Merge branch 'develop'

CMakeLists.txt

@@ -308,6 +308,7 @@ include(cmakemodules/script_SIMD.cmake REQUIRED)        # SSE2/SSE3/... optimiza
 include(cmakemodules/script_simpleini.cmake REQUIRED)   # SimpleINI lib
 include(cmakemodules/script_suitesparse.cmake REQUIRED) # SuiteSparse libs
 include(cmakemodules/script_swissrange.cmake REQUIRED)  # Support for SWISSRANGE 3D camera:
+include(cmakemodules/script_tbb.cmake REQUIRED)         # TBB
 include(cmakemodules/script_tinyxml2.cmake REQUIRED)    # tinyxml2 lib
 include(cmakemodules/script_triclops.cmake REQUIRED)    # Check for PointGreyResearch (PGR) Triclops library
 include(cmakemodules/script_videre_svs.cmake REQUIRED)  # Support for Videre Design stereo camera:

apps/ro-localization/CPosePDFParticlesExtended.h

@@ -30,8 +30,6 @@ class TExtendedCPose2D
   mrpt::math::CVectorDouble state;
 };
 
-#define DUMMY_LINKAGE
-
 /** Declares a class that represents a Probability Distribution
  *    function (PDF) of a 2D pose (x,y,phi).
  *   This class implements that PDF using a set of particles

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.13.8-{branch}-build{build}
+version: 2.14.0-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/script_show_final_summary.cmake

@@ -143,6 +143,7 @@ SHOW_CONFIG_LINE_SYSTEM("OpenGL GLES                         " CMAKE_MRPT_HAS_GL
 SHOW_CONFIG_LINE_SYSTEM("GLUT                                " CMAKE_MRPT_HAS_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("PCAP (Wireshark logs for Velodyne)  " CMAKE_MRPT_HAS_LIBPCAP)
 SHOW_CONFIG_LINE_SYSTEM("SuiteSparse                         " CMAKE_MRPT_HAS_SUITESPARSE "[Version: ${SuiteSparse_VERSION}]")
+SHOW_CONFIG_LINE_SYSTEM("TBB                                 " CMAKE_MRPT_HAS_TBB "[Version: ${TBB_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("tinyxml2                            " CMAKE_MRPT_HAS_TINYXML2)
 SHOW_CONFIG_LINE_SYSTEM("wxWidgets                           " CMAKE_MRPT_HAS_WXWIDGETS "[Version: ${wxWidgets_VERSION_STRING} ${CMAKE_WXWIDGETS_TOOLKIT_NAME}]")
 message(STATUS  "")

cmakemodules/script_tbb.cmake

@@ -0,0 +1,16 @@
+
+set(CMAKE_MRPT_HAS_TBB 0)
+set(CMAKE_MRPT_HAS_TBB_SYSTEM 0)
+
+option(DISABLE_TBB "Force not using TBB" "OFF")
+mark_as_advanced(DISABLE_TBB)
+if(DISABLE_TBB)
+	return()
+endif()
+
+find_package(TBB QUIET)
+
+if(TBB_FOUND)
+	set(CMAKE_MRPT_HAS_TBB 1)
+	set(CMAKE_MRPT_HAS_TBB_SYSTEM 1)
+endif()

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,18 @@
 \page changelog Change Log
 
+# Version 2.14.0: Released Sep 15th, 2024
+- Changes in libraries:
+  - \ref mrpt_slam_grp:
+    - Particle filtering algorithm pfStandardProposal now uses TBB (if present) for automatically running weight updates in parallel.
+  - \ref mrpt_rtti_grp:
+    - mrpt::rtti::CObject::GetRuntimeClassIdStatic() no longer depends on static variables, but on constexpr. This totally removes the possibility of initialization order fiasco while registering classes.
+    - **IMPORTANT CHANGE**: To make the change above possible, these macros have changed:
+      - `DEFINE_VIRTUAL_SERIALIZABLE(class)` ==>`DEFINE_VIRTUAL_SERIALIZABLE(class, namespace)`
+      - `DEFINE_VIRTUAL_MRPT_OBJECT(class)` ==>`DEFINE_VIRTUAL_MRPT_OBJECT(class, namespace)`
+- BUG FIXES:
+  - Fix recursive mutex lock if calling mrpt::opengl::CPointCloud::insertPoint() with signatures for mrpt::math::TPoint3D.
+  - Fix potential initialization-order fiasco accessing GetRuntimeClassIdStatic() in clang (see change above).
+
 # Version 2.13.8: Released Sep 7th, 2024
 - Changes in libraries:
   - \ref mrpt_vision_grp:

libs/kinematics/include/mrpt/kinematics/CVehicleVelCmd.h

@@ -21,7 +21,7 @@ namespace mrpt::kinematics
  * \ingroup mrpt_kinematics_grp */
 class CVehicleVelCmd : public mrpt::serialization::CSerializable, public mrpt::Stringifyable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
+  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd, mrpt::kinematics)
  public:
   CVehicleVelCmd();
   CVehicleVelCmd(const CVehicleVelCmd& other);

libs/maps/include/mrpt/maps/CPointsMap.h

@@ -75,7 +75,7 @@ class CPointsMap :
     public mrpt::opengl::PLY_Exporter,
     public mrpt::maps::NearestNeighborsCapable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap, mrpt::maps)
   // This must be added for declaration of MEX-related functions
   DECLARE_MEX_CONVERSION
 

libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h

@@ -158,7 +158,7 @@ class CRandomFieldGridMap2D :
 {
   using BASE = mrpt::containers::CDynamicGrid<TRandomFieldCell>;
 
-  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D, mrpt::maps)
  public:
   /** Calls the base CMetricMap::clear
    * Declared here to avoid ambiguity between the two clear() in both base

libs/nav/include/mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h

@@ -28,7 +28,7 @@ namespace mrpt::nav
  */
 class CAbstractHolonomicReactiveMethod : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod)
+  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod, mrpt::nav)
  public:
   /** Input parameters for CAbstractHolonomicReactiveMethod::navigate() */
   struct NavInput

libs/nav/include/mrpt/nav/holonomic/CHolonomicLogFileRecord.h

@@ -23,7 +23,7 @@ namespace mrpt::nav
  */
 class CHolonomicLogFileRecord : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CHolonomicLogFileRecord)
+  DEFINE_VIRTUAL_SERIALIZABLE(CHolonomicLogFileRecord, mrpt::nav)
  public:
   /** Final [N-1] and earlier stages [0...N-1] evaluation scores for each
    * direction, in the same order of TP-Obstacles. May be not filled by all

libs/nav/include/mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h

@@ -23,7 +23,7 @@ namespace mrpt::nav
  */
 class CMultiObjectiveMotionOptimizerBase : public mrpt::rtti::CObject
 {
-  DEFINE_VIRTUAL_MRPT_OBJECT(CMultiObjectiveMotionOptimizerBase)
+  DEFINE_VIRTUAL_MRPT_OBJECT(CMultiObjectiveMotionOptimizerBase, mrpt::nav)
  public:
   /** Class factory from C++ class name */
   static CMultiObjectiveMotionOptimizerBase::Ptr Factory(const std::string& className) noexcept;

libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h

@@ -80,7 +80,7 @@ class CParameterizedTrajectoryGenerator :
     public mrpt::serialization::CSerializable,
     public mrpt::config::CLoadableOptions
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CParameterizedTrajectoryGenerator)
+  DEFINE_VIRTUAL_SERIALIZABLE(CParameterizedTrajectoryGenerator, mrpt::nav)
  public:
   /** Default ctor. Must call `loadFromConfigFile()` before initialization */
   CParameterizedTrajectoryGenerator() = default;

libs/nav/src/tpspace/CPTG_DiffDrive_CollisionGridBased.cpp

@@ -9,6 +9,8 @@
 
 #include "nav-precomp.h"  // Precomp header
 //
+#include <mrpt/core/WorkerThreadsPool.h>
+#include <mrpt/core/get_env.h>
 #include <mrpt/io/CFileGZInputStream.h>
 #include <mrpt/io/CFileGZOutputStream.h>
 #include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>
@@ -785,7 +787,7 @@ void CPTG_DiffDrive_CollisionGridBased::internal_initialize(
       }
     }  // k
 
-    if (verbose) cout << format("Done! [%.03f sec]\n", tictac.Tac());
+    if (verbose) cout << format("Done! [%.03f sec]", tictac.Tac()) << std::endl;
 
     // save it to the cache file for the next run:
     saveColGridsToFile(cacheFilename, m_robotShape);

libs/obs/include/mrpt/maps/CMetricMap.h

@@ -76,7 +76,7 @@ class CMetricMap :
     public mrpt::Stringifyable,
     public mrpt::opengl::Visualizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CMetricMap)
+  DEFINE_VIRTUAL_SERIALIZABLE(CMetricMap, mrpt::obs)
 
  private:
   /** Internal method called by clear() */

libs/obs/include/mrpt/obs/CAction.h

@@ -23,7 +23,7 @@ namespace mrpt::obs
  */
 class CAction : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CAction)
+  DEFINE_VIRTUAL_SERIALIZABLE(CAction, mrpt::obs)
  public:
   /** Default ctor */
   CAction() = default;

libs/obs/include/mrpt/obs/CObservation.h

@@ -49,7 +49,7 @@ static constexpr int INVALID_LANDMARK_ID = -1;
  */
 class CObservation : public mrpt::serialization::CSerializable, public mrpt::Stringifyable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CObservation)
+  DEFINE_VIRTUAL_SERIALIZABLE(CObservation, mrpt::obs)
 
  protected:
   /** Swap with another observation, ONLY the data defined here in the base

libs/obs/include/mrpt/obs/CObservation2DRangeScan.h

@@ -8,14 +8,18 @@
    +------------------------------------------------------------------------+ */
 #pragma once
 
+#include <mrpt/containers/NonCopiableData.h>
 #include <mrpt/core/aligned_std_vector.h>
+#include <mrpt/core/lock_helper.h>
 #include <mrpt/maps/CMetricMap.h>
 #include <mrpt/math/CPolygon.h>
 #include <mrpt/obs/CObservation.h>
 #include <mrpt/obs/T2DScanProperties.h>
 #include <mrpt/poses/CPose3D.h>
 #include <mrpt/serialization/CSerializable.h>
 
+#include <mutex>
+
 // Add for declaration of mexplus::from template specialization
 DECLARE_MEXPLUS_FROM(mrpt::obs::CObservation2DRangeScan)
 
@@ -166,6 +170,7 @@ class CObservation2DRangeScan : public CObservation
    *  It's a generic smart pointer to avoid depending here in the library
    * mrpt-obs on classes on other libraries.
    */
+  mutable mrpt::containers::NonCopiableData<std::recursive_mutex> m_cachedMapMtx;
   mutable mrpt::maps::CMetricMap::Ptr m_cachedMap;
   /** Internal method, used from buildAuxPointsMap() */
   void internal_buildAuxPointsMap(const void* options = nullptr) const;
@@ -183,6 +188,7 @@ class CObservation2DRangeScan : public CObservation
   template <class POINTSMAP>
   inline const POINTSMAP* getAuxPointsMap() const
   {
+    auto lck = mrpt::lockHelper(m_cachedMapMtx.data);
     return static_cast<const POINTSMAP*>(m_cachedMap.get());
   }
 
@@ -201,6 +207,8 @@ class CObservation2DRangeScan : public CObservation
   template <class POINTSMAP>
   inline const POINTSMAP* buildAuxPointsMap(const void* options = nullptr) const
   {
+    auto lck = mrpt::lockHelper(m_cachedMapMtx.data);
+
     if (!m_cachedMap) internal_buildAuxPointsMap(options);
     return static_cast<const POINTSMAP*>(m_cachedMap.get());
   }

libs/obs/src/CObservation2DRangeScan.cpp

@@ -178,6 +178,7 @@ void CObservation2DRangeScan::serializeFrom(mrpt::serialization::CArchive& in, u
       MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
   };
 
+  auto lck = mrpt::lockHelper(m_cachedMapMtx.data);
   m_cachedMap.reset();
 }
 
@@ -423,6 +424,8 @@ void internal_set_build_points_map_from_scan2D(scan2pts_functor fn)
   ---------------------------------------------------------------*/
 void CObservation2DRangeScan::internal_buildAuxPointsMap(const void* options) const
 {
+  auto lck = mrpt::lockHelper(m_cachedMapMtx.data);
+
   if (!ptr_internal_build_points_map_from_scan2D)
     throw std::runtime_error(
         "[CObservation2DRangeScan::buildAuxPointsMap] ERROR: This function "

libs/opengl/include/mrpt/opengl/CPointCloud.h

@@ -195,12 +195,12 @@ class CPointCloud :
 
   void insertPoint(const mrpt::math::TPoint3Df& p)
   {
-    std::unique_lock<std::shared_mutex> wfWriteLock(CRenderizableShaderPoints::m_pointsMtx.data);
+    // lock already hold by insertPoint() below
     insertPoint(p.x, p.y, p.z);
   }
   void insertPoint(const mrpt::math::TPoint3D& p)
   {
-    std::unique_lock<std::shared_mutex> wfWriteLock(CRenderizableShaderPoints::m_pointsMtx.data);
+    // lock already hold by insertPoint() below
     insertPoint(p.x, p.y, p.z);
   }
 

libs/opengl/include/mrpt/opengl/CRenderizable.h

@@ -70,7 +70,7 @@ enum class TCullFace : uint8_t
  */
 class CRenderizable : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizable)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizable, mrpt::opengl)
 
   friend class mrpt::opengl::Viewport;
   friend class mrpt::opengl::CSetOfObjects;

libs/opengl/include/mrpt/opengl/CRenderizableShaderPoints.h

@@ -37,7 +37,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderPoints : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderPoints)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderPoints, mrpt::opengl)
 
  public:
   CRenderizableShaderPoints() = default;

libs/opengl/include/mrpt/opengl/CRenderizableShaderText.h

@@ -26,7 +26,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderText : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderText)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderText, mrpt::opengl)
 
  public:
   CRenderizableShaderText() = default;

libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h

@@ -27,7 +27,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTexturedTriangles)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTexturedTriangles, mrpt::opengl)
 
  public:
   CRenderizableShaderTexturedTriangles() = default;

libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h

@@ -26,7 +26,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderTriangles : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTriangles)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTriangles, mrpt::opengl)
 
  public:
   CRenderizableShaderTriangles() = default;

libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h

@@ -25,7 +25,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderWireFrame : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderWireFrame)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderWireFrame, mrpt::opengl)
 
  public:
   CRenderizableShaderWireFrame() = default;

libs/poses/include/mrpt/poses/CPoint2DPDF.h

@@ -34,7 +34,7 @@ class CPoint2DPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPoint2D, 2>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPoint2DPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPoint2DPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

libs/poses/include/mrpt/poses/CPointPDF.h

@@ -36,7 +36,7 @@ class CPointPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPoint3D, 3>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPointPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPointPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

libs/poses/include/mrpt/poses/CPose3DPDF.h

@@ -37,7 +37,7 @@ class CPose3DPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose3D, 6>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

libs/poses/include/mrpt/poses/CPose3DQuatPDF.h

@@ -42,7 +42,7 @@ class CPose3DQuatPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose3DQuat, 7>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

libs/poses/include/mrpt/poses/CPosePDF.h

@@ -37,7 +37,7 @@ class CPosePDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose2D, 3>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPosePDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPosePDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles