Merge branch 'develop'

apps/RawLogViewer/main_timeline.cpp

@@ -115,7 +115,7 @@ void xRawLogViewerFrame::createTimeLineObjects(wxFlexGridSizer* fgzMain)
 		m_timeline.ySensorLabels = mrpt::opengl::CSetOfObjects::Create();
 		scene->insert(m_timeline.ySensorLabels);
 
-		m_timeline.allSensorDots = mrpt::opengl::CPointCloud::Create();
+		m_timeline.allSensorDots = mrpt::opengl::CSetOfObjects::Create();
 		scene->insert(m_timeline.allSensorDots);
 
 		m_timeline.cursor = mrpt::opengl::CBox::Create();
@@ -248,10 +248,6 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 
 	// Main per-sensor points:
 	tl.allSensorDots->clear();
-	tl.allSensorDots->setColor_u8(0x00, 0x00, 0xff, 0xff);
-	tl.allSensorDots->setPointSize(1.0f);
-	tl.allSensorDots->enableVariablePointSize(false);
-
 	tl.yCoordToSensorLabel.clear();
 	tl.ySensorLabels->clear();
 
@@ -265,6 +261,14 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 		{
 			if (e.second.timOccurs.empty()) continue;
 
+			auto glDots = mrpt::opengl::CPointCloud::Create();
+			tl.allSensorDots->insert(glDots);
+
+			glDots->setColor_u8(0x00, 0x00, 0xff, 0xff);
+			glDots->setPointSize(1.0f);
+			glDots->enableVariablePointSize(false);
+			glDots->setName(e.first);
+
 			double lastX = -2;	// actual coords go in [-1,1]
 			for (const auto& tim : e.second.timOccurs)
 			{
@@ -279,7 +283,7 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 					continue;  // no worth adding so many points
 
 				lastX = x;
-				tl.allSensorDots->insertPoint(x, y0, 0);
+				glDots->insertPoint(x, y0, 0);
 			}
 
 			// Keep a map between vertical coords and sensor labels:
@@ -656,9 +660,24 @@ 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);
+		}
+	}
+
+	// bold dots in selected line:
+	for (size_t i = 0;; i++)
+	{
+		auto glPts = tl.allSensorDots->getByClass<mrpt::opengl::CPointCloud>(i);
+		if (!glPts) break;
+
+		glPts->setPointSize(
+			(trackedSensorLabel.has_value() &&
+			 glPts->getName() == *trackedSensorLabel)
+				? 4.0f
+				: 1.0f);
 	}
 
 	m_timeline.horizontalCursor->setVisibility(false);

apps/RawLogViewer/xRawLogViewerMain.h

@@ -463,7 +463,8 @@ class xRawLogViewerFrame : public wxFrame
 
 		mrpt::opengl::CBox::Ptr borderBox;
 		mrpt::opengl::CSetOfObjects::Ptr xTicks;
-		mrpt::opengl::CPointCloud::Ptr allSensorDots;
+		/// one pointcloud per sensorLabel
+		mrpt::opengl::CSetOfObjects::Ptr allSensorDots;
 		mrpt::opengl::CBox::Ptr cursor;
 		mrpt::opengl::CBox::Ptr visiblePage;
 		mrpt::opengl::CSetOfObjects::Ptr ySensorLabels;

apps/benchmarking-image-features/CMakeLists.txt

@@ -1,6 +1,6 @@
 include(../../cmakemodules/AssureCMakeRootFile.cmake)
 
-project(benchmarkingImageFeatures_GUI)
+project(benchmarking-image-features)
 
 if(CMAKE_MRPT_HAS_Qt5 AND CMAKE_MRPT_HAS_OPENCV AND NOT "${MRPT_OPENCV_VERSION}" VERSION_LESS "3.2"
 	AND NOT WIN32 # added JLBC (may 2019): the app uses gcc-only headers dirent.h (!)

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

@@ -776,15 +776,16 @@ void MainWindow::on_detector_choose(int choice)
 	{
 		param1->setText("Threshold: ");
 		param2->setText("MinimumDistance: ");
-		// param3->setText("Enable non maximal supression (true/false): ");
+		// param3->setText("Enable non maximal suppression (true/false): ");
 		// param4->setText("Enable use KLT response (true/false): ");
 		param1_edit->setText("20");
 		param2_edit->setText("5");
 		// param3_edit->setText("true");
 		// param4_edit->setText("true");
 
 		param1_boolean->setChecked(true);
-		param1_boolean->setText("Enable non maximal supression (true/false): ");
+		param1_boolean->setText(
+			"Enable non maximal suppression (true/false): ");
 		param1_boolean->setVisible(true);
 		param2_boolean->setChecked(true);
 		param2_boolean->setText("Enable use KLT response (true/false):  ");

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

@@ -413,7 +413,7 @@ string PlaceRecognition::startPlaceRecognition(CFeatureExtraction fext)
 
 		this->total_vocab_size_org = len_train_words;
 		this->training_file_written_flag = true;
-	}  // end of writting training features to a file
+	}  // end of writing training features to a file
 
 	CTicTac testing_time;
 	testing_time.Tic();

apps/ptg-configurator/ptgConfiguratorMain.cpp

@@ -1473,8 +1473,7 @@ void ptgConfiguratorframe::OnExportSelectedPath(wxCommandEvent&)
 
 	std::ofstream f(sFil.c_str());
 	if (!f.is_open())
-		THROW_EXCEPTION_FMT(
-			"Cannot open file for writting: '%s'", sFil.c_str());
+		THROW_EXCEPTION_FMT("Cannot open file for writing: '%s'", sFil.c_str());
 
 	f << "%\n";
 	f << "% File generated automatically by ptg-configurator, MRPT project.\n";

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.5.0-{branch}-build{build}
+version: 2.5.1-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/man-pages/CMakeLists.txt

@@ -53,7 +53,6 @@ if (PROG_GZIP AND PROG_POD2MAN)
 	CREATE_MANPAGE_PROJECT(GridmapNavSimul)
 	CREATE_MANPAGE_PROJECT(grid-matching)
 	CREATE_MANPAGE_PROJECT(features-matching)
-	CREATE_MANPAGE_PROJECT(prrt-navigator-demo)
 	CREATE_MANPAGE_PROJECT(holonomic-navigator-demo)
 	CREATE_MANPAGE_PROJECT(navlog-viewer)
 	CREATE_MANPAGE_PROJECT(hmt-slam)
@@ -77,7 +76,6 @@ if (PROG_GZIP AND PROG_POD2MAN)
 	CREATE_MANPAGE_PROJECT(DifOdometry-Camera)
 	CREATE_MANPAGE_PROJECT(robot-map-gui)
 	CREATE_MANPAGE_PROJECT(benchmarking-image-features)
-	CREATE_MANPAGE_PROJECT(benchmarkingImageFeatures_GUI)
 	CREATE_MANPAGE_PROJECT(yaml2ini)
 	CREATE_MANPAGE_PROJECT(ini2yaml)
 	CREATE_MANPAGE_PROJECT(rosbag2rawlog)

doc/man-pages/pod/benchmarking-image-features.pod

@@ -4,11 +4,11 @@ benchmarking-image-features - GUI app for different detector/descriptors
 
 =head1 SYNOPSIS
 
-benchmarking-image-features [I<dataset.rawlog>]
+benchmarking-image-features
 
 =head1 DESCRIPTION
 
-A complete GUI viewer and editor of robotic datasets.
+GUI app for different detector/descriptors.
 
 =head1 BUGS
 
@@ -20,7 +20,6 @@ The application list and their documentation: https://docs.mrpt.org/reference/la
 
 =head1 AUTHORS
 
-
 B<benchmarking-image-features> is part of the Mobile Robot Programming Toolkit (MRPT), It
 under development by Raghavender Sahdev during the Google Summer of Code (GSOC)
 2017 program.
@@ -32,9 +31,7 @@ This manual page was written by Raghavender Sahdev <raghavendersahdev@gmail.com>
 This program is free software; you can redistribute it and/or modify it
 under the terms of the BSD License.
 
-On Debian GNU/Linux systems, the complete text of the BSD License can be 
+On Debian GNU/Linux systems, the complete text of the BSD License can be
 found in `/usr/share/common-licenses/BSD'.
 
 =cut
-
-

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,17 @@
 \page changelog Change Log
 
+# Version 2.5.1: Released August 4th, 2022
+- Changes in applications:
+  - RawLogViewer:
+    - Bold points when selecting a sensor in the timeline UI.
+- Changes in libraries:
+  - Embedded nanoflann version upgraded to v1.4.3
+- BUG FIXES:
+  - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
+  - mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.
+  - Fix `static_assert()` failure in CTicTac when building with latest emscripten clang compiler.
+  - Fix regression: yaml parsing boolean values may throw an exception inside `std::stoi()`.
+
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
   - RawLogViewer:

libs/comms/src/CSerialPort.cpp

@@ -358,7 +358,7 @@ void CSerialPort::setConfig(
 	else
 	{
 		// Normal baudrate: Just in case, undo possible custom divisors:
-		//#ifdef HAVE_LINUX_SERIAL_H
+		// #ifdef HAVE_LINUX_SERIAL_H
 		//		struct serial_struct serial;
 		//		if (ioctl(hCOM, TIOCGSERIAL, &serial) < 0)
 		//            THROW_EXCEPTION("error on TIOCGSERIAL ioctl");
@@ -367,7 +367,7 @@ void CSerialPort::setConfig(
 		//
 		//		if (ioctl(hCOM, TIOCSSERIAL, &serial) < 0)
 		//            THROW_EXCEPTION("error on TIOCSSERIAL ioctl");
-		//#endif
+		// #endif
 	}
 
 	termios port_settings;
@@ -777,8 +777,8 @@ size_t CSerialPort::Write(const void* Buffer, size_t Count)
 				usecs = (end.tv_sec - start.tv_sec) * 1000000 +
 					(end.tv_usec - start.tv_usec);
 			} while (usecs < 60);
-			// std::this_thread::sleep_for(1ms); // we'll continue writting is a
-			// ms.
+			// std::this_thread::sleep_for(1ms);
+			// we'll continue writing in 1 ms.
 		}
 	} while ((total_bytes_written < Count) && (!errno || EAGAIN == errno));
 	//

libs/config/include/mrpt/config/CConfigFile.h

@@ -62,7 +62,7 @@ class CConfigFile : public CConfigFileBase
 	CConfigFile(const std::string& fileName);
 
 	/** Constructor, does not open any file. You should call "setFileName"
-	 * before reading or writting or otherwise nothing will be read and write
+	 * before reading or writing or otherwise nothing will be read and write
 	 * operations will be eventually lost.
 	 * However, it's perfectly right to use this object without an associated
 	 * file, in which case it will behave as an "in-memory" file.

libs/containers/include/mrpt/containers/yaml.h

@@ -1153,10 +1153,18 @@ T implAnyAsGetter(const mrpt::containers::yaml::scalar_t& s)
 		if (storedType == typeid(std::string))
 		{
 			const auto str = implAnyAsGetter<std::string>(s);
+			std::optional<int> intVal;
+			try
+			{
+				intVal = std::stoi(str);
+			}
+			catch (...)
+			{
+			}
 			return str == "y" || str == "Y" || str == "yes" || str == "Yes" ||
 				str == "YES" || str == "true" || str == "True" ||
 				str == "TRUE" || str == "on" || str == "ON" || str == "On" ||
-				std::stoi(str) != 0;
+				(intVal.has_value() && intVal.value() != 0);
 		}
 	}
 

libs/containers/src/yaml_unittest.cpp

@@ -939,4 +939,33 @@ MRPT_TEST(yaml, fromJSON)
 }
 MRPT_TEST_END()
 
+MRPT_TEST(yaml, booleanVersions)
+{
+	mrpt::containers::yaml p;
+	p["b01"] = "0";
+	p["b02"] = "False";
+	p["b03"] = "false";
+	p["b04"] = "FALSE";
+	p["b05"] = "No";
+
+	p["b11"] = "1";
+	p["b12"] = "True";
+	p["b13"] = "true";
+	p["b14"] = "TRUE";
+	p["b15"] = "Yes";
+
+	EXPECT_EQ(p["b01"].as<bool>(), false);
+	EXPECT_EQ(p["b02"].as<bool>(), false);
+	EXPECT_EQ(p["b03"].as<bool>(), false);
+	EXPECT_EQ(p["b04"].as<bool>(), false);
+	EXPECT_EQ(p["b05"].as<bool>(), false);
+
+	EXPECT_EQ(p["b11"].as<bool>(), true);
+	EXPECT_EQ(p["b12"].as<bool>(), true);
+	EXPECT_EQ(p["b13"].as<bool>(), true);
+	EXPECT_EQ(p["b14"].as<bool>(), true);
+	EXPECT_EQ(p["b15"].as<bool>(), true);
+}
+MRPT_TEST_END()
+
 #endif	// MRPT_HAS_FYAML

libs/gui/include/mrpt/gui/CDisplayWindowPlots.h

@@ -253,7 +253,7 @@ class CDisplayWindowPlots : public mrpt::gui::CBaseGUIWindow
 	 * \sa plot, hold_on, hold_off
 	 */
 	inline void clf() { clear(); }
-	/** Enables keeping all the graphs, instead of overwritting them.
+	/** Enables keeping all the graphs, instead of overwriting them.
 	 * \sa hold_off, plot
 	 */
 	void hold_on();