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2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
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9 
10 /** \page changelog Change Log
11  *
12 
13 <p> <b>Note:</b> <i>If you are displaying a local version of this page and you have not built the whole HTML documentation, the links above will be broken. Either build the documentation invoking <code>make documentation_html</code> or [browse it on-line](http://www.mrpt.org/).</i></p>
14 
15 <a name="1.5.6">
16 <h2>Version 1.5.6: Released 24/APR/2018 </h2></a>
17  - Applications:
18  - pf-localization:
19  - Odometry is now used also for observation-only rawlogs.
20  - \ref mrpt_hwdrivers_grp
21  - mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer multi-threading
22  operation.
23  - mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans. Driver
24  clean up to be safer and perform less memory allocs.
25  - \ref mrpt_maps_grp
26  - COccupancyGridMap2D: New LIDAR insertion parameters: maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
27  - \ref mrpt_reactivenav_grp
28  - CAbstractPTGBasedReactive: Added new score `holo_stage_eval`.
29  - BUG FIXES:
30  - circular_buffer: exception made state preserving
31 
32 <hr>
33 <a name="1.5.5">
34 <h2>Version 1.5.5: Released 2/DEC/2017 </h2></a>
35 - <b>Detailed list of changes:</b>
36  - \ref mrpt_base_grp
37  - Added methods mrpt::utils::CFileStream::clearError() and mrpt::utils::CFileInputStream::clearError()
38  - \ref mrpt_nav_grp
39  - mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache for improved performance.
40  - Build system:
41  - octomap is no longer exposed in public headers, avoiding the dependency propagation.
42  - BUG FIXES:
43  - Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D (which led to crash)
44  - Fixed regression in particle resampling affecting RBPF-SLAM methods. Introduced in Dec. 2016 with [this commit](https://github.com/MRPT/mrpt/commit/691973813bdc53d3faa7088b092eb041aa80d0ce).
45  - Wrong argument type: CStream::Seek() must allow signed offsets.
46 
47 <hr>
48 <a name="1.5.4">
49 <h2>Version 1.5.4: Released 31/OCT/2017 </h2></a>
50 - <b>Detailed list of changes:</b>
51  - \ref mrpt_base_grp
52  - Fix potential uninitialized value in CRobot2DPoseEstimator::getLatestRobotPose()
53  - MRPT_getCompilationDate() returns time as well
54  - \ref mrpt_gui_grp
55  - mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event type.
56  - Smart pointers:
57  - All mrpt::utils::CObject derived classes:
58  - In MRPT <=1.5.3, there was a typedef `Foo::SmartPtr` => `FooPtr`.
59  - In MRPT >=1.5.4 is has been replaced by `Foo::Ptr` => `FooPtr` for compatibility with MRPT >=2.0.
60  - stlplus smart pointers in MRPT 1.5.4 now have C++11 shared_ptr-compatible methods, to ease the transition towards MRPT 2.0 in user code (in particular, for MRPT ROS packages). Also, a new template `mrpt::prt_cast<TARGET_PTR>::from(ptr)` is provided to write user code compatible with both MRPT >=1.5.4 & >=2.0.0.
61  - Build system:
62  - Fix MRPTConfig.cmake for system octomap libraries.
63  - Fix package-contains-vcs-control-file (.gitingore) Lintian error.
64  - Fix compiling without liboctomap-dev in Ubuntu PPA.
65  - BUG FIXES:
66  - Fix waypoint reactive navigator edge case in which "end event" won't be issued.
67  - Fix waypoint reactive navigator error while doing final aligning (missing and dupplicated nav-end events).
68  - Fix aborting reading from LMS111 scanner on first error.
69  - Fix corrupted pointers in CNetworkOfPoses after copy or move operations.
70  - Fix invalid TP-targets generated during reactive navigation.
71  - Fix memory leak in reactivenav engine.
72  - Fix potential out-of-range access in CObservation3DRangeScan::convertTo2DScan()
73  - Fix potential SIGBUS in armhf (patch by Steve Langasek) inside mrpt::utils::CTicTac
74 
75 <hr>
76 <a name="1.5.3">
77 <h2>Version 1.5.3: Released 13/AUG/2017 </h2></a>
78 - <b>Detailed list of changes:</b>
79  - CMake >=3.1 is now required for use of ExternalProjects.
80  - Scripts `scripts/prepare_{debian,release}.sh` have been refactored and simplified.
81  - Removed embedded source code versions of Eigen, assimp and octomap. Downloaded and built as ExternalProjects if not present in the system.
82  - Releases will be signed with PGP from now on and posted as binary attachments to GitHub releases.
83 
84 <hr>
85 <a name="1.5.2">
86 <h2>Version 1.5.2: Released 6/AUG/2017 </h2></a>
87 - <b>Detailed list of changes:</b>
88  - Changes in libraries:
89  - \ref mrpt_base_grp
90  - Added methods:
91  - mrpt::synch::CCriticalSection::try_enter()
92  - mrpt::synch::CCriticalSectionRecursive::try_enter()
93  - \ref mrpt_nav_grp
94  - mrpt::nav::CAbstractNavigator: callbacks in mrpt::nav::CRobot2NavInterface are now invoked *after* `navigationStep()` to avoid problems if user code invokes the navigator API to change its state.
95  - Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
96  - \ref mrpt_slam_grp
97  - rbpf-slam: Add support for simplemap continuation.
98  - BUG FIXES:
99  - Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
100  - Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
101 
102 <hr>
103 <a name="1.5.1">
104 <h2>Version 1.5.1: Released 21/JUN/2017 </h2></a>
105 - <b>Detailed list of changes:</b>
106  - Changes in libraries:
107  - \ref mrpt_nav_grp
108  - fix const-correctness: [commit](https://github.com/MRPT/mrpt/commit/7e79003d2adeb7b170fa04e0bc34d42707e07306)
109  - More flexible callback behavior: [commit](https://github.com/MRPT/mrpt/commit/5b054336a1ac75f6e4f8741e5049971917a2980a)
110 
111 <hr>
112 <a name="1.5.0">
113 <h2>Version 1.5.0: Released 10-JUN-2017</h2></a>
114  - Changes in apps:
115  - New app [PTG-configurator](http://www.mrpt.org/list-of-mrpt-apps/application-ptg-configurator/)
116  - [ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/) has been totally rebuilt as a 3D visualizer capable of testing different navigation algorithms and robot kinematics.
117  - [RawLogViewer](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/):
118  - Now displays a textual and graphical representation of all observation timestamps, useful to quickly detect sensor "shortages" or temporary failures.
119  - New menu operation: "Edit" -> "Rename selected observation"
120  - mrpt::obs::CObservation3DRangeScan pointclouds are now shown in local coordinates wrt to the vehicle/robot, not to the sensor.
121  - [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/): New flag: `--txt-externals`
122  - Changes in libraries:
123  - \ref mrpt_base_grp
124  - New API to interface ZeroMQ: \ref noncstream_serialization_zmq
125  - Deprecated function (since 1.3.0) deleted: mrpt::system::registerFatalExceptionHandlers()
126  - New method mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses()
127  - Class mrpt::utils::CRobotSimulator renamed ==> mrpt::kinematics::CVehicleSimul_DiffDriven
128  - New twist (linear + angular velocity state) classes: mrpt::math::TTwist2D, mrpt::math::TTwist3D
129  - New template method: mrpt::utils::CStream::ReadAsAndCastTo
130  - Added missing method mrpt::poses::CPose2D::inverseComposePoint() for consistency with CPose3D
131  - New class mrpt::synch::CCriticalSectionRecursive
132  - New class mrpt::utils::COutputLogger replaces the classes mrpt::utils::CDebugOutputCapable (deprecated) and mrpt::utils::CLog (removed).
133  - New macros for much more versatily logging:
134  - MRPT_LOG_DEBUG(), MRPT_LOG_INFO(), MRPT_LOG_WARN(), MRPT_LOG_ERROR()
135  - MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN_STREAM, MRPT_LOG_ERROR_STREAM
136  - New functions for polynomial roots: see \ref polynomial_roots
137  - New functions for signal filtering: see \ref filtering_grp
138  - New functions for Fresnel integrals: see \fresnel_integrals_grp
139  - New classes mrpt::math::CAtan2LookUpTable, mrpt::math::CAtan2LookUpTableMultiRes
140  - [API change] The following functions are no longer static methods: (since their classes are now derived from the state-aware mrpt::utils::COutputLogger)
141  - mrpt::math::RANSAC_Template::execute()
142  - mrpt::math::CLevenbergMarquardtTempl::execute()
143  - Deleted methods in Eigen-extensions: leftDivideSquare(), rightDivideSquare()
144  - Removed support for **named** semaphores in mrpt::synch::CSemaphore
145  - new method mrpt::utils::CTimeLogger::getLastTime()
146  - Removed mrpt::utils::CStartUpClassesRegister, replaced by the new macro MRPT_INITIALIZER()
147  - New class mrpt::utils::CRateTimer
148  - mrpt::poses::CRobot2DPoseEstimator now uses a more generic odometry-based velocity model (vx,vy,omega).
149  - New template mrpt::utils::ts_hash_map<> for thread-safe, std::map-like containers based on hash functions.
150  - Included exprtk header-only library to runtime compile & evaluation of mathematical expressions, under `<mrpt/otherlibs/exprtk.hpp>`
151  - New smart pointer templates: `mrpt::utils::copy_ptr<>`, `mrpt::utils::poly_ptr<>`.
152  - New colormap: mrpt::utils::hot2rgb()
153  - New function mrpt::system::find_mrpt_shared_dir()
154  - New class mrpt::utils::CDynamicGrid3D<>
155  - New function mrpt::utils::net::http_request()
156  - New function mrpt::system::now_double()
157  - New function mrpt::utils::getAllRegisteredClassesChildrenOf()
158  - Safer CClassRegistry: detect and warn on attempts to duplicated class registration.
159  - New class mrpt::math::CRuntimeCompiledExpression
160  - mrpt::utils::CConfigFile and mrpt::utils::CConfigFileMemory now can parse config files with end-of-line backslash to split long strings into several lines.
161  - New class mrpt::poses::FrameTransformer
162  - mrpt::poses classes now have all their constructors from mrpt::math types marked as explicit, to avoid potential ambiguities and unnoticed conversions.
163  - [Sophus](https://github.com/strasdat/Sophus/) is now used internally for some Lie Algebra methods, and also exposed to the user as `#include <mrpt/otherlibs/sophus/so3.hpp>`, etc. as part of mrpt-base
164  - \ref mrpt_bayes_grp
165  - [API change] `verbose` is no longer a field of mrpt::bayes::CParticleFilter::TParticleFilterOptions. Use the setVerbosityLevel() method of the CParticleFilter class itself.
166  - [API change] mrpt::bayes::CProbabilityParticle (which affects all PF-based classes in MRPT) has been greatly simplified via usage of the new mrpt::utils::copy_ptr<> pointee-copy-semantics smart pointer.
167  - \ref mrpt_graphs_grp
168  - New class mrpt::graphs::ScalarFactorGraph, a simple but extensible linear GMRF solver. Refactored from mrpt::maps::CGasConcentrationGridMap2D, etc.
169  - \ref mrpt_gui_grp
170  - mrpt::gui::CMyGLCanvasBase is now derived from mrpt::opengl::CTextMessageCapable so they can draw text labels
171  - New class mrpt::gui::CDisplayWindow3DLocker for exception-safe 3D scene lock in 3D windows.
172  - \ref mrpt_hwdrivers_grp
173  - Using rplidar newest SDK 1.5.6 instead of 1.4.3, which support rplidar A1 and rplidar A2
174  - mrpt::hwdrivers::CNTRIPEmitter can now also dump raw NTRIP data to a file
175  - \ref mrpt_kinematics_grp
176  - New classes for 2D robot simulation:
177  - mrpt::kinematics::CVehicleSimul_DiffDriven
178  - mrpt::kinematics::CVehicleSimul_Holo
179  - New classes for 2D robot kinematic motion commands. See children of mrpt::kinematics::CVehicleVelCmd
180  - \ref mrpt_maps_grp
181  - mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile() correct description of `yCentralPixel` parameter.
182  - mrpt::maps::CPointsMap `liblas` import/export methods are now in a separate header. See \ref mrpt_maps_liblas_grp and \ref dep-liblas
183  - New class mrpt::maps::CRandomFieldGridMap3D
184  - New class mrpt::maps::CPointCloudFilterByDistance
185  - \ref mrpt_obs_grp
186  - [ABI change] mrpt::obs::CObservation2DRangeScan
187  - range scan vectors are now protected for safety.
188  - New getter/setter methods.
189  - backwards-compatible proxies added for read-only from range scan members.
190  - [ABI change] mrpt::obs::CObservation3DRangeScan:
191  - Now uses more SSE2 optimized code
192  - Depth filters are now available for mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto() and mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
193  - New switch mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT for runtime selection of externals format.
194  - mrpt::obs::CObservation2DRangeScan now has an optional field for intensity.
195  - mrpt::obs::CRawLog can now holds objects of arbitrary type, not only actions/observations. This may be useful for richer logs aimed at debugging.
196  - mrpt::obs::CObservationVelodyneScan::generatePointCloud() can now generate the microseconds-precise timestamp for each individual point (new param `generatePerPointTimestamp`).
197  - \ref mrpt_opengl_grp
198  - [ABI change] mrpt::opengl::CAxis now has many new options exposed to configure its look.
199  - mrpt::opengl::CSetOfLines can now optionally show vertices as dots.
200  - lib3DS is no longer shipped as an embedded version. A system library in Linux is required to use mrpt::opengl::C3DSScene. Use mrpt::opengl::CAssimpModel as a more powerful alternative.
201  - \ref mrpt_slam_grp
202  - [API change] mrpt::slam::CMetricMapBuilder::TOptions does not have a `verbose` field anymore. It's supersedded now by the verbosity level of the CMetricMapBuilder class itself.
203  - [API change] getCurrentMetricMapEstimation() renamed mrpt::slam::CMultiMetricMapPDF::getAveragedMetricMapEstimation() to avoid confusions.
204  - \ref mrpt_hwdrivers_grp
205  - mrpt::hwdrivers::CGenericSensor: external image format is now `png` by default instead of `jpg` to avoid losses.
206  - [ABI change] mrpt::hwdrivers::COpenNI2Generic:
207  - refactored to expose more methods and allow changing parameters via its constructor.
208  - Now supports reading from an IR, RGB and Depth channels independenty.
209  - mrpt::hwdrivers::CHokuyoURG now can optionally return intensity values.
210  - Deleted old, unused classes:
211  - mrpt::hwdrivers::CBoardIR
212  - mrpt::hwdrivers::CBoardDLMS
213  - mrpt::hwdrivers::CPtuHokuyo
214  - mrpt::hwdrivers::CHokuyoURG no longer as a "verbose" field. It's superseded now by the COutputLogger interface.
215  - mrpt::hwdrivers::CActivMediaRobotBase and the embedded ARIA library have been removed. Nowadays, one can access to ARIA robots via ROS packages more easily than via MRPT.
216  - \ref mrpt_maps_grp
217  - mrpt::maps::CMultiMetricMapPDF added method CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard().
218  - \ref mrpt_nav_grp
219  - New mrpt::nav::CWaypointsNavigator interface for waypoint list-based navigation.
220  - [ABI & API change] PTG classes refactored (see new virtual base class mrpt::nav::CParameterizedTrajectoryGenerator and its derived classes):
221  - Old classes `CPTG%d` have been renamed to describe each path type. Old PTGs #6 and #7 have been removed for lack of practical use.
222  - New separate classes for PTGs based on numerically-integrated paths and on closed-form formulations.
223  - Old deprecated method of PTGs `lambdaFunction()` removed.
224  - Parameters are no longer passed via a mrpt::utils::TParameters class, but via a mrpt::utils::CConfigFileBase which makes parameter passing to PTGs much more maintainable and consistent.
225  - PTGs now have a score_priority field to manually set hints about preferences for path planning.
226  - PTGs are now mrpt::utils::CLoadableOptions classes
227  - \ref mrpt_graphslam_grp
228  - Extend mrpt-graphslam lib to execute simulated/real-time graphSLAM.
229  mrpt-graphslam supports 2D/3D execution of graphSLAM, utilizing
230  LaserScans, odometry information.
231  - Develop application `graphslam-engine` that executes graphSLAM via
232  the mrpt-graphslam lib
233  - New classes:
234  - mrpt::nav::CMultiObjectiveMotionOptimizerBase
235  - Changes in build system:
236  - [Windows only] `DLL`s/`LIB`s now have the signature `lib-${name}${2-digits-version}${compiler-name}_{x32|x64}.{dll/lib}`, allowing several MRPT versions to coexist in the system PATH.
237  - [Visual Studio only] There are no longer `pragma comment(lib...)` in any MRPT header, so it is the user responsibility to correctly tell user projects to link against MRPT libraries.
238  Normally, this is done with the standard command `TARGET_LINK_LIBRARIES(MYTARGET ${MRPT_LIBS})`.
239  - Debian package: depends on libopenni-dev
240  - Optional dependency `liblas`: minimum required version is now 1.6.0 (Ubuntu Trusty or above).
241  - Update of embedded copy of nanoflann to version 1.2.0.
242  - New script for automated dumping stack traces on unit tests failures (`tests/run_all_tests_gdb.sh`)
243  - Fix build against wxWidgets 3.1.*
244  - Embedded version of gtest upgraded to 1.8.0
245  - BUG FIXES:
246  - Fix inconsistent state after calling mrpt::obs::CObservation3DRangeScan::swap()
247  - Fix SEGFAULT in mrpt::obs::CObservation3DRangeScan if trying to build a pointcloud in an external container (mrpt::opengl, mrpt::maps)
248  - Fix mrpt::hwdrivers::CHokuyoURG can return invalid ray returns as valid ranges.
249  - Fix PTG look-up-tables will always fail to load from cache files and will re-generate (Closes [GitHub #243](https://github.com/MRPT/mrpt/issues/243))
250  - Fix mrpt::maps::COccupancyGridMap2D::simulateScanRay() fails to mark out-of-range ranges as "invalid".
251  - Fix mrpt::utils::CMemoryStream::Clear() after assigning read-only memory blocks.
252  - Fix point into polygon checking not working for concave polygons. Now, mrpt::math::TPolygon2D::contains() uses the winding number test which works for any geometry.
253  - Fix inconsistent internal state after externalizing mrpt::obs::CObservation3DRangeScan
254  - Fix a long outstanding bug regarding losing of keystroke events in CDisplayWindow3D windows (Closes #13 again)
255  - Fix wrong units for negative numbers in mrpt::system::unitsFormat()
256  - Fix potential thread-unsafe conditions while inserting a mrpt::obs::CObservation2DRangeScan into a pointmap with SSE2 optimizations enabled.
257  - CStream: Fix memory leak if an exception (e.g. EOF) is found during object deserialization.
258  - Fix a bug in the `onlyUniqueRobust` option for point cloud matching (affecting CICP, etc.). Thanks [Shuo](https://github.com/ygzhangsoya)!
259 
260 <hr>
261 <a name="1.4.0">
262  <h2>Version 1.4.0: Released 22-APR-2016 </h2></a>
263  - <b>Most important changes:</b>
264  - Support for Velodyne LIDAR sensors.
265  - New minor version number due to changes in the API of these classes (read details below): mrpt::obs::CObservationGPS, mrpt::hwdrivers::CGPSInterface
266  - [Python bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings) added for a subset of MRPT functionality (Thanks Peter Rudolph and Nikolaus Demmel!)
267  - <b>Detailed list of changes:</b>
268  - New apps:
269  - [gps2rawlog](http://www.mrpt.org/list-of-mrpt-apps/application-gps2rawlog/): Application to parse raw dumps of a GPS (GNSS) receiver output.
270  - [image2gridmap](http://www.mrpt.org/list-of-mrpt-apps/application-image2gridmap/): Small tool to import any image as an MRPT gridmap object file (*.gridmap).
271  - [velodyne-view](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/): Application to test, visualize and grab data from a live Velodyne sensor or from a PCAP record.
272  - Changes in apps:
273  - [rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/): Now does not show GPS and IMU debug data in console, unless `MRPT_HWDRIVERS_VERBOSE` environment variable is set.
274  - [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/): New operation: `--export-gps-all`
275  - Changes in libraries:
276  - \ref mrpt_base_grp
277  - [ABI change] mrpt::system::tokenize() new parameter `skipBlankTokens`
278  - mrpt::utils::circular_buffer now has peek() methods
279  - Eigen::MatrixBase<Derived>::loadFromTextFile() now also accepts `,` as column separator.
280  - New functions:
281  - mrpt::system::timestampAdd()
282  - mrpt::utils::compute_CRC32()
283  - mrpt::utils::saturate<>()
284  - mrpt::utils::CDynamicGrid<> now uses `double` instead of `float` for all dimensions and coordinate computations.
285  - Priority with these functions now work properly in GNU/Linux; though, see the notes in their documentation for required permissions:
286  - mrpt::system::changeCurrentProcessPriority()
287  - mrpt::system::changeThreadPriority()
288  - New classes/structures:
289  - mrpt::math::TPointXYZIu8, mrpt::math::TPointXYZRGBu8, mrpt::math::TPointXYZfIu8, mrpt::math::TPointXYZfRGBu8
290  - \ref mrpt_hwdrivers_grp
291  - New class mrpt::hwdrivers::CVelodyneScanner
292  - mrpt::hwdrivers::CNTRIPEmitter now has a parameter to enable/disable sending back the data from the serial port to the NTRIP caster.
293  - <b>[API changed]</b> mrpt::hwdrivers::CGPSInterface API clean-up and made more generic so any stream can be used to parse GNSS messages, not only serial ports.
294  - New class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 for capturing without PGR Flycapture but directly through libdc1394.
295  - Removed class mrpt::hwdrivers::CStereoGrabber_Bumblebee , superseded by mrpt::hwdrivers::CImageGrabber_FlyCapture2 which is capable of both monocular and stereo grabbing.
296  - \ref mrpt_maps_grp
297  - New class mrpt::maps::CHeightGridMap2D_MRF
298  - New base class mrpt::maps::CHeightGridMap2D_Base
299  - mrpt::maps::COccupancyGridMap2D:
300  - New method mrpt::maps::COccupancyGridMap2D::copyMapContentFrom()
301  - New likelihood parameter `LF_useSquareDist`
302  - New parameter mrpt::maps::COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS
303  - mrpt::maps::COccupancyGridMap2D::simulateScanRay() is now ~40% (GCC) to ~250% (MSVC) faster by default.
304  - New method mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
305  - New method mrpt::maps::CHeightGridMap2D::insertIndividualPoint()
306  - mrpt::maps::CMetricMap::compute3DMatchingRatio() has a simplified API now
307  - \ref mrpt_obs_grp
308  - New class mrpt::obs::CObservationVelodyneScan
309  - mrpt::obs::CSinCosLookUpTableFor2DScans now can build a table from a mrpt::obs::T2DScanProperties structure, which now also has its separate header file for better modularity.
310  - <b>[API changed]</b> mrpt::obs::CObservationGPS now stores only one message per objects. API clean-up and extended so the number of GNSS message types is larger and more scalable.
311  - mrpt::obs::gnss: A new namespace with many new data structures for GPS-related messages
312  - mrpt::obs::CObservation3DRangeScan: projection of RGBD images to 3D points now correctly filters out invalid points, which were in previous versions mapped as (0,0,0) points (relative to the sensor).
313  In turn, this leads to point clouds of a dynamic number of points. In case of needing the (u,v) pixel coordinates of projected points, checkout the new fields `points3D_idxs_x` & `points3D_idxs_y`.
314  - New class mrpt::obs::CObservation2DRangeScanWithUncertainty
315  - \ref mrpt_opengl_grp
316  - New class mrpt::opengl::CMesh3D to render 3D models/meshes
317  - New method mrpt::opengl::CPointCloudColoured::recolorizeByCoordinate()
318  - \ref mrpt_slam_grp
319  - Small clean up of mrpt::slam::CICP API, add separate variable to select covariance estimation method.
320  - \ref mrpt_topography_grp
321  - New function mrpt::topography::geocentricToENU_WGS84()
322  - \ref mrpt_vision_grp
323  - mrpt::vision::CDifOdo has been refactored and now does faster image pyramid computation (By Mariano Jaimez)
324  - mrpt::maps::CLandmarksMap changes:
325  - `beaconMaxRange` & `alphaRatio` parameters have been removed since they were not used.
326  - New likelihood parameter `beaconRangesUseObservationStd` to allow using different uncertainty values with each observation.
327  - Changes in build system:
328  - [Python bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings) added for a subset of MRPT functionality (Thanks Peter Rudolph!)
329  - Code ported to support the new libftdi1-dev (Fixes Debian bug #810368, GitHub issue #176)
330  - Fix building with gcc 6.0 (Closes Debian bug #811812)
331  - CMake new option: `DISABLE_MRPT_AUTO_CLASS_REGISTRATION` to reduce the footprint of MRPT statically-linked programs.
332  - Fix building against wxWidgets 3.1
333  - BUG FIXES:
334  - mrpt::math::CQuaternion<> did not check for unit norm in Release builds.
335  - Fix build errors against OpenCV 3.0.0+ without opencv_contrib modules.
336  - mrpt::hwdrivers::CHokuyoURG now correctly handles opening both USB and Ethernet Hokuyo devices (Closes Github issue #180)
337  - Fixed mrpt::utils::net::DNS_resolve_async() may SIGSEGV in slow networks.
338  - mrpt::opengl::CMesh::updateColorsMatrix() did not ignore cells masked out.
339  - Wrong weights used in mrpt::poses::CPosePDFSOG::getMean()
340  - Removed ad-hoc bias addition in range-only predictions in landmarks maps.
341  - Error loading height map count in mrpt::maps::TSetOfMetricMapInitializers (Closes GitHub issue <a href="https://github.com/MRPT/mrpt/issues/205" >#205</a>.
342  - Fix "gray images" grabbed in Windows when capturing the render output of 3D windows (Thanks Mariano J.T. & Christian Kerl from TUM!)
343  - Fix typos and wxWidgets align errors in RawLogViewer GUI (Closes #219)
344  - mrpt::nav::CHolonomicND & mrpt::nav::CHolonomicVFF didn't use the full range of output velocities.
345  - mrpt::utils::CImage::loadFromFile() now does not leave the image in undefined state if the load operation fails.
346  - mrpt::hwdrivers::CLMS100Eth failed to load "pose_yaw" parameter from config file.
347  - mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide() did not correctly return `false` for negative offsets between the camera poses.
348 
349 <hr>
350 <a name="1.3.2">
351  <h2>Version 1.3.2: Released 3-NOV-2015 </h2></a>
352  - Changes in Apps:
353  - [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
354  - New operation: `--list-poses`
355  - `--list-images` now also works with 3D range scans
356  - Changes in libraries:
357  - The library mrpt-srba has been moved out of MRPT and now is an independent project: https://github.com/MRPT/srba
358  - \ref mrpt_base_grp
359  - mrpt::math::KDTreeCapable::TKDTreeSearchParams: Removed parameter nChecks, which was ignored by nanoflann anyway.
360  - \ref mrpt_hwdrivers_grp
361  - mrpt::hwdrivers::CCameraSensor: Implemented OpenNI2 support for CCameraSensor
362  - \ref mrpt_nav_grp
363  - mrpt::nav::CAbstractPTGBasedReactive: Maximum acceleration filter (SPEEDFILTER_TAU) now follows paths better (Thanks to Steven Butner, UCSB/ECE)
364  - Changes in build system:
365  - `FIND_PACKAGE(MRPT)` will return libraries in the var `MRPT_LIBRARIES`, following the CMake convention. The old variable name `MRPT_LIBS` will be also returned for backward compatibility.
366  - BUG FIXES:
367  - Fix excessive width of paths drawn by CMetricMapBuilderRBPF::drawCurrentEstimationToImage()
368  - Fix image distortion: k3 may be ignored. (Thanks to CBaiz)
369  - Fix Debian bugs.
370 
371 <hr>
372 <a name="1.3.1">
373  <h2>Version 1.3.1: Released 18-JUL-2015 </h2></a>
374  - Changes in apps:
375  - [navlog-viewer](http://www.mrpt.org/list-of-mrpt-apps/application-navlog-viewer/): Now shows more information on navigation logs.
376  - New app [icp-slam-live](http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam-live/): Real-time ICP-SLAM with a LIDAR sensor.
377  - Changes in libraries:
378  - \ref mrpt_base_grp
379  - New helper templates: mrpt::utils::int_select_by_bytecount<>, mrpt::utils::uint_select_by_bytecount<>
380  - New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and weighted averages. See:
381  - Header <mrpt/poses/SO_SE_average.h>
382  - mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
383  - mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
384  - \ref mrpt_hwdrivers_grp
385  - New sensors supported:
386  - mrpt::hwdrivers::CIMUIntersense
387  - mrpt::hwdrivers::CSkeletonTracker
388  - New parameter mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty Hokuyo timestamps with PC time.
389  - mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really implement turning on/off the RPLidar motor.
390  - \ref mrpt_maps_grp
391  - New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
392  - \ref mrpt_nav_grp
393  - Removed old base class CPathPlanningMethod
394  - CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class renamed (and better described) for consistency with other planners
395  - mrpt::nav::CReactiveNavigationSystem:
396  - Documentation has been added about all existing parameters, and template config files provided as starting points.
397  - The loadConfigFile() method with 2 config files has been deprecated favoring the newer, simpler single config file.
398  - The "ROBOT_NAME" parameter is no longer employed. A minor side effect (probably affecting no one) is that PTG cache files are no longer named differently for different robots.
399  - mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save and load trajectories to binary streams. Used to debug in navlog-viewer.
400  - \ref mrpt_obs_grp
401  - mrpt::obs::CObservation3DRangeScan now supports pixel labels (semantic mapping, etc.)
402  - New class mrpt::obs::CObservationSkeleton to hold body tracking information (by Francisco Angel Moreno)
403  - mrpt::obs::CObservationIMU has new data fields and fields are better documented to reflect whether they refer to local/global coordinate frames
404  - \ref mrpt_vision_grp
405  - mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter from NEAREST to HQLINEAR
406  - BUG FIXES:
407  - Fix ocasional (false) failure of RANSAC unit tests due to their non-deterministic nature.
408  - Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
409  - Fixed potential wrong bounding box results in mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
410  - mrpt::obs::CObservation6DFeatures: Fixed random crashes related to non-aligned memory in 32bit builds (Fixes #141)
411  - Fix Debian bug [#786349](https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=786349) on Eigen2 support.
412  - mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects not attached to a physical device.
413  - Fix wrong quaternion cross product when target variable is one of the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes #148)
414  - mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential memory corruption.
415  - Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning without trying to find a good consensus solution. It affected the demo app kinect-3d-slam (Fixes #156)
416  - Fix wrong feature points in CFeatureExtraction::extractFeaturesKLT() (Fixes #138)
417 
418 <hr>
419 <a name="1.3.0">
420  <h2>Version 1.3.0: Released 12-JAN-2015 </h2></a>
421  - <b>Most important changes:</b>
422  - Classes in libraries \ref mrpt_obs_grp and \ref mrpt_maps_grp now belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
423  - No more `using namespace`s polute MRPT headers. <b>Errors in user projects</b> missing `using namespace XXX` that might be formerly masked will now reveal. <b>This is a good thing</b>, though admitedly annoying...
424  - New library \ref mrpt_nav_grp, subsumming the old \ref mrpt_reactivenav_grp.
425  - New library \ref mrpt_tfest_grp, a refactor of the old \ref mrpt_scanmatching_grp.
426  - <b>Backwards compatible headers</b> have been provided to ease the transition of user code for all those library changes. Warning messages will be shown recommending deprecated replacements.
427  - <b>Detailed list of changes:</b>
428  - Lib changes:
429  - Clean up of the bad practice of `using namespace` in public scopes of headers. May lead to user code failing for missing `using namespace`s which were previously masked.
430  - Namespace "slam" deprecated in libraries mrpt-obs and mrpt-maps (used for historical reasons):
431  - New namespaces \ref mrpt_obs_grp and \ref mrpt_maps_grp.
432  - #include files moved from old paths <mrpt/slam/...> => <mrpt/{obs,maps}/...>
433  - Backward compatible headers added in <mrpt/slam/...> until mrpt 2.0.0
434  - New library \ref mrpt_nav_grp, subsumming the old mrpt-reactivenav (\ref mrpt_reactivenav_grp).
435  - \ref mrpt_reactivenav_grp is now a meta-library, depending on \ref mrpt_nav_grp.
436  - \ref mrpt_tfest_grp : Old library mrpt-scanmatching (\ref mrpt_scanmatching_grp) has been refactored, its API clean-up, and renamed \ref mrpt_tfest_grp
437  - \ref mrpt_scanmatching_grp is now a meta-library, depending on \ref mrpt_tfest_grp.
438  - These classes have been moved between libs for a more sensible organization:
439  - mrpt::slam::CDetectorDoorCrossing ==> mrpt::detectors::CDetectorDoorCrossing
440  - mrpt::slam::CPathPlanningMethod & CPathPlanningCircularRobot: \ref mrpt_slam_grp ==> \ref mrpt_nav_grp
441  - Build System / General changes:
442  - Many optimizations in function arguments (value vs ref). Forces ABI incompatibility with previous versions, hence the change to a new minor version number.
443  - Updated embedded version of Eigen to 3.2.3
444  - Kinect: Dropped support for the CL NUI API, which seems discontinued. Alternatives in use are libfreenect and OpenNI2.
445  - libfreenect is now detected in the system and used instead of compiling the embedded copy of it.
446  - Embedded copy of libfreenect has been updated to (23/oct/2014). It now supports "Kinect for Windows".
447  - More selective linking of .so files to avoid useless dependencies (Fixes #52).
448  - (Windows only) MRPT can now be safely built with libusb support (Freenect, Kinect,...) and it will run on systems without libusb installed, by means of /DELAYLOAD linking flags.
449  - More unit tests.
450  - Changes in classes:
451  - [mrpt-base]
452  - New function mrpt::math::angDistance()
453  - [mrpt-hwdrivers]
454  - mrpt::hwdrivers::CIMUXSens_MT4: (by Joe Burmeister for Suave Aerial Software)
455  - Upgrade to latest XSens SDK 4.2.1. Requires libudev-dev in Linux
456  - Add GPS observations to CIMUXSens_MT4 for Xsens devices like GTi-G-700 which have GPS
457  - mrpt::hwdrivers::CImageGrabber_dc1394: Length of ring buffer is now configurable via TCaptureOptions_dc1394::ring_buffer_size
458  - [mrpt-maps]
459  - Important refactor of internal code related to mrpt::maps::CMultiMetricMap:
460  - All maps (derived from mrpt::maps::CMetricMap) now have a more uniform interface.
461  - Each map now has a `MapDefinition` structure with all its parameters. See docs for mrpt::maps::TMetricMapInitializer
462  - Introduced mrpt::maps::TMapGenericParams to hold parameters shared in all maps.
463  - [mrpt-obs]
464  - CObservation::getDescriptionAsText(): New virtual method to obstain a textual description of observations. Refactoring of messy code previously in the RawLogViewer app.
465  - [mrpt-vision]
466  - mrpt::vision::CFeatureExtraction: Removed (unused) optional ROI parameter in detectors.
467  - BUG FIXES:
468  - mrpt::poses::CRobot2DPoseEstimator could estimate wrong angular velocities for orientations near +-180deg.
469  - mrpt::system::CDirectoryExplorer::sortByName() didn't sort in descending order
470  - Fixed crashes from MATLAB .mex files: mrpt::system::registerFatalExceptionHandlers() has no longer effect, and will be removed in future releases. (Thanks to Jesús Briales García for all the testing!)
471  - Fixed potential crash for Eigen unaligned memory access in 32bit builds in mrpt::slam::CGridMapAligner and other places ([Closes #94](https://github.com/MRPT/mrpt/issues/94))
472 
473 <hr>
474 <a name="1.2.2">
475  <h2>Version 1.2.2: Released 12-SEP-2014 </h2></a>
476  - Changes in apps:
477  - <a href="http://www.mrpt.org/list-of-mrpt-apps/application-sceneviewer3d/" >SceneViewer3D</a>:
478  - New menu "File" -> "Import" -> "3D model" which supports many standard formats (via mrpt::opengl::CAssimpModel)
479  - New classes:
480  - [mrpt-hwdrivers]
481  - mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR scanners.
482  - [mrpt-opengl]
483  - mrpt::opengl::CAssimpModel for rendering complex 3D models (many supported formats) in OpenGL scenes.
484  - Changes in classes:
485  - Consistency in all "laser scan" classes: angular increments between rays are now FOV/(N-1) instead of FOV/N.
486  - [mrpt-base]
487  - New method mrpt::utils::CImage::loadTGA()
488  - *IMPORTANT*: Changed behavior of CSerializable/CObject macros (see bugfix below), introducing the new macros DEFINE_SERIALIZABLE_POST_*.
489  May require changes in user code if serializable classes are defined:
490  - Previous version:
491  \code
492  DEFINE_SERIALIZABLE_PRE_*(...)
493  class XXX {
494  DEFINE_SERIALIZABLE(XXX)
495  };
496  \endcode
497  - Must be changed in this version to:
498  \code
499  DEFINE_SERIALIZABLE_PRE_*(...)
500  class XXX {
501  DEFINE_SERIALIZABLE(XXX)
502  };
503  DEFINE_SERIALIZABLE_POST_*(...)
504  \endcode
505  - [mrpt-hwdrivers]
506  - Bumblebee2 Linux support in mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
507  - [mrpt-maps]
508  - New method mrpt::maps::COccupancyGridMap2D::getRawMap()
509  - New method mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB()
510  - [mrpt-opengl]
511  - mrpt::opengl::CMyGLCanvasBase (affects all 3D rendering classes): better handling of internal timers for smoother updates while rendering in multithreading apps.
512  - [mrpt-srba]
513  - New method to recover the global coordinates graph-slam problem for a RBA map: mrpt::srba::RbaEngine::get_global_graphslam_problem() (see example [MRPT]\samples\srba-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
514  - BUG FIXES:
515  - mrpt::utils::CImage constructor from a matrix crashed.
516  - Unit tests: Named semaphores are not tested anymore if it's detected that the kernel version doesn't support them (Fix Debian 758725).
517  - mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
518  - mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
519  - Valgrind: Fixed potential unaligned memory access warning in point clouds.
520  - Fix build error with AppleClang 5.1 (Closes #71).
521  - mrpt::utils::CClientTCPSocket: Use a connection success check that works on all platforms
522  - Important bug fixed regarding a missing dynamic_cast<> in smart pointers casting. See above possible implications in user code.
523  properly (Patch by Joe Burmeister).
524 
525 <hr>
526 <a name="1.2.1">
527  <h2>Version 1.2.1: Released 10-JUL-2014 </h2></a>
528  - Changes in classes:
529  - [mrpt-base]
530  - All points and poses now have a method setToNaN(), e.g. mrpt::poses::CPose3D::setToNaN()
531  - [mrpt-hwdrivers]
532  - mrpt::hwdrivers::COpenNI2Sensor now has better support for opening several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
533  - Build system:
534  - Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
535  - Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and new unit tests added to avoid regressions).
536  - Several Debian bugs closed (see packaging/debian/changelog), including build errors in uncommon platforms (MIPS, kFreeBSD, etc.)
537 
538 <hr>
539 <a name="1.2.0">
540  <h2>Version 1.2.0: Released 25-JUN-2014 </h2></a>
541  - <b>Most important changes:</b>
542  - Public header files (.h) have undergone a serious refactoring to minimize unnecesary dependencies and reduce compile time and memory as much as possible.
543  As a side effect, user code might need to add new #include<> lines. This change justifies the new minor version series 1.2.X.
544  - MRPT now cleanly builds in clang and OSX.
545  - Support for new camera drivers (OpenNI2, DUO3D).
546  - Many bug fixes.
547  - <b>Detailed list of changes:</b>
548  - Changes in apps:
549  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
550  - New operations: --export-odometry-txt, --recalc-odometry
551  - New flag: --rectify-centers-coincide
552  - New examples:
553  - kitti_dataset2rawlog
554  - New classes:
555  - [mrpt-base]
556  - mrpt::math::ContainerType<CONTAINER>::element_t to allow handling either Eigen or STL containers seamlessly.
557  - mrpt::utils::CConfigFilePrefixer
558  - [mrpt-hwdrivers]
559  - mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2 cameras, capable of reading from an array of OpenNI2 RGBD cameras (By Eduardo Fernandez)
560  - mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D cameras (By Francisco Angel Moreno)
561  - mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0
562  - [mrpt-obs]
563  - mrpt::obs::CObservation6DFeatures
564  - Changes in classes:
565  - [mrpt-base]
566  - Robust kernel templates moved from mrpt::vision to mrpt::math. See mrpt::math::RobustKernel<>. Added unit tests for robust kernels.
567  - mrpt::poses::CPose3D has new SE(3) methods: mrpt::poses::CPose3D::jacob_dexpeD_de(), mrpt::poses::CPose3D::jacob_dAexpeD_de()
568  - More efficient mrpt::utils::OctetVectorToObject() (avoid memory copy).
569  - Fixed const-correctness of mrpt::utils::CImage::forceLoad() and mrpt::utils::CImage::unload()
570  - [mrpt-hwdrivers]
571  - mrpt::hwdrivers::CCameraSensor: Added a hook for user code to run before saving external image files: mrpt::hwdrivers::CCameraSensor::addPreSaveHook()
572  - mrpt::hwdrivers::CNationalInstrumentsDAQ now supports analog and digital outputs.
573  - New method mrpt::hwdrivers::CNTRIPClient::sendBackToServer()
574  - [mrpt-srba]
575  - Now also implements SE(3) relative graph-slam.
576  - [mrpt-vision]
577  - mrpt::vision::checkerBoardStereoCalibration: More robust handling of stereo calibration patterns. OpenCV sometimes detects corners in the wrong order between (left/right) images, so we detect the situation and fix it.
578  - mrpt::vision::findMultipleChessboardsCorners():
579  - Now enforces a consistent counterclockwise XYZ coordinate frame at each detected chessboard.
580  - Much more robust in distingishing quads of different sizes.
581  - Build system / public API:
582  - Fixes to build in OS X - [Patch](https://gist.github.com/randvoorhies/9283072) by Randolph Voorhies.
583  - Removed most "using namespace" from public headers, as good practice.
584  - Refactoring of MRPT headers.
585  - <mrpt/utils/stl_extensions.h> has been split into:
586  - <mrpt/utils/stl_serialization.h>
587  - <mrpt/utils/circular_buffer.h>
588  - <mrpt/utils/list_searchable.h>
589  - <mrpt/utils/bimap.h>
590  - <mrpt/utils/map_as_vector.h>
591  - <mrpt/utils/traits_map.h>
592  - <mrpt/utils/stl_serialization.h>
593  - <mrpt/utils/printf_vector.h>
594  - <mrpt/utils/stl_containers_utils.h>
595  - <mrpt/utils/ci_less.h>
596  - Deleted methods and functions:
597  - mrpt::system::breakpoint()
598  - mrpt::vector_float is now mrpt::math::CVectorFloat, mrpt::vector_double is mrpt::math::CVectorDouble, for name consistency. Also, using Eigen::VectorXf is preferred for new code.
599  - mrpt::CImage::rectifyImage() with parameters as separate vectors.
600  - mrpt::maps::CPointsMap::getPoint() with mrpt::poses::CPoint3D arguments.
601  - mrpt::vision::correctDistortion() -> use CImage method instead
602  - All previous deprecated functions.
603  - Embedded Eigen updated to version 3.2.1 [(commit)](https://github.com/MRPT/mrpt/commit/47913da94a27e98a9115f85b2a530b6c14a10b8f) [(commit)](https://github.com/MRPT/mrpt/commit/33258761d3b75bf133d38aecb257c64e4d76b21e)
604  - BUG FIXES:
605  - RawlogViewer app: Fixed abort while converting SF->obs.only datasets when there is no odometry.
606  - mrpt::obs::CSensoryFrame: The cached point map is now invalidated with any change to the list of observations so it's rebuild upon next call.
607  - New implementation of mrpt::synch::CSemaphore avoids crashes in OS X - by Randolph Voorhies.
608  - mrpt::opengl::CArrow was always drawn of normalized length.
609  - FlyCapture2 monocular & stereo cameras could return an incorrect timestamp (only in Linux?).
610  - mrpt::system::createDirectory() returned false (error) when the directory already existed.
611  - mrpt::vision::CStereoRectifyMap::rectify() didn't update the left & right camera poses inside mrpt::obs::CObservationStereoImages objects while rectifying.
612  - RawLogViewer: Operation "convert to SF format" didn't take into account odometry observations.
613  - Fix build errors with GCC 4.9
614  - Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when it fails to scan and open a device.
615  - Fix potential crash in mrpt::slam::data_association_full_covariance with JCBB when no individually compatible matching exists [(commit)](https://github.com/MRPT/mrpt/commit/482472ebd80a3484dce63d294b1ac4e8f001e1eb)
616 
617 <hr>
618  <a name="1.1.0">
619  <h2>Version 1.1.0: Released 22-FEB-2014 </h2></a>
620  - New apps:
621  - [DifOdometry-Camera](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-camera). (By Mariano Jaimez Tarifa)
622  - [DifOdometry-Datasets](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-datasets). (By Mariano Jaimez Tarifa)
623  - New classes:
624  - [mrpt-base]
625  - mrpt::synch::CPipe: OS-independent pipe support.
626  - [mrpt-hwdrivers]
627  - mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens MT IMU devices.
628  - mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition boards compatible with National Instruments DAQmx Base - [(commit)](https://github.com/MRPT/mrpt/commit/a82a7e37997cfb77e7ee9e903bdb2a55e3040b35).
629  - mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey Research's cameras via the FlyCapture2 libray - [(commits)](https://github.com/MRPT/mrpt/pull/5/commits).
630  - [mrpt-maps]
631  - There are now two versions of octomaps (by Mariano Jaimez Tarifa/Jose Luis Blanco) - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3443)
632  - mrpt::maps::COctoMap (only occupancy)
633  - mrpt::maps::CColouredOctoMap (occupancy + RGB color)
634  - [mrpt-obs]
635  - mrpt::obs::CObservationRawDAQ, a placeholder for raw and generic measurements from data acquisition devices. - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3459)
636  - [mrpt-opengl]
637  - mrpt::opengl::CMeshFast, an open gl object that draws a "mesh" as a structured point cloud which is faster to render (by Mariano Jaimez Tarifa). -[(commit)](https://github.com/MRPT/mrpt/commit/9306bb4a585387d4c85b3f6e41dd2cbe5a354e80)
638  - mrpt::opengl::CVectorField2D, an opengl object that shows a 2D Vector Field (by Mariano Jaimez Tarifa). - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3461)
639  - [mrpt-reactivenav]
640  - mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large code refactoring of these classes: [(commit)](https://github.com/MRPT/mrpt/pull/4)
641  - mrpt::reactivenav::CReactiveNavigationSystem
642  - mrpt::reactivenav::CReactiveNavigationSystem3D
643  - [mrpt-vision]
644  - mrpt::vision::CDifodo, a class which implements visual odometry based on depth images and the "range flow constraint equation". (by Mariano Jaimez Tarifa) - [(commit)](https://github.com/MRPT/mrpt/commit/e6ab5595f70cb889d07658c0b540c27e495a1cfb)
645  - Changes in classes:
646  - Clean up and slight optimization of metric map matching API: - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
647  - <b>Methods marked as deprecated: </b>
648  - mrpt::maps::CMetricMap::computeMatchingWith2D() --> mrpt::maps::CMetricMap::determineMatching2D()
649  - mrpt::maps::CMetricMap::computeMatchingWith3D() --> mrpt::maps::CMetricMap::determineMatching3D()
650  - New structures:
651  - mrpt::slam::TMatchingParams
652  - mrpt::slam::TMatchingExtraResults
653  - mrpt::maps::CPointsMap::TInsertionOptions now have methods to save/load from binary streams, making more maintainable the serialization of point maps - [(commit)](https://github.com/MRPT/mrpt/commit/544d439c3462228b07344142de68e5bc10c1a2e3)
654  - New options in point maps: mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints - [(commit)](https://github.com/MRPT/mrpt/pull/8)
655  - mrpt::obs::CObservationIMU now includes data fields for 3D magnetometers and altimeters. - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3451)
656  - Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont() to avoid shadowing mrpt::utils::CCanvas::selectTextFont()
657  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
658  - mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for inverse look-up of WS to TP space - [(commit)](https://github.com/MRPT/mrpt/commit/4d04ef50e3dea581bed6287d4ea6593034c47da3)
659  - mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() - [(commit)](https://github.com/MRPT/mrpt/commit/a224fc2489ad00b3ab116c84e8d4a48532a005df)
660  - Changed the signature of mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D & 2.5D PTGs - [(commit)](https://github.com/MRPT/mrpt/commit/7bd68e49a4ba3bf08f194678787816c65de1d685)
661  - Deleted classes:
662  - mrpt::utils::CEvent, which was actually unimplemented (!)
663  - mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer features enough to justify a class.
664  - New examples:
665  - [MRPT]/samples/threadsPipe
666  - [MRPT]/samples/NIDAQ_test
667  - [MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
668  - [MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
669  - Build system:
670  - Fixed compilation with clang.
671  - Fixed building against OpenCV 3.0.0 (GIT head)
672  - Updated to the latest nanoflann 1.1.7.
673  - Updated to Eigen 3.2.0 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3455)
674  - Binary packages for Windows now include .pdb files to help debugging with Visual Studio.
675  - BUG FIXES:
676  - Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
677  - Fixed build error with GCC when experimental parallelization is enabled. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3441)
678  - mrpt::reactivenav::CReactiveNavigationSystem complained about missing config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in MRPT 1.0.2 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3452)
679  - Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in SRBA for 32bit builds. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3457)
680  - mrpt::topography::geodeticToENU_WGS84() and related functions used a local +Z axis aligned to the line towards the Earth center; now the Z axis points normally to the ellipsoid surface. The difference with the previous behavior is small but may be of a few millimeters for each meter from the reference point. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
681  - Potential crash when setting mpPolygon::setPoints() with empty vectors - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
682  - mrpt::reactivenav::CReactiveNavigationSystem and mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the "enableConsoleOutput" constructor flag - [(commit)](https://github.com/MRPT/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
683  - mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got an external signal [(commit)](https://github.com/MRPT/mrpt/commit/511e95f03480537ff18ad2cad178c504b1cfbb53)
684 
685  <hr>
686  <a name="1.0.2">
687  <h2>Version 1.0.2: Released 2-AUG-2013 (SVN 3435) </h2></a>
688  - New apps:
689  - [ReactiveNav3D-Demo](http://www.mrpt.org/Application%3AReactiveNav3D-Demo) (By Mariano Jaimez Tarifa)
690  - Changes in apps:
691  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
692  - New operations: --list-timestamps, --remap-timestamps, --export-2d-scans-txt, --export-imu-txt
693  - New classes:
694  - [mrpt-base]
695  - mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco Angel Moreno).
696  - [mrpt-opengl]
697  - mrpt::opengl::CLight - OpenGL scenes now allow customization of OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport - <a href="http://code.google.com/p/mrpt/source/detail?r=3409" >r3409</a>
698  - [mrpt-reactivenav]
699  - mrpt::reactivenav::CReactiveNavigationSystem3D - By Mariano Jaimez Tarifa - <a href="http://code.google.com/p/mrpt/source/detail?r=3389" >r3389</a>
700  - New functions:
701  - [mrpt-opengl]
702  - mrpt::opengl::stock_objects::RobotRhodon()
703  - Changes in classes:
704  - [mrpt-base]
705  - Generic particle filter classes now allow directly resampling to a dynamic number of particles. Affected methods: - <a href="http://code.google.com/p/mrpt/source/detail?r=3381" >r3381</a>
706  - mrpt::bayes::CParticleFilterCapable::performResampling()
707  - mrpt::bayes::CParticleFilterCapable::computeResampling()
708  - New method: CImage::loadFromXPM() - <a href="http://code.google.com/p/mrpt/source/detail?r=3397" >r3397</a>
709  - [mrpt-maps]
710  - mrpt::maps::COctoMap now exposes the inner octomap::OcTree object. See example samples/octomap_simple - <a href="http://code.google.com/p/mrpt/source/detail?r=4304" >r4304</a>
711  - [mrpt-openg]
712  - mrpt::opengl::CBox now be also rendered as a solid box + line borders. See mrpt::opengl::CBox::enableBoxBorder()
713  - mrpt::opengl::COctoMapVoxels - <a href="http://code.google.com/p/mrpt/source/detail?r=4329" >r4329</a>
714  - Fixed calculation of normals (fix shading)
715  - Added new coloring scheme to mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
716  - By default, light effects are disabled in this object, because shadows aren't computed anyway and the effect isn't pleasant.
717  - Voxels cubes are sorted in ascending Z order so the visual effect is correct when rendering with transparency.
718  - [mrpt-reactivenav]
719  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: The "low pass filter" has been removed since it wasn't practical and was never used; thus, parameters "TAU" and "DELAY" has been removed. - <a href="http://code.google.com/p/mrpt/source/detail?r=3395" >r3395</a>
720  - Methods removed since they weren't implemented in any derived class and there are no plans for doing it.
721  - mrpt::reactivenav::CReactiveNavigationSystem ::evaluate()
722  - mrpt::reactivenav::CReactiveNavigationSystem ::setParams()
723  - Build system:
724  - Updated to nanoflann 1.1.7: ICP is ~5% faster.
725  - More unit tests:
726  - [mrpt-base] geometry module.
727  - BUG FIXES:
728  - CTimeLogger::registerUserMeasure() ignored the enable/disable state of the logger - <a href="http://code.google.com/p/mrpt/source/detail?r=3382" >r3382</a>
729  - mrpt-srba: SEGFAULT in 32bit builds due to missing MRPT_MAKE_ALIGNED_OPERATOR_NEW - <a href="http://code.google.com/p/mrpt/source/detail?r=3429" >r3429</a>
730 
731  <br/>
732  <hr>
733  <a name="1.0.1">
734  <h2>Version 1.0.1: Released 12-MAY-2013 (SVN 3370) </h2></a>
735  - Changes in apps:
736  - <a href="http://www.mrpt.org/Application%3ARawLogViewer" >RawLogViewer</a>:
737  - Better description of the "too much memory used" warning while loading large datasets.
738  - <a href="http://www.mrpt.org/Application%3Arobotic-arm-kinematics" >robotic-arm-kinematics</a>:
739  - Now allows changing the orientation of the first DOF (X,Y,Z).
740  - New classes:
741  - [mrpt-hwdrivers]
742  - mrpt::hwdrivers::CInterfaceNI845x: An interface for this USB SPI/I2C data acquisition board.
743  - mrpt::hwdrivers::CCANBusReader: A class to record CAN bus frames with a CAN232 converter.
744  - [mrpt-obs]
745  - mrpt::obs::CObservationCANBusJ1939
746  - New functions:
747  - New opengl_stock objects:
748  - mrpt::opengl::stock_objects::Hokuyo_URG()
749  - mrpt::opengl::stock_objects::Hokuyo_UTM()
750  - mrpt::opengl::stock_objects::Househam_Sprayer()
751  - mrpt::math::saveEigenSparseTripletsToFile() - <a href="http://code.google.com/p/mrpt/source/detail?r=3351" >r3351</a>
752  - New examples:
753  - gmrf_map_demo
754  - Changes in classes:
755  - [mrpt-maps]
756  - mrpt::maps::COccupancyGridMap2D now also evalutes likelihoods for sonar-like observations (mrpt::obs::CObservationRange), allowing particle-filter localization with these sensors - <a href="http://code.google.com/p/mrpt/source/detail?r=3330" >r3330</a>
757  - New method mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
758  - [mrpt-kinematics]
759  - mrpt::kinematics::CKinematicChain: Now allows changing the orientation of the first DOF (X,Y,Z).
760  - Removed stuff:
761  - Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has been removed. Replace with mrpt::vision::TFeatureTrackStatus
762  - KLT-specific values for mrpt::vision::TFeatureTrackStatus has been removed, since they were not used in detected features anyway.
763  - Build system:
764  - Fixed a potential build error if including FFMPEG's <time.h> instead of the standard header - <a href="http://code.google.com/p/mrpt/source/detail?r=3316" >r3316</a>
765  - Fixed determination of GCC version for all GCC builds - <a href="http://code.google.com/p/mrpt/source/detail?r=3324" >r3324</a>
766  - Updated to Eigen 3.1.3 - <a href="http://code.google.com/p/mrpt/source/detail?r=3349" >r3349</a>
767  - Updated to nanoflann 1.1.5
768  - BUG FIXES:
769  - Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due to an improperly initialized reference to a local variable - <a href="http://code.google.com/p/mrpt/source/detail?r=3318" >r3318</a>
770  - Debian packages: added missing binary deps for libmrpt-dev - <a href="http://code.google.com/p/mrpt/source/detail?r=3335" >r3335</a>
771 
772  <hr>
773  <a name="1.0.0">
774  <h2>Version 1.0.0: Released 1-MAR-2013 (SVN 3287) </h2></a>
775  - <b>Most important changes:</b>
776  - New library with a flexible implementation of Sparser Relative Bundle Adjustment (RBA), as presented in ICRA 2013: <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
777  - New library for Plane-based Maps: <a href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a> (also presented in ICRA 2013).
778  - Some MRPT modules are now header-only libraries.
779  - Support for a new Octomap metric map, via the octomap library. See mrpt::maps::COctoMap and detailed changes below.
780  - Support for importing/exporting point clouds in the standard LAS format (Look for liblas below).
781  - Better support for custom builds of MRPT (selective building of individual apps and libs, etc.)
782  - Ready for Visual Studio 2012 and GCC 4.7
783  - From now on, MRPT is released under the "New BSD" license.
784  - Many bug fixes.
785  - <b>Detailed list of changes:</b>
786  - New apps:
787  - <a href="http://www.mrpt.org/Application:srba-slam" >srba-slam</a>: A command-line frontend for the Relative Bundle Adjustment engine in mrpt-srba.
788  - <a href="http://www.mrpt.org/Application:holonomic-navigator-demo" >holonomic-navigator-demo</a>
789  - <a href="http://www.mrpt.org/Application:robotic-arm-kinematics" >robotic-arm-kinematics</a>: A GUI for experimenting with Denavit-Hartenberg parameters.
790  - Changes in apps:
791  - <a href="http://www.mrpt.org/Application%3Anavlog-viewer" >navlog-viewer</a>:
792  - Fixed some minor visualization errors.
793  - <a href="http://www.mrpt.org/Application%3ARawLogViewer" >RawLogViewer</a>:
794  - Import sequence of images as rawlog: Didn't detect "png" file extension as images - <a href="http://code.google.com/p/mrpt/source/detail?r=2940" >r2940</a> - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=34" >#34</a>
795  - The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a href="http://code.google.com/p/mrpt/source/detail?r=2950" >r2950</a>
796  - <a href="http://www.mrpt.org/Application:ReactiveNavigationDemo" >ReactiveNavigationDemo</a>:
797  - The default holonomic navigation method is now the VFF, since after the last bug fixes and tunes it seems to work quite well.
798  - <a href="http://www.mrpt.org/Application%3ASceneViewer" >SceneViewer3D</a>:
799  - The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a href="http://code.google.com/p/mrpt/source/detail?r=2952" >r2952</a>
800  - Added a new menu: "File -> Import -> From LAS file..." - <a href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
801  - <a href="http://www.mrpt.org/Application%3Agrid-matching" >grid-matching</a>: new argument "--aligner" to select aligner method - <a href="http://code.google.com/p/mrpt/source/detail?r=3021" >r3021</a>
802  - New classes:
803  - [mrpt-base]
804  - mrpt::math::MatrixBlockSparseCols, a templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information - <a href="http://code.google.com/p/mrpt/source/detail?r=2995" >r2995</a>
805  - mrpt::utils::ignored_copy_ptr<>
806  - mrpt::utils::CTimeLoggerEntry
807  - [mrpt-obs]
808  - mrpt::obs::CObservationWindSensor - <a href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
809  - [mrpt-maps]
810  - mrpt::maps::COctoMap
811  - [mrpt-opengl]
812  - mrpt::opengl::COctoMapVoxels
813  - Deleted classes:
814  - [mrpt-vision]
815  - CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been removed since they didn't work robustly. Replace with mrpt::vision::CFeatureTracker_KL
816  - New libraries:
817  - [mrpt-kinematics] See mrpt::kinematics
818  - [mrpt-pbmap] See <a href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>.
819  - [mrpt-srba] See <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
820  - Changes in libraries:
821  - These libs are now header-only: <a href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3045" >r3045</a>
822  - [mrpt-bayes]
823  - [mrpt-graphs]
824  - [mrpt-graphslam]
825  - Integration of the Octomap C++ library (new BSD License) by Kai M. Wurm et al.: <a href="http://code.google.com/p/mrpt/source/detail?r=3081" >r3081</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3083" >r3083</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3084" >r3084</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3086" >r3086</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3087" >r3087</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3088" >r3088</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3093" >r3093</a>
826  - The main new classes are mrpt::maps::COctoMap & mrpt::opengl::COctoMapVoxels
827  - mrpt::maps::CMultiMetricMap now allows the seamless integration of octomaps in many MRPT map building or localization algorithms.
828  - New example: samples/octomap_simple
829  - Changes in classes:
830  - [mrpt-base]
831  - Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT derived matrix classes, are now much faster loading huge matrices from text files - <a href="http://code.google.com/p/mrpt/source/detail?r=2997" >r2997</a>
832  - The typedef Eigen::MatrixBase<Derived>::typename of MRPT's plugin to Eigen classes has been REMOVED, to avoid conflicts with some part of Eigen's sparse classes. Use Matrix::Scalar instead - <a href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
833  - New method mrpt::poses::CPose3DQuat::inverse()
834  - New methods mrpt::poses::SE_traits::pseudo_exp()
835  - mrpt::utils::CTimeLogger:
836  - New method mrpt::utils::CTimeLogger::getStats() for programatic execution time stats analysis - <a href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
837  - New method mrpt::utils::CTimeLogger::registerUserMeasure() for making stats of user-providen values - <a href="http://code.google.com/p/mrpt/source/detail?r=3005" >r3005</a>
838  - mrpt::utils::map_as_vector<> can be now customized to use different underlying STL containers for storage - <a href="http://code.google.com/p/mrpt/source/detail?r=3001" >r3001</a>
839  - mrpt::utils::CDynamicGrid::setSize() now also accepts a "fill_value" argument.
840  - Added method mrpt::math::TPoint2D::norm() for consistency with mrpt::math::TPoint3D
841  - Better support for saving (and not only loading) plain text configuration files, including commented files with default values of all existing parameters: - <a href="http://code.google.com/p/mrpt/source/detail?r=2954" >r2954</a>
842  - All mrpt::utils::CConfigFileBase::write() now have an extended signature for formatting.
843  - mrpt::utils::CLoadableOptions::dumpToTextStream() is no longer pure virtual: it now relies on mrpt::utils::CLoadableOptions::saveToConfigFile()
844  - mrpt::utils::CStream::Seek() now supports files larger than 2GB by using uint64_t instead of long (still see issue report for another patch required for MSVC2010) - (Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=39" >issue 39</a>, thanks Robert Schattschneider) - <a href="http://code.google.com/p/mrpt/source/detail?r=3042" >r3042</a>
845  - mrpt::utils::TTypeName<> moved to its own header <mrpt/utils/TTypeName.h> while refactoring <mrpt/utils/CSerializable.h> - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
846  - mrpt::utils::CConfigFileBase::write() now has signatures for "uint32_t" and "uint64_t" in both 32 and 64bit builds, instead of relying of the "size_t" type. This was done to fix build errors in some GCC versions under 32bits.
847  - mrpt::poses::CPose2D now caches the cos() and sin() of phi, with a huge performance improvement in most common operations.
848  - [mrpt-bayes]
849  - mrpt::bayes::CKalmanFilterCapable (and all EKF-SLAM methods based on it) are now much faster. The implementation now exploits the sparsity of the Jacobian (~25% faster in a test 6D EKF-SLAM dataset) - <a href="http://code.google.com/p/mrpt/source/detail?r=3059" >r3059</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3060" >r3060</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3061" >r3061</a>
850  - mrpt::bayes::CParticleFilterCapable now makes use of the Curiously Recurring Template Pattern (CRTP) design instead of ugly #define macros - <a href="http://code.google.com/p/mrpt/source/detail?r=3182" >r3182</a>
851  - [mrpt-graphs]
852  - mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,... and so on, are now all typedef's instead of classes, since serialization is now implemented as pure templatized code, thus avoiding the need to declare derived auxiliary classes - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
853  - [mrpt-gui]
854  - mrpt::gui::CDisplayWindow3D::addTextMessage() (and other opengl text routines) now allows drawing text with a shadow effect - <a href="http://code.google.com/p/mrpt/source/detail?r=3007" >r3007</a>
855  - [mrpt-hwdrivers]
856  - New method mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
857  - mrpt::hwdrivers::CGenericSensor (and all derived classes) now allocate objects aligned in memory with MRPT_MAKE_ALIGNED_OPERATOR_NEW
858  - New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()
859  - [mrpt-maps]
860  - Better integration of point cloud classes with PCL: - <a href="http://code.google.com/p/mrpt/source/detail?r=2943" >r2943</a>
861  - mrpt::maps::CPointsMap::loadPCDFile()
862  - mrpt::maps::CPointsMap::setFromPCLPointCloud()
863  - mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB()
864  - Point cloud loading & saving in the standard ASPRS LiDAR LAS format (if liblas is installed in the system, see http://www.liblas.org/ ). See also the ready-to-use import menu in SceneViewer3D - <a href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
865  - mrpt::maps::CPointsMap::loadLASFile()
866  - mrpt::maps::CPointsMap::saveLASFile()
867  - Integration of wind measurements in gas-concentration maps (by Javier G. Monroy) - <a href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
868  - [mrpt-obs]
869  - New method mrpt::obs::CObservationGPS::clear()
870  - [mrpt-opengl]
871  - Evaluation of bounding box of opengl objects. New methods: - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
872  - mrpt::opengl::CRenderizable::getBoundingBox()
873  - mrpt::opengl::COpenGLScene::getBoundingBox()
874  - mrpt::opengl::COpenGLViewport::getBoundingBox()
875  - mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a new flag to draw solid boxes at each leaf node - <a href="http://code.google.com/p/mrpt/source/detail?r=3033" >r3033</a>
876  - mrpt::opengl::COpenGLViewport has a new set of "global OpenGL switches" that affect the rendering of entire scenes - <a href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
877  - Classes drawing lines now by default enable anti-aliasing (can be disabled by the programmer): - <a href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
878  - mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ
879  - mrpt::opengl::CSimpleLine
880  - mrpt::opengl::CSetOfLines
881  - [mrpt-reactivenav]
882  - Much code of mrpt::reactivenav classes have undergone a clean-up, slight optimizations and a translation of old Spanish names/comments to English - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2942" >r2942</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2958" >r2958</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3091" >r3091</a>
883  - mrpt::reactivenav::CParameterizedTrajectoryGenerator::CCollisionGrid now has a more maintainable binary serialization format - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
884  - mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now also saves text files which can be used to visualize PTGs from MATLAB (see scripts/viewPTG.m) - <a href="http://code.google.com/p/mrpt/source/detail?r=3009" >r3009</a>
885  - mrpt::reactivenav::CHolonomicVFF and mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable from config files. See their documentation.
886  - Repulsive forces from obstacles in mrpt::reactivenav::CHolonomicVFF are now automatically normalized wrt the density of the 360deg view of obstacles and forces follow a "1/range" law instead of the old "exp(-range)".
887  - Solved a stability issue in C-S paths, in mrpt::reactivenav::CPTG_DiffDrive_CS (By Mariano Jaimez Tarifa) - <a href="http://code.google.com/p/mrpt/source/detail?r=3085" >r3085</a>
888  - [mrpt-scanmatching]
889  - mrpt::scanmatching::robustRigidTransformation():
890  - Changed behavior not to allow features to appear in duplicated pairings.
891  - Added a consistency test to avoid seeding RANSAC with an inconsistent initial model.
892  - [mrpt-slam]
893  - mrpt::slam::CMetricMapBuilderICP now does not integrate the small pose changes due to odometry and/or relocalization when considering the distance and angle thresholds. This means that fewer map updates are now done for the same ICP-SLAM parameters, which should lead to "less noisy" maps.
894  - New functions:
895  - [mrpt-base]
896  - mrpt::utils::abs_diff()
897  - mrpt::system::getMRPTLicense()
898  - mrpt::system::getFileModificationTime()
899  - mrpt::math::noncentralChi2PDF_CDF() is now exposed (was private)
900  - mrpt::utils::sprintf_container()
901  - mrpt::poses::operator -(mrpt::poses::CPose3DQuat)
902  - max3() and min3() moved from the global namespace to mrpt::utils::max3() and mrpt::utils::min3()
903  - New examples:
904  - octomap_simple
905  - ransac-data-association
906  - Build system:
907  - Update to nanoflann 1.1.4 - <a href="http://code.google.com/p/mrpt/source/detail?r=2937" >r2937</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
908  - Update to Eigen 3.1.2 - <a href="http://code.google.com/p/mrpt/source/detail?r=3064" >r3064</a>
909  - MRPT's root "CMakeLists.txt" has undergone a big refactoring and cleanup - <a href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
910  - Backward compatible "mrpt-core" has been removed as a fake lib for which to search with CMake from user programs - <a href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
911  - More system libs are detected in Linux (libclang-dev, lib3ds-dev), discarding embedded versions then - <a href="http://code.google.com/p/mrpt/source/detail?r=2963" >r2963</a> - <a href="http://code.google.com/p/mrpt/issues/detail?id=17" >Closes #17</a>
912  - Automatic detection of supported SIMD extensions (SSE*) from CMake (only for Linux OS) - <a href="http://code.google.com/p/mrpt/source/detail?r=3013" >r3013</a>
913  - Fixed building with Visual Studio 2012 (MSVC11) - <a href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
914  - MRPT now allows defining header-only libraries with the define_mrpt_lib_header_only() macro - <a href="http://code.google.com/p/mrpt/source/detail?r=3034" >r3034</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>
915  - More unit tests:
916  - for all probability distribution functions in mrpt::math,
917  - for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
918  - for the octomap map
919  - for serialization/deserealization of many classes.
920  - Added new documentation page: <a href="env-vars.html" >environment variables</a>.
921  - Removed the build flag "MRPT_BACKCOMPATIB_08X".
922  - Fixes for building under Mac OSX: <a href="http://code.google.com/p/mrpt/source/detail?r=3181" >r3181</a>
923  - Enable some c++11 features if the compiler supports them - <a href="http://code.google.com/p/mrpt/source/detail?r=3273" >r3273</a>
924  - BUG FIXES:
925  - Build: Fixed detection of OpenCV 2.4.2+ installed in the system via CMake config file instead of pkg-config, which seems to be broken. - <a href="http://code.google.com/p/mrpt/source/detail?r=3019" >r3019</a>
926  - [mrpt-base] The iterator returned by end() in all MRPT vectors and matrices (based on Eigen) pointed to the last element, not to the (now correct) next position after the last element - <a href="http://code.google.com/p/mrpt/source/detail?r=2941" >r2941</a>
927  - [mrpt-base] mrpt::dynamicsize_vector::resize() performed a memory reallocation even if given the current size, due to an inherited behavior from Eigen. It is not the expected behavior, so it has been fixed. - <a href="http://code.google.com/p/mrpt/source/detail?r=3003" >r3003</a>
928  - [mrpt-base] Wrong computation of normPDF() values for the multidimensional cases. Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=46" >#46</a> - <a href="http://code.google.com/p/mrpt/source/detail?r=3068" >r3068</a>
929  - [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D cases (Thanks Cipri!)
930  - [mrpt-base] Fixed errors in de-serialization of mrpt::utils::CPointPDFSOG and mrpt::maps::CReflectivityGridMap2D
931  - [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D() always returned 0 matched.
932  - [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to Edu!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
933  - [mrpt-hwdrivers] Fixed potential SEGFAULT in mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for <a href="http://www.mrpt.org/node/2474" >reporting</a>)
934  - [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
935  - [mrpt-maps] mrpt::maps::COccupancyGridMap2D::getAs3DObject() returned cells with an occupancy of exactly "0" as transparent - <a href="http://code.google.com/p/mrpt/source/detail?r=2957" >r2957</a>
936  - [mrpt-maps] Fixed saving the correct point colors in mrpt::maps::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3090" >r3090</a>
937  - [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching two 3D point clouds as each correspondence was inserted twice into the output vector. (By Paco) - <a href="http://code.google.com/p/mrpt/source/detail?r=3162" >r3162</a>
938  - [mrpt-opengl] Fixed a potential bug: after deserializing an object based on a display-list (most of them), it won't update in the opengl view.
939  - [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not exported in Windows DLL's (Thanks Mariano for noticing!).
940  - [mrpt-reactivenav] Fixed wrong computation of obstacles force fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - <a href="http://code.google.com/p/mrpt/source/detail?r=2953" >r2953</a>
941  - [mrpt-reactivenav] Precomputed collision grids could be loaded in mrpt::reactivenav::CParameterizedTrajectoryGenerator even for different robot parameters/shape: now it correctly detects such situations and recompute when needed - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a> - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=33" >#33</a>
942  - [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never evaluated" and wrong composition of representative direction for some gaps (By Mariano) - <a href="http://code.google.com/p/mrpt/source/detail?r=3056" >r3056</a>
943 
944 
945  <br>
946  <hr>
947  <a name="0.9.6">
948  <h2>Version 0.9.6 - (Version 1.0.0-Release_Candidate_4): Released 30-MAY-2012 (SVN 2930) </h2></a>
949  - New applications:
950  - <a href="http://www.mrpt.org/Application:kinect-stereo-calibrate" >kinect-stereo-calibrate</a>: A GUI tool for calibrating RGB+D and/or stereo cameras, including live Kinect capturing.
951  - Removed applications:
952  - stereo-calib-gui: it's now superseded by kinect-stereo-gui. The old command line tool is still useful, so it's still there as the example "stereo-calib-opencv".
953  - Changes in applications:
954  - <a href="http://www.mrpt.org/Application:icp-slam" >icp-slam</a>:
955  - Added a new option (SHOW_LASER_SCANS_3D in config files) to draw laser scans in the live 3D view - <a href="http://code.google.com/p/mrpt/source/detail?r=2881" >r2881</a>
956  - <a href="http://www.mrpt.org/Application:rawlog-edit" >rawlog-edit</a>:
957  - Operation "--camera-params" now also handles stereo observations.
958  - New operation "--stereo-rectify" for batch rectifying datasets with stereo images.
959  - New operation "--rename-externals".
960  - <a href="http://www.mrpt.org/Application:SceneViewer" >SceneViewer3D</a>:
961  - New menu for generating high-resolution renders of any scene directly to imag files - <a href="http://code.google.com/p/mrpt/source/detail?r=2775" >r2775</a>
962  - Many new menus for selective selecting objects and applying operations on them - <a href="http://code.google.com/p/mrpt/source/detail?r=2776" >r2776</a>
963  - stereo-calib-gui: Now generates a report with detailed and clear results from stereo calibration and allows the user to change most parameters interactively - <a href="http://code.google.com/p/mrpt/source/detail?r=2801" >r2801</a>
964  - <a href="http://www.mrpt.org/Application:kinect-3d-view" >kinect-3d-view</a>: New key command: press '9' to grab selected snapshots to disk - <a href="http://code.google.com/p/mrpt/source/detail?r=2890" >r2890</a>
965  - Kinect stuff:
966  - [mrpt-hwdrivers]
967  - mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV instead of default freenect - <a href="http://code.google.com/p/mrpt/source/detail?r=2721" >r2721</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2762" >r2762</a>
968  - mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at start up by default, what may be annoying (if required, set "initial_tilt_angle") - <a href="http://code.google.com/p/mrpt/source/detail?r=2722" >r2722</a>
969  - mrpt::hwdrivers::CKinect now loads Kinect calibration files in a format compatible with stereo cameras. See http://www.mrpt.org/Kinect_calibration
970  - [mrpt-obs]
971  - New method mrpt::obs::CObservation3DRangeScan::convertTo2DScan() allows simulating a "fake 2D laser scanner" from a Kinect. See the example: http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
972  - [mrpt-vision]
973  - New function mrpt::vision::checkerBoardStereoCalibration() to calibrate stereo and RGB+D cameras. See also the program <a href="http://www.mrpt.org/Application:kinect-stereo-calibrate" >kinect-stereo-calibrate</a>:
974  - New classes:
975  - [mrpt-gui]
976  - New event generated by GUI windows: mrpt::gui::mrptEventWindowClosed
977  - [mrpt-hwdrivers]
978  - mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing devices (by Emil Khatib, University of Malaga) - <a href="http://code.google.com/p/mrpt/source/detail?r=2841" >r2841</a>
979  - [mrpt-opengl]
980  - New classes for representing confidence intervals (ellipsoids) in transformed spaces - <a href="http://code.google.com/p/mrpt/source/detail?r=2783" >r2783</a>
981  - mrpt::opengl::CGeneralizedEllipsoidTemplate<>
982  - mrpt::opengl::CEllipsoidRangeBearing2D
983  - mrpt::opengl::CEllipsoidInverseDepth2D
984  - mrpt::opengl::CEllipsoidInverseDepth3D
985  - mrpt::opengl::CFrustum to easily render these geometric figures
986  - New struct mrpt::opengl::TFontParams result of a code refactoring
987  - [mrpt-vision]
988  - mrpt::vision::TSIFTDescriptorsKDTreeIndex, TSURFDescriptorsKDTreeIndex - <a href="http://code.google.com/p/mrpt/source/detail?r=2799" >2799</a>
989  - mrpt::vision::CStereoRectifyMap - See tutorial online: http://www.mrpt.org/Rectifying_stereo_
990 
991 */



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