Merge branch 'develop'

.github/CONTRIBUTING.md

@@ -14,6 +14,6 @@
     * Commit often. 
     * Small commits with a good log description are preferred.
   * **Verify that your code builds**, at least in one the major supported compilers: MSVC, GCC, CLANG.
-  * Most changes are relevant enough to be shown in the [CHANGELOG](https://github.com/MRPT/mrpt/blob/master/doc/doxygen-pages/changeLog_doc.h). Modify it as well to reflect what is new.
+  * Most changes are relevant enough to be shown in the [doc/source/doxygen-docs/changelog.md](https://github.com/MRPT/mrpt/blob/develop/doc/source/doxygen-docs/changelog.md). Modify it as well to reflect what is new.
   * Open a pull-request.
 

.github/PULL_REQUEST_TEMPLATE.md

@@ -13,7 +13,7 @@
 
 I acknowledge to have:
 * Read the [`CONTRIBUTING`](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) page
-* Updated [`doc/doxygen-pages/changeLog_doc.h`](https://github.com/MRPT/mrpt/blob/master/doc/doxygen-pages/changeLog_doc.h) to describe these changes (if applicable)
+* Updated [`doc/source/doxygen-docs/changelog.md`](https://github.com/MRPT/mrpt/blob/develop/doc/source/doxygen-docs/changelog.md) to describe these changes (if applicable)
 * Updated [`AUTHORS`](https://github.com/MRPT/mrpt/blob/master/AUTHORS) (if applicable)
 
 (Notify: @MRPT/owners )

README.md

@@ -43,10 +43,6 @@ and [much more](https://www.mrpt.org/list-of-mrpt-apps/).
 
 ## 3. Install
 
-<a href="https://repology.org/project/mrpt/versions"> 
-  <img align="right" src="https://repology.org/badge/vertical-allrepos/mrpt.svg" alt="Packaging status">
-</a>
-
 ### 3.1. Ubuntu
 
 See [this PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for nightly builds from the `develop` branch, or [this one](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-stable) for stable releases.
@@ -78,19 +74,18 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 
 `mrpt2` status in ROS build farms:
 
-| Distro | `develop` branch  | Stable release |
-|---|---|---|
-| 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/) | [![Build Status](https://build.ros.org/job/Mbin_ubv8_uBv8__mrpt2__ubuntu_bionic_arm64__binary/badge/icon)](https://build.ros.org/job/Mbin_ubv8_uBv8__mrpt2__ubuntu_bionic_arm64__binary/) |
-| 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/) | [![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/) | [![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 Galactic @ u20.04 | [![Build Status](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/) | [![Build Status](https://build.ros2.org/job/Gbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Gbin_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/) | [![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/) |
-| ROS2 Rolling @ u22.04 | [![Build Status](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) |
+| 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 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 Galactic @ u20.04 | [![Build Status](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/) |  [![Version](https://img.shields.io/ros/v/galactic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Gbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Gbin_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/) | 
+| ROS2 Rolling @ u22.04 | [![Build Status](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) |  [![Version](https://img.shields.io/ros/v/rolling/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
 
 ## 4. License
 MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
 
+## 5. Versions in repositories
 
-## Stargazers over time
-
-[![Stargazers over time](https://starchart.cc/MRPT/mrpt.svg)](https://starchart.cc/MRPT/mrpt)
+![Repology](https://repology.org/badge/vertical-allrepos/mrpt.svg)

apps/RawLogViewer/xRawLogViewerApp.cpp

@@ -47,16 +47,16 @@ bool xRawLogViewerApp::OnInit()
 	wxSetlocale(LC_NUMERIC, wxString(wxT("C")));
 
 	static const wxCmdLineEntryDesc cmdLineDesc[] = {
-		{wxCMD_LINE_OPTION, wxT_2("l"), wxT_2("load"), wxT_2("load a library"),
+		{wxCMD_LINE_OPTION, "l", "load", "load a library",
 		 wxCMD_LINE_VAL_STRING, 0},
-		{wxCMD_LINE_PARAM, nullptr, nullptr, wxT_2("Input File"),
+		{wxCMD_LINE_PARAM, nullptr, nullptr, "Input File",
 		 wxCMD_LINE_VAL_STRING, wxCMD_LINE_PARAM_OPTIONAL},
 		{wxCMD_LINE_NONE, nullptr, nullptr, nullptr, wxCMD_LINE_VAL_NONE, 0}};
 
 	wxCmdLineParser parser(cmdLineDesc, argc, argv);
 	parser.Parse(true);
 	wxString libraryPath;
-	if (parser.Found(wxT_2("l"), &libraryPath))
+	if (parser.Found("l", &libraryPath))
 	{
 		const std::string sLib = std::string(libraryPath.mb_str());
 		std::cout << "Loading plugin libraries: " << sLib << "...\n";

apps/SceneViewer3D/_DSceneViewerApp.cpp

@@ -43,25 +43,25 @@ bool _DSceneViewerApp::OnInit()
 
 	// Process cmd line arguments:
 	static const wxCmdLineEntryDesc cmdLineDesc[] = {
-		{wxCMD_LINE_OPTION, wxT_2("l"), wxT_2("load"), wxT_2("load a library"),
+		{wxCMD_LINE_OPTION, "l", "load", "load a library",
 		 wxCMD_LINE_VAL_STRING, 0},
-		{wxCMD_LINE_OPTION, wxT_2("d"), wxT_2("imgdir"),
-		 wxT_2("Lazy-load images directory"), wxCMD_LINE_VAL_STRING, 0},
-		{wxCMD_LINE_PARAM, nullptr, nullptr, wxT_2("Input File"),
+		{wxCMD_LINE_OPTION, "d", "imgdir", "Lazy-load images directory",
+		 wxCMD_LINE_VAL_STRING, 0},
+		{wxCMD_LINE_PARAM, nullptr, nullptr, "Input File",
 		 wxCMD_LINE_VAL_STRING, wxCMD_LINE_PARAM_OPTIONAL},
 		{wxCMD_LINE_NONE, nullptr, nullptr, nullptr, wxCMD_LINE_VAL_NONE, 0}};
 
 	wxCmdLineParser parser(cmdLineDesc, argc, argv);
 	parser.Parse(true);
 	wxString libraryPath;
-	if (parser.Found(wxT_2("l"), &libraryPath))
+	if (parser.Found("l", &libraryPath))
 	{
 		const std::string sLib = std::string(libraryPath.mb_str());
 		std::cout << "Loading plugin libraries: " << sLib << "...\n";
 		mrpt::system::loadPluginModules(sLib);
 	}
 	wxString imgDir;
-	if (parser.Found(wxT_2("d"), &imgDir))
+	if (parser.Found("d", &imgDir))
 	{
 		std::cout << "Using lazy-load images base directory: " << imgDir
 				  << "...\n";

apps/mrpt-performance/CMakeLists.txt

@@ -42,6 +42,7 @@ add_executable(${PROJECT_NAME}
 	perf-CObservation3DRangeScan.cpp
 	perf-atan2lut.cpp
 	perf-strings.cpp
+	perf-system.cpp
 	perf-yaml.cpp
 	${MRPT_VERSION_RC_FILE}
 	)

apps/mrpt-performance/common.h

@@ -46,6 +46,7 @@ void register_tests_CObservation3DRangeScan();
 void register_tests_atan2lut();
 void register_tests_strings();
 void register_tests_octomaps();
+void register_tests_system();
 void register_tests_yaml();
 // -------------------------------------------------
 

apps/mrpt-performance/perf-main.cpp

@@ -141,6 +141,7 @@ int main(int argc, char** argv)
 		register_tests_atan2lut();
 		register_tests_strings();
 		register_tests_octomaps();
+		register_tests_system();
 		register_tests_yaml();
 
 		if (doLog)

apps/mrpt-performance/perf-system.cpp

@@ -0,0 +1,49 @@
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          https://www.mrpt.org/                         |
+   |                                                                        |
+   | Copyright (c) 2005-2022, Individual contributors, see AUTHORS file     |
+   | See: https://www.mrpt.org/Authors - All rights reserved.               |
+   | Released under BSD License. See: https://www.mrpt.org/License          |
+   +------------------------------------------------------------------------+ */
+
+#include "common.h"
+
+double clock_now_test(int, int)
+{
+	const unsigned int step = 10000000;
+	mrpt::system::CTicTac tictac;
+	std::string s;
+	tictac.Tic();
+	for (unsigned int i = 0; i < step; i++)
+	{
+		auto t = mrpt::Clock::now();
+		(void)t;
+	}
+	return tictac.Tac() / step;
+}
+
+double clock_nowDouble_test(int, int)
+{
+	const unsigned int step = 10000000;
+	mrpt::system::CTicTac tictac;
+	std::string s;
+	tictac.Tic();
+	double dummy = 0;
+	for (unsigned int i = 0; i < step; i++)
+	{
+		double t = mrpt::Clock::nowDouble();
+		dummy += t;
+	}
+	return (tictac.Tac() / step) + 1e-100 * dummy;	// avoid compiler optim.
+}
+
+// ------------------------------------------------------
+// register_tests_system
+// ------------------------------------------------------
+void register_tests_system()
+{
+	lstTests.emplace_back("core: mrpt::Clock::now()", &clock_now_test);
+	lstTests.emplace_back(
+		"core: mrpt::Clock::nowDouble()", &clock_nowDouble_test);
+}

apps/ptg-configurator/ptgConfiguratorApp.cpp

@@ -28,29 +28,41 @@ bool ptgConfiguratorApp::OnInit()
 	wxSetlocale(LC_NUMERIC, wxString(wxT("C")));
 	static const wxCmdLineEntryDesc cmdLineDesc[] = {
 #ifdef MRPT_OS_LINUX
-		{wxCMD_LINE_OPTION, wxT_2("l"), wxT_2("load"), wxT_2("load a library"),
+		{wxCMD_LINE_OPTION, "l", "load", "load a library",
 		 wxCMD_LINE_VAL_STRING, 0},
 #endif
+		{wxCMD_LINE_OPTION, "i", "ini", "INI file to load",
+		 wxCMD_LINE_VAL_STRING, 0},
+		{wxCMD_LINE_OPTION, "s", "ini-section",
+		 "INI file section to load (default=\"PTG_PARAMS\")",
+		 wxCMD_LINE_VAL_STRING, 0},
 		{wxCMD_LINE_NONE, nullptr, nullptr, nullptr, wxCMD_LINE_VAL_NONE, 0}};
 
 	wxCmdLineParser parser(cmdLineDesc, argc, argv);
 	parser.Parse(true);
 	wxString libraryPath;
-	if (parser.Found(wxT_2("l"), &libraryPath))
-	{
-		const std::string sLib = std::string(libraryPath.mb_str());
-		mrpt::system::loadPluginModules(sLib);
-	}
+	if (parser.Found("l", &libraryPath))
+		mrpt::system::loadPluginModules(libraryPath.ToStdString());
 
-	//(*AppInitialize
 	bool wxsOK = true;
 	wxInitAllImageHandlers();
 	if (wxsOK)
 	{
 		auto* Frame = new ptgConfiguratorframe(nullptr);
 		Frame->Show();
 		SetTopWindow(Frame);
+
+		wxString iniFilePath;
+		if (parser.Found("i", &iniFilePath))
+		{
+			Frame->getCfgBox()->LoadFile(iniFilePath);
+			Frame->m_disableLoadDefaultParams = true;
+		}
+
+		wxString iniSection;
+		if (parser.Found("s", &iniSection))
+			Frame->m_cfgFileSection = iniSection.ToStdString();
 	}
-	//*)
+
 	return wxsOK;
 }