Merge branch 'develop'

apps/RawLogViewer/CFormRawMap.cpp

@@ -287,7 +287,7 @@ CFormRawMap::CFormRawMap(wxWindow* parent, wxWindowID)
 		  "MULTIMETRIC MAP CONFIGURATION\n; "
 		  "====================================================\n[map]\n; "
 		  "Creation of maps:\noccupancyGrid_count = 0\ngasGrid_count = "
-		  "0\nlandmarksMap_count = 0\nbeaconMap_count = 0\npointsMap_count = "
+		  "0\nbeaconMap_count = 0\npointsMap_count = "
 		  "1\nheightMap_count = 0\ncolourPointsMap_count=0\n\n; "
 		  "====================================================\n; MULTIMETRIC "
 		  "MAP: PointsMap #00\n; "

apps/benchmarking-image-features/src/place_recognition.cpp

@@ -145,7 +145,7 @@ int PlaceRecognition::predictLabel2(
 
 		}  // iterates over each key-point in the training images / dataset
 
-	}  // end of outter loop iterates over each key-point
+	}  // end of outer loop iterates over each key-point
 
 	for (int i = 0; i < feats_size; i++)
 		cout << labels[i] << " ";
@@ -207,7 +207,7 @@ int PlaceRecognition::predictLabel(
 				}
 			}
 		}  // iterates over each key-point in the training images / dataset
-	}  // end of outter loop iterates over each key-point
+	}  // end of outer loop iterates over each key-point
 
 	for (int i = 0; i < feats_size; i++)
 		cout << labels[i] << " ";

apps/observations2map/observations2map_main.cpp

@@ -22,6 +22,7 @@
 #include <mrpt/maps/COccupancyGridMap2D.h>
 #include <mrpt/maps/CSimpleMap.h>
 #include <mrpt/serialization/CArchive.h>
+#include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
 
 using namespace mrpt;
@@ -61,8 +62,7 @@ int main(int argc, char** argv)
 			cout << "  Default: INI_FILE_SECTION_NAME = MappingApplication"
 				 << endl;
 			cout << "Push any key to exit..." << endl;
-			os::getch();
-			return -1;
+			return 1;
 		}
 
 		string configFile = std::string(argv[1]);
@@ -87,7 +87,7 @@ int main(int argc, char** argv)
 		metricMap.setListOfMaps(mapCfg);
 
 		// Build metric maps:
-		cout << "Building metric maps...";
+		cout << "Building metric maps..." << std::endl;
 
 		metricMap.loadFromProbabilisticPosesAndObservations(simplemap);
 
@@ -97,20 +97,25 @@ int main(int argc, char** argv)
 		// ---------------------------
 		metricMap.saveMetricMapRepresentationToFile(outprefix);
 
-		// grid maps:
-		for (unsigned int i = 0;
-			 i < metricMap.countMapsByClass<COccupancyGridMap2D>(); i++)
+		// And as binary serialized files:
+		// -------------------------------------
+		for (unsigned int i = 0; i < metricMap.maps.size(); i++)
 		{
 			using namespace std::string_literals;
-			const auto str = outprefix + "_gridmap_no"s +
-				mrpt::format("%02u", i) + ".gridmap"s;
-			cout << "Saving gridmap #" << i << " to " << str << endl;
+
+			const auto& m = metricMap.maps.at(i);
+
+			const auto str = outprefix + mrpt::format("_%02u_", i) +
+				mrpt::system::fileNameStripInvalidChars(
+								 m->GetRuntimeClass()->className) +
+				".bin"s;
+
+			std::cout << "Saving map #" << i << " to " << str << std::endl;
 
 			CFileGZOutputStream fo(str);
-			mrpt::serialization::archiveFrom(fo)
-				<< *metricMap.mapByClass<COccupancyGridMap2D>(i);
+			mrpt::serialization::archiveFrom(fo) << m;
 
-			cout << "done." << endl;
+			cout << "Done." << endl;
 		}
 
 		return 0;

apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp

@@ -211,11 +211,11 @@ TSetOfMetricMapInitializers CConfigWidget::config()
 		for (auto& map : it.second)
 		{
 			const std::string sMapName = map->getName().toStdString();
-			TMetricMapInitializer* mi = mmr.factoryMapDefinition(sMapName);
+			auto mi = mmr.factoryMapDefinition(sMapName);
 			ASSERT_(mi);
 
-			map->updateConfiguration(mi);
-			mapCfg.push_back(TMetricMapInitializer::Ptr(mi));
+			map->updateConfiguration(mi.get());
+			mapCfg.push_back(mi);
 			++index;
 		}
 	}

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.11.2-{branch}-build{build}
+version: 2.11.3-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,28 @@
 \page changelog Change Log
 
+# Version 2.11.3: Released Nov 21st, 2023
+- Changes in libraries:
+  - \ref mrpt_core_grp
+    - Add the `[[nodiscard]]` attribute to all functions returning a value in `<mrpt/core/bits_math.h>`
+  - \ref mrpt_maps_grp
+    - mrpt::maps::COccupancyGridMap3D::insertObservation() now also handles mrpt::obs::CObservationPointCloud
+    - New virtual interface mrpt::maps::NearestNeighborsCapable, implemented in:
+      - All mrpt::maps::CPointsMap classes
+      - All classes derived from mrpt::maps::CVoxelMapOccupancyBase
+      - mrpt::maps::COccupancyGridMap2D
+      - mrpt::maps::COccupancyGridMap2D
+    - New virtual method mrpt::maps::CMetricMap::boundingBox()
+    - mrpt::maps::TMetricMapInitializer now returns `shared_ptr`s instead of plain pointers.
+    - mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() now throws if it finds a `*_count` entry with an unknown map class name.
+  - \ref mrpt_math_grp
+    - New template mrpt::math::confidenceIntervalsFromHistogram()
+  - \ref mrpt_obs_grp
+    - mrpt::maps::CMetricMap::loadFromSimpleMap() now automatically calls mrpt::obs::CObservation::load() and mrpt::obs::CObservation::unload() for all observations, so it works with lazy-load datasets.
+- BUG FIXES:
+  - Fix compilation errors if using the `MCP_SAVE()` macro with class enum types.
+  - Fix wrong cloud pose in CPointsMap::insertObservation() when inserting an mrpt::obs::CObservationPointCloud.
+  - Fix potential data race in mrpt::WorkerThreadsPool::pendingTasks()
+
 # Version 2.11.2: Released Oct 25th, 2023
 - Changes in libraries:
   - \ref mrpt_gui_grp

libs/config/include/mrpt/config/CConfigFileBase.h

@@ -74,10 +74,26 @@ class CConfigFileBase
 	/** Returns a list with all the section names. */
 	virtual void getAllSections(std::vector<std::string>& sections) const = 0;
 
+	/** Returns, by value, a list with all the section names. */
+	std::vector<std::string> sections() const
+	{
+		std::vector<std::string> ret;
+		getAllSections(ret);
+		return ret;
+	}
+
 	/** Returs a list with all the keys into a section */
 	virtual void getAllKeys(
 		const std::string& section, std::vector<std::string>& keys) const = 0;
 
+	/** Returs, by value, a list with all the keys into a section */
+	std::vector<std::string> keys(const std::string& section) const
+	{
+		std::vector<std::string> keys;
+		getAllKeys(section, keys);
+		return keys;
+	}
+
 	/** Checks if a given section exists (name is case insensitive)
 	 * \sa keyExists() */
 	bool sectionExists(const std::string& section_name) const;

libs/config/src/CConfigFile.cpp

@@ -42,7 +42,9 @@ struct CConfigFile::Impl
 };
 
 // copied from mrpt-io to avoid lib dependency:
-static std::string local_file_get_contents(const std::string& fileName)
+namespace
+{
+std::string local_file_get_contents(const std::string& fileName)
 {
 	// Credits: https://stackoverflow.com/a/2602258/1631514
 	// Note: Add "binary" to make sure the "tellg" file size matches the actual
@@ -57,6 +59,7 @@ static std::string local_file_get_contents(const std::string& fileName)
 	t.read(&buffer[0], size);
 	return buffer;
 }
+}  // namespace
 
 /*---------------------------------------------------------------
 					Constructor

libs/config/src/CConfigFileMemory_unittest.cpp

@@ -25,11 +25,11 @@ TEST(CConfigFileMemory, readwrite)
 
 TEST(CConfigFileMemory, Sections)
 {
-	std::vector<std::string> sections;
 	mrpt::config::CConfigFileMemory second;
 	second.write("one", "name", "val");
 	second.write("two", "names", "value");
-	second.getAllSections(sections);
+
+	const std::vector<std::string> sections = second.sections();
 	EXPECT_EQ(2U, sections.size());
 	if (sections.size() == 2)
 	{  // avoid potential crash if fails
@@ -40,11 +40,11 @@ TEST(CConfigFileMemory, Sections)
 
 TEST(CConfigFileMemory, Names)
 {
-	std::vector<std::string> names;
 	mrpt::config::CConfigFileMemory third;
 	third.write("sec", "name", "val");
 	third.write("sec", "names", "value");
-	third.getAllKeys("sec", names);
+
+	const std::vector<std::string> names = third.keys("sec");
 	EXPECT_EQ(2U, names.size());
 	if (names.size() == 2)
 	{  // avoid potential crash if fails

libs/containers/include/mrpt/containers/yaml.h

@@ -912,6 +912,22 @@ std::ostream& operator<<(std::ostream& o, const yaml& p);
 	MCP_LOAD_OPT(Yaml__, Var__);                                               \
 	Var__ = mrpt::DEG2RAD(Var__)
 
+namespace internal
+{
+// We need to implement this as a template for the "if constexpr()" false branch
+// not to be evaluated for enums, which would lead to build errors.
+template <typename T, typename YAML_T>
+void impl_mcp_save(YAML_T& y, const T& var, const char* varName)
+{
+	using enum_t = std::remove_cv_t<T>;
+
+	if constexpr (std::is_enum_v<enum_t>)
+		y[varName] = mrpt::typemeta::TEnumType<enum_t>::value2name(var);
+	else
+		y[varName] = var;
+}
+}  // namespace internal
+
 /** Macro to store a variable into a mrpt::containers::yaml (initials MCP)
  * dictionary, using as "key" the name of the variable.
  *
@@ -931,11 +947,7 @@ std::ostream& operator<<(std::ostream& o, const yaml& p);
  * values. Note that this requires enums to implement mrpt::typemeta::TEnumType.
  */
 #define MCP_SAVE(Yaml__, Var__)                                                \
-	if constexpr (std::is_enum_v<decltype(Var__)>)                             \
-		Yaml__[#Var__] = mrpt::typemeta::TEnumType<                            \
-			std::remove_cv_t<decltype(Var__)>>::value2name(Var__);             \
-	else                                                                       \
-		Yaml__[#Var__] = Var__;
+	mrpt::containers::internal::impl_mcp_save(Yaml__, Var__, #Var__);
 
 #define MCP_SAVE_DEG(Yaml__, Var__) Yaml__[#Var__] = mrpt::RAD2DEG(Var__);
 

libs/containers/src/yaml.cpp

@@ -429,7 +429,9 @@ bool yaml::internalPrintNodeAsYAML(
 	THROW_EXCEPTION("Should never reach here");
 }
 
-static std::string shortenComment(const std::optional<std::string>& c)
+namespace
+{
+std::string shortenComment(const std::optional<std::string>& c)
 {
 	if (!c.has_value()) return {"[none]"};
 
@@ -439,6 +441,7 @@ static std::string shortenComment(const std::optional<std::string>& c)
 	else
 		return {c.value()};
 }
+}  // namespace
 
 void yaml::internalPrintDebugStructure(
 	const node_t& p, std::ostream& o, int indent)
@@ -499,7 +502,9 @@ void yaml::internalPrintDebugStructure(
 	THROW_EXCEPTION("Should never reach here");
 }
 
-static void internalPrintRightComment(std::ostream& o, const std::string& c)
+namespace
+{
+void internalPrintRightComment(std::ostream& o, const std::string& c)
 {
 	if (c.find('\n') == std::string::npos)
 	{
@@ -511,6 +516,7 @@ static void internalPrintRightComment(std::ostream& o, const std::string& c)
 	s.erase(std::remove(s.begin(), s.end(), '\n'), s.end());
 	o << "  # " << s << "\n";
 }
+}  // namespace
 
 bool yaml::internalPrintAsYAML(
 	const std::monostate&, std::ostream& o, const InternalPrintState& ps,
@@ -637,7 +643,7 @@ bool yaml::internalPrintStringScalar(
 	const std::string sInd(ps.indent + 2, ' ');
 
 	// representation of empty *string*
-	const static std::string emptyStr = "''";
+	const thread_local std::string emptyStr = "''";
 	const std::string& s = sIn.empty() ? emptyStr : sIn;
 
 	const bool hasFinalNL = !s.empty() && s.back() == '\n';
@@ -770,7 +776,9 @@ yaml yaml::FromText(const std::string& yamlTextBlock)
 }
 
 // TODO: Allow users to add custom filters?
-static yaml::scalar_t textToScalar(const std::string& s)
+namespace
+{
+yaml::scalar_t textToScalar(const std::string& s)
 {
 	// tag:yaml.org,2002:null
 	// https://yaml.org/spec/1.2/spec.html#id2803362
@@ -780,10 +788,13 @@ static yaml::scalar_t textToScalar(const std::string& s)
 
 	return {s};
 }
+}  // namespace
 
 #if MRPT_HAS_FYAML
-static std::optional<yaml::node_t> recursiveParse(struct fy_parser* p);
-
+namespace
+{
+std::optional<yaml::node_t> recursiveParse(struct fy_parser* p);
+}
 static bool MRPT_YAML_PARSER_VERBOSE =
 	mrpt::get_env<bool>("MRPT_YAML_PARSER_VERBOSE", false);
 
@@ -796,7 +807,9 @@ static bool MRPT_YAML_PARSER_VERBOSE =
 		}                                                                      \
 	} while (0)
 
-static std::optional<std::string> extractComment(
+namespace
+{
+std::optional<std::string> extractComment(
 	struct fy_token* t, enum fy_comment_placement cp)
 {
 	std::array<char, 2048> str;
@@ -813,7 +826,7 @@ static std::optional<std::string> extractComment(
 	return c;
 }
 
-static void parseTokenCommentsAndMarks(struct fy_token* tk, yaml::node_t& n)
+void parseTokenCommentsAndMarks(struct fy_token* tk, yaml::node_t& n)
 {
 	if (!tk) return;
 
@@ -839,7 +852,7 @@ static void parseTokenCommentsAndMarks(struct fy_token* tk, yaml::node_t& n)
 	}
 }
 
-static std::optional<yaml::node_t> recursiveParse(struct fy_parser* p)
+std::optional<yaml::node_t> recursiveParse(struct fy_parser* p)
 {
 	MRPT_START
 
@@ -993,6 +1006,7 @@ static std::optional<yaml::node_t> recursiveParse(struct fy_parser* p)
 #undef PARSER_DBG_OUT
 	MRPT_END
 }
+}  // namespace
 #endif
 
 void yaml::loadFromText(const std::string& yamlTextBlock)
@@ -1037,7 +1051,9 @@ yaml yaml::FromStream(std::istream& i)
 }
 
 // Replicated from mrpt::io to avoid dependency to that module:
-static std::string local_file_get_contents(const std::string& fileName)
+namespace
+{
+std::string local_file_get_contents(const std::string& fileName)
 {
 	// Credits: https://stackoverflow.com/a/2602258/1631514
 	// Note: Add "binary" to make sure the "tellg" file size matches the
@@ -1055,6 +1071,7 @@ static std::string local_file_get_contents(const std::string& fileName)
 	t.read(&buffer[0], size);
 	return buffer;
 }
+}  // namespace
 
 void yaml::loadFromFile(const std::string& fileName)
 {