpt_hwdrivers_grp
+    - New overload mrpt::hwdrivers::CFFMPEG_InputStream::retrieveFrame() returning the frame PTS (presentation timestamp).
+- BUG FIXES:
+  - Fix CSparse "C" linkage build error (OSX Clang). PR [#1280](https://github.com/MRPT/mrpt/pull/1280)
+  - Fix missing Python wrapping of poses PDF (poses with uncertainty) composition (\oplus and \ominus) operators. (Closes [#1281](https://github.com/MRPT/mrpt/issues/1281)). PR [#1283](https://github.com/MRPT/mrpt/pull/1283)
+  - Fix wrong Jacobian in mrpt::math::CQuaternion::rpy_and_jacobian() for the case of Gimbal Lock. Thanks @giafranchini for reporting!. PR [#1290](https://github.com/MRPT/mrpt/pull/1290) (Closes [#1289](https://github.com/MRPT/mrpt/issues/1289))
+  - Fix spurious failures in offscreen render unit tests in RISCV64 (Closes [#1287](https://github.com/MRPT/mrpt/issues/1287)).
+
 # Version 2.10.1: Released August 10th, 2023
 - Build system:
   - Add cmake flag to disable LTO in pymrpt module.

libs/apps/src/RawlogEditApp.cpp

@@ -170,6 +170,13 @@ TCLAP::SwitchArg arg_overwrite(
 	"w", "overwrite", "Force overwrite target file without prompting.", cmd,
 	false);
 
+TCLAP::ValueArg<std::string> arg_select_label(
+	"", "select-label",
+	"Select one sensor label on which to apply the operation.\n"
+	"Several labels can be provided separated by commas.\n"
+	"Only for those ops that mention --select-label as optional.",
+	false, "", "label[,label...]", cmd);
+
 TCLAP::SwitchArg arg_quiet("q", "quiet", "Terse output", cmd, false);
 
 void RawlogEditApp::run(int argc, const char** argv)
@@ -232,8 +239,10 @@ void RawlogEditApp::run(int argc, const char** argv)
 		"'a*t+b'."
 		"The parameters 'a' and 'b' must be given separated with a "
 		"semicolon.\n"
+		"Optional: --select-label LABEL1[,LABEL2] to limit the operation to "
+		"those sensors only.\n"
 		"Requires: -o (or --output)",
-		false, "", "a;b", cmd));
+		false, "", "\"a;b\"", cmd));
 	ops_functors["remap-timestamps"] = &op_remap_timestamps;
 
 	arg_ops.push_back(std::make_unique<TCLAP::SwitchArg>(

libs/apps/src/rawlog-edit_remap_timestamps.cpp

@@ -32,30 +32,67 @@ DECLARE_OP_FUNCTION(op_remap_timestamps)
 	   protected:
 		TOutputRawlogCreator outrawlog;
 		const double m_a, m_b;
+		const std::set<std::string> m_labels;  //!< empty: all sensors
+		size_t m_changes = 0;
 
 	   public:
 		CRawlogProcessor_RemapTimestamps(
 			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
-			bool Verbose, double a, double b)
+			bool Verbose, double a, double b,
+			const std::set<std::string>& labels)
 			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
 			  m_a(a),
-			  m_b(b)
+			  m_b(b),
+			  m_labels(labels)
 		{
-			VERBOSE_COUT << "Applying timestamps remap a*t+b with: a=" << m_a
-						 << " b=" << m_b << endl;
+			VERBOSE_COUT
+				<< mrpt::format(
+					   "Applying timestamps remap a*t+b with: a=%f b=%f", m_a,
+					   m_b)
+				<< std::endl;
+
+			std::string sLog = "Applying to sensor labels: ";
+			if (m_labels.empty()) { sLog += " (all)\n"; }
+			else
+			{
+				for (const auto& l : m_labels)
+				{
+					sLog += "'";
+					sLog += l;
+					sLog += "', ";
+				}
+				sLog += "\n";
+			}
+			VERBOSE_COUT << sLog;
+		}
+
+		~CRawlogProcessor_RemapTimestamps()
+		{
+			VERBOSE_COUT << "Changed objects: " << m_changes << "\n";
+		}
+
+		bool checkSensorLabel(const CObservation::Ptr& obs)
+		{
+			if (m_labels.empty()) return true;
+			return m_labels.count(obs->sensorLabel) != 0;
 		}
 
 		bool processOneObservation(CObservation::Ptr& obs) override
 		{
+			// does it apply?
+			if (!checkSensorLabel(obs)) return true;
+
 			// T_NEW = a * T_OLD + b
 			const double t = mrpt::system::timestampToDouble(obs->timestamp);
 			const double t_new = m_a * t + m_b;
 			obs->timestamp = mrpt::system::time_tToTimestamp(t_new);
+
+			m_changes++;
 			return true;
 		}
 
-		// This method can be reimplemented to save the modified object to an
-		// output stream.
+		// This method can be reimplemented to save the modified object to
+		// an output stream.
 		void OnPostProcess(
 			mrpt::obs::CActionCollection::Ptr& actions,
 			mrpt::obs::CSensoryFrame::Ptr& SF,
@@ -85,9 +122,20 @@ DECLARE_OP_FUNCTION(op_remap_timestamps)
 	const double a = atof(sAB_tokens[0].c_str());
 	const double b = atof(sAB_tokens[1].c_str());
 
+	string filter_labels;
+	getArgValue<string>(cmdline, "select-label", filter_labels);
+
+	std::vector<std::string> lbs;
+	mrpt::system::tokenize(filter_labels, ",", lbs);
+
+	std::set<std::string> applyLabels;
+	for (const auto& l : lbs)
+		applyLabels.insert(l);
+
 	// Process
 	// ---------------------------------
-	CRawlogProcessor_RemapTimestamps proc(in_rawlog, cmdline, verbose, a, b);
+	CRawlogProcessor_RemapTimestamps proc(
+		in_rawlog, cmdline, verbose, a, b, applyLabels);
 	proc.doProcessRawlog();
 
 	// Dump statistics: