Merge branch 'develop'

Author: jlblancoc

.github/workflows/build-macos.yml

@@ -44,6 +44,8 @@ jobs:
           brew install nasm
           brew install eigen
           brew install opencv
+          brew install suite-sparse
+          brew ls suite-sparse
           brew install assimp
           echo "CC=clang" >> $GITHUB_ENV
           echo "CXX=clang++" >> $GITHUB_ENV

.github/workflows/build-windows.yml

@@ -47,9 +47,8 @@ jobs:
           choco install --verbose wxwidgets
 
       - name: Install Qt5
-        run: |
-          choco install --verbose qt5-default
-          
+        uses: jurplel/install-qt-action@v4
+
       # (Jul 2022: Disabled since find_package(Doxygen) in Octomap leads to 
       #  internal Doxygen.exe errors leading to CI failure)
       #- name: Install doxygen+graphviz

CMakeLists.txt

@@ -254,6 +254,13 @@ if(NOT MSVC AND NOT XCODE_VERSION)
     endif()
 endif()
 
+# Leave these includes here before ROS to prevent the warning:
+#   cmakemodules/ECMFindModuleHelpers.cmake:112 (message):
+#   Your project should require at least CMake 3.16.0 to use FindEGL.cmake
+#
+include(cmakemodules/script_gl_glut.cmake REQUIRED)     # Check for the GL,GLUT libraries
+include(cmakemodules/script_jsoncpp.cmake REQUIRED)     # Check for jsoncpp
+
 # ----------------------------------------------------------------------------
 # ROS
 # ----------------------------------------------------------------------------
@@ -275,14 +282,12 @@ include(cmakemodules/script_ffmpeg.cmake REQUIRED)      # Check for ffmpeg C lib
 include(cmakemodules/script_flycapture2.cmake REQUIRED) # Check for PointGreyResearch (PGR) FlyCapture2 library
 include(cmakemodules/script_ftdi.cmake REQUIRED)        # Check for the FTDI headers (Linux only, in win32 we use built-in header & dynamic DLL load):
 include(cmakemodules/script_gcc_clang_id.cmake REQUIRED) # Helper variables
-include(cmakemodules/script_gl_glut.cmake REQUIRED)     # Check for the GL,GLUT libraries
 include(cmakemodules/script_gridmap_options.cmake REQUIRED) # Gridmap options
 include(cmakemodules/script_gtest.cmake REQUIRED)       # Unit testing lib
 include(cmakemodules/script_inotify.cmake REQUIRED)     # Check for the sys/inotify headers (Linux only, in win32 we use the equivalent API for file system monitoring):
 include(cmakemodules/script_isense.cmake REQUIRED)      # Support for INTERSENSE Sensors
 include(cmakemodules/script_iwyu.cmake REQUIRED)        # Include-what-you-use
 include(cmakemodules/script_jpeg.cmake REQUIRED)        # Check for jpeg
-include(cmakemodules/script_jsoncpp.cmake REQUIRED)     # Check for jsoncpp
 include(cmakemodules/script_kinect.cmake REQUIRED)      # Kinect support in a set of different ways
 include(cmakemodules/script_libdc1394.cmake REQUIRED)   # Check for libdc1394-2
 include(cmakemodules/script_libfyaml.cmake REQUIRED)    # Defines embedded version of libfyaml

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.13.1-{branch}-build{build}
+version: 2.13.2-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/FindSuiteSparse.cmake

@@ -138,6 +138,16 @@ macro(SuiteSparse_FIND_COMPONENTS )
 			set(suitesparseComp_ALT "cs") # Alternative name of CXSparse
 		endif()
 
+
+		if (APPLE)
+			# /opt/homebrew/Cellar/suite-sparse/7.7.0/include/suitesparse/cs.h
+			file(GLOB_RECURSE SUITESPARSE_CS_H_FILE /opt/homebrew/Cellar/cs.h)
+			get_filename_component(SUITESPARSE_CS_H_DIR "${SUITESPARSE_CS_H_FILE}" DIRECTORY)
+
+			message(STATUS "SUITESPARSE_CS_H_DIR: ${SUITESPARSE_CS_H_DIR}")
+		endif()
+		
+
 		## try to find include dir (looking for very important header file)
 		find_path(SuiteSparse_${suitesparseCompUC}_INCLUDE_DIR	
 			NAMES 			${suitesparseComp}.h ${suitesparseCompLC}.h ${suitesparseCompUC}.h ${suitesparseComp_ALT}.h
@@ -157,6 +167,7 @@ macro(SuiteSparse_FIND_COMPONENTS )
 						${${suitesparseCompUC}_DIR}/include
 						${${suitesparseCompUC}_DIR}/${suitesparseComp}/include
 						${${suitesparseCompUC}_DIR}
+						${SUITESPARSE_CS_H_DIR}/
 		)
 		## check if found
 		if(NOT SuiteSparse_${suitesparseCompUC}_INCLUDE_DIR)

cmakemodules/script_show_final_summary.cmake

@@ -142,7 +142,7 @@ SHOW_CONFIG_LINE_SYSTEM("OpenGL EGL                          " CMAKE_MRPT_HAS_EG
 SHOW_CONFIG_LINE_SYSTEM("OpenGL GLES                         " CMAKE_MRPT_HAS_GLES "[Version: ${GLESV2_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("GLUT                                " CMAKE_MRPT_HAS_GLUT)
 SHOW_CONFIG_LINE_SYSTEM("PCAP (Wireshark logs for Velodyne)  " CMAKE_MRPT_HAS_LIBPCAP)
-SHOW_CONFIG_LINE_SYSTEM("SuiteSparse                         " CMAKE_MRPT_HAS_SUITESPARSE)
+SHOW_CONFIG_LINE_SYSTEM("SuiteSparse                         " CMAKE_MRPT_HAS_SUITESPARSE "[Version: ${SuiteSparse_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("tinyxml2                            " CMAKE_MRPT_HAS_TINYXML2)
 SHOW_CONFIG_LINE_SYSTEM("wxWidgets                           " CMAKE_MRPT_HAS_WXWIDGETS "[Version: ${wxWidgets_VERSION_STRING} ${CMAKE_WXWIDGETS_TOOLKIT_NAME}]")
 message(STATUS  "")

cmakemodules/script_suitesparse.cmake

@@ -19,8 +19,7 @@ if(NOT SuiteSparse_FOUND)
 	if(SUITESPARSE_USE_FIND_MODULE)
 		set(SuiteSparse_VERBOSE OFF)
 		find_package(SuiteSparse QUIET) # 2nd: Use FindSuiteSparse.cmake module
-		include_directories(${SuiteSparse_INCLUDE_DIRS})
-	endif(SUITESPARSE_USE_FIND_MODULE)
+	endif()
 else()
 		if($ENV{VERBOSE})
 			message(STATUS "Find SuiteSparse : include(${USE_SuiteSparse})")
@@ -30,7 +29,15 @@ endif()
 
 if(SuiteSparse_FOUND)
 	if($ENV{VERBOSE})
-		message(STATUS "SuiteSparse_LIBS: ${SuiteSparse_LIBRARIES}")
+		message(STATUS "SuiteSparse_LIBRARIES    : ${SuiteSparse_LIBRARIES}")
+		message(STATUS "SuiteSparse_INCLUDE_DIRS : ${SuiteSparse_INCLUDE_DIRS}")
+		if (TARGET SuiteSparse::CXSparse)
+			set(x_ "DOES exist")
+		else()
+			set(x_ "Does NOT exist")
+		endif()
+		message(STATUS "SuiteSparse::CXSparse    : ${x_}")
+		unset(x_)
 	endif()
 
 	set(CMAKE_MRPT_HAS_SUITESPARSE 1)

doc/requirements.txt

@@ -29,4 +29,4 @@ sphinxcontrib-jquery==4.1
 sphinxcontrib-jsmath==1.0.1
 sphinxcontrib-qthelp==1.0.6
 sphinxcontrib-serializinghtml==1.1.9
-urllib3==2.0.7
+urllib3==2.2.2

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,18 @@
 \page changelog Change Log
 
+# Version 2.13.2: Released June 23rd, 2024
+- Changes in libraries:
+  - \ref mrpt_maps_grp:
+    - mrpt::maps::CPointsMapXYZIRT now creates timestamps per point for input observations of type mrpt::obs::CObservationVelodyneScan
+    - mrpt::maps::CPointsMap::asString() now also shows the actual derived class name.
+  - \ref mrpt_obs_grp:
+    - mrpt::obs::CObservationVelodyneScan now implements unload() to free memory for cached point clouds.
+  - \ref mrpt_ros1bridge_grp:
+    - mrpt::ros1bridge::toROS() conversion from `PointCloud2` to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names `"t"` and `"timestamp"`, and support conversion from uint32_t timestamps as nanoseconds.
+- BUG FIXES:
+  - mrpt::vision::CFeatureTracker_KL: Parameter ``LK_epsilon`` was rounded to integer.
+  - mrpt::maps::CPointsMapXYZI::insertPointFast() did also append to the intensity channel, which is inconsistent behavior with the other map classes.
+
 # Version 2.13.1: Released June 5th, 2024
 - BUG FIXES:
   - nanogui: Fix invalidation of iterators/references in widget lists.

libs/gui/include/mrpt/3rdparty/mathplot/mathplot.h

@@ -1684,7 +1684,7 @@ class WXDLLIMPEXP_MATHPLOT mpMovableObject : public mpLayer
 	 */
 	mpMovableObject() : m_shape_xs(0), m_shape_ys(0) { m_type = mpLAYER_PLOT; }
 
-	~mpMovableObject() override = default;
+	~mpMovableObject() override;
 
 	/** Get the current coordinate transformation.
 	 */