Release of v2.9.3

Version 2.9.3: Released June 22nd, 2023

• Python:
  • New module pymrpt.ros_bridge
  • Matrices now have proper conversion and accessor methods in the Python API, including conversion from/to numpy.
  • Reduce build time of pymrpt.

Release of v2.9.2

Version 2.9.2: Released June 20th, 2023

• Changes in docs:
  • Update dependency in instructions from libftdi-dev to libftdi1-dev
• Changes in libraries:
  • \ref mrpt_comms_grp
    • mrpt::comms::CInterfaceFTDI Fix usage of deprecated API in libftdi
  • \ref mrpt_obs_grp
    • New static method mrpt::obs::CRawlog::ReadFromArchive() (useful for python bindings)
    • New overload mrpt::obs::obs_to_viz() for mrpt::obs::CSensoryFrame containers
  • \ref mrpt_slam_grp
    • mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap() returns a const ref instead of a pointer (safer, and does not lead to memory crashes in the Python wrapper).
• Python:
  • New wrapped functions:
    • mrpt.serialization.archiveFrom()
  • Fix python install directory:
    • ROS 1 or pure Debian: [...]/lib/python3/site-packages/
    • ROS 2: [...]/lib/python3.X/site-packages/
• BUG FIXES:
  • Fixed including the wrong <mrpt/config.h> if building MRPT in a system with another ROS-provided MRPT build.
  • Fixed build errors with gcc-13 (Fixes Debian bug #1037783)

Release of v2.9.1

Version 2.9.1: Release June 14th, 2023

• Build system:
  • ROS 2: fix missing explicit dep on rclcpp in package.xml.

Release of v2.9.0

Version 2.9.0: Released June 7th, 2023

• Changes in apps:
  • rosbag2rawlog: Added support for converting nav_msgs/LaserScan topics to mrpt::obs::CObservation2DRangeScan
• Changes in libraries:
  • New Python3 module pymrpt with an almost full wrapping of all MRPT classes (via pybind11). Refer to the Python API documentation (pydoc3).
  • Removed the legacy module mrpt::hmtslam and associated applications. Please refer to older MRPT releases if needed.
  • Removed all deprecated functions and headers.
  • \ref mrpt_ros2bridge_grp
    • Fix use of obsolete header <cv_bridge.h> in newer ROS distributions.

Release of v2.8.1

Version 2.8.1: Released April 17th, 2023

• Changes in libraries:
  • \ref mrpt_opengl_grp
    • Expose shadow bias parameters into mrpt::opengl::TLightParameters
• BUG FIXES:
  • OpenGL shadow rendering: Fix error in calculation of anti peter-panning and shadow acne effects.

Release of v2.8.0

Version 2.8.0: Released April 8th, 2023

• Changes in apps:
  • rosbag2rawlog: Added support for converting nav_msgs/Odometry topics to mrpt::obs::CObservationOdometry
• Changes in libraries:
  • \ref mrpt_hwdrivers_grp
    • New driver for TAObotics IMU sensors. See mrpt::hwdrivers::CTaoboticsIMU and the example \ref hwdrivers_taobotics_imu
  • \ref mrpt_math_grp
    • mrpt::math::getRegressionPlane() return value is not roughly the inverse of the condition number of the regression problem, which gives a stronger quality indicator than the former formula.
  • \ref mrpt_opengl_grp
    • Header <mrpt/opengl.h> has been updated to include the backwards-compatible type mrpt::opengl::COpenGLScene to smooth transition of existing code bases.
    • mrpt::opengl::CSphere now has a number of divisions property instead of two (one of them was not actually used).
    • Fixed const correctness of mrpt::opengl::CGeneralizedEllipsoidTemplate::getNumberOfSegments()
  • \ref mrpt_system_grp
    • Removed mrpt::system::setConsoleColor() (Deprecated since MRPT 2.3.3)
• Build system:
  • Fix use of obsolete qt5_use_modules().
  • New minimum CMake version required is CMake 3.16.0
• BUG FIXES:
  • Fix regression in mrpt::obs::CRawlog::detectImagesDirectory() leading to RawLogViewer and other apps not finding the external image directories for datasets.
  • Fix wrong rendering of shadows of lines when in orthographic projection.
  • mrpt::opengl::CSphere::onUpdateBuffers_Triangles() did not update the list of points

Release of v2.7.0

Version 2.7.0: Released March 4th, 2023

• Changes in libraries:
  • \ref mrpt_gui_grp
    • All OpenGL viewports: pan is now also achieved by pressing the mouse middle button (wheel) + dragging, for similarity with many other CAD UIs.
  • \ref mrpt_opengl_grp
    • Shadows can now be rendered for directional lights. See mrpt::opengl::Viewport::enableShadowCasting()
    • These class names have been shortened for ease of use (typedefs with the older names still exist for backwards compatibility, including deserialization of old files):
      • mrpt::opengl::COpenGLScene ==> mrpt::opengl::Scene
      • mrpt::opengl::COpenGLViewport ==> mrpt::opengl::Viewport
    • New class mrpt::opengl::CSkyBox for rendering "3D background" as sky boxes. Refer to example \ref opengl_skybox_example
    • OpenGL shaders: more rational use of GLSL precision specifiers: highp for positions, lowp for colors.
    • New flag mrpt::opengl::CFBORender::Parameters::raw_depth
    • mrpt::opengl::FrameBuffer: Remove stencil bit for faster off-screen rendering.
    • New class mrpt::opengl::OpenGLDepth2LinearLUTs
    • mrpt::opengl::CMesh now supports texture wrapping over the mesh extension.
    • Texture handling refactored into a new class mrpt::opengl::Texture
    • Enabled GL MipMap texture generation.
    • Triangles shaders now also account for shininess of material to generate specular reflections. See new method mrpt::opengl::CRenderizable::materialShininess()
    • mrpt::opengl::TLightParameters has been modified to make it more consistent: just one light color and three floats (diffuse, ambient, specular).
    • mrpt::opengl::CRenderizable base methods are now 100% thread-safe. getPoseRef() method has been removed since it was not safe.
• BUG FIXES:
  • Fix unrealistic odometry error simulation in mrpt::kinematics::CVehicleSimulVirtualBase (it affected the app GridmapNavSimul).

Release of v2.6.0

Version 2.6.0: Released January 12th, 2023

• Changes in libraries:
  • \ref mrpt_math_grp
    • Remove unused header: <mrpt/math/bits_math.h>
  • \ref mrpt_opengl_grp
    • New method mrpt::opengl::CAssimpModel::texturedObjects()
• BUG FIXES:
  • Fix wrong evaluation of the pivot point for the angular threshold parameters in ICP (Closes #1264)

Release of v2.5.8

Version 2.5.8: Released January 7th, 2023

• Changes in libraries:
  • \ref mrpt_core_grp
    • Move the _deg literal to a new namespace mrpt::literals to allow finer-grained using namespace mrpt::literals; instead of using namespace mrpt;. This change is backwards compatible, no user code change required, but recommended.
  • \ref mrpt_expr_grp
    • New mrpt::expr::CRuntimeCompiledExpression::register_function() to allow user-defined functions in runtime-compiled formulas.

Release of v2.5.7

Version 2.5.7: Released November 25th, 2022

• Changes in applications:
  • navlog-viewer:
    • It now shows custom visualization artifacts stored in the new field mrpt::nav::CLogFileRecord::visuals.
• Changes in libraries:
  • Upgrade embedded version of nanoflann to current master (2022-Nov-18).
  • \ref mrpt_maps_grp
    • mrpt::math::KDTreeCapable updated to build against nanoflann v1.5.0
  • \ref mrpt_system_grp
    • New method mrpt::system::COutputLogger::setVerbosityLevelForCallbacks()
• General build changes:
  • clang-format: enforce and upgraded to use clang-format-11.
• BUG FIXES:
  • Fix crash if calling mrpt::opengl::CSetOfObjects::getByName() with null pointers as children objects.
  • Fix opengl resources leak if mrpt::opengl::CRenderizableShaderTexturedTriangles instance is destroyed from a thread different than the one used to render.