Merge branch 'develop'

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.9.4-{branch}-build{build}
+version: 2.10.0-{branch}-build{build}
 
 os: Visual Studio 2019
 
@@ -41,8 +41,8 @@ install:
   - tree c:\tools\opencv\build /F
   - set OPENCVDIR=C:\tools\opencv\build\
   # This variable is parsed by MRPT/cmakemodules/script_opencv.cmake:
-  - set OPENCV_DLLS_TO_INSTALL_DIRS=%OPENCVDIR%bin;%OPENCVDIR%x64\vc15\bin
-  - set PATH=%PATH%;%OPENCVDIR%\bin;%OPENCVDIR%\x64\vc15\bin
+  - set OPENCV_DLLS_TO_INSTALL_DIRS=%OPENCVDIR%bin;%OPENCVDIR%x64\vc16\bin
+  - set PATH=%PATH%;%OPENCVDIR%\bin;%OPENCVDIR%\x64\vc16\bin
   # ====== Install wxWidgets
   - cd c:\
   - ps: Start-FileDownload 'https://github.com/wxWidgets/wxWidgets/releases/download/v3.1.3/wxMSW-3.1.3_vc14x_x64_Dev.7z'

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,15 @@
 \page changelog Change Log
 
+# Version 2.10.0: Released July 9th, 2023
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - Move the parameter eyeDistance2lightShadowExtension from TRenderMatrices to mrpt::opengl::TLightParameters so it can be changed from user code (ABI change).
+    - New parameter mrpt::opengl::TLightParameters::minimum_shadow_map_extension_ratio
+- Python:
+  - More pymrpt examples.
+- BUG FIXES:
+  - pymrpt was not automatically built when invoking the python tests using `make test_legacy`.
+
 # Version 2.9.4: Released July 1st, 2023
 - Python:
   - pymrpt now ships stub `.pyi` files, for IDEs to autocomplete MRPT Python programs.

doc/source/pymrpt_example_opengl-demo-gui.rst

@@ -0,0 +1,17 @@
+.. _pyexample_opengl-demo-gui:
+
+====================================================
+Python example: opengl-demo-gui.py
+====================================================
+
+This example illustrates how to create a 3D GUI in MRPT using the Python API
+and populate it with different objects, including animating them across the scene.
+
+.. raw:: html
+
+    <img src="https://mrpt.github.io/imgs/screenshot_pymrpt_example_opengl1.png" style="width: 90%;" />
+
+
+.. literalinclude:: ../../python-examples/opengl-demo-gui.py
+   :language: python
+   :linenos:

doc/source/python_examples.rst

@@ -19,6 +19,7 @@ C++ examples are `here <examples.html>`_.
   pymrpt_example_hwdriver_tao_imu_usb.rst
   pymrpt_example_lines-3d-geometry-example.rst
   pymrpt_example_matrices.rst
+  pymrpt_example_opengl-demo-gui.rst
   pymrpt_example_rbpf_slam.rst
   pymrpt_example_ros-poses-convert.rst
   pymrpt_example_se2-poses-example.rst

libs/core/include/mrpt/core/common.h

@@ -27,6 +27,8 @@
 #pragma warning(disable : 4275)	 // DLL export class derived from STL
 // Warnings are emited even if a DLL export class contains a *private* STL field
 #pragma warning(disable : 4251)
+// warning C4305: 'initializing': truncation from 'double' to 'float'
+#pragma warning(disable : 4305)
 
 #if (_MSC_VER >= 1400)
 // MS believes they have the right to deprecate functions in the C++ Standard

libs/opengl/include/mrpt/opengl/TLightParameters.h

@@ -38,6 +38,22 @@ struct TLightParameters
 	float shadow_bias = 1e-5, shadow_bias_cam2frag = 1e-5,
 		  shadow_bias_normal = 1e-4;
 
+	/** Multiplier from eye distance to the length size of the squared area in
+	 * which to evaluate shadow casting by unidirectional light.
+	 * Unitless (meter/meter).
+	 * \note (New in MRPT 2.10.0)
+	 */
+	double eyeDistance2lightShadowExtension = 2.0;
+
+	/** Minimum extension (in [0,1] ratio of the light distance) of the shadow
+	 * map square ortho frustum. Should be roughly the maximum area of the
+	 * largest room for indoor environments to ensure no missing shadows in
+	 * distant areas.
+	 *
+	 * \note (New in MRPT 2.10.0)
+	 */
+	float minimum_shadow_map_extension_ratio = 0.03f;
+
 	void writeToStream(mrpt::serialization::CArchive& out) const;
 	void readFromStream(mrpt::serialization::CArchive& in);
 

libs/opengl/include/mrpt/opengl/TRenderMatrices.h

@@ -12,6 +12,7 @@
 #include <mrpt/img/TCamera.h>
 #include <mrpt/math/CMatrixFixed.h>
 #include <mrpt/math/TPoint3D.h>
+#include <mrpt/opengl/opengl_frwds.h>
 
 namespace mrpt::opengl
 {
@@ -84,11 +85,6 @@ struct TRenderMatrices
 	double azimuth = .0, elev = .0;
 	double eyeDistance = 1.0f;
 
-	/** Multiplier from eye distance to the length size of the squared area in
-	 * which to evaluate shadow casting by unidirectional light.
-	 */
-	double eyeDistance2lightShadowExtension = 1.5;
-
 	/** In pixels. This may be smaller than the total render window. */
 	uint32_t viewport_width = 640, viewport_height = 480;
 
@@ -121,7 +117,7 @@ struct TRenderMatrices
 
 	/** Updates light_pv */
 	void computeLightProjectionMatrix(
-		float zmin, float zmax, const mrpt::math::TVector3Df& direction);
+		float zmin, float zmax, const TLightParameters& lp);
 
 	/** Especial case for custom parameters of Orthographic projection.
 	 *  Equivalent to `p_matrix = ortho(...);`.

libs/opengl/src/TLightParameters.cpp

@@ -18,11 +18,13 @@ using namespace std;
 
 void TLightParameters::writeToStream(mrpt::serialization::CArchive& out) const
 {
-	const uint8_t version = 2;
+	const uint8_t version = 3;
 	out << version;
 
 	out << diffuse << ambient << specular << direction << color;
 	out << shadow_bias << shadow_bias_cam2frag << shadow_bias_normal;  // v2
+	out << eyeDistance2lightShadowExtension
+		<< minimum_shadow_map_extension_ratio;	// v3
 }
 
 void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
@@ -44,11 +46,13 @@ void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
 		break;
 		case 1:
 		case 2:
+		case 3:
 			in >> diffuse >> ambient >> specular >> direction >> color;
 			if (version >= 2)
-			{
 				in >> shadow_bias >> shadow_bias_cam2frag >> shadow_bias_normal;
-			}
+			if (version >= 3)
+				in >> eyeDistance2lightShadowExtension >>
+					minimum_shadow_map_extension_ratio;
 			break;
 		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
 	};

libs/opengl/src/TRenderMatrices.cpp

@@ -12,6 +12,7 @@
 #include <mrpt/containers/yaml.h>
 #include <mrpt/math/geometry.h>	 // crossProduct3D()
 #include <mrpt/math/ops_containers.h>  // dotProduct()
+#include <mrpt/opengl/TLightParameters.h>
 #include <mrpt/opengl/TRenderMatrices.h>
 
 #include <Eigen/Dense>
@@ -151,26 +152,30 @@ static void azimuthElevationFromDirection(
 }
 
 void TRenderMatrices::computeLightProjectionMatrix(
-	float zmin, float zmax, const mrpt::math::TVector3Df& direction)
+	float zmin, float zmax, const TLightParameters& lp)
 {
 	m_last_light_z_near = zmin;
 	m_last_light_z_far = zmax;
 
-	float dist = eyeDistance * eyeDistance2lightShadowExtension;
+	float dist = eyeDistance * lp.eyeDistance2lightShadowExtension;
+
+	// Ensure dist is not too small:
+	mrpt::keep_max(dist, zmax * lp.minimum_shadow_map_extension_ratio);
+
 	light_p = OrthoProjectionMatrix(-dist, dist, -dist, dist, zmin, zmax);
 
 	// "up" vector from elevation:
 
 	float azim = 0, elevation = 0;
-	azimuthElevationFromDirection(direction, elevation, azim);
+	azimuthElevationFromDirection(lp.direction, elevation, azim);
 
 	const auto lightUp = mrpt::math::TVector3Df(
 		-cos(azim) * sin(elevation),  // x
 		-sin(azim) * sin(elevation),  // y
 		cos(elevation)	// z
 	);
 
-	light_v = LookAt(pointing - direction * zmax * 0.5, pointing, lightUp);
+	light_v = LookAt(pointing - lp.direction * zmax * 0.5, pointing, lightUp);
 
 	light_pv.asEigen() = light_p.asEigen() * light_v.asEigen();
 

libs/opengl/src/Viewport.cpp

@@ -1302,7 +1302,7 @@ void Viewport::updateMatricesFromCamera(const CCamera& myCamera) const
 
 	// Compute the directional light projection matrix (light_pv)
 	_.computeLightProjectionMatrix(
-		m_lightShadowClipMin, m_lightShadowClipMax, m_light.direction);
+		m_lightShadowClipMin, m_lightShadowClipMax, m_light);
 
 	_.initialized = true;
 }

package.xml

@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.9.4</version>
+  <version>2.10.0</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="[email protected]">Jose-Luis Blanco-Claraco</author>

python-examples/global_localization.py

@@ -10,14 +10,12 @@
 #
 # ./global_localization.py ../share/mrpt/config_files/pf-localization/localization_demo.ini
 #
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import os
 import sys
 import argparse
 from time import sleep
 
-mrpt = pymrpt.mrpt  # namespace shortcut
-
 
 # args
 parser = argparse.ArgumentParser()

python-examples/hwdriver-tao-imu-usb.py

@@ -5,8 +5,7 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt  # namespace shortcut
+from mrpt.pymrpt import mrpt
 
 imu = mrpt.hwdrivers.CTaoboticsIMU()
 

python-examples/lines-3d-geometry-example.py

@@ -5,8 +5,7 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt
+from mrpt.pymrpt import mrpt
 
 # Aliases:
 TPoint3D = mrpt.math.TPoint3D_double_t

python-examples/matrices.py

@@ -8,9 +8,8 @@
 # More matrix classes available in the module mrpt.math.
 # See: https://mrpt.github.io/pymrpt-docs/mrpt.pymrpt.mrpt.math.html
 
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import numpy as np
-mrpt = pymrpt.mrpt
 
 # Create a numpy matrix from a list:
 m1_np = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]])

python-examples/opengl-demo-gui.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+# ---------------------------------------------------------------------
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
+# export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
+# ---------------------------------------------------------------------
+
+from mrpt.pymrpt import mrpt
+import time
+import math
+
+# Create GUI:
+win = mrpt.gui.CDisplayWindow3D('MRPT GUI demo', 800, 600)
+
+# Get and lock 3D scene:
+# Lock is required again each time the scene is modified, to prevent
+# data race between the main and the rendering threads.
+scene = win.get3DSceneAndLock()
+
+# A grid on the XY horizontal plane:
+# ctor args: xMin: float, xMax: float, yMin: float, yMax: float, z: float, frequency: float
+glGrid = mrpt.opengl.CGridPlaneXY.Create(-3, 3, -3, 3, 0, 1)
+scene.insert(glGrid)
+
+# A couple of XYZ "corners":
+glCorner = mrpt.opengl.stock_objects.CornerXYZ(2.0)
+scene.insert(glCorner)
+
+glCorner2: mrpt.opengl.CSetOfObjects = mrpt.opengl.stock_objects.CornerXYZ(1.0)
+glCorner2.setLocation(4.0, 0.0, 0.0)
+scene.insert(glCorner2)
+
+# A 3D inverse-depth ellipsoid:
+glEllip = mrpt.opengl.CEllipsoidInverseDepth3D()
+cov = mrpt.math.CMatrixFixed_double_3UL_3UL_t.Zero()
+cov[0, 0] = 0.01
+cov[1, 1] = 0.001
+cov[2, 2] = 0.002
+mean = mrpt.math.CMatrixFixed_double_3UL_1UL_t()
+mean[0, 0] = 0.2  # inv_range
+mean[1, 0] = 0.5  # yaw
+mean[2, 0] = -0.6  # pitch
+glEllip.setCovMatrixAndMean(cov, mean)
+scene.insert(glEllip)
+
+# A floor "block":
+glFloor = mrpt.opengl.CBox()
+glFloor.setBoxCorners(mrpt.math.TPoint3D_double_t(-15, -15, 0),
+                      mrpt.math.TPoint3D_double_t(15, 15, 0.1))
+glFloor.setLocation(0, 0, -3.0)
+glFloor.setColor_u8(mrpt.img.TColor(0x70, 0x70, 0x70))
+scene.insert(glFloor)
+
+# A mobile box to illustrate animations:
+glBox = mrpt.opengl.CBox()
+glBox.setBoxCorners(mrpt.math.TPoint3D_double_t(0, 0, 0),
+                    mrpt.math.TPoint3D_double_t(1, 1, 1))
+glBox.setBoxBorderColor(mrpt.img.TColor(0, 0, 0))
+glBox.castShadows(True)
+scene.insert(glBox)
+
+# Shadows are disabled by default, enable them:
+scene.getViewport().enableShadowCasting(True)
+print('Shadow casting: ' + str(scene.getViewport().isShadowCastingEnabled()))
+
+# Move camera:
+win.setCameraAzimuthDeg(-40.0)
+win.setCameraElevationDeg(30.0)
+
+# end of scene lock:
+win.unlockAccess3DScene()
+
+
+print('Close the window to quit the program')
+timer = mrpt.system.CTicTac()
+
+while win.isOpen():
+    y = 5.0*math.sin(1.0*timer.Tac())
+    glBox.setLocation(4.0, y, 0.0)
+
+    win.repaint()
+    time.sleep(50e-3)

python-examples/rbpf_slam.py

@@ -14,11 +14,9 @@
 # ./rbpf_slam.py -c ../share/mrpt/config_files/rbpf-slam/gridmapping_optimal_sampling.ini  ../share/mrpt/datasets/2006-01ENE-21-SENA_Telecom\ Faculty_one_loop_only.rawlog
 #
 
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import argparse
 
-mrpt = pymrpt.mrpt
-
 # args
 parser = argparse.ArgumentParser()
 parser.add_argument('rawlog', help='Rawlog file.')

python-examples/ros-poses-convert.py

@@ -8,11 +8,11 @@
 # This example shows how to convert back and forth between MRPT poses
 # and ROS 1 or ROS 2 (both are compatible with this same code) Pose
 
-from mrpt import pymrpt, ros_bridge
+from mrpt.pymrpt import mrpt
+from mrpt import ros_bridge
 from math import radians
 from geometry_msgs.msg import Pose, PoseWithCovariance
 
-mrpt = pymrpt.mrpt
 
 # Example 1: 2D pose
 # --------------------------

python-examples/se3-poses-example.py

@@ -5,9 +5,8 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
+from mrpt.pymrpt import mrpt
 from math import radians
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt
 
 p1 = mrpt.poses.CPose3D.FromXYZYawPitchRoll(
     1.0, 2.0, 0, radians(90), radians(0), radians(0))