Release of MRPT 1.3.1

Version 1.3.1: Released 18-JUL-2015

Changes in apps:

• navlog-viewer: Now shows more information on navigation logs.
• icp-slam-live: New application for real-time SLAM with one LIDAR sensor.

Changes in libraries:

• [mrpt-base]
  • New helper templates: mrpt::utils::int_select_by_bytecount<>, mrpt::utils::uint_select_by_bytecount<>
  • New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and weighted averages. See:
  • Header <mrpt/poses/SO_SE_average.h>
  • mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
  • mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
• [mrpt-hwdrivers]
  • New sensors supported:
  • mrpt::hwdrivers::CIMUIntersense
  • mrpt::hwdrivers::CSkeletonTracker
  • New parameter mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty Hokuyo timestamps with PC time.
  • mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really implement turning on/off the RPLidar motor.
• [mrpt-maps]
  • New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
• [mrpt-nav]
  • Removed old base class CPathPlanningMethod
  • CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class renamed (and better described) for consistency with other planners
  • mrpt::nav::CReactiveNavigationSystem:
  • Documentation has been added about all existing parameters, and template config files provided as starting points.
  • The loadConfigFile() method with 2 config files has been deprecated favoring the newer, simpler single config file.
  • The "ROBOT_NAME" parameter is no longer employed. A minor side effect (probably affecting no one) is that PTG cache files are no longer named differently for different robots.
  • mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save and load trajectories to binary streams. Used to debug in navlog-viewer.
• [mrpt-obs]
  • mrpt::obs::CObservation3DRangeScan now supports pixel labels (semantic mapping, etc.)
  • New class mrpt::obs::CObservationSkeleton to hold body tracking information (by Francisco Angel Moreno)
  • mrpt::obs::CObservationIMU has new data fields and fields are better documented to reflect whether they refer to local/global coordinate frames
• [mrpt-vision]
  • mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter from NEAREST to HQLINEAR

BUG FIXES:

• Fix ocasional (false) failure of RANSAC unit tests due to their non-deterministic nature.
• Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
• Fixed potential wrong bounding box results in mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
• mrpt::obs::CObservation6DFeatures: Fixed random crashes related to non-aligned memory in 32bit builds (Fixes #141)
• Fix Debian bug #786349 on Eigen2 support.
• mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects not attached to a physical device.
• Fix wrong quaternion cross product when target variable is one of the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes #148)
• mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential memory corruption.
• Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning without trying to find a good consensus solution. It affected the demo app kinect-3d-slam (Fixes #156)
• Fix wrong feature points in CFeatureExtraction::extractFeaturesKLT() (Fixes #138)

See detailed changelog

Release of MRPT 1.3.0

Most important changes:

• Classes in libraries [mrpt-obs] and [mrpt-maps] now belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
• No more using namespaces polute MRPT headers. Errors in user projects missing using namespace XXX that might be formerly masked will now reveal. This is a good thing, though admitedly annoying...
• New library [mrpt-nav], subsumming the old [mrpt-reactivenav].
• New library [mrpt-tfest], a refactor of the old [mrpt-scanmatching].
• Backwards compatible headers have been provided to ease the transition of user code for all those library changes. Warning messages will be shown recommending deprecated replacements.

See detailed changelog.

Release of MRPT 1.2.2

Most important changes:

• New class mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR scanners.
• New mrpt::opengl::CAssimpModel for rendering complex 3D models (many supported formats) in OpenGL scenes.
• Bumblebee2 Linux support in mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
• Some bug fixes.

See detailed changelog.

Release of MRPT 1.2.1

Main changes:

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

Release of MRPT 1.2.0

Most important changes:

• Public header files (.h) have undergone a serious refactoring to minimize unnecesary dependencies and reduce compile time and memory as much as possible. As a side effect, user code might need to add new #include<> lines. This change justifies the new minor version series 1.2.X.
• MRPT now cleanly builds in clang and OSX.
• Support for new camera drivers (OpenNI2, DUO3D).
• Many bug fixes.

See detailed changelog.

1.1.0

Release of MRPT 1.1.0.