Merge branch 'develop'

apps/RawLogViewer/main_timeline.cpp

@@ -143,7 +143,7 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 	auto& tl = m_timeline;
 	tl.clearStats();
 
-	const auto clsz = m_glTimeLine->GetClientSize();
+	const auto clsz = mrpt::gui::GetScaledClientSize(m_glTimeLine);
 
 	auto px2x = [clsz](int u) { return -1.0 + (2.0 / clsz.GetWidth()) * u; };
 	auto px2y = [clsz](int v) { return +1.0 - (2.0 / clsz.GetHeight()) * v; };
@@ -365,7 +365,7 @@ void xRawLogViewerFrame::bottomTimeLineUpdateCursorFromTreeScrollPos()
 		return;
 	}
 
-	const auto clsz = m_glTimeLine->GetClientSize();
+	const auto clsz = mrpt::gui::GetScaledClientSize(m_glTimeLine);
 
 	auto px2x = [clsz](int u) { return -1.0 + (2.0 / clsz.GetWidth()) * u; };
 	auto px2y = [clsz](int v) { return +1.0 - (2.0 / clsz.GetHeight()) * v; };
@@ -557,7 +557,7 @@ void xRawLogViewerFrame::OnTimeLineMouseWheel(wxMouseEvent& e)
 			mrpt::keep_max(xFocus, -1.0);
 			mrpt::keep_min(xFocus, 1.0);
 
-			const auto clsz = m_glTimeLine->GetClientSize();
+			const auto clsz = mrpt::gui::GetScaledClientSize(m_glTimeLine);
 
 			auto px2x = [clsz](int u) {
 				return -1.0 + (2.0 / clsz.GetWidth()) * u;
@@ -613,7 +613,7 @@ std::optional<std::pair<double, size_t>>
 		const std::optional<std::string>& forceThisSensorLabel,
 		const mrpt::optional_ref<std::string>& outSelectedSensorLabel) const
 {
-	const auto clsz = m_glTimeLine->GetClientSize();
+	const auto clsz = mrpt::gui::GetScaledClientSize(m_glTimeLine);
 
 	auto& tl = m_timeline;
 

apps/camera-calib/CDlgCalibWizardOnline.cpp

@@ -439,7 +439,8 @@ void CDlgCalibWizardOnline::OntimCaptureTrigger(wxTimerEvent& event)
 
 		// Resize the display area, if needed:
 		if (std::abs(
-				(int)(this->m_realtimeview->GetClientSize().GetWidth()) -
+				(int)(mrpt::gui::GetScaledClientSize(m_realtimeview)
+						  .GetWidth()) -
 				int(img_to_show.getWidth())) > 30)
 		{
 			this->m_realtimeview->SetSize(

apps/camera-calib/CDlgPoseEst.cpp

@@ -479,7 +479,8 @@ void CDlgPoseEst::OntimCaptureTrigger(wxTimerEvent& event)
 
 		// Resize the display area, if needed:
 		if (std::abs(
-				(int)(this->m_realtimeview->GetClientSize().GetWidth()) -
+				(int)(mrpt::gui::GetScaledClientSize(m_realtimeview)
+						  .GetWidth()) -
 				int(img_to_show.getWidth())) > 30)
 		{
 			this->m_realtimeview->SetSize(

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.11.1-{branch}-build{build}
+version: 2.11.2-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,17 @@
 \page changelog Change Log
 
+# Version 2.11.2: Released Oct 25th, 2023
+- Changes in libraries:
+  - \ref mrpt_gui_grp
+    - New function mrpt::gui::GetScaledClientSize().
+  - \ref mrpt_obs_grp
+    - Fix typo in data field: mrpt::obs::CObservationRange: `sensorConeApperture`  -> `sensorConeAperture`
+  - \ref mrpt_ros2bridge_grp
+    - Address the new field `variance` in `sensor_msgs/Range` (Closes [issue #1270](https://github.com/MRPT/mrpt/issues/1270)).
+- BUG FIXES:
+  - Fix wrong rendering of all wxWidgets-based OpenGL windows when using Ubuntu's display settings to change UI to a size different than 100% (Fixes [issue #1114](https://github.com/MRPT/mrpt/issues/1114)).
+  - Fix ignored sensorPose of mrpt::obs::CObservationPointCloud while inserting them into voxel maps.
+
 # Version 2.11.1: Released Oct 23rd, 2023
 - Changes in libraries:
   - \ref mrpt_math_grp

libs/gui/include/mrpt/gui/WxUtils.h

@@ -64,10 +64,14 @@ namespace gui
 /** \addtogroup mrpt_gui_wxutils Utilities for MRPT-wxWidgets interfacing (in
   #include <mrpt/gui/WxUtils.h>)
   * \ingroup mrpt_gui_grp
-
 	* @{ */
 #if MRPT_HAS_WXWIDGETS
 
+/** Returns the size of a window, including the optional magnification scale set
+ * by users in Display->Appearance.
+ */
+wxSize GetScaledClientSize(const wxWindow* w);
+
 #ifndef WX_START_TRY
 
 #define WX_START_TRY                                                           \

libs/gui/src/CWxGLCanvasBase.cpp

@@ -12,6 +12,7 @@
 #include <mrpt/core/lock_helper.h>
 #include <mrpt/gui/CWxGLCanvasBase.h>
 #include <mrpt/gui/WxSubsystem.h>
+#include <mrpt/gui/WxUtils.h>
 #include <mrpt/system/CTicTac.h>
 
 #if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
@@ -223,9 +224,8 @@ void CWxGLCanvasBase::Render()
 
 	lck.unlock();
 
-	int width, height;
-	GetClientSize(&width, &height);
-	double At = renderCanvas(width, height);
+	const auto sz = mrpt::gui::GetScaledClientSize(this);
+	double At = renderCanvas(sz.GetWidth(), sz.GetHeight());
 
 	OnPostRenderSwapBuffers(At, dc);
 }
@@ -241,8 +241,7 @@ void CWxGLCanvasBase::OnSize(wxSizeEvent& event)
 	if (!m_parent->IsShown()) return;
 
 	// set GL viewport (not called by wxGLCanvas::OnSize on all platforms...)
-	int w, h;
-	GetClientSize(&w, &h);
+	const auto sz = mrpt::gui::GetScaledClientSize(this);
 
 	if (this->IsShownOnScreen())
 	{
@@ -256,7 +255,7 @@ void CWxGLCanvasBase::OnSize(wxSizeEvent& event)
 			SetCurrent(*m_gl_context);
 		}
 
-		resizeViewport(w, h);
+		resizeViewport(sz.GetWidth(), sz.GetHeight());
 	}
 }
 

libs/gui/src/WxUtils.cpp

@@ -9,6 +9,7 @@
 
 #include "gui-precomp.h"  // Precompiled headers
 //
+#include <mrpt/core/round.h>
 #include <mrpt/gui/WxUtils.h>
 #include <mrpt/img/CImage.h>
 #include <mrpt/system/filesystem.h>
@@ -933,4 +934,12 @@ mrptKeyModifier mrpt::gui::keyEventToMrptKeyModifier(const wxKeyEvent& ev)
 	return mrptKeyModifier(mod);
 }
 
+wxSize mrpt::gui::GetScaledClientSize(const wxWindow* w)
+{
+	int width, height;
+	w->GetClientSize(&width, &height);
+	const double s = w->GetContentScaleFactor();
+	return wxSize(mrpt::round(s * width), mrpt::round(s * height));
+}
+
 #endif	// MRPT_HAS_WXWIDGETS