Change Log

Version 2.0.1: Released April 3rd, 2020

• Changes in applications:
  • RawLogViewer: new "-l xxx.so" flag to load datasets with types defined in external projects.
• Changes in libraries:
  • mrpt_obs_grp
    • mrpt::obs::CObservationRobotPose: Fixed missing serialization of sensorPose

      ---

Version 2.0.0: Released March 29th, 2020

• Most important changes:
  • MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0: Porting code from MRPT 1.{3,4,5} to MRPT 2.*
  • Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
  • Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
  • All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
  • Add support for serialization with std::variant
  • PbMap has been factored out into its own repository
  • XML-based database C++ classes have been removed from MRPT.
• Changes in applications:
  • RawLogViewer:
    • The ICP module now supports Velodyne 3D scans.
  • rawlog-edit:
    • New operation: --de-externalize
  • pf-localization:
    • Odometry is now used also for observation-only rawlogs.
• Changes in libraries:
  • All otherlibs subdirectories have been renamed to 3rdparty since it is a widespread name used in most projects.
  • [mrpt-base] => Refactored into several smaller libraries, one per namespace.
    • Removed class std::vector<std::string>. Replace by STL containers of std::string and functions mrpt::system::stringListAsString() in String management and utilities.
  • [mrpt-core] [NEW IN MRPT 2.0.0]
    • Memory alignment of aligned_allocator_cpp11<> is set to 16,32 or 64 depending on whether AVX optimizations are enabled, to be compatible with Eigen.
    • mrpt::cpu::supports(): a new cross-OS CPU feature detection function.
    • mrpt::Clock allows users to select between Realtime or Monotonic sources.
    • Removed custom macro MRPT_UNUSED_PARAM (replaced by c++17 attribute).
    • Add syntactic suggar mrpt::lockHelper()
  • [mrpt-math] [NEW IN MRPT 2.0.0]
    • Removed functions (replaced by C++11/14 standard library):
      • mrpt::math::erf, mrpt::math::erfc, std::isfinite, mrpt::math::std::isnan
      • mrpt::math::make_vector<> => std::vector<>{...} braced initializator
    • Removed the include file: <mrpt/math/jacobians.h>. Replace by <mrpt/math/num_jacobian.h> or individual methods in [mrpt-poses] classes.
  • mrpt_config_grp [NEW IN MRPT 2.0.0]
    • mrpt::config::CConfigFileBase::write() now supports enum types.
  • [mrpt-gui]
    • New class mrpt::gui::CDisplayWindowGUI exposing powerful GUI possibilities via the nanogui project.
  • [mrpt-img] [NEW IN MRPT 2.0.0]
    • mrpt::img::TCamera distortion parameters now also supports the extra K4,K5,K6 distortion parameters.
  • [mrpt-serialization] [NEW IN MRPT 2.0.0]
    • New method mrpt::serialization::CArchive::ReadPOD() and macro MRPT_READ_POD() for reading unaligned POD variables.-
    • Add support for $env{} syntax to evaluate environment variables.
  • [mrpt-slam]
    • rbpf-slam: Add support for simplemap continuation.
    • CICP: parameter onlyClosestCorrespondences deleted (always true now).
    • mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
  • [mrpt-system]
    • functions to get timestamp as local time were removed, since they don't make sense. All timestamps in MRPT are UTC, and they can be formated as dates in either UTC or local time frames.
    • Added: mrpt::system::WorkerThreadsPool
  • [mrpt-rtti] [NEW IN MRPT 2.0.0]
    • All classes are now registered (and de/serialized) with their full name including namespaces. A backwards-compatible flag has been added to mrpt::rtti::findRegisteredClass().
    • CLASS_INIT() macro for automatic registration of classes has been removed, since it is not well-defined in which order global objects will be initialized. Therefore, manual registration (as already done in registerAllClasses.cpp files) is left as the unique registration system. This fixes warning messages "[mrpt::rtti::registerClass] Warning: Invoked with a nullptr".
  • [mrpt-nav]
    • Removed deprecated mrpt::nav::THolonomicMethod.
    • 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.
    • Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
    • Waypoints now have a field speed_ratio which is directly forwarded to the low-level reactive navigator.
  • [mrpt-comms] [NEW IN MRPT 2.0.0]
    • This new module has been created to hold all serial devices & networking classes, with minimal dependencies.
  • [mrpt-maps]
    • mrpt::maps::CMultiMetricMap has been greatly simplified and now it is actually defined in the mrpt-maps library.
    • New map type: mrpt::maps::CPointsMapXYZI for pointclouds with an intensity channel.
    • New observation class: mrpt::obs::CObservationPointCloud
    • Added optional "channel" attribute to CReflectivityGridMap2D and CObservationReflectivity to support different colors of light.
  • [mrpt-hwdrivers]
    • COpenNI2Generic: is safer in multithreading apps.
    • CHokuyoURG:
      • Rewrite driver to be safer and reduce mem allocs.
      • New parameter scan_interval to decimate scans.
    • VelodyneCalibration: Can now load YAML files, in addition to XML.
    • New sensor state enum value: mrpt::hwdrivers::CGenericSensor::ssUninitialized
    • NMEA GPS parser: now also recognizes all existing talker IDs (GP, GN, GA, etc.)
  • [mrpt-opengl]
    • Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
    • Rendering engine rewritten to work using OpenGL Core (GLSL 3.3) instead of Legacy fixed functions.
  • [mrpt-obs]
    • mrpt::obs::CObservation2DRangeScan: Deprecated access to scan data via proxy objects obs->scan[i], obs->validRange[i], obs->intensity[i] has been deleted. Please use the alternative getters/setters: obs->getScanRange(i), etc.
    • mrpt::obs::T3DPointsProjectionParams and mrpt::obs::CObservation3DRangeScan::unprojectInto now together support organized PCL point clouds.
    • New method: mrpt::obs::CObservation3DRangeScan::rangeImage_getAsImage()
    • Support for multiple-return sensors in mrpt::obs::CObservation3DRangeScan.
    • New NMEA frame class: Message_NMEA_GSA
  • [mrpt-poses] [NEW IN MRPT 2.0.0]
    • Reorganized all Lie Algebra methods into Lie Algebra methods for SO(2),SO(3),SE(2),SE(3)
    • Removed CPose3DRotVec, since its conceptual design is identical to Lie tangent space vectors.
  • [mrpt-vision]
    • Removed FASTER methods, and the libCVD 3rd party dependency.
• BUG FIXES:
  • Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
  • Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
  • Fix aborting reading from LMS111 scanner on first error.
  • Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
  • Fix accessing unaligned POD variables deserializing CObservationGPS (via the new MRPT_READ_POD() macro).
  • Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
  • Fix crash in CGPSInterface when not setting an external mutex.
  • Fix potential crashes in RawLogViewer while editing list of observations.
  • Fix incorrect conversion from quaternion to CPose3D.

Version 1.5.7: Released 24/APR/2019

• Detailed list of changes:
  • [mrpt-base]
    • The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
      • stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
      • mrpt::system::TThreadHandle now is a wrapper around std::thread.
      • Atomic counters now based on std::atomic. Custom implementation has been removed.
      • stlplus source code has been removed.
    • mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
  • [mrpt-graphslam]
    • levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
    • CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
  • [mrpt-nav]
    • Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
    • New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
    • Waypoints now have a field speed_ratio which is directly forwarded to the low-level reactive navigator.
  • BUG FIXES:
    • Fix missing "-ldl" linker flag.
    • Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
    • Fix potential segfault in 3D reactive navigator.

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Version 1.5.6: Released 24/APR/2018

• Applications:
  • pf-localization:
    • Odometry is now used also for observation-only rawlogs.
• [mrpt-hwdrivers]
  • mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer multi-threading operation.
  • mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans. Driver clean up to be safer and perform less memory allocs.
• [mrpt-maps]
  • COccupancyGridMap2D: New LIDAR insertion parameters: maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
• mrpt_reactivenav_grp
  • CAbstractPTGBasedReactive: Added new score holo_stage_eval.
• BUG FIXES:
  • circular_buffer: exception made state preserving

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Version 1.5.5: (Under development)

• Detailed list of changes:
  • [mrpt-nav]
    • mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache for improved performance.
  • [mrpt-hwdrivers]
    • A new class for SICK TIM561(TIM55x/TIM56x) lidar:
      • A new source file named CSICKTim561Eth_2050101.cpp, which supports SICK TIM series lidar including Tim55x, Tim56x
      • mrpt::hwdrivers::CSICKTim561Eth
    • A new test sample for SICK TIM561(TIM55x/TIM56x) lidar:
      • sample/SICK_tim561eth_test/test.cpp
  • BUG FIXES:
    • Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D (which led to crash)
    • Fixed regression in particle resampling affecting RBPF-SLAM methods. Introduced in Dec. 2016 with this commit.

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Version 1.5.4: Released 31/OCT/2017

• Detailed list of changes:
  • [mrpt-base]
    • Fix potential uninitialized value in CRobot2DPoseEstimator::getLatestRobotPose()
    • MRPT_getCompilationDate() returns time as well
  • [mrpt-gui]
    • mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event type.
  • Build system:
    • Fix MRPTConfig.cmake for system octomap libraries.
    • Fix package-contains-vcs-control-file (.gitingore) Lintian error.
    • Fix compiling without liboctomap-dev in Ubuntu PPA.
  • BUG FIXES:
    • Fix waypoint reactive navigator edge case in which "end event" won't be issued.
    • Fix waypoint reactive navigator error while doing final aligning (missing and dupplicated nav-end events).
    • Fix aborting reading from LMS111 scanner on first error.
    • Fix waypoint reactive navigator edge case in which "end event" won't be issued.
    • Fix corrupted pointers in CNetworkOfPoses after copy or move operations.
    • Fix invalid TP-targets generated during reactive navigation.
    • Fix memory leak in reactivenav engine.
    • Fix potential out-of-range access in CObservation3DRangeScan::convertTo2DScan()

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Version 1.5.3: Released 13/AUG/2017

• Detailed list of changes:
  • CMake >=3.1 is now required for use of ExternalProjects.
  • Scripts scripts/prepare_{debian,release}.sh have been refactored and simplified.
  • Removed embedded source code versions of Eigen, assimp and octomap. Downloaded and built as ExternalProjects if not present in the system.
  • Releases will be signed with PGP from now on and posted as binary attachments to GitHub releases.

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Version 1.5.2: Released 6/AUG/2017

• Detailed list of changes:
  • Changes in libraries:
    • [mrpt-base]
      • Added methods:
        • mrpt::synch::CCriticalSection::try_enter()
        • mrpt::synch::CCriticalSectionRecursive::try_enter()
    • [mrpt-nav]
      • 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.
      • Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
    • [mrpt-slam]
      • rbpf-slam: Add support for simplemap continuation.
  • BUG FIXES:
    • Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
    • Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase

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Version 1.5.1: Released 21/JUN/2017

• Detailed list of changes:
  • Changes in libraries:
    • [mrpt-nav]
      • fix const-correctness: commit
      • More flexible callback behavior: commit

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Version 1.5.0: Released 10-JUN-2018

• Changes in apps:
  • New app PTG-configurator
  • ReactiveNavigationDemo has been totally rebuilt as a 3D visualizer capable of testing different navigation algorithms and robot kinematics.
  • RawLogViewer:
    • Now displays a textual and graphical representation of all observation timestamps, useful to quickly detect sensor "shortages" or temporary failures.
    • New menu operation: "Edit" -> "Rename selected observation"
    • mrpt::obs::CObservation3DRangeScan pointclouds are now shown in local coordinates wrt to the vehicle/robot, not to the sensor.
  • rawlog-edit: New flag: --txt-externals
• Changes in libraries:
  • [mrpt-base]
    • New API to interface ZeroMQ: Serialization functions for ZMQ (v3
    • Deprecated function (since 1.3.0) deleted: mrpt::system::registerFatalExceptionHandlers()
    • New method mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses()
    • Class mrpt::utils::CRobotSimulator renamed ==> mrpt::kinematics::CVehicleSimul_DiffDriven
    • New twist (linear + angular velocity state) classes: mrpt::math::TTwist2D, mrpt::math::TTwist3D
    • New template method: mrpt::utils::CStream::ReadAsAndCastTo
    • Added missing method mrpt::poses::CPose2D::inverseComposePoint() for consistency with CPose3D
    • New class std::recursive_mutex
    • New class mrpt::system::COutputLogger replaces the classes mrpt::utils::CDebugOutputCapable (deprecated) and mrpt::utils::CLog (removed).
    • New macros for much more versatily logging:
      • MRPT_LOG_DEBUG(), MRPT_LOG_INFO(), MRPT_LOG_WARN(), MRPT_LOG_ERROR()
      • MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN_STREAM, MRPT_LOG_ERROR_STREAM
    • New functions for polynomial roots: see Find polynomial roots (`#include
    • New functions for signal filtering: see Filtering algorithms
    • New functions for Fresnel integrals: see
    • New classes mrpt::math::CAtan2LookUpTable, mrpt::math::CAtan2LookUpTableMultiRes
    • [API change] The following functions are no longer static methods: (since their classes are now derived from the state-aware mrpt::system::COutputLogger)
      • mrpt::math::RANSAC_Template::execute()
      • mrpt::math::CLevenbergMarquardtTempl::execute()
    • Deleted methods in Eigen-extensions: leftDivideSquare(), rightDivideSquare()
    • Removed support for named semaphores in mrpt::synch::CSemaphore
    • new method mrpt::system::CTimeLogger::getLastTime()
    • Removed mrpt::utils::CStartUpClassesRegister, replaced by the new macro MRPT_INITIALIZER()
    • New class mrpt::utils::CRateTimer
    • mrpt::poses::CRobot2DPoseEstimator now uses a more generic odometry-based velocity model (vx,vy,omega).
    • New template mrpt::utils::ts_hash_map<> for thread-safe, std::map-like containers based on hash functions.
    • Included exprtk header-only library to runtime compile & evaluation of mathematical expressions, under <mrpt/3rdparty/exprtk.hpp>
    • New smart pointer templates: mrpt::utils::copy_ptr<>, mrpt::utils::poly_ptr<>.
    • New colormap: mrpt::utils::hot2rgb()
    • New function mrpt::system::find_mrpt_shared_dir()
    • New class mrpt::containers::CDynamicGrid3D<>
    • New function mrpt::comms::net::http_request()
    • New function mrpt::system::now_double()
    • New function mrpt::rtti::getAllRegisteredClassesChildrenOf()
    • Safer CClassRegistry: detect and warn on attempts to duplicated class registration.
    • New class mrpt::expr::CRuntimeCompiledExpression
    • mrpt::config::CConfigFile and mrpt::config::CConfigFileMemory now can parse config files with end-of-line backslash to split long strings into several lines.
    • New class mrpt::poses::FrameTransformer
    • mrpt::poses classes now have all their constructors from mrpt::math types marked as explicit, to avoid potential ambiguities and unnoticed conversions.
    • Sophus is now used internally for some Lie Algebra methods, and also exposed to the user as #include <mrpt/3rdparty/sophus/so3.hpp>, etc. as part of mrpt-base
  • [mrpt-bayes]
    • [API change] verbose is no longer a field of mrpt::bayes::CParticleFilter::TParticleFilterOptions. Use the setVerbosityLevel() method of the CParticleFilter class itself.
    • [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.
  • [mrpt-graphs]
    • New class mrpt::graphs::ScalarFactorGraph, a simple but extensible linear GMRF solver. Refactored from mrpt::maps::CGasConcentrationGridMap2D, etc.
  • [mrpt-gui]
    • mrpt::gui::CWxGLCanvasBase is now derived from mrpt::opengl::CTextMessageCapable so they can draw text labels
    • New class mrpt::gui::CDisplayWindow3DLocker for exception-safe 3D scene lock in 3D windows.
  • [mrpt-hwdrivers]
    • Using rplidar newest SDK 1.5.6 instead of 1.4.3, which support rplidar A1 and rplidar A2
    • mrpt::hwdrivers::CNTRIPEmitter can now also dump raw NTRIP data to a file
  • [mrpt-kinematics]
    • New classes for 2D robot simulation:
      • mrpt::kinematics::CVehicleSimul_DiffDriven
      • mrpt::kinematics::CVehicleSimul_Holo
    • New classes for 2D robot kinematic motion commands. See children of mrpt::kinematics::CVehicleVelCmd
  • [mrpt-maps]
    • mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile() correct description of yCentralPixel parameter.
    • mrpt::maps::CPointsMap liblas import/export methods are now in a separate header. See libLAS interface for CPointsMap (in and External dependency: liblas
    • New class mrpt::maps::CRandomFieldGridMap3D
    • New class mrpt::maps::CPointCloudFilterByDistance
  • [mrpt-obs]
    • [ABI change] mrpt::obs::CObservation2DRangeScan
      • range scan vectors are now protected for safety.
      • New getter/setter methods.
      • backwards-compatible proxies added for read-only from range scan members.
    • [ABI change] mrpt::obs::CObservation3DRangeScan:
      • Now uses more SSE2 optimized code
      • Depth filters are now available for mrpt::obs::CObservation3DRangeScan::unprojectInto() and mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
      • New switch mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT for runtime selection of externals format.
    • mrpt::obs::CObservation2DRangeScan now has an optional field for intensity.
    • mrpt::obs::CRawLog can now holds objects of arbitrary type, not only actions/observations. This may be useful for richer logs aimed at debugging.
    • mrpt::obs::CObservationVelodyneScan::generatePointCloud() can now generate the microseconds-precise timestamp for each individual point (new param generatePerPointTimestamp).
  • [mrpt-opengl]
    • [ABI change] mrpt::opengl::CAxis now has many new options exposed to configure its look.
    • mrpt::opengl::CSetOfLines can now optionally show vertices as dots.
    • 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.
  • [mrpt-slam]
    • [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.
    • [API change] getCurrentMetricMapEstimation() renamed mrpt::slam::CMultiMetricMapPDF::getAveragedMetricMapEstimation() to avoid confusions.
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CGenericSensor: external image format is now png by default instead of jpg to avoid losses.
    • [ABI change] mrpt::hwdrivers::COpenNI2Generic:
      • refactored to expose more methods and allow changing parameters via its constructor.
      • Now supports reading from an IR, RGB and Depth channels independenty.
    • mrpt::hwdrivers::CHokuyoURG now can optionally return intensity values.
    • Deleted old, unused classes:
      • mrpt::hwdrivers::CBoardIR
      • mrpt::hwdrivers::CBoardDLMS
      • mrpt::hwdrivers::CPtuHokuyo
    • mrpt::hwdrivers::CHokuyoURG no longer as a "verbose" field. It's superseded now by the COutputLogger interface.
    • 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.
  • [mrpt-maps]
    • mrpt::maps::CMultiMetricMapPDF added method CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard().
  • [mrpt-nav]
    • New mrpt::nav::CWaypointsNavigator interface for waypoint list-based navigation.
    • [ABI & API change] PTG classes refactored (see new virtual base class mrpt::nav::CParameterizedTrajectoryGenerator and its derived classes):
      • Old classes CPTGd have been renamed to describe each path type. Old PTGs #6 and #7 have been removed for lack of practical use.
      • New separate classes for PTGs based on numerically-integrated paths and on closed-form formulations.
      • Old deprecated method of PTGs lambdaFunction() removed.
      • Parameters are no longer passed via a mrpt::system::TParameters class, but via a mrpt::config::CConfigFileBase which makes parameter passing to PTGs much more maintainable and consistent.
      • PTGs now have a score_priority field to manually set hints about preferences for path planning.
      • PTGs are now mrpt::config::CLoadableOptions classes
    • New classes:
      • mrpt::nav::CMultiObjectiveMotionOptimizerBase
  • [mrpt-graphslam]
    • Extend mrpt-graphslam lib to execute simulated/real-time graphSLAM. mrpt-graphslam supports 2D/3D execution of graphSLAM, utilizing LaserScans, odometry information.
    • Develop application graphslam-engine that executes graphSLAM via the mrpt-graphslam lib
    • mrpt::grpahslam::CGraphSlamEngine as the generic object that manages graphSLAM, Node/Edge registration decider classes under the mrpt::graphslam::deciders namesapce, optimizer wrapper classes under mrpt::graphslam::optimizers
• Changes in build system:
  • [Windows only] DLLs/LIBs 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.
  • [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. Normally, this is done with the standard command TARGET_LINK_LIBRARIES(MYTARGET ${MRPT_LIBS}).
  • Debian package: depends on libopenni-dev
  • Optional dependency liblas: minimum required version is now 1.6.0 (Ubuntu Trusty or above).
  • Update of embedded copy of nanoflann to version 1.2.0.
  • New script for automated dumping stack traces on unit tests failures (tests/run_all_tests_gdb.sh)
  • Fix build against wxWidgets 3.1.*
  • Embedded version of gtest upgraded to 1.8.0
• BUG FIXES:
  • Fix inconsistent state after calling mrpt::obs::CObservation3DRangeScan::swap()
  • Fix SEGFAULT in mrpt::obs::CObservation3DRangeScan if trying to build a pointcloud in an external container (mrpt::opengl, mrpt::maps)
  • Fix mrpt::hwdrivers::CHokuyoURG can return invalid ray returns as valid ranges.
  • Fix PTG look-up-tables will always fail to load from cache files and will re-generate (Closes GitHub #243)
  • Fix mrpt::maps::COccupancyGridMap2D::simulateScanRay() fails to mark out-of-range ranges as "invalid".
  • Fix mrpt::io::CMemoryStream::Clear() after assigning read-only memory blocks.
  • 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.
  • Fix inconsistent internal state after externalizing mrpt::obs::CObservation3DRangeScan
  • Fix a long outstanding bug regarding losing of keystroke events in CDisplayWindow3D windows (Closes #13 again)
  • Fix wrong units for negative numbers in mrpt::system::unitsFormat()
  • Fix potential thread-unsafe conditions while inserting a mrpt::obs::CObservation2DRangeScan into a pointmap with SSE2 optimizations enabled.
  • CStream: Fix memory leak if an exception (e.g. EOF) is found during object deserialization.
  • Fix a bug in the onlyUniqueRobust option for point cloud matching (affecting CICP, etc.). Thanks Shuo!

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Version 1.4.0: Released 22-APR-2016

• Most important changes:
  • Support for Velodyne LIDAR sensors.
  • New minor version number due to changes in the API of these classes (read details below): mrpt::obs::CObservationGPS, mrpt::hwdrivers::CGPSInterface
  • Python bindings added for a subset of MRPT functionality (Thanks Peter Rudolph and Nikolaus Demmel!)
• Detailed list of changes:
  • New apps:
    • gps2rawlog: Application to parse raw dumps of a GPS (GNSS) receiver output.
    • image2gridmap: Small tool to import any image as an MRPT gridmap object file (*.gridmap).
    • velodyne-view: Application to test, visualize and grab data from a live Velodyne sensor or from a PCAP record.
  • Changes in apps:
    • rawlog-grabber: Now does not show GPS and IMU debug data in console, unless MRPT_HWDRIVERS_VERBOSE environment variable is set.
    • rawlog-edit: New operation: --export-gps-all
  • Changes in libraries:
    • [mrpt-base]
      • [ABI change] mrpt::system::tokenize() new parameter skipBlankTokens
      • mrpt::utils::circular_buffer now has peek() methods
      • Eigen::MatrixBase<Derived>::loadFromTextFile() now also accepts , as column separator.
      • New functions:
        • mrpt::system::timestampAdd()
        • mrpt::utils::compute_CRC32()
        • mrpt::utils::saturate<>()
      • mrpt::containers::CDynamicGrid<> now uses double instead of float for all dimensions and coordinate computations.
      • Priority with these functions now work properly in GNU/Linux; though, see the notes in their documentation for required permissions:
        • mrpt::system::changeCurrentProcessPriority()
        • mrpt::system::changeThreadPriority()
      • New classes/structures:
        • mrpt::math::TPointXYZIu8, mrpt::math::TPointXYZRGBu8, mrpt::math::TPointXYZfIu8, mrpt::math::TPointXYZfRGBu8
    • [mrpt-hwdrivers]
      • New class mrpt::hwdrivers::CVelodyneScanner
      • mrpt::hwdrivers::CNTRIPEmitter now has a parameter to enable/disable sending back the data from the serial port to the NTRIP caster.
      • [API changed] mrpt::hwdrivers::CGPSInterface API clean-up and made more generic so any stream can be used to parse GNSS messages, not only serial ports.
      • New class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 for capturing without PGR Flycapture but directly through libdc1394.
      • Removed class mrpt::hwdrivers::CStereoGrabber_Bumblebee , superseded by mrpt::hwdrivers::CImageGrabber_FlyCapture2 which is capable of both monocular and stereo grabbing.
    • [mrpt-maps]
      • New class mrpt::maps::CHeightGridMap2D_MRF
      • New base class mrpt::maps::CHeightGridMap2D_Base
      • mrpt::maps::COccupancyGridMap2D:
        • New method mrpt::maps::COccupancyGridMap2D::copyMapContentFrom()
        • New likelihood parameter LF_useSquareDist
        • New parameter mrpt::maps::COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS
        • mrpt::maps::COccupancyGridMap2D::simulateScanRay() is now ~40% (GCC) to ~250% (MSVC) faster by default.
        • New method mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
      • New method mrpt::maps::CHeightGridMap2D::insertIndividualPoint()
      • mrpt::maps::CMetricMap::compute3DMatchingRatio() has a simplified API now
    • [mrpt-obs]
      • New class mrpt::obs::CObservationVelodyneScan
      • 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.
      • [API changed] 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.
      • mrpt::obs::gnss: A new namespace with many new data structures for GPS-related messages
      • 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). 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.
      • New class mrpt::obs::CObservation2DRangeScanWithUncertainty
    • [mrpt-opengl]
      • New class mrpt::opengl::CMesh3D to render 3D models/meshes
      • New method mrpt::opengl::CPointCloudColoured::recolorizeByCoordinate()
    • [mrpt-slam]
      • Small clean up of mrpt::slam::CICP API, add separate variable to select covariance estimation method.
    • [mrpt-topography]
      • New function mrpt::topography::geocentricToENU_WGS84()
    • [mrpt-vision]
      • Removed the old GPL-licensed Hess SIFT implementation.
      • mrpt::vision::CDifOdo has been refactored and now does faster image pyramid computation (By Mariano Jaimez)
      • mrpt::maps::CLandmarksMap changes:
        • beaconMaxRange & alphaRatio parameters have been removed since they were not used.
        • New likelihood parameter beaconRangesUseObservationStd to allow using different uncertainty values with each observation.
  • Changes in build system:
    • Python bindings added for a subset of MRPT functionality (Thanks Peter Rudolph!)
    • Code ported to support the new libftdi1-dev (Fixes Debian bug #810368, GitHub issue #176)
    • Fix building with gcc 6.0 (Closes Debian bug #811812)
    • CMake new option: DISABLE_MRPT_AUTO_CLASS_REGISTRATION to reduce the footprint of MRPT statically-linked programs.
    • Fix building against wxWidgets 3.1
  • BUG FIXES:
    • mrpt::math::CQuaternion<> did not check for unit norm in Release builds.
    • Fix build errors against OpenCV 3.0.0+ without opencv_contrib modules.
    • mrpt::hwdrivers::CHokuyoURG now correctly handles opening both USB and Ethernet Hokuyo devices (Closes Github issue #180)
    • Fixed mrpt::comms::net::DNS_resolve_async() may SIGSEGV in slow networks.
    • mrpt::opengl::CMesh::updateColorsMatrix() did not ignore cells masked out.
    • Wrong weights used in mrpt::poses::CPosePDFSOG::getMean()
    • Removed ad-hoc bias addition in range-only predictions in landmarks maps.
    • Error loading height map count in mrpt::maps::TSetOfMetricMapInitializers (Closes GitHub issue #205.
    • Fix "gray images" grabbed in Windows when capturing the render output of 3D windows (Thanks Mariano J.T. & Christian Kerl from TUM!)
    • Fix typos and wxWidgets align errors in RawLogViewer GUI (Closes #219)
    • mrpt::nav::CHolonomicND & mrpt::nav::CHolonomicVFF didn't use the full range of output velocities.
    • mrpt::img::CImage::loadFromFile() now does not leave the image in undefined state if the load operation fails.
    • mrpt::hwdrivers::CLMS100Eth failed to load "pose_yaw" parameter from config file.
    • mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide() did not correctly return false for negative offsets between the camera poses.

---

Version 1.3.2: Released 3-NOV-2015

• Changes in Apps:
  • rawlog-edit:
    • New operation: --list-poses
    • --list-images now also works with 3D range scans
• Changes in libraries:
  • The library mrpt-srba has been moved out of MRPT and now is an independent project: https://github.com/MRPT/srba
  • [mrpt-base]
    • mrpt::math::KDTreeCapable::TKDTreeSearchParams: Removed parameter nChecks, which was ignored by nanoflann anyway.
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CCameraSensor: Implemented OpenNI2 support for CCameraSensor
  • [mrpt-nav]
    • mrpt::nav::CAbstractPTGBasedReactive: Maximum acceleration filter (SPEEDFILTER_TAU) now follows paths better (Thanks to Steven Butner, UCSB/ECE)
• Changes in build system:
  • 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.
• BUG FIXES:
  • Fix excessive width of paths drawn by CMetricMapBuilderRBPF::drawCurrentEstimationToImage()
  • Fix image distortion: k3 may be ignored. (Thanks to CBaiz)
  • Fix Debian bugs.

---

Version 1.3.1: Released 18-JUL-2015

• Changes in apps:
  • navlog-viewer: Now shows more information on navigation logs.
  • New app icp-slam-live: Real-time ICP-SLAM with a LIDAR sensor.
• Changes in libraries:
  • [mrpt-base]
    • New helper templates: mrpt::utils::int_select_by_bytecount<>, mrpt::uint_select_by_bytecount<>
    • New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and weighted averages. See:
      • Header <mrpt/poses/SO_SE_average.h>
      • mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
      • mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
  • [mrpt-hwdrivers]
    • New sensors supported:
      • mrpt::hwdrivers::CIMUIntersense
      • mrpt::hwdrivers::CSkeletonTracker
    • New parameter mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty Hokuyo timestamps with PC time.
    • mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really implement turning on/off the RPLidar motor.
  • [mrpt-maps]
    • New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
  • [mrpt-nav]
    • Removed old base class CPathPlanningMethod
    • CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class renamed (and better described) for consistency with other planners
    • mrpt::nav::CReactiveNavigationSystem:
      • Documentation has been added about all existing parameters, and template config files provided as starting points.
      • The loadConfigFile() method with 2 config files has been deprecated favoring the newer, simpler single config file.
      • 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.
    • mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save and load trajectories to binary streams. Used to debug in navlog-viewer.
  • [mrpt-obs]
    • mrpt::obs::CObservation3DRangeScan now supports pixel labels (semantic mapping, etc.)
    • New class mrpt::obs::CObservationSkeleton to hold body tracking information (by Francisco Angel Moreno)
    • mrpt::obs::CObservationIMU has new data fields and fields are better documented to reflect whether they refer to local/global coordinate frames
  • [mrpt-vision]
    • mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter from NEAREST to HQLINEAR
• BUG FIXES:
  • Fix ocasional (false) failure of RANSAC unit tests due to their non-deterministic nature.
  • Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
  • Fixed potential wrong bounding box results in mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
  • mrpt::obs::CObservation6DFeatures: Fixed random crashes related to non-aligned memory in 32bit builds (Fixes #141)
  • Fix Debian bug #786349 on Eigen2 support.
  • mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects not attached to a physical device.
  • Fix wrong quaternion cross product when target variable is one of the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes #148)
  • mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential memory corruption.
  • 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)
  • Fix wrong feature points in CFeatureExtraction::extractFeaturesKLT() (Fixes #138)

---

Version 1.3.0: Released 12-JAN-2015

• Most important changes:
  • Classes in libraries [mrpt-obs] and [mrpt-maps] now belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
  • No more using namespaces polute MRPT headers. Errors in user projects missing using namespace XXX that might be formerly masked will now reveal. This is a good thing, though admitedly annoying...
  • New library [mrpt-nav], subsumming the old mrpt_reactivenav_grp.
  • New library [mrpt-tfest], a refactor of the old mrpt_scanmatching_grp.
  • Backwards compatible headers have been provided to ease the transition of user code for all those library changes. Warning messages will be shown recommending deprecated replacements.
• Detailed list of changes:
  • Lib changes:
    • Clean up of the bad practice of using namespace in public scopes of headers. May lead to user code failing for missing using namespaces which were previously masked.
    • Namespace "slam" deprecated in libraries mrpt-obs and mrpt-maps (used for historical reasons):
      • New namespaces [mrpt-obs] and [mrpt-maps].
      • #include files moved from old paths <mrpt/slam/...> => <mrpt/{obs,maps}/...>
      • Backward compatible headers added in <mrpt/slam/...> until mrpt 2.0.0
    • New library [mrpt-nav], subsumming the old mrpt-reactivenav (mrpt_reactivenav_grp).
    • mrpt_reactivenav_grp is now a meta-library, depending on [mrpt-nav].
    • [mrpt-tfest] : Old library mrpt-scanmatching (mrpt_scanmatching_grp) has been refactored, its API clean-up, and renamed [mrpt-tfest]
    • mrpt_scanmatching_grp is now a meta-library, depending on [mrpt-tfest].
    • These classes have been moved between libs for a more sensible organization:
      • mrpt::slam::CDetectorDoorCrossing ==> mrpt::detectors::CDetectorDoorCrossing
      • mrpt::slam::CPathPlanningMethod & CPathPlanningCircularRobot: [mrpt-slam] ==> [mrpt-nav]
  • Build System / General changes:
    • Many optimizations in function arguments (value vs ref). Forces ABI incompatibility with previous versions, hence the change to a new minor version number.
    • Updated embedded version of Eigen to 3.2.3
    • Kinect: Dropped support for the CL NUI API, which seems discontinued. Alternatives in use are libfreenect and OpenNI2.
    • libfreenect is now detected in the system and used instead of compiling the embedded copy of it.
    • Embedded copy of libfreenect has been updated to (23/oct/2014). It now supports "Kinect for Windows".
    • More selective linking of .so files to avoid useless dependencies (Fixes #52).
    • (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.
    • More unit tests.
  • Changes in classes:
    • [mrpt-base]
      • New function mrpt::math::angDistance()
    • [mrpt-hwdrivers]
      • mrpt::hwdrivers::CIMUXSens_MT4: (by Joe Burmeister for Suave Aerial Software)
        • Upgrade to latest XSens SDK 4.2.1. Requires libudev-dev in Linux
        • Add GPS observations to CIMUXSens_MT4 for Xsens devices like GTi-G-700 which have GPS
      • mrpt::hwdrivers::CImageGrabber_dc1394: Length of ring buffer is now configurable via TCaptureOptions_dc1394::ring_buffer_size
    • [mrpt-maps]
      • Important refactor of internal code related to mrpt::maps::CMultiMetricMap:
        • All maps (derived from mrpt::maps::CMetricMap) now have a more uniform interface.
        • Each map now has a MapDefinition structure with all its parameters. See docs for mrpt::maps::TMetricMapInitializer
        • Introduced mrpt::maps::TMapGenericParams to hold parameters shared in all maps.
    • [mrpt-obs]
      • CObservation::getDescriptionAsText(): New virtual method to obstain a textual description of observations. Refactoring of messy code previously in the RawLogViewer app.
    • [mrpt-vision]
      • mrpt::vision::CFeatureExtraction: Removed (unused) optional ROI parameter in detectors.
  • BUG FIXES:
    • mrpt::poses::CRobot2DPoseEstimator could estimate wrong angular velocities for orientations near +-180deg.
    • mrpt::system::CDirectoryExplorer::sortByName() didn't sort in descending order
    • 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!)
    • Fixed potential crash for Eigen unaligned memory access in 32bit builds in mrpt::slam::CGridMapAligner and other places (Closes #94)

---

Version 1.2.2: Released 12-SEP-2014

• Changes in apps:
  • SceneViewer3D:
    • New menu "File" -> "Import" -> "3D model" which supports many standard formats (via mrpt::opengl::CAssimpModel)
• New classes:
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR scanners.
  • [mrpt-opengl]
    • mrpt::opengl::CAssimpModel for rendering complex 3D models (many supported formats) in OpenGL scenes.
• Changes in classes:
  • Consistency in all "laser scan" classes: angular increments between rays are now FOV/(N-1) instead of FOV/N.
  • [mrpt-base]
    • New method mrpt::img::CImage::loadTGA()
    • IMPORTANT: Changed behavior of CSerializable/CObject macros (see bugfix below), introducing the new macros DEFINE_SERIALIZABLE_POST_*. May require changes in user code if serializable classes are defined:
      • Previous version:

        DEFINE_SERIALIZABLE_PRE_*(...)
        class XXX {
          DEFINE_SERIALIZABLE(XXX)
        };

      • Must be changed in this version to:

        DEFINE_SERIALIZABLE_PRE_*(...)
        class XXX {
          DEFINE_SERIALIZABLE(XXX)
        };
        DEFINE_SERIALIZABLE_POST_*(...)

  • [mrpt-hwdrivers]
    • Bumblebee2 Linux support in mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
  • [mrpt-maps]
    • New method mrpt::maps::COccupancyGridMap2D::getRawMap()
    • New method mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB()
  • [mrpt-opengl]
    • mrpt::opengl::CWxGLCanvasBase (affects all 3D rendering classes): better handling of internal timers for smoother updates while rendering in multithreading apps.
  • [mrpt-srba]
    • New method to recover the global coordinates graph-slam problem for a RBA map: mrpt::srba::RbaEngine::get_global_graphslam_problem() (see example [MRPT]-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
• BUG FIXES:
  • mrpt::img::CImage constructor from a matrix crashed.
  • Unit tests: Named semaphores are not tested anymore if it's detected that the kernel version doesn't support them (Fix Debian 758725).
  • mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
  • mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
  • Valgrind: Fixed potential unaligned memory access warning in point clouds.
  • Fix build error with AppleClang 5.1 (Closes #71).
  • mrpt::utils::CClientTCPSocket: Use a connection success check that works on all platforms
  • Important bug fixed regarding a missing dynamic_cast<> in smart pointers casting. See above possible implications in user code. properly (Patch by Joe Burmeister).

---

Version 1.2.1: Released 10-JUL-2014

• Changes in classes:
  • [mrpt-base]
    • All points and poses now have a method setToNaN(), e.g. mrpt::poses::CPose3D::setToNaN()
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::COpenNI2Sensor now has better support for opening several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
• Build system:
  • Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
  • Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and new unit tests added to avoid regressions).
  • Several Debian bugs closed (see packaging/debian/changelog), including build errors in uncommon platforms (MIPS, kFreeBSD, etc.)

---

Version 1.2.0: Released 25-JUN-2014

• Most important changes:
  • Public header files (.h) have undergone a serious refactoring to minimize unnecesary dependencies and reduce compile time and memory as much as possible. As a side effect, user code might need to add new #include<> lines. This change justifies the new minor version series 1.2.X.
  • MRPT now cleanly builds in clang and OSX.
  • Support for new camera drivers (OpenNI2, DUO3D).
  • Many bug fixes.
• Detailed list of changes:
  • Changes in apps:
    • rawlog-edit:
      • New operations: –export-odometry-txt, –recalc-odometry
      • New flag: –rectify-centers-coincide
  • New examples:
    • kitti_dataset2rawlog
  • New classes:
    • [mrpt-base]
      • mrpt::math::ContainerType<CONTAINER>::element_t to allow handling either Eigen or STL containers seamlessly.
      • mrpt::config::CConfigFilePrefixer
    • [mrpt-hwdrivers]
      • mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2 cameras, capable of reading from an array of OpenNI2 RGBD cameras (By Eduardo Fernandez)
      • mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D cameras (By Francisco Angel Moreno)
      • mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0
    • [mrpt-obs]
      • mrpt::obs::CObservation6DFeatures
  • Changes in classes:
    • [mrpt-base]
      • Robust kernel templates moved from mrpt::vision to mrpt::math. See mrpt::math::RobustKernel<>. Added unit tests for robust kernels.
      • mrpt::poses::CPose3D has new SE(3) methods: mrpt::poses::CPose3D::jacob_dexpeD_de(), mrpt::poses::CPose3D::jacob_dAexpeD_de()
      • More efficient mrpt::utils::OctetVectorToObject() (avoid memory copy).
      • Fixed const-correctness of mrpt::img::CImage::forceLoad() and mrpt::img::CImage::unload()
    • [mrpt-hwdrivers]
      • mrpt::hwdrivers::CCameraSensor: Added a hook for user code to run before saving external image files: mrpt::hwdrivers::CCameraSensor::addPreSaveHook()
      • mrpt::hwdrivers::CNationalInstrumentsDAQ now supports analog and digital outputs.
      • New method mrpt::hwdrivers::CNTRIPClient::sendBackToServer()
    • [mrpt-srba]
      • Now also implements SE(3) relative graph-slam.
    • [mrpt-vision]
      • 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.
      • mrpt::vision::findMultipleChessboardsCorners():
        • Now enforces a consistent counterclockwise XYZ coordinate frame at each detected chessboard.
        • Much more robust in distingishing quads of different sizes.
  • Build system / public API:
    • Fixes to build in OS X - Patch by Randolph Voorhies.
    • Removed most "using namespace" from public headers, as good practice.
    • Refactoring of MRPT headers.
      • <mrpt/utils/stl_extensions.h> has been split into:
        • <mrpt/serialization/stl_serialization.h>
        • <mrpt/containers/circular_buffer.h>
        • <mrpt/utils/list_searchable.h>
        • <mrpt/containers/bimap.h>
        • <mrpt/utils/map_as_vector.h>
        • <mrpt/containers/traits_map.h>
        • <mrpt/serialization/stl_serialization.h>
        • <mrpt/containers/printf_vector.h>
        • <mrpt/containers/stl_containers_utils.h>
        • <mrpt/utils/ci_less.h>
    • Deleted methods and functions:
      • mrpt::system::breakpoint()
      • 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.
      • mrpt::CImage::rectifyImage() with parameters as separate vectors.
      • mrpt::maps::CPointsMap::getPoint() with mrpt::poses::CPoint3D arguments.
      • mrpt::vision::correctDistortion() -> use CImage method instead
      • All previous deprecated functions.
    • Embedded Eigen updated to version 3.2.1 (commit) (commit)
  • BUG FIXES:
    • RawlogViewer app: Fixed abort while converting SF->obs.only datasets when there is no odometry.
    • 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.
    • New implementation of mrpt::synch::CSemaphore avoids crashes in OS X - by Randolph Voorhies.
    • mrpt::opengl::CArrow was always drawn of normalized length.
    • FlyCapture2 monocular & stereo cameras could return an incorrect timestamp (only in Linux?).
    • mrpt::system::createDirectory() returned false (error) when the directory already existed.
    • mrpt::vision::CStereoRectifyMap::rectify() didn't update the left & right camera poses inside mrpt::obs::CObservationStereoImages objects while rectifying.
    • RawLogViewer: Operation "convert to SF format" didn't take into account odometry observations.
    • Fix build errors with GCC 4.9
    • Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when it fails to scan and open a device.
    • Fix potential crash in mrpt::slam::data_association_full_covariance with JCBB when no individually compatible matching exists (commit)

---

Version 1.1.0: Released 22-FEB-2014

• New apps:
  • DifOdometry-Camera. (By Mariano Jaimez Tarifa)
  • DifOdometry-Datasets. (By Mariano Jaimez Tarifa)
• New classes:
  • [mrpt-base]
    • mrpt::synch::CPipe: OS-independent pipe support.
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens MT IMU devices.
    • mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition boards compatible with National Instruments DAQmx Base - (commit).
    • mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey Research's cameras via the FlyCapture2 libray - (commits).
  • [mrpt-maps]
    • There are now two versions of octomaps (by Mariano Jaimez Tarifa/Jose Luis Blanco) - (commit)
      • mrpt::maps::COctoMap (only occupancy)
      • mrpt::maps::CColouredOctoMap (occupancy + RGB color)
  • [mrpt-obs]
    • mrpt::obs::CObservationRawDAQ, a placeholder for raw and generic measurements from data acquisition devices. - (commit)
  • [mrpt-opengl]
    • 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)
    • mrpt::opengl::CVectorField2D, an opengl object that shows a 2D Vector Field (by Mariano Jaimez Tarifa). - (commit)
  • [mrpt-reactivenav]
    • mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large code refactoring of these classes: (commit)
      • mrpt::reactivenav::CReactiveNavigationSystem
      • mrpt::reactivenav::CReactiveNavigationSystem3D
  • [mrpt-vision]
    • mrpt::vision::CDifodo, a class which implements visual odometry based on depth images and the "range flow constraint equation". (by Mariano Jaimez Tarifa) - (commit)
• Changes in classes:
  • Clean up and slight optimization of metric map matching API: - (commit)
    • Methods marked as deprecated:
      • mrpt::maps::CMetricMap::computeMatchingWith2D() –> mrpt::maps::CMetricMap::determineMatching2D()
      • mrpt::maps::CMetricMap::computeMatchingWith3D() –> mrpt::maps::CMetricMap::determineMatching3D()
    • New structures:
      • mrpt::slam::TMatchingParams
      • mrpt::slam::TMatchingExtraResults
  • mrpt::maps::CPointsMap::TInsertionOptions now have methods to save/load from binary streams, making more maintainable the serialization of point maps - (commit)
  • New options in point maps: mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints - (commit)
  • mrpt::obs::CObservationIMU now includes data fields for 3D magnetometers and altimeters. - (commit)
  • Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont() to avoid shadowing mrpt::CCanvas::selectTextFont()
  • mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
    • mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for inverse look-up of WS to TP space - (commit)
    • mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() - (commit)
  • Changed the signature of mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D & 2.5D PTGs - (commit)
• Deleted classes:
  • mrpt::utils::CEvent, which was actually unimplemented (!)
  • mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer features enough to justify a class.
• New examples:
  • [MRPT]/samples/threadsPipe
  • [MRPT]/samples/NIDAQ_test
  • [MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
  • [MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
• Build system:
  • Fixed compilation with clang.
  • Fixed building against OpenCV 3.0.0 (GIT head)
  • Updated to the latest nanoflann 1.1.7.
  • Updated to Eigen 3.2.0 - (commit)
  • Binary packages for Windows now include .pdb files to help debugging with Visual Studio.
• BUG FIXES:
  • Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
  • Fixed build error with GCC when experimental parallelization is enabled. (commit)
  • mrpt::reactivenav::CReactiveNavigationSystem complained about missing config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in MRPT 1.0.2 - (commit)
  • Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in SRBA for 32bit builds. (commit)
  • 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)
  • Potential crash when setting mpPolygon::setPoints() with empty vectors

(commit)

• mrpt::reactivenav::CReactiveNavigationSystem and mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the "enableConsoleOutput" constructor flag - (commit)
• mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got an external signal (commit)

---

Version 1.0.2: Released 2-AUG-2013 (SVN 3435)

• New apps:
  • ReactiveNav3D-Demo (By Mariano Jaimez Tarifa)
• Changes in apps:
  • rawlog-edit:
    • New operations: –list-timestamps, –remap-timestamps, –export-2d-scans-txt, –export-imu-txt
• New classes:
  • [mrpt-base]
    • mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco Angel Moreno).
  • [mrpt-opengl]
    • mrpt::opengl::CLight - OpenGL scenes now allow customization of OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport

r3409

• [mrpt-reactivenav]
  • mrpt::reactivenav::CReactiveNavigationSystem3D - By Mariano Jaimez Tarifa - r3389

New functions:

• [mrpt-opengl]
  • mrpt::opengl::stock_objects::RobotRhodon()

Changes in classes:

• [mrpt-base]
  • Generic particle filter classes now allow directly resampling to a dynamic number of particles. Affected methods: - r3381
    • mrpt::bayes::CParticleFilterCapable::performResampling()
    • mrpt::bayes::CParticleFilterCapable::computeResampling()
  • New method: CImage::loadFromXPM() - r3397
• [mrpt-maps]
  • mrpt::maps::COctoMap now exposes the inner octomap::OcTree object. See example samples/octomap_simple - r4304
• [mrpt-openg]
  • mrpt::opengl::CBox now be also rendered as a solid box + line borders. See mrpt::opengl::CBox::enableBoxBorder()
  • mrpt::opengl::COctoMapVoxels - r4329
    • Fixed calculation of normals (fix shading)
    • Added new coloring scheme to mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
    • By default, light effects are disabled in this object, because shadows aren't computed anyway and the effect isn't pleasant.
    • Voxels cubes are sorted in ascending Z order so the visual effect is correct when rendering with transparency.
• [mrpt-reactivenav]
  • 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. - r3395
  • Methods removed since they weren't implemented in any derived class and there are no plans for doing it.
    • mrpt::reactivenav::CReactiveNavigationSystem ::evaluate()
    • mrpt::reactivenav::CReactiveNavigationSystem ::setParams()

Build system:

• Updated to nanoflann 1.1.7: ICP is ~5% faster.
• More unit tests:
  • [mrpt-base] geometry module.

BUG FIXES:

• CTimeLogger::registerUserMeasure() ignored the enable/disable state of the logger - r3382
• mrpt-srba: SEGFAULT in 32bit builds due to missing

r3429

---

Version 1.0.1: Released 12-MAY-2013 (SVN 3370)

• Changes in apps:
  • RawLogViewer:
    • Better description of the "too much memory used" warning while loading large datasets.
  • robotic-arm-kinematics:
    • Now allows changing the orientation of the first DOF (X,Y,Z).
• New classes:
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CInterfaceNI845x: An interface for this USB SPI/I2C data acquisition board.
    • mrpt::hwdrivers::CCANBusReader: A class to record CAN bus frames with a CAN232 converter.
  • [mrpt-obs]
    • mrpt::obs::CObservationCANBusJ1939
• New functions:
  • New opengl_stock objects:
    • mrpt::opengl::stock_objects::Hokuyo_URG()
    • mrpt::opengl::stock_objects::Hokuyo_UTM()
    • mrpt::opengl::stock_objects::Househam_Sprayer()
  • mrpt::math::saveEigenSparseTripletsToFile() - r3351
• New examples:
  • gmrf_map_demo
• Changes in classes:
  • [mrpt-maps]
    • mrpt::maps::COccupancyGridMap2D now also evalutes likelihoods for sonar-like observations (mrpt::obs::CObservationRange), allowing particle-filter localization with these sensors - r3330
    • New method mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
  • [mrpt-kinematics]
    • mrpt::kinematics::CKinematicChain: Now allows changing the orientation of the first DOF (X,Y,Z).
• Removed stuff:
  • Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has been removed. Replace with mrpt::vision::TFeatureTrackStatus
  • KLT-specific values for mrpt::vision::TFeatureTrackStatus has been removed, since they were not used in detected features anyway.
• Build system:
  • Fixed a potential build error if including FFMPEG's <time.h> instead of the standard header - r3316
  • Fixed determination of GCC version for all GCC builds - r3324
  • Updated to Eigen 3.1.3 - r3349
  • Updated to nanoflann 1.1.5
• BUG FIXES:
  • Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due to an improperly initialized reference to a local variable - r3318
  • Debian packages: added missing binary deps for libmrpt-dev - r3335

---

Version 1.0.0: Released 1-MAR-2013 (SVN 3287)

• Most important changes:
  • New library with a flexible implementation of Sparser Relative Bundle Adjustment (RBA), as presented in ICRA 2013: mrpt-srba.
  • New library for Plane-based Maps: mrpt-pbmap (also presented in ICRA 2013).
  • Some MRPT modules are now header-only libraries.
  • Support for a new Octomap metric map, via the octomap library. See mrpt::maps::COctoMap and detailed changes below.
  • Support for importing/exporting point clouds in the standard LAS format (Look for liblas below).
  • Better support for custom builds of MRPT (selective building of individual apps and libs, etc.)
  • Ready for Visual Studio 2012 and GCC 4.7
  • From now on, MRPT is released under the "New BSD" license.
  • Many bug fixes.
• Detailed list of changes:
  • New apps:
    • srba-slam: A command-line frontend for the Relative Bundle Adjustment engine in mrpt-srba.
    • holonomic-navigator-demo
    • robotic-arm-kinematics: A GUI for experimenting with Denavit-Hartenberg parameters.
  • Changes in apps:
    • navlog-viewer:
      • Fixed some minor visualization errors.
    • RawLogViewer:
      • Import sequence of images as rawlog: Didn't detect "png" file extension as images - r2940 - Closes #34
      • The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - r2950
    • ReactiveNavigationDemo:
      • The default holonomic navigation method is now the VFF, since after the last bug fixes and tunes it seems to work quite well.
    • SceneViewer3D:
      • The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - r2952
      • Added a new menu: "File -> Import -> From LAS file..." - r3244
    • grid-matching: new argument "--aligner" to select aligner method - r3021
  • New classes:
    • [mrpt-base]
      • mrpt::math::MatrixBlockSparseCols, a templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information - r2995
      • mrpt::utils::ignored_copy_ptr<>
      • mrpt::system::CTimeLoggerEntry
    • [mrpt-obs]
      • mrpt::obs::CObservationWindSensor - r3050
    • [mrpt-maps]
      • mrpt::maps::COctoMap
    • [mrpt-opengl]
      • mrpt::opengl::COctoMapVoxels
  • Deleted classes:
    • [mrpt-vision]
      • CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been removed since they didn't work robustly. Replace with mrpt::vision::CFeatureTracker_KL
  • New libraries:
    • [mrpt-kinematics] See mrpt::kinematics
    • [mrpt-pbmap] See mrpt-pbmap.
    • [mrpt-srba] See mrpt-srba.
  • Changes in libraries:
    • These libs are now header-only: r3035, r3045
      • [mrpt-bayes]
      • [mrpt-graphs]
      • [mrpt-graphslam]
    • Integration of the Octomap C++ library (new BSD License) by Kai M. Wurm et al.: r3081, r3083, r3084, r3086, r3087, r3088, r3093
      • The main new classes are mrpt::maps::COctoMap & mrpt::opengl::COctoMapVoxels
      • mrpt::maps::CMultiMetricMap now allows the seamless integration of octomaps in many MRPT map building or localization algorithms.
      • New example: samples/octomap_simple
  • Changes in classes:
    • [mrpt-base]
      • Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT derived matrix classes, are now much faster loading huge matrices from text files - r2997
      • 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 - r3065
      • New method mrpt::poses::CPose3DQuat::inverse()
      • New methods mrpt::poses::SE_traits::pseudo_exp()
      • mrpt::system::CTimeLogger:
        • New method mrpt::system::CTimeLogger::getStats() for programatic execution time stats analysis - r2998
        • New method mrpt::system::CTimeLogger::registerUserMeasure() for making stats of user-providen values - r3005
      • mrpt::utils::map_as_vector<> can be now customized to use different underlying STL containers for storage - r3001
      • mrpt::containers::CDynamicGrid::setSize() now also accepts a "fill_value" argument.
      • Added method mrpt::math::TPoint2D::norm() for consistency with mrpt::math::TPoint3D
      • Better support for saving (and not only loading) plain text configuration files, including commented files with default values of all existing parameters: - r2954
        • All mrpt::config::CConfigFileBase::write() now have an extended signature for formatting.
        • mrpt::config::CLoadableOptions::dumpToTextStreamstd::ostream::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 issue 39, thanks Robert Schattschneider) - r3042
      • mrpt::typemeta::TTypeName<> moved to its own header <mrpt/typemeta/TTypeName.h> while refactoring <mrpt/serialization/CSerializable.h>

r3044

• mrpt::config::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.
• mrpt::poses::CPose2D now caches the cos() and sin() of phi, with a huge performance improvement in most common operations.

[mrpt-bayes]

• 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) - r3059, r3060, r3061
• mrpt::bayes::CParticleFilterCapable now makes use of the Curiously Recurring Template Pattern (CRTP) design instead of ugly #define macros - r3182

[mrpt-graphs]

• 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 - r3044

[mrpt-gui]

• mrpt::gui::CDisplayWindow3D::addTextMessage() (and other opengl text routines) now allows drawing text with a shadow effect - r3007

[mrpt-hwdrivers]

• New method mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
• mrpt::hwdrivers::CGenericSensor (and all derived classes) now allocate objects aligned in memory with
• New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()

[mrpt-maps]

• Better integration of point cloud classes with PCL: - r2943
  • mrpt::maps::CPointsMap::loadPCDFile()
  • mrpt::maps::CPointsMap::setFromPCLPointCloud()
  • mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB()
• 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 - r3244
  • mrpt::maps::CPointsMap::loadLASFile()
  • mrpt::maps::CPointsMap::saveLASFile()
• Integration of wind measurements in gas-concentration maps (by Javier G. Monroy) - r3050

[mrpt-obs]

• New method mrpt::obs::CObservationGPS::clear()

[mrpt-opengl]

• Evaluation of bounding box of opengl objects. New methods: - r3026
  • mrpt::opengl::CRenderizable::getBoundingBox()
  • mrpt::opengl::COpenGLScene::getBoundingBox()
  • mrpt::opengl::COpenGLViewport::getBoundingBox()
• mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a new flag to draw solid boxes at each leaf node - r3033
• mrpt::opengl::COpenGLViewport has a new set of "global OpenGL switches" that affect the rendering of entire scenes - r3185
• Classes drawing lines now by default enable anti-aliasing (can be disabled by the programmer): - r3185
  • mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ
  • mrpt::opengl::CSimpleLine
  • mrpt::opengl::CSetOfLines

[mrpt-reactivenav]

• Much code of mrpt::reactivenav classes have undergone a clean-up, slight optimizations and a translation of old Spanish names/comments to English - r2939, r2942, r2958, r3091
• mrpt::reactivenav::CParameterizedTrajectoryGenerator::CCollisionGrid now has a more maintainable binary serialization format - r2939
• mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now also saves text files which can be used to visualize PTGs from MATLAB (see scripts/viewPTG.m) - r3009
• mrpt::reactivenav::CHolonomicVFF and mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable from config files. See their documentation.
• 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)".
• Solved a stability issue in C-S paths, in mrpt::reactivenav::CPTG_DiffDrive_CS (By Mariano Jaimez Tarifa) - r3085

[mrpt-scanmatching]

• mrpt::scanmatching::robustRigidTransformation():
  • Changed behavior not to allow features to appear in duplicated pairings.
  • Added a consistency test to avoid seeding RANSAC with an inconsistent initial model.

[mrpt-slam]

• 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.

New functions:

• [mrpt-base]
  • mrpt::utils::abs_diff()
  • mrpt::system::getMRPTLicense()
  • mrpt::system::getFileModificationTime()
  • mrpt::math::noncentralChi2PDF_CDF() is now exposed (was private)
  • mrpt::utils::sprintf_container()
  • mrpt::poses::operator -(mrpt::poses::CPose3DQuat)
  • max3() and min3() moved from the global namespace to mrpt::utils::max3() and mrpt::utils::min3()

New examples:

• octomap_simple
• ransac-data-association

Build system:

• Update to nanoflann 1.1.4 - r2937, r3017
• Update to Eigen 3.1.2 - r3064
• MRPT's root "CMakeLists.txt" has undergone a big refactoring and cleanup - r2961
• Backward compatible "mrpt-core" has been removed as a fake lib for which to search with CMake from user programs - r2961
• More system libs are detected in Linux (libclang-dev, lib3ds-dev), discarding embedded versions then - r2963 - Closes #17
• Automatic detection of supported SIMD extensions (SSE*) from CMake (only for Linux OS) - r3013
• Fixed building with Visual Studio 2012 (MSVC11) - r3017
• MRPT now allows defining header-only libraries with the define_mrpt_lib_header_only() macro - r3034, r3035
• More unit tests:
  • for all probability distribution functions in mrpt::math,
  • for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
  • for the octomap map
  • for serialization/deserealization of many classes.
• Added new documentation page: environment variables.
• Removed the build flag "MRPT_BACKCOMPATIB_08X".
• Fixes for building under Mac OSX: r3181
• Enable some c++11 features if the compiler supports them - r3273

BUG FIXES:

• 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. - r3019
• [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 - r2941
• [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. - r3003
• [mrpt-base] Wrong computation of normPDF() values for the multidimensional cases. Closes #46 - r3068
• [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D cases (Thanks Cipri!)
• [mrpt-base] Fixed errors in de-serialization of mrpt::utils::CPointPDFSOG and mrpt::maps::CReflectivityGridMap2D
• [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D() always returned 0 matched.
• [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to Edu!) - r3026
• [mrpt-hwdrivers] Fixed potential SEGFAULT in mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for reporting)
• [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
• [mrpt-maps] mrpt::maps::COccupancyGridMap2D::getAs3DObject() returned cells with an occupancy of exactly "0" as transparent - r2957
• [mrpt-maps] Fixed saving the correct point colors in mrpt::maps::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - r3090
• [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching two 3D point clouds as each correspondence was inserted twice into the output vector. (By Paco) - r3162
• [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.
• [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not exported in Windows DLL's (Thanks Mariano for noticing!).
• [mrpt-reactivenav] Fixed wrong computation of obstacles force fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - r2953
• [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 - r2939

Closes #33

• [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never evaluated" and wrong composition of representative direction for some gaps (By Mariano) - r3056

---

Version 0.9.6 - (Version 1.0.0-Release_Candidate_4): Released 30-MAY-2012 (SVN 2930)

• New applications:
  • kinect-stereo-calibrate: A GUI tool for calibrating RGB+D and/or stereo cameras, including live Kinect capturing.
• Removed applications:
  • 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".
• Changes in applications:
  • icp-slam:
    • Added a new option (SHOW_LASER_SCANS_3D in config files) to draw laser scans in the live 3D view - r2881
  • rawlog-edit:
    • Operation "--camera-params" now also handles stereo observations.
    • New operation "--stereo-rectify" for batch rectifying datasets with stereo images.
    • New operation "--rename-externals".
  • SceneViewer3D:
    • New menu for generating high-resolution renders of any scene directly to imag files - r2775
    • Many new menus for selective selecting objects and applying operations on them - r2776
  • stereo-calib-gui: Now generates a report with detailed and clear results from stereo calibration and allows the user to change most parameters interactively - r2801
  • kinect-3d-view: New key command: press '9' to grab selected snapshots to disk - r2890
• Kinect stuff:
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV instead of default freenect - r2721, r2762
    • mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at start up by default, what may be annoying (if required, set "initial_tilt_angle") - r2722
    • mrpt::hwdrivers::CKinect now loads Kinect calibration files in a format compatible with stereo cameras. See http://www.mrpt.org/Kinect_calibration
  • [mrpt-obs]
    • 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
  • [mrpt-vision]
    • New function mrpt::vision::checkerBoardStereoCalibration() to calibrate stereo and RGB+D cameras. See also the program kinect-stereo-calibrate:
• New classes:
  • [mrpt-gui]
    • New event generated by GUI windows: mrpt::gui::mrptEventWindowClosed
  • [mrpt-hwdrivers]
    • mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing devices (by Emil Khatib, University of Malaga) - r2841
  • [mrpt-opengl]
    • New classes for representing confidence intervals (ellipsoids) in transformed spaces - r2783
      • mrpt::opengl::CGeneralizedEllipsoidTemplate<>
      • mrpt::opengl::CEllipsoidRangeBearing2D
      • mrpt::opengl::CEllipsoidInverseDepth2D
      • mrpt::opengl::CEllipsoidInverseDepth3D
    • mrpt::opengl::CFrustum to easily render these geometric figures
    • New struct mrpt::opengl::TFontParams result of a code refactoring
  • [mrpt-vision]
    • mrpt::vision::TSIFTDescriptorsKDTreeIndex, TSURFDescriptorsKDTreeIndex - 2799
    • mrpt::vision::CStereoRectifyMap - See tutorial online: http://www.mrpt.org/Rectifying_stereo_