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Most important CMake variables now are prefixed with MRPT_ to avoid name collisions if using MRPT as a git submodule in a larger project.
GNUInstallDirs directories are now always honored when installing.
Changes in applications:
ptg-configurator:
Show selected PTG path output motion command.
navlog-viewer:
New checkbox to enforce 2D orthogonal view, which is now the default view.
rawlog-edit
The --info command now also shows the first and last timestamp in a rawlog.
RawLogViewer:
Show mrpt::obs::CObservationPointCloud 3D point clouds in main window and scan animation dialog.
Displays timestamp as the user tracks the timeline scroll bar.
rosbag2rawlog:
PointCloud2 messages are now only converted to mrpt::obs::CObservationRotatingScan is this latter class is specified in the YAML file.
Changes in libraries:
\ref mrpt_apps_grp
Application rawlog-edit is now available as the C++ class mrpt::apps::RawlogEditApp
\ref mrpt_containers_grp
New methods mrpt::containers::bimap::erase_by_key(),mrpt::containers::bimap::erase_by_value()
mrpt::containers::vector_with_small_size_optimization has new methods at() and push_back() for a smoother transition from STL containers.
mrpt::containers::yaml and libfyaml updated to latest version (more memory efficient parser).
\ref mrpt_core_grp
New base virtual interface class mrpt::Stringifyable unifying the asString() method already offered by many MRPT classes.
\ref mrpt_img_grp
[API change] mrpt::img::TCamera methods changed to allow defining fish-eye camera models too.
\ref mrpt_io_grp
GZIP compressed streams now also support open and append. See new mrpt::io::CFileGZOutputStream::open() signature.
New enum mrpt::io::OpenMode for clearer-to-read code.
Moved lazy-load operations to mrpt::io::setLazyLoadPathBase() and companion functions, since the older names mentioned images but this setting actually affects other sensors too.
\ref mrpt_math_grp
New function mrpt::math::xcorr()
New header <mrpt/math/gtsam_wrappers.h>, see \ref mrpt_gtsam_wrappers
New method mrpt::math::TBoundingBox::containsPoint()
\ref mrpt_maps_grp
Optimization: mrpt::maps::CPointsMap::insertAnotherMap() avoids matrix multiplication if SE(3) identity is passed as insertion pose.
[API change] mrpt::maps::CSimpleMap docs improved, API modernized and made const-correct including returned shared_ptr instances as ConstPtr where applicable.
\ref mrpt_nav_grp
mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle() now always initializes to the maximum free distance, instead of saturating free space when heading to a target waypoint.
[API change] mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose() had two overloaded signatures, which is not recommended being one of them a virtual method. Only the return-by-value is left.
\ref mrpt_obs_grp
Fix const-correctness of mrpt::obs::CObservation::unload() for consistency with load().
[API change] Replaced all API signatures taking an optional mrpt::poses::CPose3D as pointers (with default=nullptr) with a modern std::optional<>.
\ref mrpt_opengl_grp
New method mrpt::opengl::COpenGLViewport::setClonedCameraFrom()
mrpt::opengl::CFBORender changes:
More consistent naming of API methods: mrpt::opengl::CFBORender::render_RGB().
New method to render into a depth image mrpt::opengl::CFBORender::render_RGBD().
mrpt::opengl::CCamera::setProjectiveFromPinhole() now allows defining a camera by means of a pinhole model.
New class mrpt::opengl::COpenGLFramebuffer, used to refactor mrpt::opengl::CFBORender
Remove specular light effects in the default shaders, to fix buggy behavior.
[API change] New mrpt::opengl::Visualizable interface replaces former getAs3DObject() in all mrpt::maps and mrpt::poses classes with an uniform API, avoiding shared_ptr if possible.
mrpt::opengl::CTexturedPlane now more efficiently renders as plain triangles if no texture has been assigned.
Custom user OpenGL shaders can now be defined and installed to replace MRPT defaults.
Refer to example: \ref opengl_custom_shaders_demo
\ref mrpt_poses_grp
New function mrpt::poses::sensor_poses_from_yaml()
New header <mrpt/poses/gtsam_wrappers.h>, see \ref mrpt_gtsam_wrappers
\ref mrpt_random_grp
New function mrpt::random::partial_shuffle()
New function mrpt::random::portable_uniform_distribution()
\ref mrpt_serialization_grp
Implemented serialization of mrpt::containers::bimap in the new header #include <mrpt/serialization/bimap_serialization.h>.
Enums can now be binary-serialized too via >> / << streaming operators into an mrpt::serialization::CArchive.
mrpt::serialization::CArchive and mrpt::io::CStreams now have virtual methods to provide human-friendly self-descriptions, useful to debug which stream causes an error in serialization.
\ref mrpt_system_grp
Backwards-compatible change: New function mrpt::system::InvalidTimeStamp() used now inside the macro INVALID_TIMESTAMP, so the macro always returns a const reference instead of returning by value.
New function mrpt::system::consoleColorAndStyle()
mrpt::system::intervalFormat() now generates more human-friendly strings for time periods larger than 1 second (e.g. "1 year, 3 days, 8 hours").
\ref mrpt_tfest_grp
[API change] mrpt::tfest::TMatchingPair members are now called "local" vs "global" instead of the former, more confusing, "this" vs "other".
\ref mrpt_vision_grp
SIFT descriptors can now be evaluated for arbitrary keypoint coordinates.
BUG FIXES:
Fix potential race conditions in:
mrpt::rtti class registry
The global mrpt::random::getRandomGenerator()
mrpt::typemeta::TEnumTypeFiller
Image-mode was not serialized in mrpt::opengl::COpenGLViewport
nanogui: avoid potential divide by zero.
mrpt::comms::CClientTCPSocket crashed if socket handle >=1024 in Linux (Closes #1157)
Fix error generating and parsing TUM RGBD dataset rawlog files.
Fix regresion in mrpt::opengl::CFBORender::render() throwing an exception if the input image was empty.
Fix incorrect handling of negative, fractional viewport sizes in mrpt::opengl::COpenGLViewport
Fix: Should not scale velocity commands when in slow down, in CAbstractPTGBasedReactive::generate_vel_cmd() (Closes #1175).
mrpt::system::CDirectoryExplorer did not fill in correct absolute paths if a relative path was passed as starting directory to scan.
Fix mrpt::obs::CSensoryFrame::operator+=() did not perform what it was supposed to do.
