Merge branch 'develop'

CMakeLists.txt

@@ -19,14 +19,22 @@ endif()
 # Tell CMake we'll use both C & C++ for use in its tests/flags.
 project(MRPT LANGUAGES C CXX)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+	set(default_build_type "Release")
+	message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+	set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
+		STRING "Choose the type of build." FORCE)
+	# Set the possible values of build type for cmake-gui
+	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+	"Debug" "Release" "MinSizeRel" "RelWithDebInfo" "Coverage")
+endif()
+
 # -------------------------
 #        Setup CMake
 # -------------------------
-if (WIN32)
-	cmake_minimum_required(VERSION 3.4) # required for CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
-else()
-	cmake_minimum_required(VERSION 3.3)
-endif()
+# Minimum version required for:
+# - target_compile_features() => 3.8.0
+cmake_minimum_required(VERSION 3.8)
 
 # CheckIncludeFile: Yes, we will set "CMAKE_REQUIRED_LIBRARIES".
 if (POLICY CMP0075)
@@ -379,9 +387,9 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 	# High level of warnings.
 	# The -Wno-long-long is required in 64bit systems when including sytem headers.
 	# The -Wno-variadic-macros was needed for Eigen3, StdVector.h
-	add_compile_options(${CMAKE_CONFIGURE_CFLAGS} -Wall  -Wno-long-long -Wno-variadic-macros -Wshadow)
-  add_compile_options(-Wreturn-local-addr   -Werror=return-local-addr)
-  add_compile_options(-Wno-psabi)
+	add_compile_options(-Wall  -Wno-long-long -Wno-variadic-macros -Wshadow)
+	add_compile_options(-Wreturn-local-addr   -Werror=return-local-addr)
+	add_compile_options(-Wno-psabi)
 
 	# Workaround: Eigen <3.4 produces *tons* of warnings in GCC >=6. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1221
 	if (NOT ${CMAKE_CXX_COMPILER_VERSION} LESS "6.0" AND "${MRPT_EIGEN_VERSION}" VERSION_LESS "3.4")
@@ -392,14 +400,14 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 		# This causes the option "-Wnowrite-strings" to be set on gcc-4.9 on OS X
 		add_compile_options(-Wno-write-strings)
 	endif()
- 	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CMAKE_CONFIGURE_CFLAGS}")
 
 	# Use "modern" C99 ! ;-)
- 	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
+	string(APPEND CMAKE_C_FLAGS " -std=c99")
 
 	if(MRPT_BUILD_GCC_PEDANTIC)
 		# Only for C++ sources:
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic")
+		string(APPEND CMAKE_CXX_FLAGS " -pedantic")
+
 		# No need to be pendantic in old C files, most of them from 3rd parties anyway...
  		#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pedantic")
 	endif()
@@ -422,11 +430,9 @@ if (MRPT_COMPILER_IS_CLANG)
 
 	# High level of warnings.
 	# no-unused-private-field: clang seems to complain in templates without reason.
-	add_compile_options(${CMAKE_CONFIGURE_CFLAGS} -Wall -Wabi -Wno-unused-private-field -Wshadow-all)
+	add_compile_options(-Wall -Wabi -Wno-unused-private-field -Wshadow-all)
 	add_compile_options(-Wreturn-stack-address   -Werror=return-stack-address)
 
-	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CMAKE_CONFIGURE_CFLAGS}")
-
 	# Use "modern" C99 ! ;-)
 	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 
@@ -490,7 +496,8 @@ if (MRPT_COMPILER_IS_GCC_OR_CLANG)
 		# If enabled, and NOT in an arch that doesn't support the flag:
     	if(MRPT_TUNE_NATIVE AND
 			(NOT "${CMAKE_MRPT_ARCH}" STREQUAL "riscv64") AND
-			(NOT "${CMAKE_MRPT_ARCH}" STREQUAL "parisc64") # hppa
+			(NOT "${CMAKE_MRPT_ARCH}" STREQUAL "parisc64") AND # hppa
+			(NOT "${CMAKE_MRPT_ARCH}" STREQUAL "parisc") # hppa
 		)
     		add_compile_options(-mtune=native)
     	endif()
@@ -506,10 +513,6 @@ if (MRPT_COMPILER_IS_GCC_OR_CLANG)
     	endif()
     endif()
 
-	if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
-		add_compile_options(-O3)
-	endif()
-
 	# Was: add_compile_options(-mfpmath=sse)
 	# No need to add this flag: it's enabled by default in 64bit builds.
 

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

@@ -1930,8 +1930,7 @@ void slamdemoFrame::executeOneStep()
 		}
 
 		// Save historic data ------------------------
-		m_historicData.emplace_back();
-		THistoric& hist = m_historicData.back();
+		THistoric& hist = m_historicData.emplace_back();
 
 		hist.GT_robot_pose = m_GT_pose;
 		m_SLAM.getCurrentRobotPose(hist.estimate_robot_pose);

apps/RawLogViewer/CRawlogTreeView.cpp

@@ -114,21 +114,14 @@ void CRawlogTreeView::setRawlogSource(CRawlog* theRawlog)
 /* ------------------------------------------------------------
 						reloadFromRawlog
    ------------------------------------------------------------ */
-void CRawlogTreeView::reloadFromRawlog(int hint_rawlog_items)
+void CRawlogTreeView::reloadFromRawlog()
 {
 	// Recompute the total height of the scroll area:
 	//  We also compute a list for each index with:
 	//    - Pointer to data
 	//	  - level in the hierarchy (0,1,2)
 	// --------------------------------------------------------
 
-	if (m_rawlog)
-	{
-		if (hint_rawlog_items < 0) m_tree_nodes.reserve(m_rawlog->size() + 100);
-		else
-			m_tree_nodes.reserve(hint_rawlog_items + 100);
-	}
-
 	// Create a "tree node" for each element in the rawlog:
 	// ---------------------------------------------------------
 	m_tree_nodes.clear();
@@ -137,8 +130,7 @@ void CRawlogTreeView::reloadFromRawlog(int hint_rawlog_items)
 	m_rawlog_last = INVALID_TIMESTAMP;
 
 	// Root:
-	m_tree_nodes.emplace_back();
-	m_tree_nodes.back().level = 0;
+	m_tree_nodes.emplace_back().level = 0;
 
 	auto lambdaCheckTimestamp = [this](const mrpt::Clock::time_point& t) {
 		if (t == INVALID_TIMESTAMP) return;

apps/RawLogViewer/CRawlogTreeView.h

@@ -69,10 +69,10 @@ class CRawlogTreeView : public wxScrolledWindow
 
 	/** Sets the name of the rawlog file, used for the root item */
 	void setRawlogName(const std::string& s) { m_rawlog_name = s; }
+
 	/** Reloads from the rawlog: it adapts the size of the scroll window and
-	 * refresh the view.
-	 */
-	void reloadFromRawlog(int hint_rawlog_items = -1);
+	 * refresh the view */
+	void reloadFromRawlog();
 
 	/** Sets a handler for the event of selected item changes.
 	 */
@@ -115,7 +115,7 @@ class CRawlogTreeView : public wxScrolledWindow
 	size_t m_firstVisibleItem = 0, m_lastVisibleItem = 0;
 	size_t getTotalTreeNodes() const { return m_tree_nodes.size(); }
 
-	const std::vector<TNodeData>& treeNodes() const { return m_tree_nodes; }
+	const std::deque<TNodeData>& treeNodes() const { return m_tree_nodes; }
 
 	bool isItemIndexVisible(size_t idx) const;
 
@@ -140,7 +140,7 @@ class CRawlogTreeView : public wxScrolledWindow
 
 	/** The nuimber of rows to display for the rawlog, used to compute the
 	 * height */
-	std::vector<TNodeData> m_tree_nodes;
+	std::deque<TNodeData> m_tree_nodes;
 
 	/** Returns an icon index depending on the class of the object in the tree
 	 * view

apps/mrpt-performance/run_build_tables.h

@@ -33,6 +33,7 @@ bool func_comp_entries(const TPerfField& a, const TPerfField& b)
 int run_build_tables()
 {
 	using namespace std;
+	using namespace std::string_literals;
 	using namespace mrpt;
 	using namespace mrpt::system;
 	using namespace mrpt::serialization;
@@ -72,7 +73,7 @@ int run_build_tables()
 	std::sort(
 		lstConfigurations.begin(), lstConfigurations.end(), func_comp_entries);
 
-	ASSERT_(directoryExists(PERF_DATA_DIR + string("/perf-html/")));
+	ASSERT_DIRECTORY_EXISTS_(PERF_DATA_DIR + "/perf-html/"s);
 	CFileOutputStream fo;
 	// ====================================================
 	//                  index.html

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.5.3-{branch}-build{build}
+version: 2.5.4-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/DeclareMRPTLib.cmake

@@ -16,14 +16,9 @@ function(mrpt_lib_target_requires_cpp17 _TARGET)
 		set(INTERF_TYPE "PUBLIC")
 	endif()
 
+	# Modern, clean way to do this:
+	target_compile_features(${_TARGET} ${INTERF_TYPE} cxx_std_17)
 
-	if(NOT ${CMAKE_VERSION} VERSION_LESS "3.8.0")
-		# Modern, clean way to do this:
-		get_target_property(target_type ${_TARGET} TYPE)
-		target_compile_features(${_TARGET} ${INTERF_TYPE} cxx_std_17)
-	else()
-		message(FATAL_ERROR "MRPT requires CMake >=3.8.0 to build since MRPT 2.2.1, so libraries compile features regarding C++ versions are handled properly. For Ubuntu Xenial, check out e.g. this PPA: https://launchpad.net/~andrew-fuller/+archive/ubuntu/cmake/+packages")
-	endif()
 endfunction()
 
 # Minimize the time and memory required to build and load debug info:

cmakemodules/script_clang_tidy.cmake

@@ -1,4 +1,3 @@
-if (CMAKE_VERSION VERSION_GREATER "3.6.0")
 find_program(
   CLANG_TIDY_EXE
   NAMES "clang-tidy"
@@ -27,6 +26,3 @@ else()
     set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "${CLANG_TIDY_CHECKS}")
   endif()
 endif()
-else()
-message(STATUS "clang-tidy: not using. CMake version must be >=3.6")
-endif()

cmakemodules/script_gl_glut.cmake

@@ -31,11 +31,7 @@ if (POLICY CMP0072)
 endif()
 find_package(OpenGL)
 
-if (NOT "${CMAKE_VERSION}" VERSION_LESS "3.8.2")
-	set(MRPT_GL_LIB OpenGL::GL)
-else()
-	set(MRPT_GL_LIB ${OPENGL_gl_LIBRARY})
-endif()
+set(MRPT_GL_LIB OpenGL::GL)
 
 # EGL:
 if(CMAKE_VERSION VERSION_LESS 3.16.0)

doc/source/compiling.rst

@@ -34,10 +34,16 @@ Minimum compiler requisites:
     **Minimum recommended** requisites:
 
     .. code-block:: bash
-
-       sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
-         libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev zlib1g-dev \
+       # All Ubuntu versions:
+       sudo apt install build-essential pkg-config cmake \
+         libopencv-dev libeigen3-dev zlib1g-dev \
          libsuitesparse-dev libjpeg-dev
+         
+       # plus, only for Ubuntu < 22.04:
+       sudo apt install libwxgtk3.0-gtk3-dev
+
+       # plus, only for Ubuntu >= 22.04:
+       sudo apt install libwxgtk3.2-dev
 
     **Recommended additional** packages to enable most MRPT features:
 
@@ -75,7 +81,7 @@ Minimum compiler requisites:
     		libstd-srvs-dev libstereo-msgs-dev libtf2-dev \
     		libtf2-msgs-dev libbz2-dev
 
-    **ROS2 support:** Invoke your ROS2 distribution ``setup.bash``` as usual before
+    **ROS2 support:** Invoke your ROS2 distribution ``setup.bash`` as usual before
     running MRPT cmake configure to enable building of
     the `mrpt::ros2bridge <group_mrpt_ros2bridge_grp.html>`_ module.
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,18 @@
 \page changelog Change Log
 
+# Version 2.5.4: Released September 24th, 2022
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - mrpt::opengl::CFBORender is now faster, using a LUT for converting from logarithmic to linear depth values.
+  - \ref mrpt_ros1bridge_grp
+    - Implemented missing mrpt::ros1bridge::toROS() for point clouds.
+  - \ref mrpt_ros2bridge_grp
+    - Implemented missing mrpt::ros2bridge::toROS() for point clouds.
+- BUG FIXES:
+  - Fix build on hppa for parisc architecture too (not supported flag `-mtune=native`)
+  - nanogui: Fix mismatched memory allocator/free in serialization code.
+  - Fix potential segfault in RawLogViewer while building the tree view.
+
 # Version 2.5.3: Released September 6th, 2022
 - Changes in libraries:
   - \ref mrpt_gui_grp
@@ -42,7 +55,7 @@
   - \ref mrpt_opengl_grp
     - mrpt::opengl::CMesh supports having (x,y) limits with `maxCoord<minCoord` for flipped elevation and image meshes.
     - New flag mrpt::opengl::CAssimpModel::LoadFlags::IgnoreMaterialColor for mrpt::opengl::CAssimpModel::loadScene()
-    - A new rendering mode for default no-perspective transformations. 
+    - A new rendering mode for default no-perspective transformations.
       See mrpt::opengl::CCamera::setNoProjection()
   - \ref mrpt_poses_grp
     - Add correct displacement covariance calculation between two poses with cross-correlation via new method mrpt::poses::CPose3DQuatPDFGaussian::inverseCompositionCrossCorrelation() (Closes [#1242](https://github.com/MRPT/mrpt/issues/1242))

doc/source/doxygen-docs/lib_mrpt_serialization.md

@@ -44,7 +44,7 @@ serialization mechanisms.
 
 Serializing `shared_ptr<T>` is supported for any arbitrary type `T`. It is legal
 to serialize an empty (`nullptr`) smart pointer; an empty pointer will be read
-back. Polymorphic classes can be also writen and read, although reading a smart
+back. Polymorphic classes can be also written and read, although reading a smart
 pointer to a polymorphic base class is only supported for classes derived from
 MRPT's CSerializable, since that operation requires registering types in a class
 factory (see \a mrpt_rtti_grp and mrpt::serialization::CSerializable).

doc/source/env-vars.rst

@@ -27,6 +27,15 @@ numerical value (e.g. ``1``) will be interpreted as "true".
 - ``MRPT_EXPR_VERBOSE``: Set to ``1`` to enable extra verbose debug traces for
   `mrpt::expr::CRuntimeCompiledExpression::eval() <class_mrpt_expr_CRuntimeCompiledExpression.html>`_.
 
+- ``MRPT_FBORENDER_SHOW_DEVICES``: If set to ``true``,
+  `mrpt::opengl::CFBORender <class_mrpt_opengl_CFBORender.html>`_ will print the
+  number of detected GPU devices to the console upon constructions.
+
+- ``MRPT_FBORENDER_USE_LUT``: If set to ``false``,
+  `mrpt::opengl::CFBORender <class_mrpt_opengl_CFBORender.html>`_ will never use
+  the discretized LUT to convert OpenGL depth values to linear distances, but
+  the exact (slower for large images) formula.
+
 - ``MRPT_HWDRIVERS_DEFAULT_LEAP_SECONDS``: In mrpt::hwdrivers::CGPSInterface, the
   default offset from GPS time to UTC time, for use before any GNSS especific
   message informs on this offset. Default: 17 (valid for 01/2016)

doc/source/range_only_localization_mapping.rst

@@ -6,7 +6,8 @@ Range-only Localization and Mapping Solutions
 
 .. contents:: :local:
 
-Range-only SLAM
+
+1. Range-only SLAM
 ====================
 
 MRPT at present offers one SLAM solution for RO-SLAM, integrated into the
@@ -17,7 +18,10 @@ Users can employ 2D or 3D poses in RBPF-SLAM, but notice that RO-SLAM with a RBP
 requires a decent odometry as input, which can comprise 2D or 3D robot motion
 actions.
 
-Range-only Localization
+.. image:: images/demo_ROSLAM_symmetry1.jpg
+   :alt: Range-Only SLAM with symmetry example
+
+2. Range-only Localization
 ==========================
 
 There are two implementations:
@@ -26,23 +30,30 @@ pf-localization
 ---------------------
 
 The `pf-localization application <https://www.mrpt.org/list-of-mrpt-apps/application-pf-localization/>`_
-is a CLI to the underlying C++ class from the library: \ref mrpt_apps_grp.
+is a CLI to the underlying C++ class from the library `mrpt::apps <group_mrpt_apps_grp.html>`_.
 
 Users can employ 2D or 3D odometry as input for 2D or 3D motion estimation. If
 no odometry is available, using a no-motion mean value with a large uncertainty
 should work.
 
 The CLI application works with offline data only, for online use, please refer
-to the underlying class in \ref mrpt_apps_grp or use the even most low-level classes:
-- mrpt::slam::CMonteCarloLocalization2D: For robots moving in 2D; pose=(x,y,phi)
-- mrpt::slam::CMonteCarloLocalization3D: For robots moving in 3D space; pose=(x,y,z,yaw,pitch,roll)
+to the underlying class in `mrpt::apps <group_mrpt_apps_grp.html>`_ 
+or use the even most low-level classes:
+
+- `mrpt::slam::CMonteCarloLocalization2D <class_mrpt_slam_CMonteCarloLocalization2D.html>`_: For robots
+  moving in 2D, with SE(2) poses (x,y,phi)
+
+- `mrpt::slam::CMonteCarloLocalization3D <class_mrpt_slam_CMonteCarloLocalization3D.html>`_: For robots
+  moving in 3D space, with SE(3) poses (x,y,z,yaw,pitch,roll)
 
 ro-localization
 ---------------------
 
 The `ro-localization application <https://www.mrpt.org/list-of-mrpt-apps/application-ro-localization/>`_
 is exactly like pf-localization above, but with two differences:
+
 - It's available for 2D only (at present).
+
 - It defines an extended state vector (at each particle) with an estimate of the current bias of each beacon/anchor.
 
 If your sensors do NOT suffer of bias with often, abrupt large changes, the regular