Merge branch 'develop'

3rdparty/CMakeLists.txt

@@ -13,8 +13,10 @@ endif()
 # ----------------------------------
 if(CMAKE_MRPT_HAS_FREENECT AND NOT CMAKE_MRPT_HAS_FREENECT_SYSTEM)
 
-	find_package(libusb-1.0)
-	if (NOT LIBUSB_1_FOUND)
+	#find_package(libusb-1.0)
+	PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0 IMPORTED_TARGET GLOBAL) # PkgConfig::PKG_LIBUSB10
+
+	if (NOT PKG_LIBUSB10_FOUND)
 		# Error:
 		message(SEND_ERROR "*** ERROR *** Please, set libusb-1 variables, disable CMAKE_MRPT_HAS_FREENECT, or provide a system library for libfreenect.")
 	endif()
@@ -71,10 +73,7 @@ if(CMAKE_MRPT_HAS_FREENECT AND NOT CMAKE_MRPT_HAS_FREENECT_SYSTEM)
 			${LIBUSB_1_INCLUDE_DIRS}/libusb-1.0
 		)
 	endif()
-	if (LIBUSB_1_LIBRARIES)
-		message(STATUS "LIBUSB_1_LIBRARIES: ${LIBUSB_1_LIBRARIES}")
-		target_link_libraries(mrpt_freenect PUBLIC ${LIBUSB_1_LIBRARIES})
-	endif()
+	target_link_libraries(mrpt_freenect PUBLIC PkgConfig::PKG_LIBUSB10)
 	set_target_properties(mrpt_freenect PROPERTIES FOLDER "3rd party")
 
 	unset(SRCS)

CMakeLists.txt

@@ -36,7 +36,8 @@ endif()
 # -------------------------
 # Minimum version required for:
 # - target_compile_features() => 3.8.0
-cmake_minimum_required(VERSION 3.8)
+# - cmakemodules/ECMFindModuleHelpers.cmake:112  => 3.16.0  (Available in Ubuntu >=20.04)
+cmake_minimum_required(VERSION 3.16.0)
 
 # CheckIncludeFile: Yes, we will set "CMAKE_REQUIRED_LIBRARIES".
 if (POLICY CMP0075)

README.md

@@ -78,7 +78,7 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 
 | Distro | `develop` branch  | Stable release | Next builds |
 |---|---|---|---|
-| ROS1 Melodic @ u18.04 | [![Build Status](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/badge/icon)](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/) | [![Version](https://img.shields.io/ros/v/melodic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros.org/job/Mbin_uB64__mrpt2__ubuntu_bionic_amd64__binary/badge/icon)](https://build.ros.org/job/Mbin_uB64__mrpt2__ubuntu_bionic_amd64__binary/) |
+| ROS1 Melodic @ u18.04 |  | [![Version](https://img.shields.io/ros/v/melodic/mrpt2)](https://index.ros.org/search/?term=mrpt2) |  |
 | ROS1 Noetic @ u20.04 | [![Build Status](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/noetic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
 | ROS2 Foxy @ u20.04 | [![Build Status](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/foxy/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
 | ROS2 Humble @ u22.04 | [![Build Status](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 

apps/benchmarking-image-features/CMakeLists.txt

@@ -34,7 +34,7 @@ if(CMAKE_MRPT_HAS_Qt5 AND CMAKE_MRPT_HAS_OPENCV AND NOT "${MRPT_OPENCV_VERSION}"
 
 
         # Add the required libraries for linking:
-        qt5_use_modules(${PROJECT_NAME} Widgets OpenGL)
+        target_link_libraries(${PROJECT_NAME} Qt5::Widgets Qt5::OpenGL)
 
         target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 

apps/robot-map-gui/CMakeLists.txt

@@ -89,8 +89,6 @@ if(CMAKE_MRPT_HAS_Qt5 AND CMAKE_MRPT_HAS_OPENGL_GLUT)
 		)
 
 	# Add the required libraries for linking:
-	#qt5_use_modules(${PROJECT_NAME} Widgets OpenGL) # obsolete
-
 	target_link_libraries(${PROJECT_NAME} ${MRPT_OPENGL_LIBS})
 	target_link_libraries(${PROJECT_NAME} Qt5::Widgets Qt5::OpenGL)
 

apps/rosbag2rawlog/rosbag2rawlog_main.cpp

@@ -24,17 +24,20 @@
 #include <mrpt/obs/CActionRobotMovement3D.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationIMU.h>
+#include <mrpt/obs/CObservationOdometry.h>
 #include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/obs/CObservationRotatingScan.h>
 #include <mrpt/poses/CPose3DQuat.h>
 #include <mrpt/ros1bridge/imu.h>
 #include <mrpt/ros1bridge/point_cloud2.h>
+#include <mrpt/ros1bridge/pose.h>
 #include <mrpt/ros1bridge/time.h>
 #include <mrpt/serialization/CArchive.h>
 #include <mrpt/serialization/CSerializable.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
 #include <mrpt/system/progress.h>
+#include <nav_msgs/Odometry.h>
 #include <rosbag/bag.h>	 // rosbag_storage C++ lib
 #include <rosbag/view.h>
 #include <sensor_msgs/CameraInfo.h>
@@ -280,6 +283,27 @@ Obs toIMU(std::string_view msg, const rosbag::MessageInstance& rosmsg)
 	return {mrptObs};
 }
 
+Obs toOdometry(std::string_view msg, const rosbag::MessageInstance& rosmsg)
+{
+	auto odo = rosmsg.instantiate<nav_msgs::Odometry>();
+
+	auto mrptObs = mrpt::obs::CObservationOdometry::Create();
+
+	mrptObs->sensorLabel = msg;
+	mrptObs->timestamp = mrpt::ros1bridge::fromROS(odo->header.stamp);
+
+	// Convert data:
+	const auto pose = mrpt::ros1bridge::fromROS(odo->pose);
+	mrptObs->odometry = {pose.mean.x(), pose.mean.y(), pose.mean.yaw()};
+
+	mrptObs->hasVelocities = true;
+	mrptObs->velocityLocal.vx = odo->twist.twist.linear.x;
+	mrptObs->velocityLocal.vy = odo->twist.twist.linear.y;
+	mrptObs->velocityLocal.omega = odo->twist.twist.angular.z;
+
+	return {mrptObs};
+}
+
 Obs toRangeImage(
 	std::string_view msg, const sensor_msgs::Image::Ptr& image,
 	const sensor_msgs::CameraInfo::Ptr& cameraInfo, bool rangeIsDepth)
@@ -448,6 +472,14 @@ class Transcriber
 					callback);
 				// m_lookup["/tf"].emplace_back(sync->bindTfSync());
 			}
+			else if (sensorType == "CObservationOdometry")
+			{
+				auto callback = [=](const rosbag::MessageInstance& m) {
+					return toOdometry(sensorName, m);
+				};
+				m_lookup[sensor.at("topic").as<std::string>()].emplace_back(
+					callback);
+			}
 			// TODO: Handle more cases?
 		}
 	}

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.7.0-{branch}-build{build}
+version: 2.8.0-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/script_kinect.cmake

@@ -6,7 +6,7 @@ mark_as_advanced(DISABLE_LIBUSB)
 if (NOT DISABLE_LIBUSB)
 	if(UNIX)
 		if(PKG_CONFIG_FOUND)
-			PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0)
+			PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0 IMPORTED_TARGET GLOBAL) # PkgConfig::PKG_LIBUSB10
 		endif()
 	endif(UNIX)
 else ()
@@ -21,7 +21,7 @@ mark_as_advanced(DISABLE_DETECT_LIBFREENECT)
 if (NOT DISABLE_DETECT_LIBFREENECT)
 	if(UNIX)
 		if(PKG_CONFIG_FOUND)
-			PKG_CHECK_MODULES(PKG_LIBFREENECT QUIET libfreenect)
+			PKG_CHECK_MODULES(PKG_LIBFREENECT QUIET libfreenect IMPORTED_TARGET GLOBAL)  # PkgConfig::PKG_LIBFREENECT
 		endif()
 	endif()
 else ()
@@ -57,9 +57,9 @@ if(MRPT_WITH_KINECT)
 		else()
 			# If a system version is found, use it:
 			if(PKG_LIBFREENECT_FOUND)
-					set(FREENECT_LIBS ${PKG_LIBFREENECT_LIBRARIES})
+					set(FREENECT_LIBS PkgConfig::PKG_LIBFREENECT)
 					if($ENV{VERBOSE})
-						message(STATUS "- PKG_LIBFREENECT_LIBRARIES: ${PKG_LIBFREENECT_LIBRARIES}")
+						message(STATUS "- PKG_LIBFREENECT_LIBRARIES: PkgConfig::PKG_LIBFREENECT")
 					endif()
 
 				set(CMAKE_MRPT_HAS_KINECT 1)
@@ -70,9 +70,9 @@ if(MRPT_WITH_KINECT)
 					set(CMAKE_MRPT_HAS_KINECT 1)
 					set(CMAKE_MRPT_HAS_FREENECT 1)
 
-					set(LIBUSB10_LIBS ${PKG_LIBUSB10_LIBRARIES})
+					set(LIBUSB10_LIBS PkgConfig::PKG_LIBUSB10)
 					if($ENV{VERBOSE})
-						message(STATUS "- PKG_LIBUSB10_LIBRARIES: ${PKG_LIBUSB10_LIBRARIES}")
+						message(STATUS "- PKG_LIBUSB10_LIBRARIES: PkgConfig::PKG_LIBUSB10")
 					endif()
 				else()
 					message(SEND_ERROR "MRPT_WITH_KINECT requires libusb-1.0. Install it or disable MRPT_WITH_KINECT")
@@ -85,10 +85,10 @@ if(MRPT_WITH_KINECT)
 
 		if (MRPT_WITH_KINECT_USE_FREENECT)
 			# Find packages needed to build library in Windows
-			find_package(libusb-1.0 REQUIRED)
+			PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0 IMPORTED_TARGET GLOBAL) # PkgConfig::PKG_LIBUSB10
 
 			if (LIBUSB_1_FOUND)
-				set(FREENECT_LIBS ${LIBUSB_1_LIBRARIES})
+				set(FREENECT_LIBS PkgConfig::PKG_LIBUSB10)
 
 				# All OK:
 				set(CMAKE_MRPT_HAS_KINECT 1)

cmakemodules/script_xsens.cmake

@@ -12,8 +12,9 @@ if (WIN32)
 else()
 	set(DEFAULT_BUILD_MT4 "OFF")
 	if (PKG_CONFIG_FOUND)
-		PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0)
-		PKG_CHECK_MODULES(PKG_LIBUDEV  QUIET libudev)
+		PKG_CHECK_MODULES(PKG_LIBUSB10 QUIET libusb-1.0 IMPORTED_TARGET GLOBAL) # PkgConfig::PKG_LIBUSB10
+		PKG_CHECK_MODULES(PKG_LIBUDEV  QUIET libudev IMPORTED_TARGET GLOBAL) # PkgConfig::PKG_LIBUDEV
+
 		if(PKG_LIBUSB10_FOUND AND PKG_LIBUDEV_FOUND)
 			set(DEFAULT_BUILD_MT4 "ON")
 		endif()
@@ -46,14 +47,14 @@ if (MRPT_WITH_XSENS)
 		# In Linux: libusb-1.0
 		if(PKG_LIBUSB10_FOUND)
 			# Perfect, we have libusb-1.0
-			set(XSENS4_LIBS ${XSENS4_LIBS} ${PKG_LIBUDEV_LIBRARIES})
+			set(XSENS4_LIBS ${XSENS4_LIBS} PkgConfig::PKG_LIBUSB10)
 		else()
 			message(SEND_ERROR "MRPT_WITH_XSENS requires libusb-1.0. Install it or disable MRPT_WITH_XSENS")
 		endif()
 
 		# In Linux: libdev
 		if (PKG_LIBUDEV_FOUND)
-			set(XSENS4_LIBS ${XSENS4_LIBS} ${PKG_LIBUDEV_LIBRARIES})
+			set(XSENS4_LIBS ${XSENS4_LIBS} PkgConfig::PKG_LIBUDEV)
 		endif ()
 	endif()
 endif ()

doc/remote-static-files.sh

@@ -1 +1,2 @@
 (cd html && wget https://mrpt.github.io/imgs/mrpt-skybox-demo.gif)
+(cd html && wget https://mrpt.github.io/imgs/screenshot_hwdrivers_taobotics_imu.jpg)

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,27 @@
 \page changelog Change Log
 
+# Version 2.8.0: Released April 8th, 2023
+- Changes in apps:
+  - rosbag2rawlog: Added support for converting nav_msgs/Odometry topics to mrpt::obs::CObservationOdometry
+- Changes in libraries:
+  - \ref mrpt_hwdrivers_grp
+    - New driver for TAObotics IMU sensors. See mrpt::hwdrivers::CTaoboticsIMU and the example \ref hwdrivers_taobotics_imu
+  - \ref mrpt_math_grp
+    - mrpt::math::getRegressionPlane() return value is not roughly the inverse of the condition number of the regression problem, which gives a stronger quality indicator than the former formula.
+  - \ref mrpt_opengl_grp
+    - Header `<mrpt/opengl.h>` has been updated to include the backwards-compatible type `mrpt::opengl::COpenGLScene` to smooth transition of existing code bases.
+    - mrpt::opengl::CSphere now has a number of divisions property instead of two (one of them was not actually used).
+    - Fixed const correctness of mrpt::opengl::CGeneralizedEllipsoidTemplate::getNumberOfSegments()
+  - \ref mrpt_system_grp
+    - Removed mrpt::system::setConsoleColor() (Deprecated since MRPT 2.3.3)
+- Build system:
+  - Fix use of obsolete `qt5_use_modules()`.
+  - New minimum CMake version required is CMake 3.16.0
+- BUG FIXES:
+    - Fix regression in mrpt::obs::CRawlog::detectImagesDirectory() leading to RawLogViewer and other apps not finding the external image directories for datasets.
+    - Fix wrong rendering of shadows of lines when in orthographic projection.
+    - mrpt::opengl::CSphere::onUpdateBuffers_Triangles() did not update the list of points
+
 # Version 2.7.0: Released March 4th, 2023
 - Changes in libraries:
     - \ref mrpt_gui_grp

doc/source/doxygen-docs/example-hwdrivers_taobotics_imu.md

@@ -0,0 +1,8 @@
+\page hwdrivers_taobotics_imu Example: hwdrivers_taobotics_imu
+
+This example demonstrates the C++ API to read from Taobotics IMU sensors (e.g. ROS IMU HFI A9).
+
+![Screenshot](https://mrpt.github.io/imgs/screenshot_hwdrivers_taobotics_imu.jpg)
+
+C++ example source code:
+\include hwdrivers_taobotics_imu/test.cpp

doc/source/examples.rst

@@ -57,6 +57,7 @@ under `MRPT/samples <https://github.com/MRPT/mrpt/tree/develop/samples>`_.
   page_hwdrivers_sick_eth_example.rst
   page_hwdrivers_sick_serial_example.rst
   page_hwdrivers_swissranger_example.rst
+  page_hwdrivers_taobotics_imu.rst
   page_img_basic_example.rst
   page_img_convolution_fft.rst
   page_img_correlation_example.rst

libs/gui/CMakeLists.txt

@@ -44,7 +44,6 @@ if(BUILD_mrpt-gui)
 	endif()
 
 	if(CMAKE_MRPT_HAS_Qt5)
-		#qt5_use_modules(mrpt-gui Widgets OpenGL) # deprecated!
 		target_link_libraries(gui PRIVATE Qt5::Widgets Qt5::OpenGL)
 	endif()
 

libs/hmtslam/src/CHierarchicalMapMHPartition.cpp

@@ -1185,15 +1185,13 @@ void CHierarchicalMapMHPartition::getAs3DScene(
 		const CPose3D meanPose = CPose3D(it2->second);
 
 		// The sphere of the node:
-		mrpt::opengl::CSphere::Ptr objSphere = mrpt::opengl::CSphere::Create();
+		mrpt::opengl::CSphere::Ptr objSphere =
+			mrpt::opengl::CSphere::Create(nodes_radius, 16);
 
 		objSphere->setName(node->m_label);
 		objSphere->setColor(0, 0, 1);
 		objSphere->setLocation(
 			meanPose.x(), meanPose.y(), meanPose.z() + nodes_height);
-		objSphere->setRadius(nodes_radius);
-		objSphere->setNumberDivsLongitude(16);
-		objSphere->setNumberDivsLatitude(16);
 
 		outScene.insert(objSphere);