Merge pull request #6397 from cyberbotics/sync-master-43d0358fb

Merge master into develop

docs/reference/changelog-r2023.md

@@ -13,7 +13,9 @@ Released on XXX XXth, 2023.
     - Fixed translation, rotation and scale displayed in the Position tab of the Node viewer in the scene tree ([#6309](https://github.com/cyberbotics/webots/pull/6309)).
     - Replaced the [Mesh](mesh.md) bounding object of the ROSbot XL by [Boxes](box.md) ([#6326](https://github.com/cyberbotics/webots/pull/6326)).
     - Fixed a crash when [IndexedLineSet](indexedlineset.md) has `coord` but no `coordIndex` ([#6359](https://github.com/cyberbotics/webots/pull/6359)).
-
+    - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
+    - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
+
 ## Webots R2023b
 Released on June 28th, 2023.
   - New Features

lib/controller/python/controller/receiver.py

@@ -91,8 +91,8 @@ def signal_strength(self) -> float:
         return wb.wb_receiver_get_signal_strength(self._tag)
 
     @property
-    def emitter_direction(self):
-        return wb.wb_receiver_get_emitter_direction(self._tag)
+    def emitter_direction(self) -> List[float]:
+        return wb.wb_receiver_get_emitter_direction(self._tag)[:3]
 
     @property
     def channel(self) -> int:

src/controller/launcher/webots_controller.c

@@ -169,54 +169,60 @@ static bool get_webots_home() {
 // Gets and stores the path to the latest installed version of Matlab on the system.
 static bool get_matlab_path() {
   struct dirent *directory_entry;  // Pointer for directory entry
+
 #ifdef __APPLE__
   const char *matlab_directory = "/Applications/";
   const char *matlab_version_wc = "MATLAB_R20";
-#else
-  const char *matlab_version_wc = "R20";
-#ifdef _WIN32
+  const char *matlab_exec_suffix = "/bin/matlab";
+#elif _WIN32
   const char *matlab_directory = "C:\\Program Files\\MATLAB\\";
+  const char *matlab_version_wc = "R20";
   const char *matlab_exec_suffix = "\\bin\\matlab.exe";
-#else  // __linux__
+#elif __linux__
   const char *matlab_directory = "/usr/local/MATLAB/";
+  const char *matlab_version_wc = "R20";
   const char *matlab_exec_suffix = "/bin/matlab";
-#endif
+#else
+#error "OS not supported!"
 #endif
 
   DIR *directory = opendir(matlab_directory);
-#ifndef __APPLE__
   if (directory == NULL) {
-    fprintf(stderr, "No installation of MATLAB available.\n");
+#ifdef __APPLE__
+    fprintf(stderr, "Could not open Applications folder to search for MATLAB installation. Please specify it manually using "
+                    "the option '--matlab-path'.\n");
+#else
+    fprintf(stderr, "No installation of MATLAB found. Please specify it manually using the option '--matlab-path'.\n");
+#endif
     return false;
   }
-#endif
+
   // Get latest available Matlab version
   char *latest_version = NULL;
   while ((directory_entry = readdir(directory)) != NULL) {
     const size_t directory_name_size = strlen(directory_entry->d_name) + 1;
     if (strncmp(matlab_version_wc, directory_entry->d_name, strlen(matlab_version_wc)) == 0) {
-      if (!latest_version)
+      if (!latest_version) {
         latest_version = malloc(directory_name_size);
-      else if (strcmp(latest_version, directory_entry->d_name) < 0)
-        memset(latest_version, '\0', directory_name_size);
-      strncpy(latest_version, directory_entry->d_name, directory_name_size);
+        strncpy(latest_version, directory_entry->d_name, directory_name_size);
+      } else if (strcmp(latest_version, directory_entry->d_name) < 0) {
+        char *tmp = realloc(latest_version, directory_name_size);
+        if (tmp)
+          latest_version = tmp;
+        strncpy(latest_version, directory_entry->d_name, directory_name_size);
+      }
     }
   }
   closedir(directory);
   if (!latest_version) {
-    fprintf(stderr, "No installation of MATLAB available.\n");
+    fprintf(stderr, "No installation of MATLAB found. Please specify it manually using the option '--matlab-path'.\n");
     return false;
   }
 
-#ifdef __APPLE__
-  const size_t matlab_path_size = snprintf(NULL, 0, "%s%s", matlab_directory, latest_version) + 1;
-  matlab_path = malloc(matlab_path_size);
-  sprintf(matlab_path, "%s%s", matlab_directory, latest_version);
-#else
   const size_t matlab_path_size = snprintf(NULL, 0, "%s%s%s", matlab_directory, latest_version, matlab_exec_suffix) + 1;
   matlab_path = malloc(matlab_path_size);
   sprintf(matlab_path, "%s%s%s", matlab_directory, latest_version, matlab_exec_suffix);
-#endif
+  printf("Using the latest available MATLAB instance: %s\n", matlab_path);
 
   free(latest_version);
   return true;

src/webots/nodes/utils/WbObjectDetection.cpp

@@ -37,7 +37,7 @@ WbObjectDetection::WbObjectDetection(WbSolid *device, WbSolid *object, const int
   mMaxRange(maxRange),
   mOdeGeomData(NULL),
   mHorizontalFieldOfView(horizontalFieldOfView),
-  mIsOmniDirectional(mHorizontalFieldOfView > M_PI),
+  mIsOmniDirectional(mHorizontalFieldOfView > M_PI_2),
   mOcclusion(occlusion) {
   if (mOcclusion == ONE_RAY) {
     const WbVector3 devicePosition = mDevice->position();
@@ -420,7 +420,7 @@ bool WbObjectDetection::isWithinBounds(const WbAffinePlane *frustumPlanes, const
     }
 
     objectRelativePosition = deviceInverseRotation * (objectPosition - devicePosition);
-    if (!mIsOmniDirectional && mHorizontalFieldOfView <= M_PI_2) {
+    if (!mIsOmniDirectional) {
       // do not recompute the object size and position if partly outside in case of fovX > PI
       // (a more complete computation will be needed and currently it seems to work quite well as-is)
       objectSize.setY(objectSize.y() - outsidePart[RIGHT] - outsidePart[LEFT]);

src/webots/nodes/utils/WbObjectDetection.hpp

@@ -98,7 +98,7 @@ class WbObjectDetection {
   QList<double> mRaysCollisionDepth;  // rays collision depth
   QList<dGeomID> mRayGeoms;           // rays that checks collision of this packet
   double mHorizontalFieldOfView;
-  bool mIsOmniDirectional;  // is sensor omnidirectional (horizontal FOV < PI/2)
+  bool mIsOmniDirectional;  // is sensor omnidirectional (horizontal FOV > PI/2)
   int mOcclusion;
 };