Release of v2.14.1

Version 2.14.1: Released Sep 24th, 2024

• Changes in apps:
  • SceneViewer3D: New button to enable shadow casting.
• Changes in libraries:
  • \ref mrpt_opengl_grp:
    • New method mrpt::opengl::CAssimpModel::split_triangles_rendering_bbox() to enable a new feature in Assimp 3D models: splitting into smaller triangle sets for correct z-ordering of semitransparent objects; e.g. required for trees with masked leaves.
    • SkyBox shader changed its internal ID so it gets rendered before potentially transparent elements, fixing render artifacts.
    • mrpt::opengl::Texture: Wrapped OpenGL options for texture coordinate wrapping.
  • \ref mrpt_ros2bridge_grp:
    • Handle PointCloud2 with uint32 timestamps, interpreted as nanoseconds.

Release of v2.14.0

Version 2.14.0: Released Sep 15th, 2024

• Changes in libraries:
  • \ref mrpt_slam_grp:
    • Particle filtering algorithm pfStandardProposal now uses TBB (if present) for automatically running weight updates in parallel.
  • \ref mrpt_rtti_grp:
    • mrpt::rtti::CObject::GetRuntimeClassIdStatic() no longer depends on static variables, but on constexpr. This totally removes the possibility of initialization order fiasco while registering classes.
    • IMPORTANT CHANGE: To make the change above possible, these macros have changed:
      • DEFINE_VIRTUAL_SERIALIZABLE(class) ==>DEFINE_VIRTUAL_SERIALIZABLE(class, namespace)
      • DEFINE_VIRTUAL_MRPT_OBJECT(class) ==>DEFINE_VIRTUAL_MRPT_OBJECT(class, namespace)
• BUG FIXES:
  • Fix recursive mutex lock if calling mrpt::opengl::CPointCloud::insertPoint() with signatures for mrpt::math::TPoint3D.
  • Fix potential initialization-order fiasco accessing GetRuntimeClassIdStatic() in clang (see change above).

Release of v2.13.8

Version 2.13.8: Released Sep 7th, 2024

• Changes in libraries:
  • \ref mrpt_vision_grp:
    • mrpt::vision::TMatchingOptions: Remove useless custom "operator=".
  • pymrpt:
    • Fix all C++ build warnings in pymrpt.
• BUG FIXES:
  • Fix unstable keypoint KLT response values leading to NaN in some architectures.
  • Fix tons of typos and Debian-specific spare install files (lintian --pedantic).
  • Fix segfault in arm64 EKF unit tests.
  • Fix bug in mrpt::system::CDirectoryExplorer: it would throw and stop if finds a broken symlink.
  • Fix regression in mrpt::math::KDTreeCapable: all RKNN calls (NN with maximum radius) may return undefined pairing indices if less than N points are found within the given radius.

Release of v2.13.7

Version 2.13.7: Released Aug 22nd, 2024

• Changes in apps:
  • rosbag2rawlog (ROS1): Implement generation of odometry from /tf messages.
• BUG FIXES:
  • Fix incorrect check in mrpt-io unit tests leading to potential false positives.

Release of v2.13.6

Version 2.13.6: Released Aug 14th, 2024

• Build system:
  • This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
    • https://github.com/MRPT/mrpt_ros
    • https://github.com/MRPT/python_mrpt_ros
• BUG FIXES:
  • CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
  • Fix FTBFS in Debian sid (g++-14) due to missing #include <iomanip>.

Release of v2.13.4

Version 2.13.4: Released July 24th, 2024

• Fix docs typos.
• Upgraded nanoflann to v1.6.0 (fixes an important bug).

Release of v2.13.3

Version 2.13.3: Released July 1st, 2024

• Build system:
  • ROS package.xml: Re-enable the octomap dependency
• BUG FIXES:
  • Fix FTBFS of pymrpt for armhf
  • Fix failing unit tests for KLT_response() in non-Intel architectures.

Release of v2.13.2

Version 2.13.2: Released June 23rd, 2024

• Changes in libraries:
  • \ref mrpt_maps_grp:
    • mrpt::maps::CPointsMapXYZIRT now creates timestamps per point for input observations of type mrpt::obs::CObservationVelodyneScan
    • mrpt::maps::CPointsMap::asString() now also shows the actual derived class name.
  • \ref mrpt_obs_grp:
    • mrpt::obs::CObservationVelodyneScan now implements unload() to free memory for cached point clouds.
  • \ref mrpt_ros1bridge_grp:
    • mrpt::ros1bridge::toROS() conversion from PointCloud2 to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names "t" and "timestamp", and support conversion from uint32_t timestamps as nanoseconds.
• BUG FIXES:
  • mrpt::vision::CFeatureTracker_KL: Parameter LK_epsilon was rounded to integer.
  • mrpt::maps::CPointsMapXYZI::insertPointFast() did also append to the intensity channel, which is inconsistent behavior with the other map classes.

Release of v2.13.1

Version 2.13.1: Released June 5th, 2024

• BUG FIXES:
  • nanogui: Fix invalidation of iterators/references in widget lists.
  • rnav: fix exception thrown when target is out of the domain of one PTG.

Release of v2.13.0

Version 2.13.0: Released May 19th, 2024

• Changes in apps:
  • SceneViewer3D: it now automatically guesses the min/max clip planes from the scene bounding box.
  • rosbag2rawlog (ROS1): tolerate loss of some sensor observations if /tf has not been yet received instead of aborting conversion.
• Changes in libraries:
  • \ref mrpt_containers_grp:
    • New methods returning safe proxy objects for range-based for loops:
      • mrpt::containers::yaml::asMapRange()
      • mrpt::containers::yaml::asSequenceRange()
    • Upgrade embedded simpleini to v4.22 (for use when not found in the system)
  • \ref mrpt_hwdrivers_grp
    • mrpt::hwdrivers::CJoystick API updated so it can handle an arbitrary number of axes.
  • \ref mrpt_maps_grp
    • mrpt::maps::CVoxelMap and mrpt::maps::CVoxelMapRGB: Added insertion option remove_voxels_farther_than.
    • Removed unused method: mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences()
  • Removed seldom used code (if needed, refer to MRPT versions <2.13.0):
    • The whole module mrpt-detectors
    • mrpt::hwdrivers::CBoardENoses
    • mrpt::hwdrivers::CBoardSonars
    • mrpt::hwdrivers::CDUO3DCamera
    • mrpt::hwdrivers::CPtuDPerception
    • mrpt::hwdrivers::CRoboticHeadInterface
    • mrpt::hwdrivers::CTuMicos
• BUG FIXES:
  • mrpt::hwdrivers::CJoystick: Crash due to missing #include of OS-specific configuration in CJoystick.h
  • mrpt::expr::CRuntimeCompiledExpression::is_compiled() did always return true.