Merge pull request #1216 from MRPT/develop

Release 2.4.3 merge

apps/navlog-viewer/navlog-viewer-ui.cpp

@@ -259,6 +259,9 @@ NavlogViewerApp::NavlogViewerApp()
 		lambdaAddSmallFontBtn(layer, "Export current log entry...", [this]() {
 			OnmnuExportSelected();
 		});
+		lambdaAddSmallFontBtn(
+			layer, "Localization vs odom report...",
+			[this]() { OnmnuGenerateOdometryVsLocalizationReport(); });
 	}
 
 	// ===== TAB: Manually pick trajectory
@@ -585,9 +588,19 @@ void NavlogViewerApp::updateVisualization()
 		std::to_string(log.nSelectedPTG) + "from [0-"s +
 		std::to_string(log.nPTGs - 1) + "]"s);
 
-	m_txtTimeIndex->setCaption(
-		"Time index: "s + std::to_string(log_idx) + " / "s +
-		std::to_string(std::max<size_t>(1U, m_logdata.size()) - 1));
+	{
+		std::string timeIndexStr = "Time index: "s + std::to_string(log_idx) +
+			" / "s + std::to_string(std::max<size_t>(1U, m_logdata.size()) - 1);
+
+		if (auto itTim = log.timestamps.find("tim_start_iteration");
+			itTim != log.timestamps.end())
+		{
+			timeIndexStr += " (tim_start_iteration="s +
+				mrpt::system::dateTimeLocalToString(itTim->second) +
+				" [local time])"s;
+		}
+		m_txtTimeIndex->setCaption(timeIndexStr);
+	}
 
 	const bool is_NOP_cmd = log.ptg_index_NOP >= 0;
 	const int sel_ptg_idx = !is_NOP_cmd ? log.nSelectedPTG : log.ptg_index_NOP;
@@ -1060,8 +1073,28 @@ void NavlogViewerApp::updateVisualization()
 		"cur_vel_local=[%.02f m/s, %0.2f m/s, %.02f dps]", log.cur_vel_local.vx,
 		log.cur_vel_local.vy, mrpt::RAD2DEG(log.cur_vel_local.omega)));
 
-	ADD_WIN_TEXTMSG(mrpt::format(
-		"robot_pose=%s", log.robotPoseLocalization.asString().c_str()));
+	{
+		static TPose2D formerPoseLoc = log.robotPoseLocalization;
+
+		ADD_WIN_TEXTMSG(mrpt::format(
+			"robot_pose    =%35s | Increment since last step=%s",
+			log.robotPoseLocalization.asString().c_str(),
+			(log.robotPoseLocalization - formerPoseLoc).asString().c_str()));
+
+		formerPoseLoc = log.robotPoseLocalization;
+	}
+
+	{
+		static TPose2D formerPoseOdo = log.robotPoseOdometry;
+
+		ADD_WIN_TEXTMSG(mrpt::format(
+			"robot_odometry=%35s | Increment since last step=%s",
+			log.robotPoseOdometry.asString().c_str(),
+			(log.robotPoseOdometry - formerPoseOdo).asString().c_str()));
+
+		formerPoseOdo = log.robotPoseOdometry;
+	}
+
 	{
 		for (unsigned int i = 0; i < log.WS_targets_relative.size(); i++)
 		{
@@ -1607,6 +1640,59 @@ void NavlogViewerApp::OnmnuSeePTGParamsSelected()
 	NANOGUI_END_TRY(*m_win)
 }
 
+void NavlogViewerApp::OnmnuGenerateOdometryVsLocalizationReport()
+{
+	NANOGUI_START_TRY
+
+	const std::string fileName = nanogui::file_dialog(
+		{{"txt", "Save localization vs odometry report"}}, true /*save*/);
+	if (fileName.empty()) return;
+
+	std::ofstream f(fileName);
+	ASSERT_(f.is_open());
+
+	f << "% timestamp  localizationPoseIncr  odometryPoseIncr\n";
+
+	std::optional<mrpt::math::TPose2D> lastOdo, lastLocPose;
+
+	const size_t N = m_logdata.size();
+	for (size_t i = 0; i < N; i++)
+	{
+		const CLogFileRecord::Ptr logsptr =
+			std::dynamic_pointer_cast<CLogFileRecord>(m_logdata[i]);
+		const CLogFileRecord* logptr = logsptr.get();
+		if (!logptr) continue;
+		const auto& log = *logptr;
+
+		const auto& odo = log.robotPoseOdometry;
+		const auto& pose = log.robotPoseLocalization;
+
+		if (lastOdo && lastLocPose)
+		{
+			const auto odoIncr = odo - *lastOdo;
+			const auto locIncr = pose - *lastLocPose;
+
+			if (!log.timestamps.empty())
+				f << mrpt::format(
+					"%.03f ",
+					mrpt::Clock::toDouble(log.timestamps.begin()->second));
+			else
+				f << "0 ";
+
+			for (int k = 0; k < 3; k++)
+				f << locIncr[k] << " ";
+			for (int k = 0; k < 3; k++)
+				f << odoIncr[k] << " ";
+			f << "\n";
+		}
+
+		lastOdo = odo;
+		lastLocPose = pose;
+	}
+
+	NANOGUI_END_TRY(*m_win)
+}
+
 void NavlogViewerApp::OnmnuSaveScoreMatrixSelected()
 {
 	NANOGUI_START_TRY

apps/navlog-viewer/navlog-viewer-ui.h

@@ -78,6 +78,7 @@ class NavlogViewerApp
 	void OnmnuMatlabPlotsSelected();
 	void OnmnuSeePTGParamsSelected();
 	void OnmnuSaveScoreMatrixSelected();
+	void OnmnuGenerateOdometryVsLocalizationReport();
 	void OntimMouseXY();
 	void OnmnuMatlabExportPaths();
 	void OnmnuExportSelected(std::string filename = {});

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.4.2-{branch}-build{build}
+version: 2.4.3-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/download-mrpt.rst

@@ -22,15 +22,15 @@ Next step: :ref:`compiling`
 Debian/Ubuntu official repositories
 ---------------------------------------
 
-Install the `official version <https://packages.ubuntu.com/source/groovy/mrpt>`_ for your distribution with:
+Install the `official version <https://packages.ubuntu.com/source/jammy/mrpt>`_ for your distribution with:
 
 .. code-block:: bash
 
    sudo apt install libmrpt-dev mrpt-apps
 
 
 .. note::
-   Versions in `official repositories <https://packages.ubuntu.com/source/groovy/mrpt>`_
+   Versions in `official repositories <https://packages.ubuntu.com/source/jammy/mrpt>`_
    may be quite outdated. It is strongly
    recommended to use the PPAs (read below) or build from sources instead.
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,14 @@
 \page changelog Change Log
 
+# Version 2.4.3: Released Feb 22nd, 2022
+- Changes in applications:
+  - navlog-viewer:
+    - The timestamp is now always shown.
+- BUG FIXES:
+  - Do not run offscreen rendering unit tests in MIPS arch, since they seem to fail in autobuilders.
+  - mrpt::vision::checkerBoardCameraCalibration() did not return the distortion model (so if parameters are printed, it would look like no distortion at all!).
+  - mrpt::gui::CDisplayWindowGUI::createManagedSubWindow() created the subwindows helper UI on top of the other user windows. It now remains on the back of other windows.
+
 # Version 2.4.2: Released Feb 3rd, 2022
 - Changes in libraries:
   - \ref mrpt_containers_grp

libs/gui/src/CDisplayWindowGUI.cpp

@@ -265,15 +265,16 @@ nanogui::Window* CDisplayWindowGUI::createManagedSubWindow(
 {
 	constexpr std::size_t MAX_MINIMIZED_TITLE_LEN = 20;
 
+	// Create UI on first call:
+	// Create it before the user-requested window so it doesn't get on top.
+	createSubWindowsControlUI();
+
 	// Create subwindow:
 	const int thisWinIndex = m_subWindows.windows.size();
 
 	auto w = new SubWindow(*this, thisWinIndex, this, title);
 	m_subWindows.windows.push_back(w);
 
-	// Create UI on first call:
-	createSubWindowsControlUI();
-
 	// Append to combo:
 	ASSERT_(m_subWindows.uiCombo);
 	auto items = m_subWindows.uiCombo->items();

libs/opengl/src/CFBORender_unittest.cpp

@@ -23,6 +23,22 @@
 #include <mrpt/config.h>  // for MRPT_HAS_*
 #include <test_mrpt_common.h>
 
+#if MRPT_HAS_OPENCV && MRPT_HAS_OPENGL_GLUT && MRPT_HAS_EGL
+#define RUN_OFFSCREEN_RENDER_TESTS
+#endif
+
+// In MIPS, these tests crash in autobuilders, skip them:
+#if defined(__mips__) || defined(__mips)
+#undef RUN_OFFSCREEN_RENDER_TESTS
+#endif
+// Idem with PowerPC:
+#if defined(__powerpc) || defined(__powerpc__) || defined(__powerpc64__) ||    \
+	defined(__POWERPC__) || defined(__ppc__) || defined(__PPC__) ||            \
+	defined(_ARCH_PPC) || defined(__PPC64__) || defined(__ppc64__) ||          \
+	defined(_ARCH_PPC64)
+#undef RUN_OFFSCREEN_RENDER_TESTS
+#endif
+
 static float imageDiff(
 	const mrpt::img::CImage& im1, const mrpt::img::CImage& im2)
 {
@@ -228,7 +244,7 @@ static void test_opengl_CFBORender(const bool useCameraFromIntrinsics)
 	}
 }
 
-#if MRPT_HAS_OPENCV && MRPT_HAS_OPENGL_GLUT && MRPT_HAS_EGL
+#if defined(RUN_OFFSCREEN_RENDER_TESTS)
 TEST(OpenGL, CFBORender_camera_intrinsics)
 #else
 TEST(OpenGL, DISABLED_CFBORender_camera_intrinsics)
@@ -237,7 +253,7 @@ TEST(OpenGL, DISABLED_CFBORender_camera_intrinsics)
 	test_opengl_CFBORender(true);
 }
 
-#if MRPT_HAS_OPENCV && MRPT_HAS_OPENGL_GLUT && MRPT_HAS_EGL
+#if defined(RUN_OFFSCREEN_RENDER_TESTS)
 TEST(OpenGL, CFBORender_camera_fov)
 #else
 TEST(OpenGL, DISABLED_CFBORender_camera_fov)

libs/vision/src/checkerboard_cam_calib.cpp

@@ -293,6 +293,7 @@ bool mrpt::vision::checkerBoardCameraCalibration(
 			out_camera_params.intrinsicParams = M;
 		}
 
+		out_camera_params.distortion = DistortionModel::plumb_bob;
 		out_camera_params.dist.fill(0);
 		for (int k = 0; k < 5; k++)
 			out_camera_params.dist[k] = distCoeffs.ptr<double>()[k];

package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="2">
   <name>mrpt2</name>
-  <version>2.4.2</version>
+  <version>2.4.3</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="[email protected]">Jose-Luis Blanco-Claraco</author>

version_prefix.txt

@@ -1,4 +1,4 @@
-2.4.2
+2.4.3
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically