MRPT  2.0.4
changeLog_doc.h
Go to the documentation of this file.
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 2.0.4: Released Jun 20, 2020
16 - Changes in applications:
17  - rawlog-edit, rawlog-grabber: Now allows loading external "plugin" modules (.so) with user-defined types.
18  - RawLogViewer, navlog-viewer, ptg-configurator allows more than one "plugin" modules to be loaded.
19 - Changes in libraries:
20  - \ref mrpt_math_grp
21  - New semantically-rich named static methods:
22  - mrpt::math::TLine3D::FromPointAndDirector()
23  - mrpt::math::TLine3D::FromTwoPoints()
24  - mrpt::math::TLine2D::FromCoefficientsABC()
25  - mrpt::math::TLine2D::FromTwoPoints()
26  - \ref mrpt_obs_grp
27  - CObservation3DRangeScan::points3D_convertToExternalStorage() stores point clouds with points as rows (vs as columns as it did before).
28  - \ref mrpt_opengl_grp
29  - Emit warnings to std::cerr whenever opengl memory is leaked due to OpenGL buffers being created and destroyed in different threads.
30  - Overlaid text messages are now also (de)serialized in mrpt::opengl::COpenGLViewport, and hence in 3D scenes in general.
31  - All opengl shader base classes now expose their internal buffers as const ref. See children of mrpt::opengl::CRenderizable
32  - \ref mrpt_system_grp
33  - New class: mrpt::system::CControlledRateTimer (+ associated example)
34  - New functions: mrpt::system::loadPluginModule(), mrpt::system::loadPluginModules()
35  - mrpt::system::CRateTimer: enforce use of high-resolution monothonic clock.
36  - mrpt::system::CTicTac: enforce use of nanosecond monothonic clock.
37  - Misplaced functions moved to their proper namespace: mrpt::io::vectorToTextFile()
38  - New functions: mrpt::system::thread_name() to get and set thread names for debuggers.
39  - mrpt::system::setConsoleColor(): Do not change color if stdout/stderr are not real terminals.
40  - \ref mrpt_nav_grp
41  - mrpt::nav::PlannerSimple2D does not throw an exception if goal/source is out of map bounds.
42 - BUG FIXES:
43  - mrpt::obs::CObservation3DRangeScan would try to (incorrectly) "autofix" camera resolution if loading an externally-stored observation.
44  - mrpt::maps::CPointsMap::determineMatching2D(): avoid potential multi-thread problems with a vector::swap()
45  - Fix build against opencv <3.4.4
46  - Fix potential pointer to local returned in CParticleFilterData
47  - Fix: mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI() was using a non-existing method.
48  - Fix: mrpt::nav::PlannerSimple2D did not honored maximum path length correctly.
49  - Fix race condition in CGenericCamera_AVI unit test.
50 
51 ------
52 # Version 2.0.3: Released May 13, 2020
53 - Changes in applications:
54  - navlog-viewer: Can now navigate with keyboard arrows too.
55  - RawLogViewer: better 3D pointcloud coloring in observation view and in "scan animation" view.
56 - Changes in libraries:
57  - \ref mrpt_maps_grp
58  - Point cloud classes mrpt::maps::CPointsMap: New methods:
59  - load2D_from_text_stream()
60  - load3D_from_text_stream()
61  - save2D_to_text_stream()
62  - save3D_to_text_stream()
63  - \ref mrpt_poses_grp
64  - More accurate analytical Jacobians for CPose3DQuatPDFGaussian::inverse() (Closes #1053)
65  - BUG FIXES:
66  - Incorrect number of points loaded when trying to load point clouds from incorrectly-formatted text files.
67  - Fix build error in riscv64 (gcc doesn't know mtune=native for that arch)
68  - Fix spurious unit test failures in mrpt::apps::RawlogGrabberApp due to system load.
69 
70 ------
71 # Version 2.0.2: Released May 4th, 2020
72 - Changes in applications:
73  - navlog-viewer: Ported to the new nanogui UI system (fixes random OpenGL context errors in former version).
74 - Changes in libraries:
75  - mrpt_containers_grp
76  - mrpt::containers::vector_with_small_size_optimization: Get rid of potential uninitialized usage GCC warnings.
77  - mrtp_hwdrivers_grp
78  - Remove support for obsolete XSens MTi 3rd generation devices. Removed class mrpt::hwdrivers::CIMUXSens. 4th+ generation still supported.
79  - mrpt_gui_grp
80  - Fix mouse-motion rotation glitches if clicking inside a nanogui control.
81  - Fix cmake errors building user programs in Windows (missing glfw dependency).
82  - mrpt_math_grp
83  - mrpt::math::RANSAC_Template made more generic to support custom dataset and model types.
84  - mrpt_opengl_grp
85  - Fix displaying of uninitialized textured in mrpt::opengl::CTexturedPlane. It now uses the default solid color of the object.
86  - mrpt_ros1bridge_grp
87  - Narrower build and run time dependencies: rosbag -> rosbag_storage
88 
89 ------
90 # Version 2.0.1: Released April 3rd, 2020
91 - Changes in applications:
92  - RawLogViewer: new "-l xxx.so" flag to load datasets with types defined in external projects.
93 - Changes in libraries:
94  - mrpt_obs_grp
95  - mrpt::obs::CObservationRobotPose: Fixed missing serialization of sensorPose
96 
97 ------
98 # Version 2.0.0: Released March 29th, 2020
99 - **Most important changes:**
100  - 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
101  - Support for old namespaces `mrpt-scanmatching`, `mrpt-reactivenav` is over.
102  - 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).
103  - All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
104  - Add support for serialization with std::variant
105  - PbMap has been factored out into [its own repository](https://github.com/MRPT/pbmap)
106  - XML-based database C++ classes have been removed from MRPT.
107 - Changes in applications:
108  - RawLogViewer:
109  - The ICP module now supports Velodyne 3D scans.
110  - rawlog-edit:
111  - New operation: `--de-externalize`
112  - pf-localization:
113  - Odometry is now used also for observation-only rawlogs.
114 - Changes in libraries:
115  - All `otherlibs` subdirectories have been renamed to `3rdparty` since it is a widespread name used in most projects.
116  - \ref mrpt_base_grp => Refactored into several smaller libraries, one per namespace.
117  - Removed class std::vector<std::string>. Replace by STL containers of `std::string` and functions mrpt::system::stringListAsString() in \ref string_manage.
118  - \ref mrpt_core_grp [NEW IN MRPT 2.0.0]
119  - 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.
120  - mrpt::cpu::supports(): a new cross-OS CPU feature detection function.
121  - mrpt::Clock allows users to select between Realtime or Monotonic sources.
122  - Removed custom macro MRPT_UNUSED_PARAM (replaced by c++17 attribute).
123  - Add syntactic suggar mrpt::lockHelper()
124  - \ref mrpt_math_grp [NEW IN MRPT 2.0.0]
125  - Removed functions (replaced by C++11/14 standard library):
126  - mrpt::math::erf, mrpt::math::erfc, std::isfinite, mrpt::math::std::isnan
127  - `mrpt::math::make_vector<>` => `std::vector<>{...}` braced initializator
128  - Removed the include file: `<mrpt/math/jacobians.h>`. Replace by `<mrpt/math/num_jacobian.h>` or individual methods in \ref mrpt_poses_grp classes.
129  - \ref mrpt_config_grp [NEW IN MRPT 2.0.0]
130  - mrpt::config::CConfigFileBase::write() now supports enum types.
131  - \ref mrpt_gui_grp
132  - New class mrpt::gui::CDisplayWindowGUI exposing powerful GUI possibilities via the nanogui project.
133  - \ref mrpt_img_grp [NEW IN MRPT 2.0.0]
134  - mrpt::img::TCamera distortion parameters now also supports the extra K4,K5,K6 distortion parameters.
135  - \ref mrpt_serialization_grp [NEW IN MRPT 2.0.0]
136  - New method mrpt::serialization::CArchive::ReadPOD() and macro `MRPT_READ_POD()` for reading unaligned POD variables.-
137  - Add support for `$env{}` syntax to evaluate environment variables.
138  - \ref mrpt_slam_grp
139  - rbpf-slam: Add support for simplemap continuation.
140  - CICP: parameter `onlyClosestCorrespondences` deleted (always true now).
141  - mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
142  - \ref mrpt_system_grp
143  - 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.
144  - Added: mrpt::system::WorkerThreadsPool
145  - \ref mrpt_rtti_grp [NEW IN MRPT 2.0.0]
146  - 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().
147  - 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.
148  Therefore, manual registration (as already done in registerAllClasses.cpp files) is left as the unique registration system.
149  This fixes warning messages "[mrpt::rtti::registerClass] Warning: Invoked with a nullptr".
150  - \ref mrpt_nav_grp
151  - Removed deprecated mrpt::nav::THolonomicMethod.
152  - 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.
153  - Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
154  - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
155  - \ref mrpt_comms_grp [NEW IN MRPT 2.0.0]
156  - This new module has been created to hold all serial devices & networking classes, with minimal dependencies.
157  - \ref mrpt_maps_grp
158  - mrpt::maps::CMultiMetricMap has been greatly simplified and now it is actually defined in the mrpt-maps library.
159  - New map type: mrpt::maps::CPointsMapXYZI for pointclouds with an intensity channel.
160  - New observation class: mrpt::obs::CObservationPointCloud
161  - Added optional "channel" attribute to CReflectivityGridMap2D and CObservationReflectivity to support different colors of light.
162  - \ref mrpt_hwdrivers_grp
163  - COpenNI2Generic: is safer in multithreading apps.
164  - CHokuyoURG:
165  - Rewrite driver to be safer and reduce mem allocs.
166  - New parameter `scan_interval` to decimate scans.
167  - VelodyneCalibration: Can now load YAML files, in addition to XML.
168  - New sensor state enum value: mrpt::hwdrivers::CGenericSensor::ssUninitialized
169  - NMEA GPS parser: now also recognizes all existing talker IDs (GP, GN, GA, etc.)
170  - \ref mrpt_opengl_grp
171  - Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
172  - Rendering engine rewritten to work using OpenGL Core (GLSL 3.3) instead of Legacy fixed functions.
173  - \ref mrpt_obs_grp
174  - 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.
175  - mrpt::obs::T3DPointsProjectionParams and mrpt::obs::CObservation3DRangeScan::unprojectInto now together support organized PCL point clouds.
176  - New method: mrpt::obs::CObservation3DRangeScan::rangeImage_getAsImage()
177  - Support for multiple-return sensors in mrpt::obs::CObservation3DRangeScan.
178  - New NMEA frame class: Message_NMEA_GSA
179  - \ref mrpt_poses_grp [NEW IN MRPT 2.0.0]
180  - Reorganized all Lie Algebra methods into \ref mrpt_poses_lie_grp
181  - Removed CPose3DRotVec, since its conceptual design is identical to Lie tangent space vectors.
182  - \ref mrpt_vision_grp
183  - Removed FASTER methods, and the libCVD 3rd party dependency.
184 
185 - BUG FIXES:
186  - Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
187  - Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
188  - Fix aborting reading from LMS111 scanner on first error.
189  - Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
190  - Fix accessing unaligned POD variables deserializing CObservationGPS (via the new `MRPT_READ_POD()` macro).
191  - Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
192  - Fix crash in CGPSInterface when not setting an external mutex.
193  - Fix potential crashes in RawLogViewer while editing list of observations.
194  - Fix incorrect conversion from quaternion to CPose3D.
195 
196 <a name="1.5.7">
197 <h2>Version 1.5.7: Released 24/APR/2019 </h2></a>
198 - <b>Detailed list of changes:</b>
199  - \ref mrpt_base_grp
200  - The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
201  - stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
202  - mrpt::system::TThreadHandle now is a wrapper around std::thread.
203  - Atomic counters now based on std::atomic. Custom implementation has been removed.
204  - stlplus source code has been removed.
205  - mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
206  - \ref mrpt_graphslam_grp
207  - levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
208  - CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
209  - \ref mrpt_nav_grp
210  - Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
211  - New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
212  - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
213  - BUG FIXES:
214  - Fix missing "-ldl" linker flag.
215  - Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
216  - Fix potential segfault in 3D reactive navigator.
217 
218 <hr>
219 <a name="1.5.6">
220 <h2>Version 1.5.6: Released 24/APR/2018 </h2></a>
221  - Applications:
222  - pf-localization:
223  - Odometry is now used also for observation-only rawlogs.
224  - \ref mrpt_hwdrivers_grp
225  - mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer
226 multi-threading operation.
227  - mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans.
228 Driver clean up to be safer and perform less memory allocs.
229  - \ref mrpt_maps_grp
230  - COccupancyGridMap2D: New LIDAR insertion parameters:
231 maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
232  - \ref mrpt_reactivenav_grp
233  - CAbstractPTGBasedReactive: Added new score `holo_stage_eval`.
234  - BUG FIXES:
235  - circular_buffer: exception made state preserving
236 
237 <hr>
238 <a name="1.5.5">
239 <h2>Version 1.5.5: (Under development) </h2></a>
240 - <b>Detailed list of changes:</b>
241  - \ref mrpt_nav_grp
242  - mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache
243 for improved performance.
244  - \ref mrpt_hwdrivers_grp
245  - A new class for SICK TIM561(TIM55x/TIM56x) lidar:
246  - A new source file named CSICKTim561Eth_2050101.cpp, which supports
247 SICK TIM series lidar including Tim55x, Tim56x
248  - mrpt::hwdrivers::CSICKTim561Eth
249  - A new test sample for SICK TIM561(TIM55x/TIM56x) lidar:
250  - sample/SICK_tim561eth_test/test.cpp
251  - BUG FIXES:
252  - Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D
253 (which led to crash)
254  - Fixed regression in particle resampling affecting RBPF-SLAM methods.
255 Introduced in Dec. 2016 with [this
256 commit](https://github.com/MRPT/mrpt/commit/691973813bdc53d3faa7088b092eb041aa80d0ce).
257 
258 <hr>
259 <a name="1.5.4">
260 <h2>Version 1.5.4: Released 31/OCT/2017 </h2></a>
261 - <b>Detailed list of changes:</b>
262  - \ref mrpt_base_grp
263  - Fix potential uninitialized value in
264 CRobot2DPoseEstimator::getLatestRobotPose()
265  - MRPT_getCompilationDate() returns time as well
266  - \ref mrpt_gui_grp
267  - mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event
268 type.
269  - Build system:
270  - Fix MRPTConfig.cmake for system octomap libraries.
271  - Fix package-contains-vcs-control-file (.gitingore) Lintian error.
272  - Fix compiling without liboctomap-dev in Ubuntu PPA.
273  - BUG FIXES:
274  - Fix waypoint reactive navigator edge case in which "end event" won't
275 be issued.
276  - Fix waypoint reactive navigator error while doing final aligning
277 (missing and dupplicated nav-end events).
278  - Fix aborting reading from LMS111 scanner on first error.
279  - Fix waypoint reactive navigator edge case in which "end event" won't
280 be issued.
281  - Fix corrupted pointers in CNetworkOfPoses after copy or move
282 operations.
283  - Fix invalid TP-targets generated during reactive navigation.
284  - Fix memory leak in reactivenav engine.
285  - Fix potential out-of-range access in
286 CObservation3DRangeScan::convertTo2DScan()
287 
288 <hr>
289 <a name="1.5.3">
290 <h2>Version 1.5.3: Released 13/AUG/2017 </h2></a>
291 - <b>Detailed list of changes:</b>
292  - CMake >=3.1 is now required for use of ExternalProjects.
293  - Scripts `scripts/prepare_{debian,release}.sh` have been refactored and
294 simplified.
295  - Removed embedded source code versions of Eigen, assimp and octomap.
296 Downloaded and built as ExternalProjects if not present in the system.
297  - Releases will be signed with PGP from now on and posted as binary
298 attachments to GitHub releases.
299 
300 <hr>
301 <a name="1.5.2">
302 <h2>Version 1.5.2: Released 6/AUG/2017 </h2></a>
303 - <b>Detailed list of changes:</b>
304  - Changes in libraries:
305  - \ref mrpt_base_grp
306  - Added methods:
307  - mrpt::synch::CCriticalSection::try_enter()
308  - mrpt::synch::CCriticalSectionRecursive::try_enter()
309  - \ref mrpt_nav_grp
310  - mrpt::nav::CAbstractNavigator: callbacks in
311 mrpt::nav::CRobot2NavInterface are now invoked *after* `navigationStep()` to
312 avoid problems if user code invokes the navigator API to change its state.
313  - Added methods to load/save mrpt::nav::TWaypointSequence to
314 configuration files.
315  - \ref mrpt_slam_grp
316  - rbpf-slam: Add support for simplemap continuation.
317  - BUG FIXES:
318  - Fix reactive navigator inconsistent state if navigation API is called
319 from within rnav callbacks.
320  - Fix incorrect evaluation of "ASSERT" formulas in
321 mrpt::nav::CMultiObjectiveMotionOptimizerBase
322 
323 <hr>
324 <a name="1.5.1">
325 <h2>Version 1.5.1: Released 21/JUN/2017 </h2></a>
326 - <b>Detailed list of changes:</b>
327  - Changes in libraries:
328  - \ref mrpt_nav_grp
329  - fix const-correctness:
330 [commit](https://github.com/MRPT/mrpt/commit/7e79003d2adeb7b170fa04e0bc34d42707e07306)
331  - More flexible callback behavior:
332 [commit](https://github.com/MRPT/mrpt/commit/5b054336a1ac75f6e4f8741e5049971917a2980a)
333 
334 
335 <hr>
336 <a name="1.5.0">
337 <h2>Version 1.5.0: Released 10-JUN-2018</h2></a>
338  - Changes in apps:
339  - New app
340 [PTG-configurator](http://www.mrpt.org/list-of-mrpt-apps/application-ptg-configurator/)
341  -
342 [ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/)
343 has been totally rebuilt as a 3D visualizer capable of testing different
344 navigation algorithms and robot kinematics.
345  - [RawLogViewer](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/):
346  - Now displays a textual and graphical representation of all
347 observation timestamps, useful to quickly detect sensor "shortages" or temporary
348 failures.
349  - New menu operation: "Edit" -> "Rename selected observation"
350  - mrpt::obs::CObservation3DRangeScan pointclouds are now shown in
351 local coordinates wrt to the vehicle/robot, not to the sensor.
352  -
353 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
354 New flag: `--txt-externals`
355  - Changes in libraries:
356  - \ref mrpt_base_grp
357  - New API to interface ZeroMQ: \ref noncstream_serialization_zmq
358  - Deprecated function (since 1.3.0) deleted:
359 mrpt::system::registerFatalExceptionHandlers()
360  - New method mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses()
361  - Class mrpt::utils::CRobotSimulator renamed ==>
362 mrpt::kinematics::CVehicleSimul_DiffDriven
363  - New twist (linear + angular velocity state) classes:
364 mrpt::math::TTwist2D, mrpt::math::TTwist3D
365  - New template method: mrpt::utils::CStream::ReadAsAndCastTo
366  - Added missing method mrpt::poses::CPose2D::inverseComposePoint()
367 for consistency with CPose3D
368  - New class std::recursive_mutex
369  - New class mrpt::system::COutputLogger replaces the classes
370 mrpt::utils::CDebugOutputCapable (deprecated) and mrpt::utils::CLog (removed).
371  - New macros for much more versatily logging:
372  - MRPT_LOG_DEBUG(), MRPT_LOG_INFO(), MRPT_LOG_WARN(),
373 MRPT_LOG_ERROR()
374  - MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM,
375 MRPT_LOG_WARN_STREAM, MRPT_LOG_ERROR_STREAM
376  - New functions for polynomial roots: see \ref polynomial_roots
377  - New functions for signal filtering: see \ref filtering_grp
378  - New functions for Fresnel integrals: see \fresnel_integrals_grp
379  - New classes mrpt::math::CAtan2LookUpTable,
380 mrpt::math::CAtan2LookUpTableMultiRes
381  - [API change] The following functions are no longer static methods:
382 (since their classes are now derived from the state-aware
383 mrpt::system::COutputLogger)
384  - mrpt::math::RANSAC_Template::execute()
385  - mrpt::math::CLevenbergMarquardtTempl::execute()
386  - Deleted methods in Eigen-extensions: leftDivideSquare(),
387 rightDivideSquare()
388  - Removed support for **named** semaphores in
389 mrpt::synch::CSemaphore
390  - new method mrpt::system::CTimeLogger::getLastTime()
391  - Removed mrpt::utils::CStartUpClassesRegister, replaced by the new
392 macro MRPT_INITIALIZER()
393  - New class mrpt::utils::CRateTimer
394  - mrpt::poses::CRobot2DPoseEstimator now uses a more generic
395 odometry-based velocity model (vx,vy,omega).
396  - New template mrpt::utils::ts_hash_map<> for thread-safe,
397 std::map-like containers based on hash functions.
398  - Included exprtk header-only library to runtime compile &
399 evaluation of mathematical expressions, under `<mrpt/3rdparty/exprtk.hpp>`
400  - New smart pointer templates: `mrpt::utils::copy_ptr<>`,
401 `mrpt::utils::poly_ptr<>`.
402  - New colormap: mrpt::utils::hot2rgb()
403  - New function mrpt::system::find_mrpt_shared_dir()
404  - New class mrpt::containers::CDynamicGrid3D<>
405  - New function mrpt::comms::net::http_request()
406  - New function mrpt::system::now_double()
407  - New function mrpt::rtti::getAllRegisteredClassesChildrenOf()
408  - Safer CClassRegistry: detect and warn on attempts to duplicated
409 class registration.
410  - New class mrpt::expr::CRuntimeCompiledExpression
411  - mrpt::config::CConfigFile and mrpt::config::CConfigFileMemory now
412 can parse config files with end-of-line backslash to split long strings into
413 several lines.
414  - New class mrpt::poses::FrameTransformer
415  - mrpt::poses classes now have all their constructors from
416 mrpt::math types marked as explicit, to avoid potential ambiguities and
417 unnoticed conversions.
418  - [Sophus](https://github.com/strasdat/Sophus/) is now used
419 internally for some Lie Algebra methods, and also exposed to the user as
420 `#include <mrpt/3rdparty/sophus/so3.hpp>`, etc. as part of mrpt-base
421  - \ref mrpt_bayes_grp
422  - [API change] `verbose` is no longer a field of
423 mrpt::bayes::CParticleFilter::TParticleFilterOptions. Use the
424 setVerbosityLevel() method of the CParticleFilter class itself.
425  - [API change] mrpt::bayes::CProbabilityParticle (which affects all
426 PF-based classes in MRPT) has been greatly simplified via usage of the new
427 mrpt::utils::copy_ptr<> pointee-copy-semantics smart pointer.
428  - \ref mrpt_graphs_grp
429  - New class mrpt::graphs::ScalarFactorGraph, a simple but extensible
430 linear GMRF solver. Refactored from mrpt::maps::CGasConcentrationGridMap2D, etc.
431  - \ref mrpt_gui_grp
432  - mrpt::gui::CWxGLCanvasBase is now derived from
433 mrpt::opengl::CTextMessageCapable so they can draw text labels
434  - New class mrpt::gui::CDisplayWindow3DLocker for exception-safe 3D
435 scene lock in 3D windows.
436  - \ref mrpt_hwdrivers_grp
437  - Using rplidar newest SDK 1.5.6 instead of 1.4.3, which support
438 rplidar A1 and rplidar A2
439  - mrpt::hwdrivers::CNTRIPEmitter can now also dump raw NTRIP data to
440 a file
441  - \ref mrpt_kinematics_grp
442  - New classes for 2D robot simulation:
443  - mrpt::kinematics::CVehicleSimul_DiffDriven
444  - mrpt::kinematics::CVehicleSimul_Holo
445  - New classes for 2D robot kinematic motion commands. See children
446 of mrpt::kinematics::CVehicleVelCmd
447  - \ref mrpt_maps_grp
448  - mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile() correct
449 description of `yCentralPixel` parameter.
450  - mrpt::maps::CPointsMap `liblas` import/export methods are now in a
451 separate header. See \ref mrpt_maps_liblas_grp and \ref dep-liblas
452  - New class mrpt::maps::CRandomFieldGridMap3D
453  - New class mrpt::maps::CPointCloudFilterByDistance
454  - \ref mrpt_obs_grp
455  - [ABI change] mrpt::obs::CObservation2DRangeScan
456  - range scan vectors are now protected for safety.
457  - New getter/setter methods.
458  - backwards-compatible proxies added for read-only from range
459 scan members.
460  - [ABI change] mrpt::obs::CObservation3DRangeScan:
461  - Now uses more SSE2 optimized code
462  - Depth filters are now available for
463 mrpt::obs::CObservation3DRangeScan::unprojectInto() and
464 mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
465  - New switch
466 mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT for runtime selection of
467 externals format.
468  - mrpt::obs::CObservation2DRangeScan now has an optional field for
469 intensity.
470  - mrpt::obs::CRawLog can now holds objects of arbitrary type, not
471 only actions/observations. This may be useful for richer logs aimed at
472 debugging.
473  - mrpt::obs::CObservationVelodyneScan::generatePointCloud() can now
474 generate the microseconds-precise timestamp for each individual point (new param
475 `generatePerPointTimestamp`).
476  - \ref mrpt_opengl_grp
477  - [ABI change] mrpt::opengl::CAxis now has many new options exposed
478 to configure its look.
479  - mrpt::opengl::CSetOfLines can now optionally show vertices as
480 dots.
481  - lib3DS is no longer shipped as an embedded version. A system
482 library in Linux is required to use mrpt::opengl::C3DSScene. Use
483 mrpt::opengl::CAssimpModel as a more powerful alternative.
484  - \ref mrpt_slam_grp
485  - [API change] mrpt::slam::CMetricMapBuilder::TOptions does not have
486 a `verbose` field anymore. It's supersedded now by the verbosity level of the
487 CMetricMapBuilder class itself.
488  - [API change] getCurrentMetricMapEstimation() renamed
489 mrpt::slam::CMultiMetricMapPDF::getAveragedMetricMapEstimation() to avoid
490 confusions.
491  - \ref mrpt_hwdrivers_grp
492  - mrpt::hwdrivers::CGenericSensor: external image format is now
493 `png` by default instead of `jpg` to avoid losses.
494  - [ABI change] mrpt::hwdrivers::COpenNI2Generic:
495  - refactored to expose more methods and allow changing
496 parameters via its constructor.
497  - Now supports reading from an IR, RGB and Depth channels
498 independenty.
499  - mrpt::hwdrivers::CHokuyoURG now can optionally return intensity
500 values.
501  - Deleted old, unused classes:
502  - mrpt::hwdrivers::CBoardIR
503  - mrpt::hwdrivers::CBoardDLMS
504  - mrpt::hwdrivers::CPtuHokuyo
505  - mrpt::hwdrivers::CHokuyoURG no longer as a "verbose" field. It's
506 superseded now by the COutputLogger interface.
507  - mrpt::hwdrivers::CActivMediaRobotBase and the embedded ARIA
508 library have been removed. Nowadays, one can access to ARIA robots via ROS
509 packages more easily than via MRPT.
510  - \ref mrpt_maps_grp
511  - mrpt::maps::CMultiMetricMapPDF added method
512 CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard().
513  - \ref mrpt_nav_grp
514  - New mrpt::nav::CWaypointsNavigator interface for waypoint
515 list-based navigation.
516  - [ABI & API change] PTG classes refactored (see new virtual base
517 class mrpt::nav::CParameterizedTrajectoryGenerator and its derived classes):
518  - Old classes `CPTG%d` have been renamed to describe each path
519 type. Old PTGs #6 and #7 have been removed for lack of practical use.
520  - New separate classes for PTGs based on numerically-integrated
521 paths and on closed-form formulations.
522  - Old deprecated method of PTGs `lambdaFunction()` removed.
523  - Parameters are no longer passed via a
524 mrpt::system::TParameters class, but via a mrpt::config::CConfigFileBase which
525 makes parameter passing to PTGs much more maintainable and consistent.
526  - PTGs now have a score_priority field to manually set hints
527 about preferences for path planning.
528  - PTGs are now mrpt::config::CLoadableOptions classes
529  - New classes:
530  - mrpt::nav::CMultiObjectiveMotionOptimizerBase
531  - \ref mrpt_graphslam_grp
532  - Extend mrpt-graphslam lib to execute simulated/real-time
533 graphSLAM. mrpt-graphslam supports 2D/3D execution of graphSLAM, utilizing
534  LaserScans, odometry information.
535  - Develop application `graphslam-engine` that executes graphSLAM via
536  the mrpt-graphslam lib
537  - mrpt::grpahslam::CGraphSlamEngine as the generic object that
538  manages graphSLAM, Node/Edge registration decider
539  classes under the mrpt::graphslam::deciders namesapce, optimizer
540  wrapper classes under mrpt::graphslam::optimizers
541  - Changes in build system:
542  - [Windows only] `DLL`s/`LIB`s now have the signature
543 `lib-${name}${2-digits-version}${compiler-name}_{x32|x64}.{dll/lib}`, allowing
544 several MRPT versions to coexist in the system PATH.
545  - [Visual Studio only] There are no longer `pragma comment(lib...)` in
546 any MRPT header, so it is the user responsibility to correctly tell user
547 projects to link against MRPT libraries. Normally, this is done with the
548 standard command `TARGET_LINK_LIBRARIES(MYTARGET ${MRPT_LIBS})`.
549  - Debian package: depends on libopenni-dev
550  - Optional dependency `liblas`: minimum required version is now 1.6.0
551 (Ubuntu Trusty or above).
552  - Update of embedded copy of nanoflann to version 1.2.0.
553  - New script for automated dumping stack traces on unit tests failures
554 (`tests/run_all_tests_gdb.sh`)
555  - Fix build against wxWidgets 3.1.*
556  - Embedded version of gtest upgraded to 1.8.0
557  - BUG FIXES:
558  - Fix inconsistent state after calling
559 mrpt::obs::CObservation3DRangeScan::swap()
560  - Fix SEGFAULT in mrpt::obs::CObservation3DRangeScan if trying to build
561 a pointcloud in an external container (mrpt::opengl, mrpt::maps)
562  - Fix mrpt::hwdrivers::CHokuyoURG can return invalid ray returns as
563 valid ranges.
564  - Fix PTG look-up-tables will always fail to load from cache files and
565 will re-generate (Closes [GitHub #243](https://github.com/MRPT/mrpt/issues/243))
566  - Fix mrpt::maps::COccupancyGridMap2D::simulateScanRay() fails to mark
567 out-of-range ranges as "invalid".
568  - Fix mrpt::io::CMemoryStream::Clear() after assigning read-only
569 memory blocks.
570  - Fix point into polygon checking not working for concave polygons. Now,
571 mrpt::math::TPolygon2D::contains() uses the winding number test which works for
572 any geometry.
573  - Fix inconsistent internal state after externalizing
574 mrpt::obs::CObservation3DRangeScan
575  - Fix a long outstanding bug regarding losing of keystroke events in
576 CDisplayWindow3D windows (Closes #13 again)
577  - Fix wrong units for negative numbers in mrpt::system::unitsFormat()
578  - Fix potential thread-unsafe conditions while inserting a
579 mrpt::obs::CObservation2DRangeScan into a pointmap with SSE2 optimizations
580 enabled.
581  - CStream: Fix memory leak if an exception (e.g. EOF) is found during
582 object deserialization.
583  - Fix a bug in the `onlyUniqueRobust` option for point cloud matching
584 (affecting CICP, etc.). Thanks [Shuo](https://github.com/ygzhangsoya)!
585 
586 <hr>
587 <a name="1.4.0">
588  <h2>Version 1.4.0: Released 22-APR-2016 </h2></a>
589  - <b>Most important changes:</b>
590  - Support for Velodyne LIDAR sensors.
591  - New minor version number due to changes in the API of these classes
592 (read details below): mrpt::obs::CObservationGPS, mrpt::hwdrivers::CGPSInterface
593  - [Python bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings)
594 added for a subset of MRPT functionality (Thanks Peter Rudolph and Nikolaus
595 Demmel!)
596  - <b>Detailed list of changes:</b>
597  - New apps:
598  -
599 [gps2rawlog](http://www.mrpt.org/list-of-mrpt-apps/application-gps2rawlog/):
600 Application to parse raw dumps of a GPS (GNSS) receiver output.
601  -
602 [image2gridmap](http://www.mrpt.org/list-of-mrpt-apps/application-image2gridmap/):
603 Small tool to import any image as an MRPT gridmap object file (*.gridmap).
604  -
605 [velodyne-view](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/):
606 Application to test, visualize and grab data from a live Velodyne sensor or from
607 a PCAP record.
608  - Changes in apps:
609  -
610 [rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/):
611 Now does not show GPS and IMU debug data in console, unless
612 `MRPT_HWDRIVERS_VERBOSE` environment variable is set.
613  -
614 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
615 New operation: `--export-gps-all`
616  - Changes in libraries:
617  - \ref mrpt_base_grp
618  - [ABI change] mrpt::system::tokenize() new parameter
619 `skipBlankTokens`
620  - mrpt::utils::circular_buffer now has peek() methods
621  - Eigen::MatrixBase<Derived>::loadFromTextFile() now also
622 accepts `,` as column separator.
623  - New functions:
624  - mrpt::system::timestampAdd()
625  - mrpt::utils::compute_CRC32()
626  - mrpt::utils::saturate<>()
627  - mrpt::containers::CDynamicGrid<> now uses `double` instead of
628 `float` for all dimensions and coordinate computations.
629  - Priority with these functions now work properly in GNU/Linux;
630 though, see the notes in their documentation for required permissions:
631  - mrpt::system::changeCurrentProcessPriority()
632  - mrpt::system::changeThreadPriority()
633  - New classes/structures:
634  - mrpt::math::TPointXYZIu8, mrpt::math::TPointXYZRGBu8,
635 mrpt::math::TPointXYZfIu8, mrpt::math::TPointXYZfRGBu8
636  - \ref mrpt_hwdrivers_grp
637  - New class mrpt::hwdrivers::CVelodyneScanner
638  - mrpt::hwdrivers::CNTRIPEmitter now has a parameter to
639 enable/disable sending back the data from the serial port to the NTRIP caster.
640  - <b>[API changed]</b> mrpt::hwdrivers::CGPSInterface API
641 clean-up and made more generic so any stream can be used to parse GNSS messages,
642 not only serial ports.
643  - New class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394
644 for capturing without PGR Flycapture but directly through libdc1394.
645  - Removed class mrpt::hwdrivers::CStereoGrabber_Bumblebee ,
646 superseded by mrpt::hwdrivers::CImageGrabber_FlyCapture2 which is capable of
647 both monocular and stereo grabbing.
648  - \ref mrpt_maps_grp
649  - New class mrpt::maps::CHeightGridMap2D_MRF
650  - New base class mrpt::maps::CHeightGridMap2D_Base
651  - mrpt::maps::COccupancyGridMap2D:
652  - New method
653 mrpt::maps::COccupancyGridMap2D::copyMapContentFrom()
654  - New likelihood parameter `LF_useSquareDist`
655  - New parameter
656 mrpt::maps::COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS
657  - mrpt::maps::COccupancyGridMap2D::simulateScanRay() is now
658 ~40% (GCC) to ~250% (MSVC) faster by default.
659  - New method
660 mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
661  - New method
662 mrpt::maps::CHeightGridMap2D::insertIndividualPoint()
663  - mrpt::maps::CMetricMap::compute3DMatchingRatio() has a
664 simplified API now
665  - \ref mrpt_obs_grp
666  - New class mrpt::obs::CObservationVelodyneScan
667  - mrpt::obs::CSinCosLookUpTableFor2DScans now can build a table
668 from a mrpt::obs::T2DScanProperties structure, which now also has its separate
669 header file for better modularity.
670  - <b>[API changed]</b> mrpt::obs::CObservationGPS now stores
671 only one message per objects. API clean-up and extended so the number of GNSS
672 message types is larger and more scalable.
673  - mrpt::obs::gnss: A new namespace with many new data structures
674 for GPS-related messages
675  - mrpt::obs::CObservation3DRangeScan: projection of RGBD images
676 to 3D points now correctly filters out invalid points, which were in previous
677 versions mapped as (0,0,0) points (relative to the sensor). In turn, this leads
678 to point clouds of a dynamic number of points. In case of needing the (u,v)
679 pixel coordinates of projected points, checkout the new fields `points3D_idxs_x`
680 & `points3D_idxs_y`.
681  - New class mrpt::obs::CObservation2DRangeScanWithUncertainty
682  - \ref mrpt_opengl_grp
683  - New class mrpt::opengl::CMesh3D to render 3D models/meshes
684  - New method
685 mrpt::opengl::CPointCloudColoured::recolorizeByCoordinate()
686  - \ref mrpt_slam_grp
687  - Small clean up of mrpt::slam::CICP API, add separate variable
688 to select covariance estimation method.
689  - \ref mrpt_topography_grp
690  - New function mrpt::topography::geocentricToENU_WGS84()
691  - \ref mrpt_vision_grp
692  - Removed the old GPL-licensed Hess SIFT implementation.
693  - mrpt::vision::CDifOdo has been refactored and now does faster
694 image pyramid computation (By Mariano Jaimez)
695  - mrpt::maps::CLandmarksMap changes:
696  - `beaconMaxRange` & `alphaRatio` parameters have been
697 removed since they were not used.
698  - New likelihood parameter `beaconRangesUseObservationStd`
699 to allow using different uncertainty values with each observation.
700  - Changes in build system:
701  - [Python
702 bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings) added for a subset
703 of MRPT functionality (Thanks Peter Rudolph!)
704  - Code ported to support the new libftdi1-dev (Fixes Debian bug
705 #810368, GitHub issue #176)
706  - Fix building with gcc 6.0 (Closes Debian bug #811812)
707  - CMake new option: `DISABLE_MRPT_AUTO_CLASS_REGISTRATION` to reduce
708 the footprint of MRPT statically-linked programs.
709  - Fix building against wxWidgets 3.1
710  - BUG FIXES:
711  - mrpt::math::CQuaternion<> did not check for unit norm in Release
712 builds.
713  - Fix build errors against OpenCV 3.0.0+ without opencv_contrib
714 modules.
715  - mrpt::hwdrivers::CHokuyoURG now correctly handles opening both USB
716 and Ethernet Hokuyo devices (Closes Github issue #180)
717  - Fixed mrpt::comms::net::DNS_resolve_async() may SIGSEGV in slow
718 networks.
719  - mrpt::opengl::CMesh::updateColorsMatrix() did not ignore cells
720 masked out.
721  - Wrong weights used in mrpt::poses::CPosePDFSOG::getMean()
722  - Removed ad-hoc bias addition in range-only predictions in
723 landmarks maps.
724  - Error loading height map count in
725 mrpt::maps::TSetOfMetricMapInitializers (Closes GitHub issue <a
726 href="https://github.com/MRPT/mrpt/issues/205" >#205</a>.
727  - Fix "gray images" grabbed in Windows when capturing the render
728 output of 3D windows (Thanks Mariano J.T. & Christian Kerl from TUM!)
729  - Fix typos and wxWidgets align errors in RawLogViewer GUI (Closes
730 #219)
731  - mrpt::nav::CHolonomicND & mrpt::nav::CHolonomicVFF didn't use the
732 full range of output velocities.
733  - mrpt::img::CImage::loadFromFile() now does not leave the image in
734 undefined state if the load operation fails.
735  - mrpt::hwdrivers::CLMS100Eth failed to load "pose_yaw" parameter
736 from config file.
737  -
738 mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide() did not
739 correctly return `false` for negative offsets between the camera poses.
740 
741 <hr>
742 <a name="1.3.2">
743  <h2>Version 1.3.2: Released 3-NOV-2015 </h2></a>
744  - Changes in Apps:
745  -
746 [rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
747  - New operation: `--list-poses`
748  - `--list-images` now also works with 3D range scans
749  - Changes in libraries:
750  - The library mrpt-srba has been moved out of MRPT and now is an
751 independent project: https://github.com/MRPT/srba
752  - \ref mrpt_base_grp
753  - mrpt::math::KDTreeCapable::TKDTreeSearchParams: Removed parameter
754 nChecks, which was ignored by nanoflann anyway.
755  - \ref mrpt_hwdrivers_grp
756  - mrpt::hwdrivers::CCameraSensor: Implemented OpenNI2 support for
757 CCameraSensor
758  - \ref mrpt_nav_grp
759  - mrpt::nav::CAbstractPTGBasedReactive: Maximum acceleration filter
760 (SPEEDFILTER_TAU) now follows paths better (Thanks to Steven Butner, UCSB/ECE)
761  - Changes in build system:
762  - `FIND_PACKAGE(MRPT)` will return libraries in the var
763 `MRPT_LIBRARIES`, following the CMake convention. The old variable name
764 `MRPT_LIBS` will be also returned for backward compatibility.
765  - BUG FIXES:
766  - Fix excessive width of paths drawn by
767 CMetricMapBuilderRBPF::drawCurrentEstimationToImage()
768  - Fix image distortion: k3 may be ignored. (Thanks to CBaiz)
769  - Fix Debian bugs.
770 
771 <hr>
772 <a name="1.3.1">
773  <h2>Version 1.3.1: Released 18-JUL-2015 </h2></a>
774  - Changes in apps:
775  -
776 [navlog-viewer](http://www.mrpt.org/list-of-mrpt-apps/application-navlog-viewer/):
777 Now shows more information on navigation logs.
778  - New app
779 [icp-slam-live](http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam-live/):
780 Real-time ICP-SLAM with a LIDAR sensor.
781  - Changes in libraries:
782  - \ref mrpt_base_grp
783  - New helper templates: mrpt::utils::int_select_by_bytecount<>,
784 mrpt::uint_select_by_bytecount<>
785  - New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and
786 weighted averages. See:
787  - Header <mrpt/poses/SO_SE_average.h>
788  - mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
789  - mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
790  - \ref mrpt_hwdrivers_grp
791  - New sensors supported:
792  - mrpt::hwdrivers::CIMUIntersense
793  - mrpt::hwdrivers::CSkeletonTracker
794  - New parameter
795 mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty
796 Hokuyo timestamps with PC time.
797  - mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really
798 implement turning on/off the RPLidar motor.
799  - \ref mrpt_maps_grp
800  - New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
801  - \ref mrpt_nav_grp
802  - Removed old base class CPathPlanningMethod
803  - CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class
804 renamed (and better described) for consistency with other planners
805  - mrpt::nav::CReactiveNavigationSystem:
806  - Documentation has been added about all existing parameters,
807 and template config files provided as starting points.
808  - The loadConfigFile() method with 2 config files has been
809 deprecated favoring the newer, simpler single config file.
810  - The "ROBOT_NAME" parameter is no longer employed. A minor side
811 effect (probably affecting no one) is that PTG cache files are no longer named
812 differently for different robots.
813  - mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save
814 and load trajectories to binary streams. Used to debug in navlog-viewer.
815  - \ref mrpt_obs_grp
816  - mrpt::obs::CObservation3DRangeScan now supports pixel labels
817 (semantic mapping, etc.)
818  - New class mrpt::obs::CObservationSkeleton to hold body tracking
819 information (by Francisco Angel Moreno)
820  - mrpt::obs::CObservationIMU has new data fields and fields are
821 better documented to reflect whether they refer to local/global coordinate
822 frames
823  - \ref mrpt_vision_grp
824  - mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter
825 from NEAREST to HQLINEAR
826  - BUG FIXES:
827  - Fix ocasional (false) failure of RANSAC unit tests due to their
828 non-deterministic nature.
829  - Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
830  - Fixed potential wrong bounding box results in
831 mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
832  - mrpt::obs::CObservation6DFeatures: Fixed random crashes related to
833 non-aligned memory in 32bit builds (Fixes #141)
834  - Fix Debian bug
835 [#786349](https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=786349) on Eigen2
836 support.
837  - mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects
838 not attached to a physical device.
839  - Fix wrong quaternion cross product when target variable is one of
840 the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes
841 #148)
842  - mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential
843 memory corruption.
844  - Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning
845 without trying to find a good consensus solution. It affected the demo app
846 kinect-3d-slam (Fixes #156)
847  - Fix wrong feature points in
848 CFeatureExtraction::extractFeaturesKLT() (Fixes #138)
849 
850 <hr>
851 <a name="1.3.0">
852  <h2>Version 1.3.0: Released 12-JAN-2015 </h2></a>
853  - <b>Most important changes:</b>
854  - Classes in libraries \ref mrpt_obs_grp and \ref mrpt_maps_grp now
855 belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
856  - No more `using namespace`s polute MRPT headers. <b>Errors in user
857 projects</b> missing `using namespace XXX` that might be formerly masked will
858 now reveal. <b>This is a good thing</b>, though admitedly annoying...
859  - New library \ref mrpt_nav_grp, subsumming the old \ref
860 mrpt_reactivenav_grp.
861  - New library \ref mrpt_tfest_grp, a refactor of the old \ref
862 mrpt_scanmatching_grp.
863  - <b>Backwards compatible headers</b> have been provided to ease the
864 transition of user code for all those library changes. Warning messages will be
865 shown recommending deprecated replacements.
866  - <b>Detailed list of changes:</b>
867  - Lib changes:
868  - Clean up of the bad practice of `using namespace` in public scopes
869 of headers. May lead to user code failing for missing `using namespace`s which
870 were previously masked.
871  - Namespace "slam" deprecated in libraries mrpt-obs and mrpt-maps
872 (used for historical reasons):
873  - New namespaces \ref mrpt_obs_grp and \ref mrpt_maps_grp.
874  - #include files moved from old paths <mrpt/slam/...> =>
875 <mrpt/{obs,maps}/...>
876  - Backward compatible headers added in <mrpt/slam/...> until
877 mrpt 2.0.0
878  - New library \ref mrpt_nav_grp, subsumming the old mrpt-reactivenav
879 (\ref mrpt_reactivenav_grp).
880  - \ref mrpt_reactivenav_grp is now a meta-library, depending on \ref
881 mrpt_nav_grp.
882  - \ref mrpt_tfest_grp : Old library mrpt-scanmatching (\ref
883 mrpt_scanmatching_grp) has been refactored, its API clean-up, and renamed \ref
884 mrpt_tfest_grp
885  - \ref mrpt_scanmatching_grp is now a meta-library, depending on
886 \ref mrpt_tfest_grp.
887  - These classes have been moved between libs for a more sensible
888 organization:
889  - mrpt::slam::CDetectorDoorCrossing ==>
890 mrpt::detectors::CDetectorDoorCrossing
891  - mrpt::slam::CPathPlanningMethod & CPathPlanningCircularRobot:
892 \ref mrpt_slam_grp ==> \ref mrpt_nav_grp
893  - Build System / General changes:
894  - Many optimizations in function arguments (value vs ref). Forces
895 ABI incompatibility with previous versions, hence the change to a new minor
896 version number.
897  - Updated embedded version of Eigen to 3.2.3
898  - Kinect: Dropped support for the CL NUI API, which seems
899 discontinued. Alternatives in use are libfreenect and OpenNI2.
900  - libfreenect is now detected in the system and used instead of
901 compiling the embedded copy of it.
902  - Embedded copy of libfreenect has been updated to (23/oct/2014). It
903 now supports "Kinect for Windows".
904  - More selective linking of .so files to avoid useless dependencies
905 (Fixes #52).
906  - (Windows only) MRPT can now be safely built with libusb support
907 (Freenect, Kinect,...) and it will run on systems without libusb installed, by
908 means of /DELAYLOAD linking flags.
909  - More unit tests.
910  - Changes in classes:
911  - [mrpt-base]
912  - New function mrpt::math::angDistance()
913  - [mrpt-hwdrivers]
914  - mrpt::hwdrivers::CIMUXSens_MT4: (by Joe Burmeister for Suave
915 Aerial Software)
916  - Upgrade to latest XSens SDK 4.2.1. Requires libudev-dev in
917 Linux
918  - Add GPS observations to CIMUXSens_MT4 for Xsens devices
919 like GTi-G-700 which have GPS
920  - mrpt::hwdrivers::CImageGrabber_dc1394: Length of ring buffer
921 is now configurable via TCaptureOptions_dc1394::ring_buffer_size
922  - [mrpt-maps]
923  - Important refactor of internal code related to
924 mrpt::maps::CMultiMetricMap:
925  - All maps (derived from mrpt::maps::CMetricMap) now have a
926 more uniform interface.
927  - Each map now has a `MapDefinition` structure with all its
928 parameters. See docs for mrpt::maps::TMetricMapInitializer
929  - Introduced mrpt::maps::TMapGenericParams to hold
930 parameters shared in all maps.
931  - [mrpt-obs]
932  - CObservation::getDescriptionAsText(): New virtual method to
933 obstain a textual description of observations. Refactoring of messy code
934 previously in the RawLogViewer app.
935  - [mrpt-vision]
936  - mrpt::vision::CFeatureExtraction: Removed (unused) optional
937 ROI parameter in detectors.
938  - BUG FIXES:
939  - mrpt::poses::CRobot2DPoseEstimator could estimate wrong angular
940 velocities for orientations near +-180deg.
941  - mrpt::system::CDirectoryExplorer::sortByName() didn't sort in
942 descending order
943  - Fixed crashes from MATLAB .mex files:
944 mrpt::system::registerFatalExceptionHandlers() has no longer effect, and will be
945 removed in future releases. (Thanks to Jesús Briales García for all the
946 testing!)
947  - Fixed potential crash for Eigen unaligned memory access in 32bit
948 builds in mrpt::slam::CGridMapAligner and other places ([Closes
949 #94](https://github.com/MRPT/mrpt/issues/94))
950 
951 <hr>
952 <a name="1.2.2">
953  <h2>Version 1.2.2: Released 12-SEP-2014 </h2></a>
954  - Changes in apps:
955  - <a
956 href="http://www.mrpt.org/list-of-mrpt-apps/application-sceneviewer3d/"
957 >SceneViewer3D</a>:
958  - New menu "File" -> "Import" -> "3D model" which supports many
959 standard formats (via mrpt::opengl::CAssimpModel)
960  - New classes:
961  - [mrpt-hwdrivers]
962  - mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR
963 scanners.
964  - [mrpt-opengl]
965  - mrpt::opengl::CAssimpModel for rendering complex 3D models (many
966 supported formats) in OpenGL scenes.
967  - Changes in classes:
968  - Consistency in all "laser scan" classes: angular increments between
969 rays are now FOV/(N-1) instead of FOV/N.
970  - [mrpt-base]
971  - New method mrpt::img::CImage::loadTGA()
972  - *IMPORTANT*: Changed behavior of CSerializable/CObject macros (see
973 bugfix below), introducing the new macros DEFINE_SERIALIZABLE_POST_*. May
974 require changes in user code if serializable classes are defined:
975  - Previous version:
976  \code
977  DEFINE_SERIALIZABLE_PRE_*(...)
978  class XXX {
979  DEFINE_SERIALIZABLE(XXX)
980  };
981  \endcode
982  - Must be changed in this version to:
983  \code
984  DEFINE_SERIALIZABLE_PRE_*(...)
985  class XXX {
986  DEFINE_SERIALIZABLE(XXX)
987  };
988  DEFINE_SERIALIZABLE_POST_*(...)
989  \endcode
990  - [mrpt-hwdrivers]
991  - Bumblebee2 Linux support in
992 mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
993  - [mrpt-maps]
994  - New method mrpt::maps::COccupancyGridMap2D::getRawMap()
995  - New method
996 mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB()
997  - [mrpt-opengl]
998  - mrpt::opengl::CWxGLCanvasBase (affects all 3D rendering classes):
999 better handling of internal timers for smoother updates while rendering in
1000 multithreading apps.
1001  - [mrpt-srba]
1002  - New method to recover the global coordinates graph-slam problem
1003 for a RBA map: mrpt::srba::RbaEngine::get_global_graphslam_problem() (see
1004 example
1005 [MRPT]\samples\srba-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
1006  - BUG FIXES:
1007  - mrpt::img::CImage constructor from a matrix crashed.
1008  - Unit tests: Named semaphores are not tested anymore if it's detected
1009 that the kernel version doesn't support them (Fix Debian 758725).
1010  - mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
1011  - mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
1012  - Valgrind: Fixed potential unaligned memory access warning in point
1013 clouds.
1014  - Fix build error with AppleClang 5.1 (Closes #71).
1015  - mrpt::utils::CClientTCPSocket: Use a connection success check that
1016 works on all platforms
1017  - Important bug fixed regarding a missing dynamic_cast<> in smart
1018 pointers casting. See above possible implications in user code. properly (Patch
1019 by Joe Burmeister).
1020 
1021 <hr>
1022 <a name="1.2.1">
1023  <h2>Version 1.2.1: Released 10-JUL-2014 </h2></a>
1024  - Changes in classes:
1025  - [mrpt-base]
1026  - All points and poses now have a method setToNaN(), e.g.
1027 mrpt::poses::CPose3D::setToNaN()
1028  - [mrpt-hwdrivers]
1029  - mrpt::hwdrivers::COpenNI2Sensor now has better support for opening
1030 several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
1031  - Build system:
1032  - Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
1033  - Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and
1034 new unit tests added to avoid regressions).
1035  - Several Debian bugs closed (see packaging/debian/changelog), including
1036 build errors in uncommon platforms (MIPS, kFreeBSD, etc.)
1037 
1038 <hr>
1039 <a name="1.2.0">
1040  <h2>Version 1.2.0: Released 25-JUN-2014 </h2></a>
1041  - <b>Most important changes:</b>
1042  - Public header files (.h) have undergone a serious refactoring to
1043 minimize unnecesary dependencies and reduce compile time and memory as much as
1044 possible. As a side effect, user code might need to add new #include<> lines.
1045 This change justifies the new minor version series 1.2.X.
1046  - MRPT now cleanly builds in clang and OSX.
1047  - Support for new camera drivers (OpenNI2, DUO3D).
1048  - Many bug fixes.
1049  - <b>Detailed list of changes:</b>
1050  - Changes in apps:
1051  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
1052  - New operations: --export-odometry-txt, --recalc-odometry
1053  - New flag: --rectify-centers-coincide
1054  - New examples:
1055  - kitti_dataset2rawlog
1056  - New classes:
1057  - [mrpt-base]
1058  - mrpt::math::ContainerType<CONTAINER>::element_t to allow
1059 handling either Eigen or STL containers seamlessly.
1060  - mrpt::config::CConfigFilePrefixer
1061  - [mrpt-hwdrivers]
1062  - mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2 cameras,
1063 capable of reading from an array of OpenNI2 RGBD cameras (By Eduardo Fernandez)
1064  - mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D cameras (By
1065 Francisco Angel Moreno)
1066  - mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS receiver +
1067 NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0
1068  - [mrpt-obs]
1069  - mrpt::obs::CObservation6DFeatures
1070  - Changes in classes:
1071  - [mrpt-base]
1072  - Robust kernel templates moved from mrpt::vision to mrpt::math.
1073 See mrpt::math::RobustKernel<>. Added unit tests for robust kernels.
1074  - mrpt::poses::CPose3D has new SE(3) methods:
1075 mrpt::poses::CPose3D::jacob_dexpeD_de(),
1076 mrpt::poses::CPose3D::jacob_dAexpeD_de()
1077  - More efficient mrpt::utils::OctetVectorToObject() (avoid
1078 memory copy).
1079  - Fixed const-correctness of mrpt::img::CImage::forceLoad() and
1080 mrpt::img::CImage::unload()
1081  - [mrpt-hwdrivers]
1082  - mrpt::hwdrivers::CCameraSensor: Added a hook for user code to
1083 run before saving external image files:
1084 mrpt::hwdrivers::CCameraSensor::addPreSaveHook()
1085  - mrpt::hwdrivers::CNationalInstrumentsDAQ now supports analog
1086 and digital outputs.
1087  - New method mrpt::hwdrivers::CNTRIPClient::sendBackToServer()
1088  - [mrpt-srba]
1089  - Now also implements SE(3) relative graph-slam.
1090  - [mrpt-vision]
1091  - mrpt::vision::checkerBoardStereoCalibration: More robust
1092 handling of stereo calibration patterns. OpenCV sometimes detects corners in the
1093 wrong order between (left/right) images, so we detect the situation and fix it.
1094  - mrpt::vision::findMultipleChessboardsCorners():
1095  - Now enforces a consistent counterclockwise XYZ coordinate
1096 frame at each detected chessboard.
1097  - Much more robust in distingishing quads of different
1098 sizes.
1099  - Build system / public API:
1100  - Fixes to build in OS X -
1101 [Patch](https://gist.github.com/randvoorhies/9283072) by Randolph Voorhies.
1102  - Removed most "using namespace" from public headers, as good
1103 practice.
1104  - Refactoring of MRPT headers.
1105  - <mrpt/utils/stl_extensions.h> has been split into:
1106  - <mrpt/serialization/stl_serialization.h>
1107  - <mrpt/containers/circular_buffer.h>
1108  - <mrpt/utils/list_searchable.h>
1109  - <mrpt/containers/bimap.h>
1110  - <mrpt/utils/map_as_vector.h>
1111  - <mrpt/containers/traits_map.h>
1112  - <mrpt/serialization/stl_serialization.h>
1113  - <mrpt/containers/printf_vector.h>
1114  - <mrpt/containers/stl_containers_utils.h>
1115  - <mrpt/utils/ci_less.h>
1116  - Deleted methods and functions:
1117  - mrpt::system::breakpoint()
1118  - mrpt::vector_float is now mrpt::math::CVectorFloat,
1119 mrpt::vector_double is mrpt::math::CVectorDouble, for name consistency. Also,
1120 using Eigen::VectorXf is preferred for new code.
1121  - mrpt::CImage::rectifyImage() with parameters as separate
1122 vectors.
1123  - mrpt::maps::CPointsMap::getPoint() with mrpt::poses::CPoint3D
1124 arguments.
1125  - mrpt::vision::correctDistortion() -> use CImage method instead
1126  - All previous deprecated functions.
1127  - Embedded Eigen updated to version 3.2.1
1128 [(commit)](https://github.com/MRPT/mrpt/commit/47913da94a27e98a9115f85b2a530b6c14a10b8f)
1129 [(commit)](https://github.com/MRPT/mrpt/commit/33258761d3b75bf133d38aecb257c64e4d76b21e)
1130  - BUG FIXES:
1131  - RawlogViewer app: Fixed abort while converting SF->obs.only
1132 datasets when there is no odometry.
1133  - mrpt::obs::CSensoryFrame: The cached point map is now invalidated
1134 with any change to the list of observations so it's rebuild upon next call.
1135  - New implementation of mrpt::synch::CSemaphore avoids crashes in OS
1136 X - by Randolph Voorhies.
1137  - mrpt::opengl::CArrow was always drawn of normalized length.
1138  - FlyCapture2 monocular & stereo cameras could return an incorrect
1139 timestamp (only in Linux?).
1140  - mrpt::system::createDirectory() returned false (error) when the
1141 directory already existed.
1142  - mrpt::vision::CStereoRectifyMap::rectify() didn't update the left
1143 & right camera poses inside mrpt::obs::CObservationStereoImages objects while
1144 rectifying.
1145  - RawLogViewer: Operation "convert to SF format" didn't take into
1146 account odometry observations.
1147  - Fix build errors with GCC 4.9
1148  - Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when it
1149 fails to scan and open a device.
1150  - Fix potential crash in
1151 mrpt::slam::data_association_full_covariance with JCBB when no individually
1152 compatible matching exists
1153 [(commit)](https://github.com/MRPT/mrpt/commit/482472ebd80a3484dce63d294b1ac4e8f001e1eb)
1154 
1155 <hr>
1156  <a name="1.1.0">
1157  <h2>Version 1.1.0: Released 22-FEB-2014 </h2></a>
1158  - New apps:
1159  -
1160 [DifOdometry-Camera](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-camera).
1161 (By Mariano Jaimez Tarifa)
1162  -
1163 [DifOdometry-Datasets](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-datasets).
1164 (By Mariano Jaimez Tarifa)
1165  - New classes:
1166  - [mrpt-base]
1167  - mrpt::synch::CPipe: OS-independent pipe support.
1168  - [mrpt-hwdrivers]
1169  - mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens
1170 MT IMU devices.
1171  - mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition
1172 boards compatible with National Instruments DAQmx Base -
1173 [(commit)](https://github.com/MRPT/mrpt/commit/a82a7e37997cfb77e7ee9e903bdb2a55e3040b35).
1174  - mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey
1175 Research's cameras via the FlyCapture2 libray -
1176 [(commits)](https://github.com/MRPT/mrpt/pull/5/commits).
1177  - [mrpt-maps]
1178  - There are now two versions of octomaps (by Mariano Jaimez
1179 Tarifa/Jose Luis Blanco) -
1180 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3443)
1181  - mrpt::maps::COctoMap (only occupancy)
1182  - mrpt::maps::CColouredOctoMap (occupancy + RGB color)
1183  - [mrpt-obs]
1184  - mrpt::obs::CObservationRawDAQ, a placeholder for raw and generic
1185 measurements from data acquisition devices. -
1186 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3459)
1187  - [mrpt-opengl]
1188  - mrpt::opengl::CMeshFast, an open gl object that draws a "mesh" as
1189 a structured point cloud which is faster to render (by Mariano Jaimez Tarifa).
1190 -[(commit)](https://github.com/MRPT/mrpt/commit/9306bb4a585387d4c85b3f6e41dd2cbe5a354e80)
1191  - mrpt::opengl::CVectorField2D, an opengl object that shows a 2D
1192 Vector Field (by Mariano Jaimez Tarifa). -
1193 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3461)
1194  - [mrpt-reactivenav]
1195  - mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large
1196 code refactoring of these classes:
1197 [(commit)](https://github.com/MRPT/mrpt/pull/4)
1198  - mrpt::reactivenav::CReactiveNavigationSystem
1199  - mrpt::reactivenav::CReactiveNavigationSystem3D
1200  - [mrpt-vision]
1201  - mrpt::vision::CDifodo, a class which implements visual odometry
1202 based on depth images and the "range flow constraint equation". (by Mariano
1203 Jaimez Tarifa) -
1204 [(commit)](https://github.com/MRPT/mrpt/commit/e6ab5595f70cb889d07658c0b540c27e495a1cfb)
1205  - Changes in classes:
1206  - Clean up and slight optimization of metric map matching API: -
1207 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
1208  - <b>Methods marked as deprecated: </b>
1209  - mrpt::maps::CMetricMap::computeMatchingWith2D() -->
1210 mrpt::maps::CMetricMap::determineMatching2D()
1211  - mrpt::maps::CMetricMap::computeMatchingWith3D() -->
1212 mrpt::maps::CMetricMap::determineMatching3D()
1213  - New structures:
1214  - mrpt::slam::TMatchingParams
1215  - mrpt::slam::TMatchingExtraResults
1216  - mrpt::maps::CPointsMap::TInsertionOptions now have methods to
1217 save/load from binary streams, making more maintainable the serialization of
1218 point maps -
1219 [(commit)](https://github.com/MRPT/mrpt/commit/544d439c3462228b07344142de68e5bc10c1a2e3)
1220  - New options in point maps:
1221 mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints -
1222 [(commit)](https://github.com/MRPT/mrpt/pull/8)
1223  - mrpt::obs::CObservationIMU now includes data fields for 3D
1224 magnetometers and altimeters. -
1225 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3451)
1226  - Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont()
1227 to avoid shadowing mrpt::CCanvas::selectTextFont()
1228  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
1229  -
1230 mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for
1231 inverse look-up of WS to TP space -
1232 [(commit)](https://github.com/MRPT/mrpt/commit/4d04ef50e3dea581bed6287d4ea6593034c47da3)
1233  -
1234 mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() -
1235 [(commit)](https://github.com/MRPT/mrpt/commit/a224fc2489ad00b3ab116c84e8d4a48532a005df)
1236  - Changed the signature of
1237 mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D
1238 & 2.5D PTGs -
1239 [(commit)](https://github.com/MRPT/mrpt/commit/7bd68e49a4ba3bf08f194678787816c65de1d685)
1240  - Deleted classes:
1241  - mrpt::utils::CEvent, which was actually unimplemented (!)
1242  - mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer
1243 features enough to justify a class.
1244  - New examples:
1245  - [MRPT]/samples/threadsPipe
1246  - [MRPT]/samples/NIDAQ_test
1247  - [MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
1248  - [MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
1249  - Build system:
1250  - Fixed compilation with clang.
1251  - Fixed building against OpenCV 3.0.0 (GIT head)
1252  - Updated to the latest nanoflann 1.1.7.
1253  - Updated to Eigen 3.2.0 -
1254 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3455)
1255  - Binary packages for Windows now include .pdb files to help debugging
1256 with Visual Studio.
1257  - BUG FIXES:
1258  - Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
1259  - Fixed build error with GCC when experimental parallelization is
1260 enabled. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3441)
1261  - mrpt::reactivenav::CReactiveNavigationSystem complained about missing
1262 config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in
1263 MRPT 1.0.2 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3452)
1264  - Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in
1265 SRBA for 32bit builds.
1266 [(commit)](http://code.google.com/p/mrpt/source/detail?r=3457)
1267  - mrpt::topography::geodeticToENU_WGS84() and related functions used a
1268 local +Z axis aligned to the line towards the Earth center; now the Z axis
1269 points normally to the ellipsoid surface. The difference with the previous
1270 behavior is small but may be of a few millimeters for each meter from the
1271 reference point. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
1272  - Potential crash when setting mpPolygon::setPoints() with empty vectors
1273 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
1274  - mrpt::reactivenav::CReactiveNavigationSystem and
1275 mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the
1276 "enableConsoleOutput" constructor flag -
1277 [(commit)](https://github.com/MRPT/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
1278  - mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got
1279 an external signal
1280 [(commit)](https://github.com/MRPT/mrpt/commit/511e95f03480537ff18ad2cad178c504b1cfbb53)
1281 
1282  <hr>
1283  <a name="1.0.2">
1284  <h2>Version 1.0.2: Released 2-AUG-2013 (SVN 3435) </h2></a>
1285  - New apps:
1286  -
1287 [ReactiveNav3D-Demo](http://www.mrpt.org/Application%3AReactiveNav3D-Demo) (By
1288 Mariano Jaimez Tarifa)
1289  - Changes in apps:
1290  - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
1291  - New operations: --list-timestamps, --remap-timestamps,
1292 --export-2d-scans-txt, --export-imu-txt
1293  - New classes:
1294  - [mrpt-base]
1295  - mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco
1296 Angel Moreno).
1297  - [mrpt-opengl]
1298  - mrpt::opengl::CLight - OpenGL scenes now allow customization of
1299 OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport
1300 - <a href="http://code.google.com/p/mrpt/source/detail?r=3409" >r3409</a>
1301  - [mrpt-reactivenav]
1302  - mrpt::reactivenav::CReactiveNavigationSystem3D - By Mariano Jaimez
1303 Tarifa - <a href="http://code.google.com/p/mrpt/source/detail?r=3389" >r3389</a>
1304  - New functions:
1305  - [mrpt-opengl]
1306  - mrpt::opengl::stock_objects::RobotRhodon()
1307  - Changes in classes:
1308  - [mrpt-base]
1309  - Generic particle filter classes now allow directly resampling to a
1310 dynamic number of particles. Affected methods: - <a
1311 href="http://code.google.com/p/mrpt/source/detail?r=3381" >r3381</a>
1312  - mrpt::bayes::CParticleFilterCapable::performResampling()
1313  - mrpt::bayes::CParticleFilterCapable::computeResampling()
1314  - New method: CImage::loadFromXPM() - <a
1315 href="http://code.google.com/p/mrpt/source/detail?r=3397" >r3397</a>
1316  - [mrpt-maps]
1317  - mrpt::maps::COctoMap now exposes the inner octomap::OcTree object.
1318 See example samples/octomap_simple - <a
1319 href="http://code.google.com/p/mrpt/source/detail?r=4304" >r4304</a>
1320  - [mrpt-openg]
1321  - mrpt::opengl::CBox now be also rendered as a solid box + line
1322 borders. See mrpt::opengl::CBox::enableBoxBorder()
1323  - mrpt::opengl::COctoMapVoxels - <a
1324 href="http://code.google.com/p/mrpt/source/detail?r=4329" >r4329</a>
1325  - Fixed calculation of normals (fix shading)
1326  - Added new coloring scheme to
1327 mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
1328  - By default, light effects are disabled in this object, because
1329 shadows aren't computed anyway and the effect isn't pleasant.
1330  - Voxels cubes are sorted in ascending Z order so the visual
1331 effect is correct when rendering with transparency.
1332  - [mrpt-reactivenav]
1333  - mrpt::reactivenav::CParameterizedTrajectoryGenerator: The "low
1334 pass filter" has been removed since it wasn't practical and was never used;
1335 thus, parameters "TAU" and "DELAY" has been removed. - <a
1336 href="http://code.google.com/p/mrpt/source/detail?r=3395" >r3395</a>
1337  - Methods removed since they weren't implemented in any derived
1338 class and there are no plans for doing it.
1339  - mrpt::reactivenav::CReactiveNavigationSystem ::evaluate()
1340  - mrpt::reactivenav::CReactiveNavigationSystem ::setParams()
1341  - Build system:
1342  - Updated to nanoflann 1.1.7: ICP is ~5% faster.
1343  - More unit tests:
1344  - [mrpt-base] geometry module.
1345  - BUG FIXES:
1346  - CTimeLogger::registerUserMeasure() ignored the enable/disable state of
1347 the logger - <a href="http://code.google.com/p/mrpt/source/detail?r=3382"
1348 >r3382</a>
1349  - mrpt-srba: SEGFAULT in 32bit builds due to missing
1350  - <a
1351 href="http://code.google.com/p/mrpt/source/detail?r=3429" >r3429</a>
1352 
1353  <br/>
1354  <hr>
1355  <a name="1.0.1">
1356  <h2>Version 1.0.1: Released 12-MAY-2013 (SVN 3370) </h2></a>
1357  - Changes in apps:
1358  - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
1359 >RawLogViewer</a>:
1360  - Better description of the "too much memory used" warning while
1361 loading large datasets.
1362  - <a href="http://www.mrpt.org/Application%3Arobotic-arm-kinematics"
1363 >robotic-arm-kinematics</a>:
1364  - Now allows changing the orientation of the first DOF (X,Y,Z).
1365  - New classes:
1366  - [mrpt-hwdrivers]
1367  - mrpt::hwdrivers::CInterfaceNI845x: An interface for this USB
1368 SPI/I2C data acquisition board.
1369  - mrpt::hwdrivers::CCANBusReader: A class to record CAN bus frames
1370 with a CAN232 converter.
1371  - [mrpt-obs]
1372  - mrpt::obs::CObservationCANBusJ1939
1373  - New functions:
1374  - New opengl_stock objects:
1375  - mrpt::opengl::stock_objects::Hokuyo_URG()
1376  - mrpt::opengl::stock_objects::Hokuyo_UTM()
1377  - mrpt::opengl::stock_objects::Househam_Sprayer()
1378  - mrpt::math::saveEigenSparseTripletsToFile() - <a
1379 href="http://code.google.com/p/mrpt/source/detail?r=3351" >r3351</a>
1380  - New examples:
1381  - gmrf_map_demo
1382  - Changes in classes:
1383  - [mrpt-maps]
1384  - mrpt::maps::COccupancyGridMap2D now also evalutes likelihoods for
1385 sonar-like observations (mrpt::obs::CObservationRange), allowing particle-filter
1386 localization with these sensors - <a
1387 href="http://code.google.com/p/mrpt/source/detail?r=3330" >r3330</a>
1388  - New method
1389 mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
1390  - [mrpt-kinematics]
1391  - mrpt::kinematics::CKinematicChain: Now allows changing the
1392 orientation of the first DOF (X,Y,Z).
1393  - Removed stuff:
1394  - Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has
1395 been removed. Replace with mrpt::vision::TFeatureTrackStatus
1396  - KLT-specific values for mrpt::vision::TFeatureTrackStatus has been
1397 removed, since they were not used in detected features anyway.
1398  - Build system:
1399  - Fixed a potential build error if including FFMPEG's <time.h> instead
1400 of the standard header - <a
1401 href="http://code.google.com/p/mrpt/source/detail?r=3316" >r3316</a>
1402  - Fixed determination of GCC version for all GCC builds - <a
1403 href="http://code.google.com/p/mrpt/source/detail?r=3324" >r3324</a>
1404  - Updated to Eigen 3.1.3 - <a
1405 href="http://code.google.com/p/mrpt/source/detail?r=3349" >r3349</a>
1406  - Updated to nanoflann 1.1.5
1407  - BUG FIXES:
1408  - Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due
1409 to an improperly initialized reference to a local variable - <a
1410 href="http://code.google.com/p/mrpt/source/detail?r=3318" >r3318</a>
1411  - Debian packages: added missing binary deps for libmrpt-dev - <a
1412 href="http://code.google.com/p/mrpt/source/detail?r=3335" >r3335</a>
1413 
1414  <hr>
1415  <a name="1.0.0">
1416  <h2>Version 1.0.0: Released 1-MAR-2013 (SVN 3287) </h2></a>
1417  - <b>Most important changes:</b>
1418  - New library with a flexible implementation of Sparser Relative Bundle
1419 Adjustment (RBA), as presented in ICRA 2013: <a href="http://www.mrpt.org/srba"
1420 >mrpt-srba</a>.
1421  - New library for Plane-based Maps: <a
1422 href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a> (also presented in ICRA
1423 2013).
1424  - Some MRPT modules are now header-only libraries.
1425  - Support for a new Octomap metric map, via the octomap library. See
1426 mrpt::maps::COctoMap and detailed changes below.
1427  - Support for importing/exporting point clouds in the standard LAS
1428 format (Look for liblas below).
1429  - Better support for custom builds of MRPT (selective building of
1430 individual apps and libs, etc.)
1431  - Ready for Visual Studio 2012 and GCC 4.7
1432  - From now on, MRPT is released under the "New BSD" license.
1433  - Many bug fixes.
1434  - <b>Detailed list of changes:</b>
1435  - New apps:
1436  - <a
1437 href="http://www.mrpt.org/list-of-mrpt-apps/application-srba-slam"
1438 >srba-slam</a>: A command-line frontend for the Relative Bundle Adjustment
1439 engine in mrpt-srba.
1440  - <a
1441 href="http://www.mrpt.org/list-of-mrpt-apps/application-holonomic-navigator-demo"
1442 >holonomic-navigator-demo</a>
1443  - <a
1444 href="http://www.mrpt.org/list-of-mrpt-apps/application-robotic-arm-kinematics"
1445 >robotic-arm-kinematics</a>: A GUI for experimenting with Denavit-Hartenberg
1446 parameters.
1447  - Changes in apps:
1448  - <a href="http://www.mrpt.org/Application%3Anavlog-viewer"
1449 >navlog-viewer</a>:
1450  - Fixed some minor visualization errors.
1451  - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
1452 >RawLogViewer</a>:
1453  - Import sequence of images as rawlog: Didn't detect "png" file
1454 extension as images - <a
1455 href="http://code.google.com/p/mrpt/source/detail?r=2940" >r2940</a> - Closes <a
1456 href="http://code.google.com/p/mrpt/issues/detail?id=34" >#34</a>
1457  - The GUI toolbar has been ported from wxWidget's ToolBar to
1458 sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
1459 href="http://code.google.com/p/mrpt/source/detail?r=2950" >r2950</a>
1460  - <a
1461 href="http://www.mrpt.org/list-of-mrpt-apps/application-ReactiveNavigationDemo"
1462 >ReactiveNavigationDemo</a>:
1463  - The default holonomic navigation method is now the VFF, since
1464 after the last bug fixes and tunes it seems to work quite well.
1465  - <a href="http://www.mrpt.org/Application%3ASceneViewer"
1466 >SceneViewer3D</a>:
1467  - The GUI toolbar has been ported from wxWidget's ToolBar to
1468 sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
1469 href="http://code.google.com/p/mrpt/source/detail?r=2952" >r2952</a>
1470  - Added a new menu: "File -> Import -> From LAS file..." - <a
1471 href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
1472  - <a href="http://www.mrpt.org/Application%3Agrid-matching"
1473 >grid-matching</a>: new argument "--aligner" to select aligner method - <a
1474 href="http://code.google.com/p/mrpt/source/detail?r=3021" >r3021</a>
1475  - New classes:
1476  - [mrpt-base]
1477  - mrpt::math::MatrixBlockSparseCols, a templated column-indexed
1478 efficient storage of block-sparse Jacobian or Hessian matrices, together with
1479 other arbitrary information - <a
1480 href="http://code.google.com/p/mrpt/source/detail?r=2995" >r2995</a>
1481  - mrpt::utils::ignored_copy_ptr<>
1482  - mrpt::system::CTimeLoggerEntry
1483  - [mrpt-obs]
1484  - mrpt::obs::CObservationWindSensor - <a
1485 href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
1486  - [mrpt-maps]
1487  - mrpt::maps::COctoMap
1488  - [mrpt-opengl]
1489  - mrpt::opengl::COctoMapVoxels
1490  - Deleted classes:
1491  - [mrpt-vision]
1492  - CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been
1493 removed since they didn't work robustly. Replace with
1494 mrpt::vision::CFeatureTracker_KL
1495  - New libraries:
1496  - [mrpt-kinematics] See mrpt::kinematics
1497  - [mrpt-pbmap] See <a href="group__mrpt__pbmap__grp.html"
1498 >mrpt-pbmap</a>.
1499  - [mrpt-srba] See <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
1500  - Changes in libraries:
1501  - These libs are now header-only: <a
1502 href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>, <a
1503 href="http://code.google.com/p/mrpt/source/detail?r=3045" >r3045</a>
1504  - [mrpt-bayes]
1505  - [mrpt-graphs]
1506  - [mrpt-graphslam]
1507  - Integration of the Octomap C++ library (new BSD License) by Kai M.
1508 Wurm et al.: <a href="http://code.google.com/p/mrpt/source/detail?r=3081"
1509 >r3081</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3083"
1510 >r3083</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3084"
1511 >r3084</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3086"
1512 >r3086</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3087"
1513 >r3087</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3088"
1514 >r3088</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3093"
1515 >r3093</a>
1516  - The main new classes are mrpt::maps::COctoMap &
1517 mrpt::opengl::COctoMapVoxels
1518  - mrpt::maps::CMultiMetricMap now allows the seamless
1519 integration of octomaps in many MRPT map building or localization algorithms.
1520  - New example: samples/octomap_simple
1521  - Changes in classes:
1522  - [mrpt-base]
1523  - Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT
1524 derived matrix classes, are now much faster loading huge matrices from text
1525 files - <a href="http://code.google.com/p/mrpt/source/detail?r=2997" >r2997</a>
1526  - The typedef Eigen::MatrixBase<Derived>::typename of MRPT's
1527 plugin to Eigen classes has been REMOVED, to avoid conflicts with some part of
1528 Eigen's sparse classes. Use Matrix::Scalar instead - <a
1529 href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
1530  - New method mrpt::poses::CPose3DQuat::inverse()
1531  - New methods mrpt::poses::SE_traits::pseudo_exp()
1532  - mrpt::system::CTimeLogger:
1533  - New method mrpt::system::CTimeLogger::getStats() for
1534 programatic execution time stats analysis - <a
1535 href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
1536  - New method
1537 mrpt::system::CTimeLogger::registerUserMeasure() for making stats of
1538 user-providen values - <a
1539 href="http://code.google.com/p/mrpt/source/detail?r=3005" >r3005</a>
1540  - mrpt::utils::map_as_vector<> can be now customized to use
1541 different underlying STL containers for storage - <a
1542 href="http://code.google.com/p/mrpt/source/detail?r=3001" >r3001</a>
1543  - mrpt::containers::CDynamicGrid::setSize() now also accepts a
1544 "fill_value" argument.
1545  - Added method mrpt::math::TPoint2D::norm() for consistency with
1546 mrpt::math::TPoint3D
1547  - Better support for saving (and not only loading) plain text
1548 configuration files, including commented files with default values of all
1549 existing parameters: - <a
1550 href="http://code.google.com/p/mrpt/source/detail?r=2954" >r2954</a>
1551  - All mrpt::config::CConfigFileBase::write() now have an
1552 extended signature for formatting.
1553  -
1554 mrpt::config::CLoadableOptions::dumpToTextStreamstd::ostream::Seek() now
1555 supports files larger than 2GB by using uint64_t instead of long (still see
1556 issue report for another patch required for MSVC2010) - (Closes <a
1557 href="http://code.google.com/p/mrpt/issues/detail?id=39" >issue 39</a>, thanks
1558 Robert Schattschneider) - <a
1559 href="http://code.google.com/p/mrpt/source/detail?r=3042" >r3042</a>
1560  - mrpt::typemeta::TTypeName<> moved to its own header
1561 <mrpt/typemeta/TTypeName.h> while refactoring
1562 <mrpt/serialization/CSerializable.h>
1563 - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
1564  - mrpt::config::CConfigFileBase::write() now has signatures for
1565 "uint32_t" and "uint64_t" in both 32 and 64bit builds, instead of relying of the
1566 "size_t" type. This was done to fix build errors in some GCC versions under
1567 32bits.
1568  - mrpt::poses::CPose2D now caches the cos() and sin() of phi,
1569 with a huge performance improvement in most common operations.
1570  - [mrpt-bayes]
1571  - mrpt::bayes::CKalmanFilterCapable (and all EKF-SLAM methods
1572 based on it) are now much faster. The implementation now exploits the sparsity
1573 of the Jacobian (~25% faster in a test 6D EKF-SLAM dataset) - <a
1574 href="http://code.google.com/p/mrpt/source/detail?r=3059" >r3059</a>, <a
1575 href="http://code.google.com/p/mrpt/source/detail?r=3060" >r3060</a>, <a
1576 href="http://code.google.com/p/mrpt/source/detail?r=3061" >r3061</a>
1577  - mrpt::bayes::CParticleFilterCapable now makes use of the
1578 Curiously Recurring Template Pattern (CRTP) design instead of ugly #define
1579 macros - <a href="http://code.google.com/p/mrpt/source/detail?r=3182" >r3182</a>
1580  - [mrpt-graphs]
1581  - mrpt::graphs::CNetworkOfPoses2D,
1582 mrpt::graphs::CNetworkOfPoses3D,... and so on, are now all typedef's instead of
1583 classes, since serialization is now implemented as pure templatized code, thus
1584 avoiding the need to declare derived auxiliary classes - <a
1585 href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
1586  - [mrpt-gui]
1587  - mrpt::gui::CDisplayWindow3D::addTextMessage() (and other
1588 opengl text routines) now allows drawing text with a shadow effect - <a
1589 href="http://code.google.com/p/mrpt/source/detail?r=3007" >r3007</a>
1590  - [mrpt-hwdrivers]
1591  - New method
1592 mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
1593  - mrpt::hwdrivers::CGenericSensor (and all derived classes) now
1594 allocate objects aligned in memory with
1595  - New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()
1596  - [mrpt-maps]
1597  - Better integration of point cloud classes with PCL: - <a
1598 href="http://code.google.com/p/mrpt/source/detail?r=2943" >r2943</a>
1599  - mrpt::maps::CPointsMap::loadPCDFile()
1600  - mrpt::maps::CPointsMap::setFromPCLPointCloud()
1601  - mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB()
1602  - Point cloud loading & saving in the standard ASPRS LiDAR LAS
1603 format (if liblas is installed in the system, see http://www.liblas.org/ ). See
1604 also the ready-to-use import menu in SceneViewer3D - <a
1605 href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
1606  - mrpt::maps::CPointsMap::loadLASFile()
1607  - mrpt::maps::CPointsMap::saveLASFile()
1608  - Integration of wind measurements in gas-concentration maps (by
1609 Javier G. Monroy) - <a href="http://code.google.com/p/mrpt/source/detail?r=3050"
1610 >r3050</a>
1611  - [mrpt-obs]
1612  - New method mrpt::obs::CObservationGPS::clear()
1613  - [mrpt-opengl]
1614  - Evaluation of bounding box of opengl objects. New methods: -
1615 <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
1616  - mrpt::opengl::CRenderizable::getBoundingBox()
1617  - mrpt::opengl::COpenGLScene::getBoundingBox()
1618  - mrpt::opengl::COpenGLViewport::getBoundingBox()
1619  -
1620 mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a
1621 new flag to draw solid boxes at each leaf node - <a
1622 href="http://code.google.com/p/mrpt/source/detail?r=3033" >r3033</a>
1623  - mrpt::opengl::COpenGLViewport has a new set of "global OpenGL
1624 switches" that affect the rendering of entire scenes - <a
1625 href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
1626  - Classes drawing lines now by default enable anti-aliasing (can
1627 be disabled by the programmer): - <a
1628 href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
1629  - mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ
1630  - mrpt::opengl::CSimpleLine
1631  - mrpt::opengl::CSetOfLines
1632  - [mrpt-reactivenav]
1633  - Much code of mrpt::reactivenav classes have undergone a
1634 clean-up, slight optimizations and a translation of old Spanish names/comments
1635 to English - <a href="http://code.google.com/p/mrpt/source/detail?r=2939"
1636 >r2939</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2942"
1637 >r2942</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2958"
1638 >r2958</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3091"
1639 >r3091</a>
1640  -
1641 mrpt::reactivenav::CParameterizedTrajectoryGenerator::CCollisionGrid now has a
1642 more maintainable binary serialization format - <a
1643 href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
1644  -
1645 mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now
1646 also saves text files which can be used to visualize PTGs from MATLAB (see
1647 scripts/viewPTG.m) - <a
1648 href="http://code.google.com/p/mrpt/source/detail?r=3009" >r3009</a>
1649  - mrpt::reactivenav::CHolonomicVFF and
1650 mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable
1651 from config files. See their documentation.
1652  - Repulsive forces from obstacles in
1653 mrpt::reactivenav::CHolonomicVFF are now automatically normalized wrt the
1654 density of the 360deg view of obstacles and forces follow a "1/range" law
1655 instead of the old "exp(-range)".
1656  - Solved a stability issue in C-S paths, in
1657 mrpt::reactivenav::CPTG_DiffDrive_CS (By Mariano Jaimez Tarifa) - <a
1658 href="http://code.google.com/p/mrpt/source/detail?r=3085" >r3085</a>
1659  - [mrpt-scanmatching]
1660  - mrpt::scanmatching::robustRigidTransformation():
1661  - Changed behavior not to allow features to appear in
1662 duplicated pairings.
1663  - Added a consistency test to avoid seeding RANSAC with an
1664 inconsistent initial model.
1665  - [mrpt-slam]
1666  - mrpt::slam::CMetricMapBuilderICP now does not integrate the
1667 small pose changes due to odometry and/or relocalization when considering the
1668 distance and angle thresholds. This means that fewer map updates are now done
1669 for the same ICP-SLAM parameters, which should lead to "less noisy" maps.
1670  - New functions:
1671  - [mrpt-base]
1672  - mrpt::utils::abs_diff()
1673  - mrpt::system::getMRPTLicense()
1674  - mrpt::system::getFileModificationTime()
1675  - mrpt::math::noncentralChi2PDF_CDF() is now exposed (was
1676 private)
1677  - mrpt::utils::sprintf_container()
1678  - mrpt::poses::operator -(mrpt::poses::CPose3DQuat)
1679  - max3() and min3() moved from the global namespace to
1680 mrpt::utils::max3() and mrpt::utils::min3()
1681  - New examples:
1682  - octomap_simple
1683  - ransac-data-association
1684  - Build system:
1685  - Update to nanoflann 1.1.4 - <a
1686 href="http://code.google.com/p/mrpt/source/detail?r=2937" >r2937</a>, <a
1687 href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
1688  - Update to Eigen 3.1.2 - <a
1689 href="http://code.google.com/p/mrpt/source/detail?r=3064" >r3064</a>
1690  - MRPT's root "CMakeLists.txt" has undergone a big refactoring and
1691 cleanup - <a href="http://code.google.com/p/mrpt/source/detail?r=2961"
1692 >r2961</a>
1693  - Backward compatible "mrpt-core" has been removed as a fake lib for
1694 which to search with CMake from user programs - <a
1695 href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
1696  - More system libs are detected in Linux (libclang-dev, lib3ds-dev),
1697 discarding embedded versions then - <a
1698 href="http://code.google.com/p/mrpt/source/detail?r=2963" >r2963</a> - <a
1699 href="http://code.google.com/p/mrpt/issues/detail?id=17" >Closes #17</a>
1700  - Automatic detection of supported SIMD extensions (SSE*) from CMake
1701 (only for Linux OS) - <a
1702 href="http://code.google.com/p/mrpt/source/detail?r=3013" >r3013</a>
1703  - Fixed building with Visual Studio 2012 (MSVC11) - <a
1704 href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
1705  - MRPT now allows defining header-only libraries with the
1706 define_mrpt_lib_header_only() macro - <a
1707 href="http://code.google.com/p/mrpt/source/detail?r=3034" >r3034</a>, <a
1708 href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>
1709  - More unit tests:
1710  - for all probability distribution functions in mrpt::math,
1711  - for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
1712  - for the octomap map
1713  - for serialization/deserealization of many classes.
1714  - Added new documentation page: <a href="env-vars.html" >environment
1715 variables</a>.
1716  - Removed the build flag "MRPT_BACKCOMPATIB_08X".
1717  - Fixes for building under Mac OSX: <a
1718 href="http://code.google.com/p/mrpt/source/detail?r=3181" >r3181</a>
1719  - Enable some c++11 features if the compiler supports them - <a
1720 href="http://code.google.com/p/mrpt/source/detail?r=3273" >r3273</a>
1721  - BUG FIXES:
1722  - Build: Fixed detection of OpenCV 2.4.2+ installed in the system
1723 via CMake config file instead of pkg-config, which seems to be broken. - <a
1724 href="http://code.google.com/p/mrpt/source/detail?r=3019" >r3019</a>
1725  - [mrpt-base] The iterator returned by end() in all MRPT vectors and
1726 matrices (based on Eigen) pointed to the last element, not to the (now correct)
1727 next position after the last element - <a
1728 href="http://code.google.com/p/mrpt/source/detail?r=2941" >r2941</a>
1729  - [mrpt-base] mrpt::dynamicsize_vector::resize() performed a memory
1730 reallocation even if given the current size, due to an inherited behavior from
1731 Eigen. It is not the expected behavior, so it has been fixed. - <a
1732 href="http://code.google.com/p/mrpt/source/detail?r=3003" >r3003</a>
1733  - [mrpt-base] Wrong computation of normPDF() values for the
1734 multidimensional cases. Closes <a
1735 href="http://code.google.com/p/mrpt/issues/detail?id=46" >#46</a> - <a
1736 href="http://code.google.com/p/mrpt/source/detail?r=3068" >r3068</a>
1737  - [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D
1738 cases (Thanks Cipri!)
1739  - [mrpt-base] Fixed errors in de-serialization of
1740 mrpt::utils::CPointPDFSOG and mrpt::maps::CReflectivityGridMap2D
1741  - [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D()
1742 always returned 0 matched.
1743  - [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to
1744 Edu!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
1745  - [mrpt-hwdrivers] Fixed potential SEGFAULT in
1746 mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for <a
1747 href="http://www.mrpt.org/node/2474" >reporting</a>)
1748  - [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks
1749 Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
1750  - [mrpt-maps] mrpt::maps::COccupancyGridMap2D::getAs3DObject()
1751 returned cells with an occupancy of exactly "0" as transparent - <a
1752 href="http://code.google.com/p/mrpt/source/detail?r=2957" >r2957</a>
1753  - [mrpt-maps] Fixed saving the correct point colors in
1754 mrpt::maps::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - <a
1755 href="http://code.google.com/p/mrpt/source/detail?r=3090" >r3090</a>
1756  - [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching
1757 two 3D point clouds as each correspondence was inserted twice into the output
1758 vector. (By Paco) - <a href="http://code.google.com/p/mrpt/source/detail?r=3162"
1759 >r3162</a>
1760  - [mrpt-opengl] Fixed a potential bug: after deserializing an object
1761 based on a display-list (most of them), it won't update in the opengl view.
1762  - [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not
1763 exported in Windows DLL's (Thanks Mariano for noticing!).
1764  - [mrpt-reactivenav] Fixed wrong computation of obstacles force
1765 fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - <a
1766 href="http://code.google.com/p/mrpt/source/detail?r=2953" >r2953</a>
1767  - [mrpt-reactivenav] Precomputed collision grids could be loaded in
1768 mrpt::reactivenav::CParameterizedTrajectoryGenerator even for different robot
1769 parameters/shape: now it correctly detects such situations and recompute when
1770 needed - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
1771 - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=33" >#33</a>
1772  - [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never
1773 evaluated" and wrong composition of representative direction for some gaps (By
1774 Mariano) - <a href="http://code.google.com/p/mrpt/source/detail?r=3056"
1775 >r3056</a>
1776 
1777 
1778  <br>
1779  <hr>
1780  <a name="0.9.6">
1781  <h2>Version 0.9.6 - (Version 1.0.0-Release_Candidate_4): Released 30-MAY-2012
1782 (SVN 2930) </h2></a>
1783  - New applications:
1784  - <a
1785 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
1786 >kinect-stereo-calibrate</a>: A GUI tool for calibrating RGB+D and/or stereo
1787 cameras, including live Kinect capturing.
1788  - Removed applications:
1789  - stereo-calib-gui: it's now superseded by kinect-stereo-gui. The old
1790 command line tool is still useful, so it's still there as the example
1791 "stereo-calib-opencv".
1792  - Changes in applications:
1793  - <a href="http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam"
1794 >icp-slam</a>:
1795  - Added a new option (SHOW_LASER_SCANS_3D in config files) to draw
1796 laser scans in the live 3D view - <a
1797 href="http://code.google.com/p/mrpt/source/detail?r=2881" >r2881</a>
1798  - <a
1799 href="http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit"
1800 >rawlog-edit</a>:
1801  - Operation "--camera-params" now also handles stereo observations.
1802  - New operation "--stereo-rectify" for batch rectifying datasets
1803 with stereo images.
1804  - New operation "--rename-externals".
1805  - <a
1806 href="http://www.mrpt.org/list-of-mrpt-apps/application-SceneViewer"
1807 >SceneViewer3D</a>:
1808  - New menu for generating high-resolution renders of any scene
1809 directly to imag files - <a
1810 href="http://code.google.com/p/mrpt/source/detail?r=2775" >r2775</a>
1811  - Many new menus for selective selecting objects and applying
1812 operations on them - <a
1813 href="http://code.google.com/p/mrpt/source/detail?r=2776" >r2776</a>
1814  - stereo-calib-gui: Now generates a report with detailed and clear
1815 results from stereo calibration and allows the user to change most parameters
1816 interactively - <a href="http://code.google.com/p/mrpt/source/detail?r=2801"
1817 >r2801</a>
1818  - <a
1819 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-3d-view"
1820 >kinect-3d-view</a>: New key command: press '9' to grab selected snapshots to
1821 disk - <a href="http://code.google.com/p/mrpt/source/detail?r=2890" >r2890</a>
1822  - Kinect stuff:
1823  - [mrpt-hwdrivers]
1824  - mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV
1825 instead of default freenect - <a
1826 href="http://code.google.com/p/mrpt/source/detail?r=2721" >r2721</a>, <a
1827 href="http://code.google.com/p/mrpt/source/detail?r=2762" >r2762</a>
1828  - mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at
1829 start up by default, what may be annoying (if required, set
1830 "initial_tilt_angle") - <a
1831 href="http://code.google.com/p/mrpt/source/detail?r=2722" >r2722</a>
1832  - mrpt::hwdrivers::CKinect now loads Kinect calibration files in a
1833 format compatible with stereo cameras. See
1834 http://www.mrpt.org/Kinect_calibration
1835  - [mrpt-obs]
1836  - New method mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
1837 allows simulating a "fake 2D laser scanner" from a Kinect. See the example:
1838 http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
1839  - [mrpt-vision]
1840  - New function mrpt::vision::checkerBoardStereoCalibration() to
1841 calibrate stereo and RGB+D cameras. See also the program <a
1842 href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
1843 >kinect-stereo-calibrate</a>:
1844  - New classes:
1845  - [mrpt-gui]
1846  - New event generated by GUI windows:
1847 mrpt::gui::mrptEventWindowClosed
1848  - [mrpt-hwdrivers]
1849  - mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing
1850 devices (by Emil Khatib, University of Malaga) - <a
1851 href="http://code.google.com/p/mrpt/source/detail?r=2841" >r2841</a>
1852  - [mrpt-opengl]
1853  - New classes for representing confidence intervals (ellipsoids) in
1854 transformed spaces - <a
1855 href="http://code.google.com/p/mrpt/source/detail?r=2783" >r2783</a>
1856  - mrpt::opengl::CGeneralizedEllipsoidTemplate<>
1857  - mrpt::opengl::CEllipsoidRangeBearing2D
1858  - mrpt::opengl::CEllipsoidInverseDepth2D
1859  - mrpt::opengl::CEllipsoidInverseDepth3D
1860  - mrpt::opengl::CFrustum to easily render these geometric figures
1861  - New struct mrpt::opengl::TFontParams result of a code refactoring
1862  - [mrpt-vision]
1863  - mrpt::vision::TSIFTDescriptorsKDTreeIndex,
1864 TSURFDescriptorsKDTreeIndex - <a
1865 href="http://code.google.com/p/mrpt/source/detail?r=2799" >2799</a>
1866  - mrpt::vision::CStereoRectifyMap - See tutorial online:
1867 http://www.mrpt.org/Rectifying_stereo_
1868 
1869 */
1870 // clang-format on



Page generated by Doxygen 1.8.17 for MRPT 2.0.4 at Sat Jun 27 14:00:59 UTC 2020