MRPT  2.0.3
changeLog_doc.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 // clang-format off
11 
12 /** \page changelog Change Log
13  *
14 
15 # Version 2.0.3: Released May 13, 2020
16 - Changes in applications:
17  - navlog-viewer: Can now navigate with keyboard arrows too.
18  - RawLogViewer: better 3D pointcloud coloring in observation view and in "scan animation" view.
19 - Changes in libraries:
20  - \ref mrpt_maps_grp
21  - Point cloud classes mrpt::maps::CPointsMap: New methods:
22  - load2D_from_text_stream()
23  - load3D_from_text_stream()
24  - save2D_to_text_stream()
25  - save3D_to_text_stream()
26  - \ref mrpt_poses_grp
27  - More accurate analytical Jacobians for CPose3DQuatPDFGaussian::inverse() (Closes #1053)
28  - BUG FIXES:
29  - Incorrect number of points loaded when trying to load point clouds from incorrectly-formatted text files.
30  - Fix build error in riscv64 (gcc doesn't know mtune=native for that arch)
31  - Fix spurious unit test failures in mrpt::apps::RawlogGrabberApp due to system load.
32 
33 ------
34 # Version 2.0.2: Released May 4th, 2020
35 - Changes in applications:
36  - navlog-viewer: Ported to the new nanogui UI system (fixes random OpenGL context errors in former version).
37 - Changes in libraries:
38  - mrpt_containers_grp
39  - mrpt::containers::vector_with_small_size_optimization: Get rid of potential uninitialized usage GCC warnings.
40  - mrtp_hwdrivers_grp
41  - Remove support for obsolete XSens MTi 3rd generation devices. Removed class mrpt::hwdrivers::CIMUXSens. 4th+ generation still supported.
42  - mrpt_gui_grp
43  - Fix mouse-motion rotation glitches if clicking inside a nanogui control.
44  - Fix cmake errors building user programs in Windows (missing glfw dependency).
45  - mrpt_math_grp
46  - mrpt::math::RANSAC_Template made more generic to support custom dataset and model types.
47  - mrpt_opengl_grp
48  - Fix displaying of uninitialized textured in mrpt::opengl::CTexturedPlane. It now uses the default solid color of the object.
49  - mrpt_ros1bridge_grp
50  - Narrower build and run time dependencies: rosbag -> rosbag_storage
51 
52 ------
53 # Version 2.0.1: Released April 3rd, 2020
54 - Changes in applications:
55  - RawLogViewer: new "-l xxx.so" flag to load datasets with types defined in external projects.
56 - Changes in libraries:
57  - mrpt_obs_grp
58  - mrpt::obs::CObservationRobotPose: Fixed missing serialization of sensorPose
59 
60 ------
61 # Version 2.0.0: Released March 29th, 2020
62 - **Most important changes:**
63  - MRPT now requires **C++17** to build and use. See this page for a guide to port existing code to MRPT 2.0: \ref porting_mrpt2
64  - Support for old namespaces `mrpt-scanmatching`, `mrpt-reactivenav` is over.
65  - 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).
66  - All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
67  - Add support for serialization with std::variant
68  - PbMap has been factored out into [its own repository](https://github.com/MRPT/pbmap)
69  - XML-based database C++ classes have been removed from MRPT.
70 - Changes in applications:
71  - RawLogViewer:
72  - The ICP module now supports Velodyne 3D scans.
73  - rawlog-edit:
74  - New operation: `--de-externalize`
75  - pf-localization:
76  - Odometry is now used also for observation-only rawlogs.
77 - Changes in libraries:
78  - All `otherlibs` subdirectories have been renamed to `3rdparty` since it is a widespread name used in most projects.
79  - \ref mrpt_base_grp => Refactored into several smaller libraries, one per namespace.
80  - Removed class std::vector<std::string>. Replace by STL containers of `std::string` and functions mrpt::system::stringListAsString() in \ref string_manage.
81  - \ref mrpt_core_grp [NEW IN MRPT 2.0.0]
82  - 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.
83  - mrpt::cpu::supports(): a new cross-OS CPU feature detection function.
84  - mrpt::Clock allows users to select between Realtime or Monotonic sources.
85  - Removed custom macro MRPT_UNUSED_PARAM (replaced by c++17 attribute).
86  - Add syntactic suggar mrpt::lockHelper()
87  - \ref mrpt_math_grp [NEW IN MRPT 2.0.0]
88  - Removed functions (replaced by C++11/14 standard library):
89  - mrpt::math::erf, mrpt::math::erfc, std::isfinite, mrpt::math::std::isnan
90  - `mrpt::math::make_vector<>` => `std::vector<>{...}` braced initializator
91  - Removed the include file: `<mrpt/math/jacobians.h>`. Replace by `<mrpt/math/num_jacobian.h>` or individual methods in \ref mrpt_poses_grp classes.
92  - \ref mrpt_config_grp [NEW IN MRPT 2.0.0]
93  - mrpt::config::CConfigFileBase::write() now supports enum types.
94  - \ref mrpt_gui_grp
95  - New class mrpt::gui::CDisplayWindowGUI exposing powerful GUI possibilities via the nanogui project.
96  - \ref mrpt_img_grp [NEW IN MRPT 2.0.0]
97  - mrpt::img::TCamera distortion parameters now also supports the extra K4,K5,K6 distortion parameters.
98  - \ref mrpt_serialization_grp [NEW IN MRPT 2.0.0]
99  - New method mrpt::serialization::CArchive::ReadPOD() and macro `MRPT_READ_POD()` for reading unaligned POD variables.-
100  - Add support for `$env{}` syntax to evaluate environment variables.
101  - \ref mrpt_slam_grp
102  - rbpf-slam: Add support for simplemap continuation.
103  - CICP: parameter `onlyClosestCorrespondences` deleted (always true now).
104  - mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
105  - \ref mrpt_system_grp
106  - 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.
107  - Added: mrpt::system::WorkerThreadsPool
108  - \ref mrpt_rtti_grp [NEW IN MRPT 2.0.0]
109  - 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().
110  - 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.
111  Therefore, manual registration (as already done in registerAllClasses.cpp files) is left as the unique registration system.
112  This fixes warning messages "[mrpt::rtti::registerClass] Warning: Invoked with a nullptr".
113  - \ref mrpt_nav_grp
114  - Removed deprecated mrpt::nav::THolonomicMethod.
115  - 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.
116  - Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
117  - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
118  - \ref mrpt_comms_grp [NEW IN MRPT 2.0.0]
119  - This new module has been created to hold all serial devices & networking classes, with minimal dependencies.
120  - \ref mrpt_maps_grp
121  - mrpt::maps::CMultiMetricMap has been greatly simplified and now it is actually defined in the mrpt-maps library.
122  - New map type: mrpt::maps::CPointsMapXYZI for pointclouds with an intensity channel.
123  - New observation class: mrpt::obs::CObservationPointCloud
124  - Added optional "channel" attribute to CReflectivityGridMap2D and CObservationReflectivity to support different colors of light.
125  - \ref mrpt_hwdrivers_grp
126  - COpenNI2Generic: is safer in multithreading apps.
127  - CHokuyoURG:
128  - Rewrite driver to be safer and reduce mem allocs.
129  - New parameter `scan_interval` to decimate scans.
130  - VelodyneCalibration: Can now load YAML files, in addition to XML.
131  - New sensor state enum value: mrpt::hwdrivers::CGenericSensor::ssUninitialized
132  - NMEA GPS parser: now also recognizes all existing talker IDs (GP, GN, GA, etc.)
133  - \ref mrpt_opengl_grp
134  - Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
135  - Rendering engine rewritten to work using OpenGL Core (GLSL 3.3) instead of Legacy fixed functions.
136  - \ref mrpt_obs_grp
137  - 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.
138  - mrpt::obs::T3DPointsProjectionParams and mrpt::obs::CObservation3DRangeScan::unprojectInto now together support organized PCL point clouds.
139  - New method: mrpt::obs::CObservation3DRangeScan::rangeImage_getAsImage()
140  - Support for multiple-return sensors in mrpt::obs::CObservation3DRangeScan.
141  - New NMEA frame class: Message_NMEA_GSA
142  - \ref mrpt_poses_grp [NEW IN MRPT 2.0.0]
143  - Reorganized all Lie Algebra methods into \ref mrpt_poses_lie_grp
144  - Removed CPose3DRotVec, since its conceptual design is identical to Lie tangent space vectors.
145  - \ref mrpt_vision_grp
146  - Removed FASTER methods, and the libCVD 3rd party dependency.
147 
148 - BUG FIXES:
149  - Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
150  - Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
151  - Fix aborting reading from LMS111 scanner on first error.
152  - Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
153  - Fix accessing unaligned POD variables deserializing CObservationGPS (via the new `MRPT_READ_POD()` macro).
154  - Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
155  - Fix crash in CGPSInterface when not setting an external mutex.
156  - Fix potential crashes in RawLogViewer while editing list of observations.
157  - Fix incorrect conversion from quaternion to CPose3D.
158 
159 <a name="1.5.7">
160 <h2>Version 1.5.7: Released 24/APR/2019 </h2></a>
161 - <b>Detailed list of changes:</b>
162  - \ref mrpt_base_grp
163  - The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
164  - stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
165  - mrpt::system::TThreadHandle now is a wrapper around std::thread.
166  - Atomic counters now based on std::atomic. Custom implementation has been removed.
167  - stlplus source code has been removed.
168  - mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
169  - \ref mrpt_graphslam_grp
170  - levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
171  - CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
172  - \ref mrpt_nav_grp
173  - Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
174  - New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
175  - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
176  - BUG FIXES:
177  - Fix missing "-ldl" linker flag.
178  - Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
179  - Fix potential segfault in 3D reactive navigator.
180 
181 <hr>
182 <a name="1.5.6">
183 <h2>Version 1.5.6: Released 24/APR/2018 </h2></a>
184  - Applications:
185  - pf-localization:
186  - Odometry is now used also for observation-only rawlogs.
187  - \ref mrpt_hwdrivers_grp
188  - mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer
189 multi-threading operation.
190  - mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans.
191 Driver clean up to be safer and perform less memory allocs.
192  - \ref mrpt_maps_grp
193  - COccupancyGridMap2D: New LIDAR insertion parameters:
194 maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
195  - \ref mrpt_reactivenav_grp
196  - CAbstractPTGBasedReactive: Added new score `holo_stage_eval`.
197  - BUG FIXES:
198  - circular_buffer: exception made state preserving
199 
200 <hr>
201 <a name="1.5.5">
202 <h2>Version 1.5.5: (Under development) </h2></a>
203 - <b>Detailed list of changes:</b>
204  - \ref mrpt_nav_grp
205  - mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache
206 for improved performance.
207  - \ref mrpt_hwdrivers_grp
208  - A new class for SICK TIM561(TIM55x/TIM56x) lidar:
209  - A new source file named CSICKTim561Eth_2050101.cpp, which supports
210 SICK TIM series lidar including Tim55x, Tim56x
211  - mrpt::hwdrivers::CSICKTim561Eth
212  - A new test sample for SICK TIM561(TIM55x/TIM56x) lidar:
213  - sample/SICK_tim561eth_test/test.cpp
214  - BUG FIXES:
215  - Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D
216 (which led to crash)
217  - Fixed regression in particle resampling affecting RBPF-SLAM methods.
218 Introduced in Dec. 2016 with [this
219 commit](https://github.com/MRPT/mrpt/commit/691973813bdc53d3faa7088b092eb041aa80d0ce).
220 
221 <hr>
222 <a name="1.5.4">
223 <h2>Version 1.5.4: Released 31/OCT/2017 </h2></a>
224 - <b>Detailed list of changes:</b>
225  - \ref mrpt_base_grp
226  - Fix potential uninitialized value in
227 CRobot2DPoseEstimator::getLatestRobotPose()
228  - MRPT_getCompilationDate() returns time as well
229  - \ref mrpt_gui_grp
230  - mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event
231 type.
232  - Build system:
233  - Fix MRPTConfig.cmake for system octomap libraries.
234  - Fix package-contains-vcs-control-file (.gitingore) Lintian error.
235  - Fix compiling without liboctomap-dev in Ubuntu PPA.
236  - BUG FIXES:
237  - Fix waypoint reactive navigator edge case in which "end event" won't
238 be issued.
239  - Fix waypoint reactive navigator error while doing final aligning
240 (missing and dupplicated nav-end events).
241  - Fix aborting reading from LMS111 scanner on first error.
242  - Fix waypoint reactive navigator edge case in which "end event" won't
243 be issued.
244  - Fix corrupted pointers in CNetworkOfPoses after copy or move
245 operations.
246  - Fix invalid TP-targets generated during reactive navigation.
247  - Fix memory leak in reactivenav engine.
248  - Fix potential out-of-range access in
249 CObservation3DRangeScan::convertTo2DScan()
250 
251 <hr>
252 <a name="1.5.3">
253 <h2>Version 1.5.3: Released 13/AUG/2017 </h2></a>
254 - <b>Detailed list of changes:</b>
255  - CMake >=3.1 is now required for use of ExternalProjects.
256  - Scripts `scripts/prepare_{debian,release}.sh` have been refactored and
257 simplified.
258  - Removed embedded source code versions of Eigen, assimp and octomap.
259 Downloaded and built as ExternalProjects if not present in the system.
260  - Releases will be signed with PGP from now on and posted as binary
261 attachments to GitHub releases.
262 
263 <hr>
264 <a name="1.5.2">
265 <h2>Version 1.5.2: Released 6/AUG/2017 </h2></a>
266 - <b>Detailed list of changes:</b>
267  - Changes in libraries:
268  - \ref mrpt_base_grp
269  - Added methods:
270  - mrpt::synch::CCriticalSection::try_enter()
271  - mrpt::synch::CCriticalSectionRecursive::try_enter()
272  - \ref mrpt_nav_grp
273  - mrpt::nav::CAbstractNavigator: callbacks in
274 mrpt::nav::CRobot2NavInterface are now invoked *after* `navigationStep()` to
275 avoid problems if user code invokes the navigator API to change its state.
276  - Added methods to load/save mrpt::nav::TWaypointSequence to
277 configuration files.
278  - \ref mrpt_slam_grp
279  - rbpf-slam: Add support for simplemap continuation.
280  - BUG FIXES:
281  - Fix reactive navigator inconsistent state if navigation API is called
282 from within rnav callbacks.
283  - Fix incorrect evaluation of "ASSERT" formulas in
284 mrpt::nav::CMultiObjectiveMotionOptimizerBase
285 
286 <hr>
287 <a name="1.5.1">
288 <h2>Version 1.5.1: Released 21/JUN/2017 </h2></a>
289 - <b>Detailed list of changes:</b>
290  - Changes in libraries:
291  - \ref mrpt_nav_grp
292  - fix const-correctness:
293 [commit](https://github.com/MRPT/mrpt/commit/7e79003d2adeb7b170fa04e0bc34d42707e07306)
294  - More flexible callback behavior:
295 [commit](https://github.com/MRPT/mrpt/commit/5b054336a1ac75f6e4f8741e5049971917a2980a)
296 
297 
298 <hr>
299 <a name="1.5.0">
300 <h2>Version 1.5.0: Released 10-JUN-2018</h2></a>
301  - Changes in apps:
302  - New app
303 [PTG-configurator](http://www.mrpt.org/list-of-mrpt-apps/application-ptg-configurator/)
304  -
305 [ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/)
306 has been totally rebuilt as a 3D visualizer capable of testing different
307 navigation algorithms and robot kinematics.
308  - [RawLogViewer](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/):
309  - Now displays a textual and graphical representation of all
310 observation timestamps, useful to quickly detect sensor "shortages" or temporary
311 failures.
312  - New menu operation: "Edit" -> "Rename selected observation"
313  - mrpt::obs::CObservation3DRangeScan pointclouds are now shown in
314 local coordinates wrt to the vehicle/robot, not to the sensor.
315  -
316 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
317 New flag: `--txt-externals`
318  - Changes in libraries:
319  - \ref mrpt_base_grp
320  - New API to interface ZeroMQ: \ref noncstream_serialization_zmq
321  - Deprecated function (since 1.3.0) deleted:
322 mrpt::system::registerFatalExceptionHandlers()
323  - New method mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses()
324  - Class mrpt::utils::CRobotSimulator renamed ==>
325 mrpt::kinematics::CVehicleSimul_DiffDriven
326  - New twist (linear + angular velocity state) classes:
327 mrpt::math::TTwist2D, mrpt::math::TTwist3D
328  - New template method: mrpt::utils::CStream::ReadAsAndCastTo
329  - Added missing method mrpt::poses::CPose2D::inverseComposePoint()
330 for consistency with CPose3D
331  - New class std::recursive_mutex
332  - New class mrpt::system::COutputLogger replaces the classes
333 mrpt::utils::CDebugOutputCapable (deprecated) and mrpt::utils::CLog (removed).
334  - New macros for much more versatily logging:
335  - MRPT_LOG_DEBUG(), MRPT_LOG_INFO(), MRPT_LOG_WARN(),
336 MRPT_LOG_ERROR()
337  - MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM,
338 MRPT_LOG_WARN_STREAM, MRPT_LOG_ERROR_STREAM
339  - New functions for polynomial roots: see \ref polynomial_roots
340  - New functions for signal filtering: see \ref filtering_grp
341  - New functions for Fresnel integrals: see \fresnel_integrals_grp
342  - New classes mrpt::math::CAtan2LookUpTable,
343 mrpt::math::CAtan2LookUpTableMultiRes
344  - [API change] The following functions are no longer static methods:
345 (since their classes are now derived from the state-aware
346 mrpt::system::COutputLogger)
347  - mrpt::math::RANSAC_Template::execute()
348  - mrpt::math::CLevenbergMarquardtTempl::execute()
349  - Deleted methods in Eigen-extensions: leftDivideSquare(),
350 rightDivideSquare()
351  - Removed support for **named** semaphores in
352 mrpt::synch::CSemaphore
353  - new method mrpt::system::CTimeLogger::getLastTime()
354  - Removed mrpt::utils::CStartUpClassesRegister, replaced by the new
355 macro MRPT_INITIALIZER()
356  - New class mrpt::utils::CRateTimer
357  - mrpt::poses::CRobot2DPoseEstimator now uses a more generic
358 odometry-based velocity model (vx,vy,omega).
359  - New template mrpt::utils::ts_hash_map<> for thread-safe,
360 std::map-like containers based on hash functions.
361  - Included exprtk header-only library to runtime compile &
362 evaluation of mathematical expressions, under `<mrpt/3rdparty/exprtk.hpp>`
363  - New smart pointer templates: `mrpt::utils::copy_ptr<>`,
364 `mrpt::utils::poly_ptr<>`.
365  - New colormap: mrpt::utils::hot2rgb()
366  - New function mrpt::system::find_mrpt_shared_dir()
367  - New class mrpt::containers::CDynamicGrid3D<>
368  - New function mrpt::comms::net::http_request()
369  - New function mrpt::system::now_double()
370  - New function mrpt::rtti::getAllRegisteredClassesChildrenOf()
371  - Safer CClassRegistry: detect and warn on attempts to duplicated
372 class registration.
373  - New class mrpt::expr::CRuntimeCompiledExpression
374  - mrpt::config::CConfigFile and mrpt::config::CConfigFileMemory now
375 can parse config files with end-of-line backslash to split long strings into
376 several lines.
377  - New class mrpt::poses::FrameTransformer
378  - mrpt::poses classes now have all their constructors from
379 mrpt::math types marked as explicit, to avoid potential ambiguities and
380 unnoticed conversions.
381  - [Sophus](https://github.com/strasdat/Sophus/) is now used
382 internally for some Lie Algebra methods, and also exposed to the user as
383 `#include <mrpt/3rdparty/sophus/so3.hpp>`, etc. as part of mrpt-base
384  - \ref mrpt_bayes_grp
385  - [API change] `verbose` is no longer a field of
386 mrpt::bayes::CParticleFilter::TParticleFilterOptions. Use the
387 setVerbosityLevel() method of the CParticleFilter class itself.
388  - [API change] mrpt::bayes::CProbabilityParticle (which affects all
389 PF-based classes in MRPT) has been greatly simplified via usage of the new
390 mrpt::utils::copy_ptr<> pointee-copy-semantics smart pointer.
391  - \ref mrpt_graphs_grp
392  - New class mrpt::graphs::ScalarFactorGraph, a simple but extensible
393 linear GMRF solver. Refactored from mrpt::maps::CGasConcentrationGridMap2D, etc.
394  - \ref mrpt_gui_grp
395  - mrpt::gui::CWxGLCanvasBase is now derived from
396 mrpt::opengl::CTextMessageCapable so they can draw text labels
397  - New class mrpt::gui::CDisplayWindow3DLocker for exception-safe 3D
398 scene lock in 3D windows.
399  - \ref mrpt_hwdrivers_grp
400  - Using rplidar newest SDK 1.5.6 instead of 1.4.3, which support
401 rplidar A1 and rplidar A2
402  - mrpt::hwdrivers::CNTRIPEmitter can now also dump raw NTRIP data to
403 a file
404  - \ref mrpt_kinematics_grp
405  - New classes for 2D robot simulation:
406  - mrpt::kinematics::CVehicleSimul_DiffDriven
407  - mrpt::kinematics::CVehicleSimul_Holo
408  - New classes for 2D robot kinematic motion commands. See children
409 of mrpt::kinematics::CVehicleVelCmd
410  - \ref mrpt_maps_grp
411  - mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile() correct
412 description of `yCentralPixel` parameter.
413  - mrpt::maps::CPointsMap `liblas` import/export methods are now in a
414 separate header. See \ref mrpt_maps_liblas_grp and \ref dep-liblas
415  - New class mrpt::maps::CRandomFieldGridMap3D
416  - New class mrpt::maps::CPointCloudFilterByDistance
417  - \ref mrpt_obs_grp
418  - [ABI change] mrpt::obs::CObservation2DRangeScan
419  - range scan vectors are now protected for safety.
420  - New getter/setter methods.
421  - backwards-compatible proxies added for read-only from range
422 scan members.
423  - [ABI change] mrpt::obs::CObservation3DRangeScan:
424  - Now uses more SSE2 optimized code
425  - Depth filters are now available for
426 mrpt::obs::CObservation3DRangeScan::unprojectInto() and
427 mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
428  - New switch
429 mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT for runtime selection of
430 externals format.
431  - mrpt::obs::CObservation2DRangeScan now has an optional field for
432 intensity.
433  - mrpt::obs::CRawLog can now holds objects of arbitrary type, not
434 only actions/observations. This may be useful for richer logs aimed at
435 debugging.
436  - mrpt::obs::CObservationVelodyneScan::generatePointCloud() can now
437 generate the microseconds-precise timestamp for each individual point (new param
438 `generatePerPointTimestamp`).
439  - \ref mrpt_opengl_grp
440  - [ABI change] mrpt::opengl::CAxis now has many new options exposed
441 to configure its look.
442  - mrpt::opengl::CSetOfLines can now optionally show vertices as
443 dots.
444  - lib3DS is no longer shipped as an embedded version. A system
445 library in Linux is required to use mrpt::opengl::C3DSScene. Use
446 mrpt::opengl::CAssimpModel as a more powerful alternative.
447  - \ref mrpt_slam_grp
448  - [API change] mrpt::slam::CMetricMapBuilder::TOptions does not have
449 a `verbose` field anymore. It's supersedded now by the verbosity level of the
450 CMetricMapBuilder class itself.
451  - [API change] getCurrentMetricMapEstimation() renamed
452 mrpt::slam::CMultiMetricMapPDF::getAveragedMetricMapEstimation() to avoid
453 confusions.
454  - \ref mrpt_hwdrivers_grp
455  - mrpt::hwdrivers::CGenericSensor: external image format is now
456 `png` by default instead of `jpg` to avoid losses.
457  - [ABI change] mrpt::hwdrivers::COpenNI2Generic:
458  - refactored to expose more methods and allow changing
459 parameters via its constructor.
460  - Now supports reading from an IR, RGB and Depth channels
461 independenty.
462  - mrpt::hwdrivers::CHokuyoURG now can optionally return intensity
463 values.
464  - Deleted old, unused classes:
465  - mrpt::hwdrivers::CBoardIR
466  - mrpt::hwdrivers::CBoardDLMS
467  - mrpt::hwdrivers::CPtuHokuyo
468  - mrpt::hwdrivers::CHokuyoURG no longer as a "verbose" field. It's
469 superseded now by the COutputLogger interface.
470  - mrpt::hwdrivers::CActivMediaRobotBase and the embedded ARIA
471 library have been removed. Nowadays, one can access to ARIA robots via ROS
472 packages more easily than via MRPT.
473  - \ref mrpt_maps_grp
474  - mrpt::maps::CMultiMetricMapPDF added method
475 CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard().
476  - \ref mrpt_nav_grp
477  - New mrpt::nav::CWaypointsNavigator interface for waypoint
478 list-based navigation.
479  - [ABI & API change] PTG classes refactored (see new virtual base
480 class mrpt::nav::CParameterizedTrajectoryGenerator and its derived classes):
481  - Old classes `CPTG%d` have been renamed to describe each path
482 type. Old PTGs #6 and #7 have been removed for lack of practical use.
483  - New separate classes for PTGs based on numerically-integrated
484 paths and on closed-form formulations.
485  - Old deprecated method of PTGs `lambdaFunction()` removed.
486  - Parameters are no longer passed via a
487 mrpt::system::TParameters class, but via a mrpt::config::CConfigFileBase which
488 makes parameter passing to PTGs much more maintainable and consistent.
489  - PTGs now have a score_priority field to manually set hints
490 about preferences for path planning.
491  - PTGs are now mrpt::config::CLoadableOptions classes
492  - New classes:
493  - mrpt::nav::CMultiObjectiveMotionOptimizerBase
494  - \ref mrpt_graphslam_grp
495  - Extend mrpt-graphslam lib to execute simulated/real-time
496 graphSLAM. mrpt-graphslam supports 2D/3D execution of graphSLAM, utilizing
497  LaserScans, odometry information.
498  - Develop application `graphslam-engine` that executes graphSLAM via
499  the mrpt-graphslam lib
500  - mrpt::grpahslam::CGraphSlamEngine as the generic object that
501  manages graphSLAM, Node/Edge registration decider
502  classes under the mrpt::graphslam::deciders namesapce, optimizer
503  wrapper classes under mrpt::graphslam::optimizers
504  - Changes in build system:
505  - [Windows only] `DLL`s/`LIB`s now have the signature
506 `lib-${name}${2-digits-version}${compiler-name}_{x32|x64}.{dll/lib}`, allowing
507 several MRPT versions to coexist in the system PATH.
508  - [Visual Studio only] There are no longer `pragma comment(lib...)` in
509 any MRPT header, so it is the user responsibility to correctly tell user
510 projects to link against MRPT libraries. Normally, this is done with the
511 standard command `TARGET_LINK_LIBRARIES(MYTARGET ${MRPT_LIBS})`.
512  - Debian package: depends on libopenni-dev
513  - Optional dependency `liblas`: minimum required version is now 1.6.0
514 (Ubuntu Trusty or above).
515  - Update of embedded copy of nanoflann to version 1.2.0.
516  - New script for automated dumping stack traces on unit tests failures
517 (`tests/run_all_tests_gdb.sh`)
518  - Fix build against wxWidgets 3.1.*
519  - Embedded version of gtest upgraded to 1.8.0
520  - BUG FIXES:
521  - Fix inconsistent state after calling
522 mrpt::obs::CObservation3DRangeScan::swap()
523  - Fix SEGFAULT in mrpt::obs::CObservation3DRangeScan if trying to build
524 a pointcloud in an external container (mrpt::opengl, mrpt::maps)
525  - Fix mrpt::hwdrivers::CHokuyoURG can return invalid ray returns as
526 valid ranges.
527  - Fix PTG look-up-tables will always fail to load from cache files and
528 will re-generate (Closes [GitHub #243](https://github.com/MRPT/mrpt/issues/243))
529  - Fix mrpt::maps::COccupancyGridMap2D::simulateScanRay() fails to mark
530 out-of-range ranges as "invalid".
531  - Fix mrpt::io::CMemoryStream::Clear() after assigning read-only
532 memory blocks.
533  - Fix point into polygon checking not working for concave polygons. Now,
534 mrpt::math::TPolygon2D::contains() uses the winding number test which works for
535 any geometry.
536  - Fix inconsistent internal state after externalizing
537 mrpt::obs::CObservation3DRangeScan
538  - Fix a long outstanding bug regarding losing of keystroke events in
539 CDisplayWindow3D windows (Closes #13 again)
540  - Fix wrong units for negative numbers in mrpt::system::unitsFormat()
541  - Fix potential thread-unsafe conditions while inserting a
542 mrpt::obs::CObservation2DRangeScan into a pointmap with SSE2 optimizations
543 enabled.
544  - CStream: Fix memory leak if an exception (e.g. EOF) is found during
545 object deserialization.
546  - Fix a bug in the `onlyUniqueRobust` option for point cloud matching
547 (affecting CICP, etc.). Thanks [Shuo](https://github.com/ygzhangsoya)!
548 
549 <hr>
550 <a name="1.4.0">
551  <h2>Version 1.4.0: Released 22-APR-2016 </h2></a>
552  - <b>Most important changes:</b>
553  - Support for Velodyne LIDAR sensors.
554  - New minor version number due to changes in the API of these classes
555 (read details below): mrpt::obs::CObservationGPS, mrpt::hwdrivers::CGPSInterface
556  - [Python bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings)
557 added for a subset of MRPT functionality (Thanks Peter Rudolph and Nikolaus
558 Demmel!)
559  - <b>Detailed list of changes:</b>
560  - New apps:
561  -
562 [gps2rawlog](http://www.mrpt.org/list-of-mrpt-apps/application-gps2rawlog/):
563 Application to parse raw dumps of a GPS (GNSS) receiver output.
564  -
565 [image2gridmap](http://www.mrpt.org/list-of-mrpt-apps/application-image2gridmap/):
566 Small tool to import any image as an MRPT gridmap object file (*.gridmap).
567  -
568 [velodyne-view](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/):
569 Application to test, visualize and grab data from a live Velodyne sensor or from
570 a PCAP record.
571  - Changes in apps:
572  -
573 [rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/):
574 Now does not show GPS and IMU debug data in console, unless
575 `MRPT_HWDRIVERS_VERBOSE` environment variable is set.
576  -
577 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
578 New operation: `--export-gps-all`
579  - Changes in libraries:
580  - \ref mrpt_base_grp
581  - [ABI change] mrpt::system::tokenize() new parameter
582 `skipBlankTokens`
583  - mrpt::utils::circular_buffer now has peek() methods
584  - Eigen::MatrixBase<Derived>::loadFromTextFile() now also
585 accepts `,` as column separator.
586  - New functions:
587  - mrpt::system::timestampAdd()
588  - mrpt::utils::compute_CRC32()
589  - mrpt::utils::saturate<>()
590  - mrpt::containers::CDynamicGrid<> now uses `double` instead of
591 `float` for all dimensions and coordinate computations.
592  - Priority with these functions now work properly in GNU/Linux;
593 though, see the notes in their documentation for required permissions:
594  - mrpt::system::changeCurrentProcessPriority()
595  - mrpt::system::changeThreadPriority()
596  - New classes/structures:
597  - mrpt::math::TPointXYZIu8, mrpt::math::TPointXYZRGBu8,
598 mrpt::math::TPointXYZfIu8, mrpt::math::TPointXYZfRGBu8
599  - \ref mrpt_hwdrivers_grp
600  - New class mrpt::hwdrivers::CVelodyneScanner
601  - mrpt::hwdrivers::CNTRIPEmitter now has a parameter to
602 enable/disable sending back the data from the serial port to the NTRIP caster.
603  - <b>[API changed]</b> mrpt::hwdrivers::CGPSInterface API
604 clean-up and made more generic so any stream can be used to parse GNSS messages,
605 not only serial ports.
606  - New class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394
607 for capturing without PGR Flycapture but directly through libdc1394.
608  - Removed class mrpt::hwdrivers::CStereoGrabber_Bumblebee ,
609 superseded by mrpt::hwdrivers::CImageGrabber_FlyCapture2 which is capable of
610 both monocular and stereo grabbing.
611  - \ref mrpt_maps_grp
612  - New class mrpt::maps::CHeightGridMap2D_MRF
613  - New base class mrpt::maps::CHeightGridMap2D_Base
614  - mrpt::maps::COccupancyGridMap2D:
615  - New method
616 mrpt::maps::COccupancyGridMap2D::copyMapContentFrom()
617  - New likelihood parameter `LF_useSquareDist`
618  - New parameter
619 mrpt::maps::COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS
620  - mrpt::maps::COccupancyGridMap2D::simulateScanRay() is now
621 ~40% (GCC) to ~250% (MSVC) faster by default.
622  - New method
623 mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
624  - New method
625 mrpt::maps::CHeightGridMap2D::insertIndividualPoint()
626  - mrpt::maps::CMetricMap::compute3DMatchingRatio() has a
627 simplified API now
628  - \ref mrpt_obs_grp
629  - New class mrpt::obs::CObservationVelodyneScan
630  - mrpt::obs::CSinCosLookUpTableFor2DScans now can build a table
631 from a mrpt::obs::T2DScanProperties structure, which now also has its separate
632 header file for better modularity.
633  - <b>[API changed]</b> mrpt::obs::CObservationGPS now stores
634 only one message per objects. API clean-up and extended so the number of GNSS
635 message types is larger and more scalable.
636  - mrpt::obs::gnss: A new namespace with many new data structures
637 for GPS-related messages
638  - mrpt::obs::CObservation3DRangeScan: projection of RGBD images
639 to 3D points now correctly filters out invalid points, which were in previous
640 versions mapped as (0,0,0) points (relative to the sensor). In turn, this leads
641 to point clouds of a dynamic number of points. In case of needing the (u,v)
642 pixel coordinates of projected points, checkout the new fields `points3D_idxs_x`
643 & `points3D_idxs_y`.
644  - New class mrpt::obs::CObservation2DRangeScanWithUncertainty
645  - \ref mrpt_opengl_grp
646  - New class mrpt::opengl::CMesh3D to render 3D models/meshes
647  - New method
648 mrpt::opengl::CPointCloudColoured::recolorizeByCoordinate()
649  - \ref mrpt_slam_grp
650  - Small clean up of mrpt::slam::CICP API, add separate variable
651 to select covariance estimation method.
652  - \ref mrpt_topography_grp
653  - New function mrpt::topography::geocentricToENU_WGS84()
654  - \ref mrpt_vision_grp
655  - Removed the old GPL-licensed Hess SIFT implementation.
656  - mrpt::vision::CDifOdo has been refactored and now does faster
657 image pyramid computation (By Mariano Jaimez)
658  - mrpt::maps::CLandmarksMap changes:
659  - `beaconMaxRange` & `alphaRatio` parameters have been
660 removed since they were not used.
661  - New likelihood parameter `beaconRangesUseObservationStd`
662 to allow using different uncertainty values with each observation.
663  - Changes in build system:
664  - [Python
665 bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings) added for a subset
666 of MRPT functionality (Thanks Peter Rudolph!)
667  - Code ported to support the new libftdi1-dev (Fixes Debian bug
668 #810368, GitHub issue #176)
669  - Fix building with gcc 6.0 (Closes Debian bug #811812)
670  - CMake new option: `DISABLE_MRPT_AUTO_CLASS_REGISTRATION` to reduce
671 the footprint of MRPT statically-linked programs.
672  - Fix building against wxWidgets 3.1
673  - BUG FIXES:
674  - mrpt::math::CQuaternion<> did not check for unit norm in Release
675 builds.
676  - Fix build errors against OpenCV 3.0.0+ without opencv_contrib
677 modules.
678  - mrpt::hwdrivers::CHokuyoURG now correctly handles opening both USB
679 and Ethernet Hokuyo devices (Closes Github issue #180)
680  - Fixed mrpt::comms::net::DNS_resolve_async() may SIGSEGV in slow
681 networks.
682  - mrpt::opengl::CMesh::updateColorsMatrix() did not ignore cells
683 masked out.
684  - Wrong weights used in mrpt::poses::CPosePDFSOG::getMean()
685  - Removed ad-hoc bias addition in range-only predictions in
686 landmarks maps.
687  - Error loading height map count in
688 mrpt::maps::TSetOfMetricMapInitializers (Closes GitHub issue <a
689 href="https://github.com/MRPT/mrpt/issues/205" >#205</a>.
690  - Fix "gray images" grabbed in Windows when capturing the render
691 output of 3D windows (Thanks Mariano J.T. & Christian Kerl from TUM!)
692  - Fix typos and wxWidgets align errors in RawLogViewer GUI (Closes
693 #219)
694  - mrpt::nav::CHolonomicND & mrpt::nav::CHolonomicVFF didn't use the
695 full range of output velocities.
696  - mrpt::img::CImage::loadFromFile() now does not leave the image in
697 undefined state if the load operation fails.
698  - mrpt::hwdrivers::CLMS100Eth failed to load "pose_yaw" parameter
699 from config file.
700  -
701 mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide() did not
702 correctly return `false` for negative offsets between the camera poses.
703 
704 <hr>
705 <a name="1.3.2">
706  <h2>Version 1.3.2: Released 3-NOV-2015 </h2></a>
707  - Changes in Apps:
708  -
709 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
710  - New operation: `--list-poses`
711  - `--list-images` now also works with 3D range scans
712  - Changes in libraries:
713  - The library mrpt-srba has been moved out of MRPT and now is an
714 independent project: https://github.com/MRPT/srba
715  - \ref mrpt_base_grp
716  - mrpt::math::KDTreeCapable::TKDTreeSearchParams: Removed parameter
717 nChecks, which was ignored by nanoflann anyway.
718  - \ref mrpt_hwdrivers_grp
719  - mrpt::hwdrivers::CCameraSensor: Implemented OpenNI2 support for
720 CCameraSensor
721  - \ref mrpt_nav_grp
722  - mrpt::nav::CAbstractPTGBasedReactive: Maximum acceleration filter
723 (SPEEDFILTER_TAU) now follows paths better (Thanks to Steven Butner, UCSB/ECE)
724  - Changes in build system:
725  - `FIND_PACKAGE(MRPT)` will return libraries in the var
726 `MRPT_LIBRARIES`, following the CMake convention. The old variable name
727 `MRPT_LIBS` will be also returned for backward compatibility.
728  - BUG FIXES:
729  - Fix excessive width of paths drawn by
730 CMetricMapBuilderRBPF::drawCurrentEstimationToImage()
731  - Fix image distortion: k3 may be ignored. (Thanks to CBaiz)
732  - Fix Debian bugs.
733 
734 <hr>
735 <a name="1.3.1">
736  <h2>Version 1.3.1: Released 18-JUL-2015 </h2></a>
737  - Changes in apps:
738  -
739 [navlog-viewer](http://www.mrpt.org/list-of-mrpt-apps/application-navlog-viewer/):
740 Now shows more information on navigation logs.
741  - New app
742 [icp-slam-live](http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam-live/):
743 Real-time ICP-SLAM with a LIDAR sensor.
744  - Changes in libraries:
745  - \ref mrpt_base_grp
746  - New helper templates: mrpt::utils::int_select_by_bytecount<>,
747 mrpt::uint_select_by_bytecount<>
748  - New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and
749 weighted averages. See:
750  - Header <mrpt/poses/SO_SE_average.h>
751  - mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
752  - mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
753  - \ref mrpt_hwdrivers_grp
754  - New sensors supported:
755  - mrpt::hwdrivers::CIMUIntersense
756  - mrpt::hwdrivers::CSkeletonTracker
757  - New parameter
758 mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty
759 Hokuyo timestamps with PC time.
760  - mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really
761 implement turning on/off the RPLidar motor.
762  - \ref mrpt_maps_grp
763  - New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
764  - \ref mrpt_nav_grp
765  - Removed old base class CPathPlanningMethod
766  - CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class
767 renamed (and better described) for consistency with other planners
768  - mrpt::nav::CReactiveNavigationSystem:
769  - Documentation has been added about all existing parameters,
770 and template config files provided as starting points.
771  - The loadConfigFile() method with 2 config files has been
772 deprecated favoring the newer, simpler single config file.
773  - The "ROBOT_NAME" parameter is no longer employed. A minor side
774 effect (probably affecting no one) is that PTG cache files are no longer named
775 differently for different robots.
776  - mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save
777 and load trajectories to binary streams. Used to debug in navlog-viewer.
778  - \ref mrpt_obs_grp
779  - mrpt::obs::CObservation3DRangeScan now supports pixel labels
780 (semantic mapping, etc.)
781  - New class mrpt::obs::CObservationSkeleton to hold body tracking
782 information (by Francisco Angel Moreno)
783  - mrpt::obs::CObservationIMU has new data fields and fields are
784 better documented to reflect whether they refer to local/global coordinate
785 frames
786  - \ref mrpt_vision_grp
787  - mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter
788 from NEAREST to HQLINEAR
789  - BUG FIXES:
790  - Fix ocasional (false) failure of RANSAC unit tests due to their
791 non-deterministic nature.
792  - Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
793  - Fixed potential wrong bounding box results in
794 mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
795  - mrpt::obs::CObservation6DFeatures: Fixed random crashes related to
796 non-aligned memory in 32bit builds (Fixes #141)
797  - Fix Debian bug
798 [#786349](https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=786349) on Eigen2
799 support.
800  - mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects
801 not attached to a physical device.
802  - Fix wrong quaternion cross product when target variable is one of
803 the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes
804 #148)
805  - mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential
806 memory corruption.
807  - Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning
808 without trying to find a good consensus solution. It affected the demo app
809 kinect-3d-slam (Fixes #156)
810  - Fix wrong feature points in
811 CFeatureExtraction::extractFeaturesKLT() (Fixes #138)
812 
813 <hr>
814 <a name="1.3.0">
815  <h2>Version 1.3.0: Released 12-JAN-2015 </h2></a>
816  - <b>Most important changes:</b>
817  - Classes in libraries \ref mrpt_obs_grp and \ref mrpt_maps_grp now
818 belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
819  - No more `using namespace`s polute MRPT headers. <b>Errors in user
820 projects</b> missing `using namespace XXX` that might be formerly masked will
821 now reveal. <b>This is a good thing</b>, though admitedly annoying...
822  - New library \ref mrpt_nav_grp, subsumming the old \ref
823 mrpt_reactivenav_grp.
824  - New library \ref mrpt_tfest_grp, a refactor of the old \ref
825 mrpt_scanmatching_grp.
826  - <b>Backwards compatible headers</b> have been provided to ease the
827 transition of user code for all those library changes. Warning messages will be
828 shown recommending deprecated replacements.
829  - <b>Detailed list of changes:</b>
830  - Lib changes:
831  - Clean up of the bad practice of `using namespace` in public scopes
832 of headers. May lead to user code failing for missing `using namespace`s which
833 were previously masked.
834  - Namespace "slam" deprecated in libraries mrpt-obs and mrpt-maps
835 (used for historical reasons):
836  - New namespaces \ref mrpt_obs_grp and \ref mrpt_maps_grp.
837  - #include files moved from old paths <mrpt/slam/...> =>
838 <mrpt/{obs,maps}/...>
839  - Backward compatible headers added in <mrpt/slam/...> until
840 mrpt 2.0.0
841  - New library \ref mrpt_nav_grp, subsumming the old mrpt-reactivenav
842 (\ref mrpt_reactivenav_grp).
843  - \ref mrpt_reactivenav_grp is now a meta-library, depending on \ref
844 mrpt_nav_grp.
845  - \ref mrpt_tfest_grp : Old library mrpt-scanmatching (\ref
846 mrpt_scanmatching_grp) has been refactored, its API clean-up, and renamed \ref
847 mrpt_tfest_grp
848  - \ref mrpt_scanmatching_grp is now a meta-library, depending on
849 \ref mrpt_tfest_grp.
850  - These classes have been moved between libs for a more sensible
851 organization:
852  - mrpt::slam::CDetectorDoorCrossing ==>
853 mrpt::detectors::CDetectorDoorCrossing
854  - mrpt::slam::CPathPlanningMethod & CPathPlanningCircularRobot:
855 \ref mrpt_slam_grp ==> \ref mrpt_nav_grp
856  - Build System / General changes:
857  - Many optimizations in function arguments (value vs ref). Forces
858 ABI incompatibility with previous versions, hence the change to a new minor
859 version number.
860  - Updated embedded version of Eigen to 3.2.3
861  - Kinect: Dropped support for the CL NUI API, which seems
862 discontinued. Alternatives in use are libfreenect and OpenNI2.
863  - libfreenect is now detected in the system and used instead of
864 compiling the embedded copy of it.
865  - Embedded copy of libfreenect has been updated to (23/oct/2014). It
866 now supports "Kinect for Windows".
867  - More selective linking of .so files to avoid useless dependencies
868 (Fixes #52).
869  - (Windows only) MRPT can now be safely built with libusb support
870 (Freenect, Kinect,...) and it will run on systems without libusb installed, by
871 means of /DELAYLOAD linking flags.
872  - More unit tests.
873  - Changes in classes:
874  - [mrpt-base]
875  - New function mrpt::math::angDistance()
876  - [mrpt-hwdrivers]
877  - mrpt::hwdrivers::CIMUXSens_MT4: (by Joe Burmeister for Suave
878 Aerial Software)
879  - Upgrade to latest XSens SDK 4.2.1. Requires libudev-dev in
880 Linux
881  - Add GPS observations to CIMUXSens_MT4 for Xsens devices
882 like GTi-G-700 which have GPS
883  - mrpt::hwdrivers::CImageGrabber_dc1394: Length of ring buffer
884 is now configurable via TCaptureOptions_dc1394::ring_buffer_size
885  - [mrpt-maps]
886  - Important refactor of internal code related to
887 mrpt::maps::CMultiMetricMap:
888  - All maps (derived from mrpt::maps::CMetricMap) now have a
889 more uniform interface.
890  - Each map now has a `MapDefinition` structure with all its
891 parameters. See docs for mrpt::maps::TMetricMapInitializer
892  - Introduced mrpt::maps::TMapGenericParams to hold
893 parameters shared in all maps.
894  - [mrpt-obs]
895  - CObservation::getDescriptionAsText(): New virtual method to
896 obstain a textual description of observations. Refactoring of messy code
897 previously in the RawLogViewer app.
898  - [mrpt-vision]
899  - mrpt::vision::CFeatureExtraction: Removed (unused) optional
900 ROI parameter in detectors.
901  - BUG FIXES:
902  - mrpt::poses::CRobot2DPoseEstimator could estimate wrong angular
903 velocities for orientations near +-180deg.
904  - mrpt::system::CDirectoryExplorer::sortByName() didn't sort in
905 descending order
906  - Fixed crashes from MATLAB .mex files:
907 mrpt::system::registerFatalExceptionHandlers() has no longer effect, and will be
908 removed in future releases. (Thanks to Jesús Briales García for all the
909 testing!)
910  - Fixed potential crash for Eigen unaligned memory access in 32bit
911 builds in mrpt::slam::CGridMapAligner and other places ([Closes
912 #94](https://github.com/MRPT/mrpt/issues/94))
913 
914 <hr>
915 <a name="1.2.2">
916  <h2>Version 1.2.2: Released 12-SEP-2014 </h2></a>
917  - Changes in apps:
918  - <a
919 href="http://www.mrpt.org/list-of-mrpt-apps/application-sceneviewer3d/"
920 >SceneViewer3D</a>:
921  - New menu "File" -> "Import" -> "3D model" which supports many
922 standard formats (via mrpt::opengl::CAssimpModel)
923  - New classes:
924  - [mrpt-hwdrivers]
925  - mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR
926 scanners.
927  - [mrpt-opengl]
928  - mrpt::opengl::CAssimpModel for rendering complex 3D models (many
929 supported formats) in OpenGL scenes.
930  - Changes in classes:
931  - Consistency in all "laser scan" classes: angular increments between
932 rays are now FOV/(N-1) instead of FOV/N.
933  - [mrpt-base]
934  - New method mrpt::img::CImage::loadTGA()
935  - *IMPORTANT*: Changed behavior of CSerializable/CObject macros (see
936 bugfix below), introducing the new macros DEFINE_SERIALIZABLE_POST_*. May
937 require changes in user code if serializable classes are defined:
938  - Previous version:
939  \code
940  DEFINE_SERIALIZABLE_PRE_*(...)
941  class XXX {
942  DEFINE_SERIALIZABLE(XXX)
943  };
944  \endcode
945  - Must be changed in this version to:
946  \code
947  DEFINE_SERIALIZABLE_PRE_*(...)
948  class XXX {
949  DEFINE_SERIALIZABLE(XXX)
950  };
951  DEFINE_SERIALIZABLE_POST_*(...)
952  \endcode
953  - [mrpt-hwdrivers]
954  - Bumblebee2 Linux support in
955 mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
956  - [mrpt-maps]
957  - New method mrpt::maps::COccupancyGridMap2D::getRawMap()
958  - New method
959 mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB()
960  - [mrpt-opengl]
961  - mrpt::opengl::CWxGLCanvasBase (affects all 3D rendering classes):
962 better handling of internal timers for smoother updates while rendering in
963 multithreading apps.
964  - [mrpt-srba]
965  - New method to recover the global coordinates graph-slam problem
966 for a RBA map: mrpt::srba::RbaEngine::get_global_graphslam_problem() (see
967 example
968 [MRPT]\samples\srba-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
969  - BUG FIXES:
970  - mrpt::img::CImage constructor from a matrix crashed.
971  - Unit tests: Named semaphores are not tested anymore if it's detected
972 that the kernel version doesn't support them (Fix Debian 758725).
973  - mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
974  - mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
975  - Valgrind: Fixed potential unaligned memory access warning in point
976 clouds.
977  - Fix build error with AppleClang 5.1 (Closes #71).
978  - mrpt::utils::CClientTCPSocket: Use a connection success check that
979 works on all platforms
980  - Important bug fixed regarding a missing dynamic_cast<> in smart
981 pointers casting. See above possible implications in user code. properly (Patch
982 by Joe Burmeister).
983 
984 <hr>
985 <a name="1.2.1">
986  <h2>Version 1.2.1: Released 10-JUL-2014 </h2></a>
987  - Changes in classes:
988  - [mrpt-base]
989  - All points and poses now have a method setToNaN(), e.g.
990 mrpt::poses::CPose3D::setToNaN()
991  - [mrpt-hwdrivers]
992  - mrpt::hwdrivers::COpenNI2Sensor now has better support for opening
993 several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
994  - Build system:
995  - Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
996  - Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and
997 new unit tests added to avoid regressions).
998  - Several Debian bugs closed (see packaging/debian/changelog), including
999 build errors in uncommon platforms (MIPS, kFreeBSD, etc.)
1000 
1001 <hr>
1002 <a name="1.2.0">
1003  <h2>Version 1.2.0: Released 25-JUN-2014 </h2></a>
1004  - <b>Most important changes:</b>
1005  - Public header files (.h) have undergone a serious refactoring to
1006 minimize unnecesary dependencies and reduce compile time and memory as much as
1007 possible. As a side effect, user code might need to add new #include<> lines.
1008 This change justifies the new minor version series 1.2.X.
1009  - MRPT now cleanly builds in clang and OSX.
1010  - Support for new camera drivers (OpenNI2, DUO3D).
1011  - Many bug fixes.
1012  - <b>Detailed list of changes:</b>
1013  - Changes in apps:
1014  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
1015  - New operations: --export-odometry-txt, --recalc-odometry
1016  - New flag: --rectify-centers-coincide
1017  - New examples:
1018  - kitti_dataset2rawlog
1019  - New classes:
1020  - [mrpt-base]
1021  - mrpt::math::ContainerType<CONTAINER>::element_t to allow
1022 handling either Eigen or STL containers seamlessly.
1023  - mrpt::config::CConfigFilePrefixer
1024  - [mrpt-hwdrivers]
1025  - mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2 cameras,
1026 capable of reading from an array of OpenNI2 RGBD cameras (By Eduardo Fernandez)
1027  - mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D cameras (By
1028 Francisco Angel Moreno)
1029  - mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS receiver +
1030 NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0
1031  - [mrpt-obs]
1032  - mrpt::obs::CObservation6DFeatures
1033  - Changes in classes:
1034  - [mrpt-base]
1035  - Robust kernel templates moved from mrpt::vision to mrpt::math.
1036 See mrpt::math::RobustKernel<>. Added unit tests for robust kernels.
1037  - mrpt::poses::CPose3D has new SE(3) methods:
1038 mrpt::poses::CPose3D::jacob_dexpeD_de(),
1039 mrpt::poses::CPose3D::jacob_dAexpeD_de()
1040  - More efficient mrpt::utils::OctetVectorToObject() (avoid
1041 memory copy).
1042  - Fixed const-correctness of mrpt::img::CImage::forceLoad() and
1043 mrpt::img::CImage::unload()
1044  - [mrpt-hwdrivers]
1045  - mrpt::hwdrivers::CCameraSensor: Added a hook for user code to
1046 run before saving external image files:
1047 mrpt::hwdrivers::CCameraSensor::addPreSaveHook()
1048  - mrpt::hwdrivers::CNationalInstrumentsDAQ now supports analog
1049 and digital outputs.
1050  - New method mrpt::hwdrivers::CNTRIPClient::sendBackToServer()
1051  - [mrpt-srba]
1052  - Now also implements SE(3) relative graph-slam.
1053  - [mrpt-vision]
1054  - mrpt::vision::checkerBoardStereoCalibration: More robust
1055 handling of stereo calibration patterns. OpenCV sometimes detects corners in the
1056 wrong order between (left/right) images, so we detect the situation and fix it.
1057  - mrpt::vision::findMultipleChessboardsCorners():
1058  - Now enforces a consistent counterclockwise XYZ coordinate
1059 frame at each detected chessboard.
1060  - Much more robust in distingishing quads of different
1061 sizes.
1062  - Build system / public API:
1063  - Fixes to build in OS X -
1064 [Patch](https://gist.github.com/randvoorhies/9283072) by Randolph Voorhies.
1065  - Removed most "using namespace" from public headers, as good
1066 practice.
1067  - Refactoring of MRPT headers.
1068  - <mrpt/utils/stl_extensions.h> has been split into:
1069  - <mrpt/serialization/stl_serialization.h>
1070  - <mrpt/containers/circular_buffer.h>
1071  - <mrpt/utils/list_searchable.h>
1072  - <mrpt/containers/bimap.h>
1073  - <mrpt/utils/map_as_vector.h>
1074  - <mrpt/containers/traits_map.h>
1075  - <mrpt/serialization/stl_serialization.h>
1076  - <mrpt/containers/printf_vector.h>
1077  - <mrpt/containers/stl_containers_utils.h>
1078  - <mrpt/utils/ci_less.h>
1079  - Deleted methods and functions:
1080  - mrpt::system::breakpoint()
1081  - mrpt::vector_float is now mrpt::math::CVectorFloat,
1082 mrpt::vector_double is mrpt::math::CVectorDouble, for name consistency. Also,
1083 using Eigen::VectorXf is preferred for new code.
1084  - mrpt::CImage::rectifyImage() with parameters as separate
1085 vectors.
1086  - mrpt::maps::CPointsMap::getPoint() with mrpt::poses::CPoint3D
1087 arguments.
1088  - mrpt::vision::correctDistortion() -> use CImage method instead
1089  - All previous deprecated functions.
1090  - Embedded Eigen updated to version 3.2.1
1091 [(commit)](https://github.com/MRPT/mrpt/commit/47913da94a27e98a9115f85b2a530b6c14a10b8f)
1092 [(commit)](https://github.com/MRPT/mrpt/commit/33258761d3b75bf133d38aecb257c64e4d76b21e)
1093  - BUG FIXES:
1094  - RawlogViewer app: Fixed abort while converting SF->obs.only
1095 datasets when there is no odometry.
1096  - mrpt::obs::CSensoryFrame: The cached point map is now invalidated
1097 with any change to the list of observations so it's rebuild upon next call.
1098  - New implementation of mrpt::synch::CSemaphore avoids crashes in OS
1099 X - by Randolph Voorhies.
1100  - mrpt::opengl::CArrow was always drawn of normalized length.
1101  - FlyCapture2 monocular & stereo cameras could return an incorrect
1102 timestamp (only in Linux?).
1103  - mrpt::system::createDirectory() returned false (error) when the
1104 directory already existed.
1105  - mrpt::vision::CStereoRectifyMap::rectify() didn't update the left
1106 & right camera poses inside mrpt::obs::CObservationStereoImages objects while
1107 rectifying.
1108  - RawLogViewer: Operation "convert to SF format" didn't take into
1109 account odometry observations.
1110  - Fix build errors with GCC 4.9
1111  - Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when it
1112 fails to scan and open a device.
1113  - Fix potential crash in
1114 mrpt::slam::data_association_full_covariance with JCBB when no individually
1115 compatible matching exists
1116 [(commit)](https://github.com/MRPT/mrpt/commit/482472ebd80a3484dce63d294b1ac4e8f001e1eb)
1117 
1118 <hr>
1119  <a name="1.1.0">
1120  <h2>Version 1.1.0: Released 22-FEB-2014 </h2></a>
1121  - New apps:
1122  -
1123 [DifOdometry-Camera](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-camera).
1124 (By Mariano Jaimez Tarifa)
1125  -
1126 [DifOdometry-Datasets](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-datasets).
1127 (By Mariano Jaimez Tarifa)
1128  - New classes:
1129  - [mrpt-base]
1130  - mrpt::synch::CPipe: OS-independent pipe support.
1131  - [mrpt-hwdrivers]
1132  - mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens
1133 MT IMU devices.
1134  - mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition
1135 boards compatible with National Instruments DAQmx Base -
1136 [(commit)](https://github.com/MRPT/mrpt/commit/a82a7e37997cfb77e7ee9e903bdb2a55e3040b35).
1137  - mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey
1138 Research's cameras via the FlyCapture2 libray -
1139 [(commits)](https://github.com/MRPT/mrpt/pull/5/commits).
1140  - [mrpt-maps]
1141  - There are now two versions of octomaps (by Mariano Jaimez
1142 Tarifa/Jose Luis Blanco) -
1143 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3443)
1144  - mrpt::maps::COctoMap (only occupancy)
1145  - mrpt::maps::CColouredOctoMap (occupancy + RGB color)
1146  - [mrpt-obs]
1147  - mrpt::obs::CObservationRawDAQ, a placeholder for raw and generic
1148 measurements from data acquisition devices. -
1149 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3459)
1150  - [mrpt-opengl]
1151  - mrpt::opengl::CMeshFast, an open gl object that draws a "mesh" as
1152 a structured point cloud which is faster to render (by Mariano Jaimez Tarifa).
1153 -[(commit)](https://github.com/MRPT/mrpt/commit/9306bb4a585387d4c85b3f6e41dd2cbe5a354e80)
1154  - mrpt::opengl::CVectorField2D, an opengl object that shows a 2D
1155 Vector Field (by Mariano Jaimez Tarifa). -
1156 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3461)
1157  - [mrpt-reactivenav]
1158  - mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large
1159 code refactoring of these classes:
1160 [(commit)](https://github.com/MRPT/mrpt/pull/4)
1161  - mrpt::reactivenav::CReactiveNavigationSystem
1162  - mrpt::reactivenav::CReactiveNavigationSystem3D
1163  - [mrpt-vision]
1164  - mrpt::vision::CDifodo, a class which implements visual odometry
1165 based on depth images and the "range flow constraint equation". (by Mariano
1166 Jaimez Tarifa) -
1167 [(commit)](https://github.com/MRPT/mrpt/commit/e6ab5595f70cb889d07658c0b540c27e495a1cfb)
1168  - Changes in classes:
1169  - Clean up and slight optimization of metric map matching API: -
1170 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
1171  - <b>Methods marked as deprecated: </b>
1172  - mrpt::maps::CMetricMap::computeMatchingWith2D() -->
1173 mrpt::maps::CMetricMap::determineMatching2D()
1174  - mrpt::maps::CMetricMap::computeMatchingWith3D() -->
1175 mrpt::maps::CMetricMap::determineMatching3D()
1176  - New structures:
1177  - mrpt::slam::TMatchingParams
1178  - mrpt::slam::TMatchingExtraResults
1179  - mrpt::maps::CPointsMap::TInsertionOptions now have methods to
1180 save/load from binary streams, making more maintainable the serialization of
1181 point maps -
1182 [(commit)](https://github.com/MRPT/mrpt/commit/544d439c3462228b07344142de68e5bc10c1a2e3)
1183  - New options in point maps:
1184 mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints -
1185 [(commit)](https://github.com/MRPT/mrpt/pull/8)
1186  - mrpt::obs::CObservationIMU now includes data fields for 3D
1187 magnetometers and altimeters. -
1188 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3451)
1189  - Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont()
1190 to avoid shadowing mrpt::CCanvas::selectTextFont()
1191  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
1192  -
1193 mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for
1194 inverse look-up of WS to TP space -
1195 [(commit)](https://github.com/MRPT/mrpt/commit/4d04ef50e3dea581bed6287d4ea6593034c47da3)
1196  -
1197 mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() -
1198 [(commit)](https://github.com/MRPT/mrpt/commit/a224fc2489ad00b3ab116c84e8d4a48532a005df)
1199  - Changed the signature of
1200 mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D
1201 & 2.5D PTGs -
1202 [(commit)](https://github.com/MRPT/mrpt/commit/7bd68e49a4ba3bf08f194678787816c65de1d685)
1203  - Deleted classes:
1204  - mrpt::utils::CEvent, which was actually unimplemented (!)
1205  - mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer
1206 features enough to justify a class.
1207  - New examples:
1208  - [MRPT]/samples/threadsPipe
1209  - [MRPT]/samples/NIDAQ_test
1210  - [MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
1211  - [MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
1212  - Build system:
1213  - Fixed compilation with clang.
1214  - Fixed building against OpenCV 3.0.0 (GIT head)
1215  - Updated to the latest nanoflann 1.1.7.
1216  - Updated to Eigen 3.2.0 -
1217 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3455)
1218  - Binary packages for Windows now include .pdb files to help debugging
1219 with Visual Studio.
1220  - BUG FIXES:
1221  - Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
1222  - Fixed build error with GCC when experimental parallelization is
1223 enabled. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3441)
1224  - mrpt::reactivenav::CReactiveNavigationSystem complained about missing
1225 config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in
1226 MRPT 1.0.2 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3452)
1227  - Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in
1228 SRBA for 32bit builds.
1229 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3457)
1230  - mrpt::topography::geodeticToENU_WGS84() and related functions used a
1231 local +Z axis aligned to the line towards the Earth center; now the Z axis
1232 points normally to the ellipsoid surface. The difference with the previous
1233 behavior is small but may be of a few millimeters for each meter from the
1234 reference point. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
1235  - Potential crash when setting mpPolygon::setPoints() with empty vectors
1236 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
1237  - mrpt::reactivenav::CReactiveNavigationSystem and
1238 mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the
1239 "enableConsoleOutput" constructor flag -
1240 [(commit)](https://github.com/MRPT/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
1241  - mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got
1242 an external signal
1243 [(commit)](https://github.com/MRPT/mrpt/commit/511e95f03480537ff18ad2cad178c504b1cfbb53)
1244 
1245  <hr>
1246  <a name="1.0.2">
1247  <h2>Version 1.0.2: Released 2-AUG-2013 (SVN 3435) </h2></a>
1248  - New apps:
1249  -
1250 [ReactiveNav3D-Demo](http://www.mrpt.org/Application%3AReactiveNav3D-Demo) (By
1251 Mariano Jaimez Tarifa)
1252  - Changes in apps:
1253  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
1254  - New operations: --list-timestamps, --remap-timestamps,
1255 --export-2d-scans-txt, --export-imu-txt
1256  - New classes:
1257  - [mrpt-base]
1258  - mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco
1259 Angel Moreno).
1260  - [mrpt-opengl]
1261  - mrpt::opengl::CLight - OpenGL scenes now allow customization of
1262 OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport
1263 - <a href="http://code.google.com/p/mrpt/source/detail?r=3409" >r3409</a>
1264  - [mrpt-reactivenav]
1265  - mrpt::reactivenav::CReactiveNavigationSystem3D - By Mariano Jaimez
1266 Tarifa - <a href="http://code.google.com/p/mrpt/source/detail?r=3389" >r3389</a>
1267  - New functions:
1268  - [mrpt-opengl]
1269  - mrpt::opengl::stock_objects::RobotRhodon()
1270  - Changes in classes:
1271  - [mrpt-base]
1272  - Generic particle filter classes now allow directly resampling to a
1273 dynamic number of particles. Affected methods: - <a
1274 href="http://code.google.com/p/mrpt/source/detail?r=3381" >r3381</a>
1275  - mrpt::bayes::CParticleFilterCapable::performResampling()
1276  - mrpt::bayes::CParticleFilterCapable::computeResampling()
1277  - New method: CImage::loadFromXPM() - <a
1278 href="http://code.google.com/p/mrpt/source/detail?r=3397" >r3397</a>
1279  - [mrpt-maps]
1280  - mrpt::maps::COctoMap now exposes the inner octomap::OcTree object.
1281 See example samples/octomap_simple - <a
1282 href="http://code.google.com/p/mrpt/source/detail?r=4304" >r4304</a>
1283  - [mrpt-openg]
1284  - mrpt::opengl::CBox now be also rendered as a solid box + line
1285 borders. See mrpt::opengl::CBox::enableBoxBorder()
1286  - mrpt::opengl::COctoMapVoxels - <a
1287 href="http://code.google.com/p/mrpt/source/detail?r=4329" >r4329</a>
1288  - Fixed calculation of normals (fix shading)
1289  - Added new coloring scheme to
1290 mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
1291  - By default, light effects are disabled in this object, because
1292 shadows aren't computed anyway and the effect isn't pleasant.
1293  - Voxels cubes are sorted in ascending Z order so the visual
1294 effect is correct when rendering with transparency.
1295  - [mrpt-reactivenav]
1296  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: The "low
1297 pass filter" has been removed since it wasn't practical and was never used;
1298 thus, parameters "TAU" and "DELAY" has been removed. - <a
1299 href="http://code.google.com/p/mrpt/source/detail?r=3395" >r3395</a>
1300  - Methods removed since they weren't implemented in any derived
1301 class and there are no plans for doing it.
1302  - mrpt::reactivenav::CReactiveNavigationSystem ::evaluate()
1303  - mrpt::reactivenav::CReactiveNavigationSystem ::setParams()
1304  - Build system:
1305  - Updated to nanoflann 1.1.7: ICP is ~5% faster.
1306  - More unit tests:
1307  - [mrpt-base] geometry module.
1308  - BUG FIXES:
1309  - CTimeLogger::registerUserMeasure() ignored the enable/disable state of
1310 the logger - <a href="http://code.google.com/p/mrpt/source/detail?r=3382"
1311 >r3382</a>
1312  - mrpt-srba: SEGFAULT in 32bit builds due to missing
1313  - <a
1314 href="http://code.google.com/p/mrpt/source/detail?r=3429" >r3429</a>
1315 
1316  <br/>
1317  <hr>
1318  <a name="1.0.1">
1319  <h2>Version 1.0.1: Released 12-MAY-2013 (SVN 3370) </h2></a>
1320  - Changes in apps:
1321  - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
1322 >RawLogViewer</a>:
1323  - Better description of the "too much memory used" warning while
1324 loading large datasets.
1325  - <a href="http://www.mrpt.org/Application%3Arobotic-arm-kinematics"
1326 >robotic-arm-kinematics</a>:
1327  - Now allows changing the orientation of the first DOF (X,Y,Z).
1328  - New classes:
1329  - [mrpt-hwdrivers]
1330  - mrpt::hwdrivers::CInterfaceNI845x: An interface for this USB
1331 SPI/I2C data acquisition board.
1332  - mrpt::hwdrivers::CCANBusReader: A class to record CAN bus frames
1333 with a CAN232 converter.
1334  - [mrpt-obs]
1335  - mrpt::obs::CObservationCANBusJ1939
1336  - New functions:
1337  - New opengl_stock objects:
1338  - mrpt::opengl::stock_objects::Hokuyo_URG()
1339  - mrpt::opengl::stock_objects::Hokuyo_UTM()
1340  - mrpt::opengl::stock_objects::Househam_Sprayer()
1341  - mrpt::math::saveEigenSparseTripletsToFile() - <a
1342 href="http://code.google.com/p/mrpt/source/detail?r=3351" >r3351</a>
1343  - New examples:
1344  - gmrf_map_demo
1345  - Changes in classes:
1346  - [mrpt-maps]
1347  - mrpt::maps::COccupancyGridMap2D now also evalutes likelihoods for
1348 sonar-like observations (mrpt::obs::CObservationRange), allowing particle-filter
1349 localization with these sensors - <a
1350 href="http://code.google.com/p/mrpt/source/detail?r=3330" >r3330</a>
1351  - New method
1352 mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
1353  - [mrpt-kinematics]
1354  - mrpt::kinematics::CKinematicChain: Now allows changing the
1355 orientation of the first DOF (X,Y,Z).
1356  - Removed stuff:
1357  - Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has
1358 been removed. Replace with mrpt::vision::TFeatureTrackStatus
1359  - KLT-specific values for mrpt::vision::TFeatureTrackStatus has been
1360 removed, since they were not used in detected features anyway.
1361  - Build system:
1362  - Fixed a potential build error if including FFMPEG's <time.h> instead
1363 of the standard header - <a
1364 href="http://code.google.com/p/mrpt/source/detail?r=3316" >r3316</a>
1365  - Fixed determination of GCC version for all GCC builds - <a
1366 href="http://code.google.com/p/mrpt/source/detail?r=3324" >r3324</a>
1367  - Updated to Eigen 3.1.3 - <a
1368 href="http://code.google.com/p/mrpt/source/detail?r=3349" >r3349</a>
1369  - Updated to nanoflann 1.1.5
1370  - BUG FIXES:
1371  - Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due
1372 to an improperly initialized reference to a local variable - <a
1373 href="http://code.google.com/p/mrpt/source/detail?r=3318" >r3318</a>
1374  - Debian packages: added missing binary deps for libmrpt-dev - <a
1375 href="http://code.google.com/p/mrpt/source/detail?r=3335" >r3335</a>
1376 
1377  <hr>
1378  <a name="1.0.0">
1379  <h2>Version 1.0.0: Released 1-MAR-2013 (SVN 3287) </h2></a>
1380  - <b>Most important changes:</b>
1381  - New library with a flexible implementation of Sparser Relative Bundle
1382 Adjustment (RBA), as presented in ICRA 2013: <a href="http://www.mrpt.org/srba"
1383 >mrpt-srba</a>.
1384  - New library for Plane-based Maps: <a
1385 href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a> (also presented in ICRA
1386 2013).
1387  - Some MRPT modules are now header-only libraries.
1388  - Support for a new Octomap metric map, via the octomap library. See
1389 mrpt::maps::COctoMap and detailed changes below.
1390  - Support for importing/exporting point clouds in the standard LAS
1391 format (Look for liblas below).
1392  - Better support for custom builds of MRPT (selective building of
1393 individual apps and libs, etc.)
1394  - Ready for Visual Studio 2012 and GCC 4.7
1395  - From now on, MRPT is released under the "New BSD" license.
1396  - Many bug fixes.
1397  - <b>Detailed list of changes:</b>
1398  - New apps:
1399  - <a
1400 href="http://www.mrpt.org/list-of-mrpt-apps/application-srba-slam"
1401 >srba-slam</a>: A command-line frontend for the Relative Bundle Adjustment
1402 engine in mrpt-srba.
1403  - <a
1404 href="http://www.mrpt.org/list-of-mrpt-apps/application-holonomic-navigator-demo"
1405 >holonomic-navigator-demo</a>
1406  - <a
1407 href="http://www.mrpt.org/list-of-mrpt-apps/application-robotic-arm-kinematics"
1408 >robotic-arm-kinematics</a>: A GUI for experimenting with Denavit-Hartenberg
1409 parameters.
1410  - Changes in apps:
1411  - <a href="http://www.mrpt.org/Application%3Anavlog-viewer"
1412 >navlog-viewer</a>:
1413  - Fixed some minor visualization errors.
1414  - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
1415 >RawLogViewer</a>:
1416  - Import sequence of images as rawlog: Didn't detect "png" file
1417 extension as images - <a
1418 href="http://code.google.com/p/mrpt/source/detail?r=2940" >r2940</a> - Closes <a
1419 href="http://code.google.com/p/mrpt/issues/detail?id=34" >#34</a>
1420  - The GUI toolbar has been ported from wxWidget's ToolBar to
1421 sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
1422 href="http://code.google.com/p/mrpt/source/detail?r=2950" >r2950</a>
1423  - <a
1424 href="http://www.mrpt.org/list-of-mrpt-apps/application-ReactiveNavigationDemo"
1425 >ReactiveNavigationDemo</a>:
1426  - The default holonomic navigation method is now the VFF, since
1427 after the last bug fixes and tunes it seems to work quite well.
1428  - <a href="http://www.mrpt.org/Application%3ASceneViewer"
1429 >SceneViewer3D</a>:
1430  - The GUI toolbar has been ported from wxWidget's ToolBar to
1431 sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
1432 href="http://code.google.com/p/mrpt/source/detail?r=2952" >r2952</a>
1433  - Added a new menu: "File -> Import -> From LAS file..." - <a
1434 href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
1435  - <a href="http://www.mrpt.org/Application%3Agrid-matching"
1436 >grid-matching</a>: new argument "--aligner" to select aligner method - <a
1437 href="http://code.google.com/p/mrpt/source/detail?r=3021" >r3021</a>
1438  - New classes:
1439  - [mrpt-base]
1440  - mrpt::math::MatrixBlockSparseCols, a templated column-indexed
1441 efficient storage of block-sparse Jacobian or Hessian matrices, together with
1442 other arbitrary information - <a
1443 href="http://code.google.com/p/mrpt/source/detail?r=2995" >r2995</a>
1444  - mrpt::utils::ignored_copy_ptr<>
1445  - mrpt::system::CTimeLoggerEntry
1446  - [mrpt-obs]
1447  - mrpt::obs::CObservationWindSensor - <a
1448 href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
1449  - [mrpt-maps]
1450  - mrpt::maps::COctoMap
1451  - [mrpt-opengl]
1452  - mrpt::opengl::COctoMapVoxels
1453  - Deleted classes:
1454  - [mrpt-vision]
1455  - CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been
1456 removed since they didn't work robustly. Replace with
1457 mrpt::vision::CFeatureTracker_KL
1458  - New libraries:
1459  - [mrpt-kinematics] See mrpt::kinematics
1460  - [mrpt-pbmap] See <a href="group__mrpt__pbmap__grp.html"
1461 >mrpt-pbmap</a>.
1462  - [mrpt-srba] See <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
1463  - Changes in libraries:
1464  - These libs are now header-only: <a
1465 href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>, <a
1466 href="http://code.google.com/p/mrpt/source/detail?r=3045" >r3045</a>
1467  - [mrpt-bayes]
1468  - [mrpt-graphs]
1469  - [mrpt-graphslam]
1470  - Integration of the Octomap C++ library (new BSD License) by Kai M.
1471 Wurm et al.: <a href="http://code.google.com/p/mrpt/source/detail?r=3081"
1472 >r3081</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3083"
1473 >r3083</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3084"
1474 >r3084</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3086"
1475 >r3086</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3087"
1476 >r3087</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3088"
1477 >r3088</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3093"
1478 >r3093</a>
1479  - The main new classes are mrpt::maps::COctoMap &
1480 mrpt::opengl::COctoMapVoxels
1481  - mrpt::maps::CMultiMetricMap now allows the seamless
1482 integration of octomaps in many MRPT map building or localization algorithms.
1483  - New example: samples/octomap_simple
1484  - Changes in classes:
1485  - [mrpt-base]
1486  - Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT
1487 derived matrix classes, are now much faster loading huge matrices from text
1488 files - <a href="http://code.google.com/p/mrpt/source/detail?r=2997" >r2997</a>
1489  - The typedef Eigen::MatrixBase<Derived>::typename of MRPT's
1490 plugin to Eigen classes has been REMOVED, to avoid conflicts with some part of
1491 Eigen's sparse classes. Use Matrix::Scalar instead - <a
1492 href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
1493  - New method mrpt::poses::CPose3DQuat::inverse()
1494  - New methods mrpt::poses::SE_traits::pseudo_exp()
1495  - mrpt::system::CTimeLogger:
1496  - New method mrpt::system::CTimeLogger::getStats() for
1497 programatic execution time stats analysis - <a
1498 href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
1499  - New method
1500 mrpt::system::CTimeLogger::registerUserMeasure() for making stats of
1501 user-providen values - <a
1502 href="http://code.google.com/p/mrpt/source/detail?r=3005" >r3005</a>
1503  - mrpt::utils::map_as_vector<> can be now customized to use
1504 different underlying STL containers for storage - <a
1505 href="http://code.google.com/p/mrpt/source/detail?r=3001" >r3001</a>
1506  - mrpt::containers::CDynamicGrid::setSize() now also accepts a
1507 "fill_value" argument.
1508  - Added method mrpt::math::TPoint2D::norm() for consistency with
1509 mrpt::math::TPoint3D
1510  - Better support for saving (and not only loading) plain text
1511 configuration files, including commented files with default values of all
1512 existing parameters: - <a
1513 href="http://code.google.com/p/mrpt/source/detail?r=2954" >r2954</a>
1514  - All mrpt::config::CConfigFileBase::write() now have an
1515 extended signature for formatting.
1516  -
1517 mrpt::config::CLoadableOptions::dumpToTextStreamstd::ostream::Seek() now
1518 supports files larger than 2GB by using uint64_t instead of long (still see
1519 issue report for another patch required for MSVC2010) - (Closes <a
1520 href="http://code.google.com/p/mrpt/issues/detail?id=39" >issue 39</a>, thanks
1521 Robert Schattschneider) - <a
1522 href="http://code.google.com/p/mrpt/source/detail?r=3042" >r3042</a>
1523  - mrpt::typemeta::TTypeName<> moved to its own header
1524 <mrpt/typemeta/TTypeName.h> while refactoring
1525 <mrpt/serialization/CSerializable.h>
1526 - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
1527  - mrpt::config::CConfigFileBase::write() now has signatures for
1528 "uint32_t" and "uint64_t" in both 32 and 64bit builds, instead of relying of the
1529 "size_t" type. This was done to fix build errors in some GCC versions under
1530 32bits.
1531  - mrpt::poses::CPose2D now caches the cos() and sin() of phi,
1532 with a huge performance improvement in most common operations.
1533  - [mrpt-bayes]
1534  - mrpt::bayes::CKalmanFilterCapable (and all EKF-SLAM methods
1535 based on it) are now much faster. The implementation now exploits the sparsity
1536 of the Jacobian (~25% faster in a test 6D EKF-SLAM dataset) - <a
1537 href="http://code.google.com/p/mrpt/source/detail?r=3059" >r3059</a>, <a
1538 href="http://code.google.com/p/mrpt/source/detail?r=3060" >r3060</a>, <a
1539 href="http://code.google.com/p/mrpt/source/detail?r=3061" >r3061</a>
1540  - mrpt::bayes::CParticleFilterCapable now makes use of the
1541 Curiously Recurring Template Pattern (CRTP) design instead of ugly #define
1542 macros - <a href="http://code.google.com/p/mrpt/source/detail?r=3182" >r3182</a>
1543  - [mrpt-graphs]
1544  - mrpt::graphs::CNetworkOfPoses2D,
1545 mrpt::graphs::CNetworkOfPoses3D,... and so on, are now all typedef's instead of
1546 classes, since serialization is now implemented as pure templatized code, thus
1547 avoiding the need to declare derived auxiliary classes - <a
1548 href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
1549  - [mrpt-gui]
1550  - mrpt::gui::CDisplayWindow3D::addTextMessage() (and other
1551 opengl text routines) now allows drawing text with a shadow effect - <a
1552 href="http://code.google.com/p/mrpt/source/detail?r=3007" >r3007</a>
1553  - [mrpt-hwdrivers]
1554  - New method
1555 mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
1556  - mrpt::hwdrivers::CGenericSensor (and all derived classes) now
1557 allocate objects aligned in memory with
1558  - New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()
1559  - [mrpt-maps]
1560  - Better integration of point cloud classes with PCL: - <a
1561 href="http://code.google.com/p/mrpt/source/detail?r=2943" >r2943</a>
1562  - mrpt::maps::CPointsMap::loadPCDFile()
1563  - mrpt::maps::CPointsMap::setFromPCLPointCloud()
1564  - mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB()
1565  - Point cloud loading & saving in the standard ASPRS LiDAR LAS
1566 format (if liblas is installed in the system, see http://www.liblas.org/ ). See
1567 also the ready-to-use import menu in SceneViewer3D - <a
1568 href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
1569  - mrpt::maps::CPointsMap::loadLASFile()
1570  - mrpt::maps::CPointsMap::saveLASFile()
1571  - Integration of wind measurements in gas-concentration maps (by
1572 Javier G. Monroy) - <a href="http://code.google.com/p/mrpt/source/detail?r=3050"
1573 >r3050</a>
1574  - [mrpt-obs]
1575  - New method mrpt::obs::CObservationGPS::clear()
1576  - [mrpt-opengl]
1577  - Evaluation of bounding box of opengl objects. New methods: -
1578 <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
1579  - mrpt::opengl::CRenderizable::getBoundingBox()
1580  - mrpt::opengl::COpenGLScene::getBoundingBox()
1581  - mrpt::opengl::COpenGLViewport::getBoundingBox()
1582  -
1583 mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a
1584 new flag to draw solid boxes at each leaf node - <a
1585 href="http://code.google.com/p/mrpt/source/detail?r=3033" >r3033</a>
1586  - mrpt::opengl::COpenGLViewport has a new set of "global OpenGL
1587 switches" that affect the rendering of entire scenes - <a
1588 href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
1589  - Classes drawing lines now by default enable anti-aliasing (can
1590 be disabled by the programmer): - <a
1591 href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
1592  - mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ
1593  - mrpt::opengl::CSimpleLine
1594  - mrpt::opengl::CSetOfLines
1595  - [mrpt-reactivenav]
1596  - Much code of mrpt::reactivenav classes have undergone a
1597 clean-up, slight optimizations and a translation of old Spanish names/comments
1598 to English - <a href="http://code.google.com/p/mrpt/source/detail?r=2939"
1599 >r2939</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2942"
1600 >r2942</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2958"
1601 >r2958</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3091"
1602 >r3091</a>
1603  -
1604 mrpt::reactivenav::CParameterizedTrajectoryGenerator::CCollisionGrid now has a
1605 more maintainable binary serialization format - <a
1606 href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
1607  -
1608 mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now
1609 also saves text files which can be used to visualize PTGs from MATLAB (see
1610 scripts/viewPTG.m) - <a
1611 href="http://code.google.com/p/mrpt/source/detail?r=3009" >r3009</a>
1612  - mrpt::reactivenav::CHolonomicVFF and
1613 mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable
1614 from config files. See their documentation.
1615  - Repulsive forces from obstacles in
1616 mrpt::reactivenav::CHolonomicVFF are now automatically normalized wrt the
1617 density of the 360deg view of obstacles and forces follow a "1/range" law
1618 instead of the old "exp(-range)".
1619  - Solved a stability issue in C-S paths, in
1620 mrpt::reactivenav::CPTG_DiffDrive_CS (By Mariano Jaimez Tarifa) - <a
1621 href="http://code.google.com/p/mrpt/source/detail?r=3085" >r3085</a>
1622  - [mrpt-scanmatching]
1623  - mrpt::scanmatching::robustRigidTransformation():
1624  - Changed behavior not to allow features to appear in
1625 duplicated pairings.
1626  - Added a consistency test to avoid seeding RANSAC with an
1627 inconsistent initial model.
1628  - [mrpt-slam]
1629  - mrpt::slam::CMetricMapBuilderICP now does not integrate the
1630 small pose changes due to odometry and/or relocalization when considering the
1631 distance and angle thresholds. This means that fewer map updates are now done
1632 for the same ICP-SLAM parameters, which should lead to "less noisy" maps.
1633  - New functions:
1634  - [mrpt-base]
1635  - mrpt::utils::abs_diff()
1636  - mrpt::system::getMRPTLicense()
1637  - mrpt::system::getFileModificationTime()
1638  - mrpt::math::noncentralChi2PDF_CDF() is now exposed (was
1639 private)
1640  - mrpt::utils::sprintf_container()
1641  - mrpt::poses::operator -(mrpt::poses::CPose3DQuat)
1642  - max3() and min3() moved from the global namespace to
1643 mrpt::utils::max3() and mrpt::utils::min3()
1644  - New examples:
1645  - octomap_simple
1646  - ransac-data-association
1647  - Build system:
1648  - Update to nanoflann 1.1.4 - <a
1649 href="http://code.google.com/p/mrpt/source/detail?r=2937" >r2937</a>, <a
1650 href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
1651  - Update to Eigen 3.1.2 - <a
1652 href="http://code.google.com/p/mrpt/source/detail?r=3064" >r3064</a>
1653  - MRPT's root "CMakeLists.txt" has undergone a big refactoring and
1654 cleanup - <a href="http://code.google.com/p/mrpt/source/detail?r=2961"
1655 >r2961</a>
1656  - Backward compatible "mrpt-core" has been removed as a fake lib for
1657 which to search with CMake from user programs - <a
1658 href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
1659  - More system libs are detected in Linux (libclang-dev, lib3ds-dev),
1660 discarding embedded versions then - <a
1661 href="http://code.google.com/p/mrpt/source/detail?r=2963" >r2963</a> - <a
1662 href="http://code.google.com/p/mrpt/issues/detail?id=17" >Closes #17</a>
1663  - Automatic detection of supported SIMD extensions (SSE*) from CMake
1664 (only for Linux OS) - <a
1665 href="http://code.google.com/p/mrpt/source/detail?r=3013" >r3013</a>
1666  - Fixed building with Visual Studio 2012 (MSVC11) - <a
1667 href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
1668  - MRPT now allows defining header-only libraries with the
1669 define_mrpt_lib_header_only() macro - <a
1670 href="http://code.google.com/p/mrpt/source/detail?r=3034" >r3034</a>, <a
1671 href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>
1672  - More unit tests:
1673  - for all probability distribution functions in mrpt::math,
1674  - for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
1675  - for the octomap map
1676  - for serialization/deserealization of many classes.
1677  - Added new documentation page: <a href="env-vars.html" >environment
1678 variables</a>.
1679  - Removed the build flag "MRPT_BACKCOMPATIB_08X".
1680  - Fixes for building under Mac OSX: <a
1681 href="http://code.google.com/p/mrpt/source/detail?r=3181" >r3181</a>
1682  - Enable some c++11 features if the compiler supports them - <a
1683 href="http://code.google.com/p/mrpt/source/detail?r=3273" >r3273</a>
1684  - BUG FIXES:
1685  - Build: Fixed detection of OpenCV 2.4.2+ installed in the system
1686 via CMake config file instead of pkg-config, which seems to be broken. - <a
1687 href="http://code.google.com/p/mrpt/source/detail?r=3019" >r3019</a>
1688  - [mrpt-base] The iterator returned by end() in all MRPT vectors and
1689 matrices (based on Eigen) pointed to the last element, not to the (now correct)
1690 next position after the last element - <a
1691 href="http://code.google.com/p/mrpt/source/detail?r=2941" >r2941</a>
1692  - [mrpt-base] mrpt::dynamicsize_vector::resize() performed a memory
1693 reallocation even if given the current size, due to an inherited behavior from
1694 Eigen. It is not the expected behavior, so it has been fixed. - <a
1695 href="http://code.google.com/p/mrpt/source/detail?r=3003" >r3003</a>
1696  - [mrpt-base] Wrong computation of normPDF() values for the
1697 multidimensional cases. Closes <a
1698 href="http://code.google.com/p/mrpt/issues/detail?id=46" >#46</a> - <a
1699 href="http://code.google.com/p/mrpt/source/detail?r=3068" >r3068</a>
1700  - [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D
1701 cases (Thanks Cipri!)
1702  - [mrpt-base] Fixed errors in de-serialization of
1703 mrpt::utils::CPointPDFSOG and mrpt::maps::CReflectivityGridMap2D
1704  - [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D()
1705 always returned 0 matched.
1706  - [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to
1707 Edu!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
1708  - [mrpt-hwdrivers] Fixed potential SEGFAULT in
1709 mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for <a
1710 href="http://www.mrpt.org/node/2474" >reporting</a>)
1711  - [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks
1712 Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
1713  - [mrpt-maps] mrpt::maps::COccupancyGridMap2D::getAs3DObject()
1714 returned cells with an occupancy of exactly "0" as transparent - <a
1715 href="http://code.google.com/p/mrpt/source/detail?r=2957" >r2957</a>
1716  - [mrpt-maps] Fixed saving the correct point colors in
1717 mrpt::maps::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - <a
1718 href="http://code.google.com/p/mrpt/source/detail?r=3090" >r3090</a>
1719  - [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching
1720 two 3D point clouds as each correspondence was inserted twice into the output
1721 vector. (By Paco) - <a href="http://code.google.com/p/mrpt/source/detail?r=3162"
1722 >r3162</a>
1723  - [mrpt-opengl] Fixed a potential bug: after deserializing an object
1724 based on a display-list (most of them), it won't update in the opengl view.
1725  - [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not
1726 exported in Windows DLL's (Thanks Mariano for noticing!).
1727  - [mrpt-reactivenav] Fixed wrong computation of obstacles force
1728 fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - <a
1729 href="http://code.google.com/p/mrpt/source/detail?r=2953" >r2953</a>
1730  - [mrpt-reactivenav] Precomputed collision grids could be loaded in
1731 mrpt::reactivenav::CParameterizedTrajectoryGenerator even for different robot
1732 parameters/shape: now it correctly detects such situations and recompute when
1733 needed - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
1734 - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=33" >#33</a>
1735  - [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never
1736 evaluated" and wrong composition of representative direction for some gaps (By
1737 Mariano) - <a href="http://code.google.com/p/mrpt/source/detail?r=3056"
1738 >r3056</a>
1739 
1740 
1741  <br>
1742  <hr>
1743  <a name="0.9.6">
1744  <h2>Version 0.9.6 - (Version 1.0.0-Release_Candidate_4): Released 30-MAY-2012
1745 (SVN 2930) </h2></a>
1746  - New applications:
1747  - <a
1748 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
1749 >kinect-stereo-calibrate</a>: A GUI tool for calibrating RGB+D and/or stereo
1750 cameras, including live Kinect capturing.
1751  - Removed applications:
1752  - stereo-calib-gui: it's now superseded by kinect-stereo-gui. The old
1753 command line tool is still useful, so it's still there as the example
1754 "stereo-calib-opencv".
1755  - Changes in applications:
1756  - <a href="http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam"
1757 >icp-slam</a>:
1758  - Added a new option (SHOW_LASER_SCANS_3D in config files) to draw
1759 laser scans in the live 3D view - <a
1760 href="http://code.google.com/p/mrpt/source/detail?r=2881" >r2881</a>
1761  - <a
1762 href="http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit"
1763 >rawlog-edit</a>:
1764  - Operation "--camera-params" now also handles stereo observations.
1765  - New operation "--stereo-rectify" for batch rectifying datasets
1766 with stereo images.
1767  - New operation "--rename-externals".
1768  - <a
1769 href="http://www.mrpt.org/list-of-mrpt-apps/application-SceneViewer"
1770 >SceneViewer3D</a>:
1771  - New menu for generating high-resolution renders of any scene
1772 directly to imag files - <a
1773 href="http://code.google.com/p/mrpt/source/detail?r=2775" >r2775</a>
1774  - Many new menus for selective selecting objects and applying
1775 operations on them - <a
1776 href="http://code.google.com/p/mrpt/source/detail?r=2776" >r2776</a>
1777  - stereo-calib-gui: Now generates a report with detailed and clear
1778 results from stereo calibration and allows the user to change most parameters
1779 interactively - <a href="http://code.google.com/p/mrpt/source/detail?r=2801"
1780 >r2801</a>
1781  - <a
1782 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-3d-view"
1783 >kinect-3d-view</a>: New key command: press '9' to grab selected snapshots to
1784 disk - <a href="http://code.google.com/p/mrpt/source/detail?r=2890" >r2890</a>
1785  - Kinect stuff:
1786  - [mrpt-hwdrivers]
1787  - mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV
1788 instead of default freenect - <a
1789 href="http://code.google.com/p/mrpt/source/detail?r=2721" >r2721</a>, <a
1790 href="http://code.google.com/p/mrpt/source/detail?r=2762" >r2762</a>
1791  - mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at
1792 start up by default, what may be annoying (if required, set
1793 "initial_tilt_angle") - <a
1794 href="http://code.google.com/p/mrpt/source/detail?r=2722" >r2722</a>
1795  - mrpt::hwdrivers::CKinect now loads Kinect calibration files in a
1796 format compatible with stereo cameras. See
1797 http://www.mrpt.org/Kinect_calibration
1798  - [mrpt-obs]
1799  - New method mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
1800 allows simulating a "fake 2D laser scanner" from a Kinect. See the example:
1801 http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
1802  - [mrpt-vision]
1803  - New function mrpt::vision::checkerBoardStereoCalibration() to
1804 calibrate stereo and RGB+D cameras. See also the program <a
1805 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
1806 >kinect-stereo-calibrate</a>:
1807  - New classes:
1808  - [mrpt-gui]
1809  - New event generated by GUI windows:
1810 mrpt::gui::mrptEventWindowClosed
1811  - [mrpt-hwdrivers]
1812  - mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing
1813 devices (by Emil Khatib, University of Malaga) - <a
1814 href="http://code.google.com/p/mrpt/source/detail?r=2841" >r2841</a>
1815  - [mrpt-opengl]
1816  - New classes for representing confidence intervals (ellipsoids) in
1817 transformed spaces - <a
1818 href="http://code.google.com/p/mrpt/source/detail?r=2783" >r2783</a>
1819  - mrpt::opengl::CGeneralizedEllipsoidTemplate<>
1820  - mrpt::opengl::CEllipsoidRangeBearing2D
1821  - mrpt::opengl::CEllipsoidInverseDepth2D
1822  - mrpt::opengl::CEllipsoidInverseDepth3D
1823  - mrpt::opengl::CFrustum to easily render these geometric figures
1824  - New struct mrpt::opengl::TFontParams result of a code refactoring
1825  - [mrpt-vision]
1826  - mrpt::vision::TSIFTDescriptorsKDTreeIndex,
1827 TSURFDescriptorsKDTreeIndex - <a
1828 href="http://code.google.com/p/mrpt/source/detail?r=2799" >2799</a>
1829  - mrpt::vision::CStereoRectifyMap - See tutorial online:
1830 http://www.mrpt.org/Rectifying_stereo_
1831 
1832 */
1833 // clang-format on



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