Merge branch 'develop' into dependabot/pip/doc/urllib3-2.5.0

Author: jlblancoc

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.14.10-{branch}-build{build}
+version: 2.14.16-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,37 @@
 \page changelog Change Log
 
+# Version 2.14.16: Released Oct 15th, 2025
+- Changes in libraries:
+  - \ref mrpt_rtti_grp
+    - More informative error message when calling clone() on a class without copy constructor.
+- BUG FIXES:
+  - Fix build building deprecated warnings in WorkerThreadsPool.
+  - Fix mrpt::opengl::CPointCloudColoured throwing if the source cloud map may have color and color/intensity channels are actually empty.
+
+# Version 2.14.15: Released Sep 29th, 2025
+- BUG FIXES:
+  - Fix regression in OpenGL application crashing after last update.
+
+# Version 2.14.14: Released Sep 27th, 2025
+- BUG FIXES:
+  - Fix missing backported fix to build mrpt::lockHelper() on modern gcc
+  - Fix OpenGL crashes under specific build flags: OpenGL Buffers and VBO changed so they are initialized after constructor.
+
+# Version 2.14.13: Released Sep 27th, 2025
+- Changes in libraries:
+  - \ref mrpt_math_grp
+    - New classes mrpt::math::TOrientedBox, mrpt::math::TOrientedBoxf
+- BUG FIXES:
+  - Fix mrpt::opengl::CEllipsoid3D wrong direction.
+  - Fix potential race conditions in TBB-parallel particle filters with 2D gridmap.
+  - Harden opengl unit tests against crashes on non-GPU runners.
+  - Fix build against ffmpeg 8.0 (Debian bug #1115064)
+
+# Version 2.14.12: Released Aug 31rd, 2025
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - New method mrpt::opengl::CPointCloudColoured::setAllPointsAlpha().
+
 # Version 2.14.11: Released May 31rd, 2025
 - BUG FIXES:
   - Fix build against all tf2 versions in all active ROS 2 distributions.

libs/containers/include/mrpt/containers/NonCopiableData.h

@@ -30,6 +30,20 @@ class NonCopiableData
 
   T data;
 
+  NonCopiableData& operator=(const T& value)
+  {
+    data = value;
+    return *this;
+  }
+
+  NonCopiableData(T&& value) : data(std::move(value)) {}
+  NonCopiableData(const T& value) : data(value) {}
+
+  T& operator*() { return data; }
+  const T& operator*() const { return data; }
+  T* operator->() { return &data; }
+  const T* operator->() const { return &data; }
+
   NonCopiableData(const NonCopiableData&) {}
   NonCopiableData& operator=(const NonCopiableData&) { return *this; }
 

libs/core/include/mrpt/core/WorkerThreadsPool.h

@@ -82,11 +82,11 @@ class WorkerThreadsPool
    * available. */
   template <class F, class... Args>
   [[nodiscard]] auto enqueue(F&& f, Args&&... args)
-      -> std::future<typename std::result_of<F(Args...)>::type>;
+      -> std::future<std::invoke_result_t<F, Args...>>;
 
   /** Returns the number of enqueued tasks, currently waiting for a free
    * working thread to process them.  */
-  std::size_t pendingTasks() const noexcept;
+  [[nodiscard]] std::size_t pendingTasks() const noexcept;
 
   /** Sets the private thread names of threads in this pool.
    * Names can be seen from debuggers, profilers, etc. and will follow
@@ -96,7 +96,7 @@ class WorkerThreadsPool
   void name(const std::string& name);
 
   /** Returns the base name of threads in this pool */
-  std::string name() const { return name_; }
+  [[nodiscard]] std::string name() const { return name_; }
 
  private:
   std::vector<std::thread> threads_;
@@ -110,16 +110,16 @@ class WorkerThreadsPool
 
 template <class F, class... Args>
 auto WorkerThreadsPool::enqueue(F&& f, Args&&... args)
-    -> std::future<typename std::result_of<F(Args...)>::type>
+    -> std::future<std::invoke_result_t<F, Args...>>
 {
-  using return_type = typename std::result_of<F(Args...)>::type;
+  using return_type = std::invoke_result_t<F, Args...>;
 
   auto task = std::make_shared<std::packaged_task<return_type()>>(
       std::bind(std::forward<F>(f), std::forward<Args>(args)...));
 
   std::future<return_type> res = task->get_future();
   {
-    std::unique_lock<std::mutex> lock(queue_mutex_);
+    const std::unique_lock<std::mutex> lock(queue_mutex_);
 
     // don't allow enqueueing after stopping the pool
     if (do_stop_) throw std::runtime_error("enqueue on stopped ThreadPool");

libs/core/include/mrpt/core/lock_helper.h

@@ -31,11 +31,11 @@ class LockHelper
   LockHelper(const LockHelper& o) = delete;
   LockHelper& operator=(const LockHelper& o) = delete;
 
-  LockHelper(LockHelper&& o) : l_{o.l} { o.l = nullptr; }
+  LockHelper(LockHelper&& o) : l_{o.l_} { o.l_ = nullptr; }
   LockHelper& operator=(LockHelper&& o)
   {
-    l_ = o.l;
-    o.l = nullptr;
+    l_ = o.l_;
+    o.l_ = nullptr;
     return *this;
   }
 

libs/hwdrivers/src/CFFMPEG_InputStream.cpp

@@ -135,7 +135,7 @@ bool CFFMPEG_InputStream::openURL(
   if (avformat_open_input(&ctx->pFormatCtx, url.c_str(), nullptr, &options) != 0)
   {
     ctx->pFormatCtx = nullptr;
-    std::cerr << "[CFFMPEG_InputStream::openURL] Cannot open video: " << url << std::endl;
+    std::cerr << "[CFFMPEG_InputStream::openURL] Cannot open video: " << url << "\n";
     return false;
   }
 
@@ -144,7 +144,7 @@ bool CFFMPEG_InputStream::openURL(
   {
     std::cerr << "[CFFMPEG_InputStream::openURL] Couldn't find stream "
                  "information: "
-              << url << std::endl;
+              << url << "\n";
     return false;
   }
 
@@ -171,7 +171,7 @@ bool CFFMPEG_InputStream::openURL(
   }
   if (ctx->videoStream == -1)
   {
-    std::cerr << "[CFFMPEG_InputStream::openURL] Didn't find a video stream: " << url << std::endl;
+    std::cerr << "[CFFMPEG_InputStream::openURL] Didn't find a video stream: " << url << "\n";
     return false;
   }
 
@@ -187,7 +187,7 @@ bool CFFMPEG_InputStream::openURL(
 #endif
   if (codec == nullptr)
   {
-    std::cerr << "[CFFMPEG_InputStream::openURL] Codec not found: " << url << std::endl;
+    std::cerr << "[CFFMPEG_InputStream::openURL] Codec not found: " << url << "\n";
     return false;
   }
 
@@ -197,7 +197,7 @@ bool CFFMPEG_InputStream::openURL(
   {
     std::cerr << "[CFFMPEG_InputStream::openURL] Cannot alloc avcodec "
                  "context for: "
-              << url << std::endl;
+              << url << "\n";
     return false;
   }
 
@@ -207,7 +207,7 @@ bool CFFMPEG_InputStream::openURL(
   {
     std::cerr << "[CFFMPEG_InputStream::openURL] Failed "
                  "avcodec_parameters_to_context() for: "
-              << url << std::endl;
+              << url << "\n";
     return false;
   }
 
@@ -218,7 +218,7 @@ bool CFFMPEG_InputStream::openURL(
   // Open codec
   if (avcodec_open2(ctx->pCodecCtx, codec, nullptr) < 0)
   {
-    std::cerr << "[CFFMPEG_InputStream::openURL] avcodec_open2() failed for: " << url << std::endl;
+    std::cerr << "[CFFMPEG_InputStream::openURL] avcodec_open2() failed for: " << url << "\n";
     return false;
   }
 
@@ -231,7 +231,7 @@ bool CFFMPEG_InputStream::openURL(
   {
     std::cerr << "[CFFMPEG_InputStream::openURL] Could not alloc memory "
                  "for frame buffers: "
-              << url << std::endl;
+              << url << "\n";
     return false;
   }
 
@@ -247,7 +247,7 @@ bool CFFMPEG_InputStream::openURL(
   {
     std::cerr << "[CFFMPEG_InputStream::openURL] av_image_get_buffer_size "
                  "error code: "
-              << numBytes << std::endl;
+              << numBytes << "\n";
     return false;
   }
 
@@ -278,8 +278,7 @@ void CFFMPEG_InputStream::close()
   // Close the codec
   if (ctx->pCodecCtx)
   {
-    avcodec_close(ctx->pCodecCtx);
-    ctx->pCodecCtx = nullptr;
+    avcodec_free_context(&ctx->pCodecCtx);
   }
 
   // Close the video file
@@ -356,9 +355,9 @@ bool CFFMPEG_InputStream::retrieveFrame(mrpt::img::CImage& out_img, int64_t& out
     int ret = avcodec_send_packet(ctx->pCodecCtx, &packet);
     if (ret < 0)
     {
-      std::cerr << std::endl
-                << "[CFFMPEG_InputStream] avcodec_send_packet error code=" << ret << std::endl
-                << std::endl;
+      std::cerr << "\n"
+                << "[CFFMPEG_InputStream] avcodec_send_packet error code=" << ret << "\n"
+                << "\n";
       return false;
     }
     while (ret >= 0)
@@ -370,11 +369,11 @@ bool CFFMPEG_InputStream::retrieveFrame(mrpt::img::CImage& out_img, int64_t& out
         return false;
       else if (ret < 0)
       {
-        std::cerr << std::endl
+        std::cerr << "\n"
                   << "[CFFMPEG_InputStream] avcodec_receive_frame "
                      "error code="
-                  << ret << std::endl
-                  << std::endl;
+                  << ret << "\n"
+                  << "\n";
         return false;
       }
 
@@ -401,8 +400,8 @@ bool CFFMPEG_InputStream::retrieveFrame(mrpt::img::CImage& out_img, int64_t& out
 
       // std::cout << "[retrieveFrame] Generating image: " <<
       // ctx->pCodecPars->width << "x" << ctx->pCodecPars->height
-      // << std::endl; std::cout << "  linsize: " <<
-      // ctx->pFrameRGB->linesize[0] << std::endl;
+      // << "\n"; std::cout << "  linsize: " <<
+      // ctx->pFrameRGB->linesize[0] << "\n";
 
       if (ctx->pFrameRGB->linesize[0] != ((m_grab_as_grayscale ? 1 : 3) * width))
         THROW_EXCEPTION("FIXME: linesize!=width case not handled yet.");

libs/maps/include/mrpt/maps/COccupancyGridMap2D.h

@@ -10,6 +10,7 @@
 
 #include <mrpt/config/CLoadableOptions.h>
 #include <mrpt/containers/CDynamicGrid.h>
+#include <mrpt/containers/NonCopiableData.h>
 #include <mrpt/core/safe_pointers.h>
 #include <mrpt/img/CImage.h>
 #include <mrpt/maps/CLogOddsGridMap2D.h>
@@ -25,6 +26,9 @@
 #include <mrpt/tfest/TMatchingPair.h>
 #include <mrpt/typemeta/TEnumType.h>
 
+#include <atomic>
+#include <mutex>
+
 namespace mrpt::maps
 {
 /** A class for storing an occupancy grid map.
@@ -92,8 +96,10 @@ class COccupancyGridMap2D :
   /** Auxiliary variables to speed up the computation of observation
    * likelihood values for LF method among others, at a high cost in memory
    * (see TLikelihoodOptions::enableLikelihoodCache). */
-  mutable std::vector<double> m_precomputedLikelihood;
+  mutable mrpt::containers::NonCopiableData<std::vector<std::atomic<double>>>
+      m_precomputedLikelihood;
   mutable bool m_likelihoodCacheOutDated{true};
+  mutable mrpt::containers::NonCopiableData<std::mutex> m_precomputedLikelihood_mtx;
 
   /** Used for Voronoi calculation.Same struct as "map", but contains a "0" if
    * not a basis point. */

libs/maps/include/mrpt/maps/CPointsMapXYZI.h

@@ -163,8 +163,10 @@ class CPointsMapXYZI : public CPointsMap
   /** Like \c getPointColor but without checking for out-of-index errors */
   inline float getPointIntensity_fast(size_t index) const { return m_intensity[index]; }
 
+  bool hasIntensityField() const { return !m_intensity.empty(); }
+
   /** Returns true if the point map has a color field for each point */
-  bool hasColorPoints() const override { return true; }
+  bool hasColorPoints() const override { return hasIntensityField(); }
 
   /** Override of the default 3D scene builder to account for the individual
    * points' color.

libs/maps/include/mrpt/maps/CPointsMapXYZIRT.h

@@ -224,7 +224,7 @@ class CPointsMapXYZIRT : public CPointsMap
   inline float getPointIntensity_fast(size_t index) const { return m_intensity[index]; }
 
   /** Returns true if the point map has a color field for each point */
-  bool hasColorPoints() const override { return true; }
+  bool hasColorPoints() const override { return hasIntensityField(); }
 
   /** Override of the default 3D scene builder to account for the individual
    * points' color.

libs/maps/src/maps/CColouredOctoMap.cpp

@@ -90,7 +90,7 @@ void CColouredOctoMap::serializeTo(mrpt::serialization::CArchive& out) const
   out << genericMapParams;                    // v2
 
   // v2->v3: remove CMemoryChunk
-  std::stringstream ss;
+  std::stringstream ss(std::ios::in | std::ios::out | std::ios::binary);
   m_impl->m_octomap.writeBinaryConst(ss);
   const std::string& buf = ss.str();
   out << buf;
@@ -122,7 +122,7 @@ void CColouredOctoMap::serializeFrom(mrpt::serialization::CArchive& in, uint8_t
 
       if (!buf.empty())
       {
-        std::stringstream ss;
+        std::stringstream ss(std::ios::in | std::ios::out | std::ios::binary);
         ss.str(buf);
         ss.seekg(0);
         m_impl->m_octomap.readBinary(ss);