Release of v2.4.0

Version 2.4.0: Released Dec 12th, 2021

• Changes in build system:
  • 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
    • New methods to control face culling:
      • mrpt::opengl::CRenderizableShaderTriangles::cullFaces()
      • mrpt::opengl::CRenderizableShaderTexturedTriangles::cullFaces()
    • 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.

Release of v2.3.2

Version 2.3.2: Released Jul 14, 2021

• Changes in applications:
  • RawLogViewer:
    • More tree view icons.
    • "Play video" window now also shows timestamps.
  • SceneViewer3D:
    • New command-line flag --imgdir to define the base path for lazy-load images.
  • rawlog-edit:
    • New operation --export-txt exploiting the new export-to-txt API in mrpt::obs::CObservation
  • navlog-viewer:
    • New UI tools to manually pick and export selected PTG selections to a training YAML file.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • YAML macros MCP_LOAD_OPT(), MCP_LOAD_REQ(), and MCP_SAVE() now also support reading and writing enums directly as YAML, transparently converting numerical values to/from their symbolic names.
  • \ref mrpt_core_grp
    • Added C++14 helper templates mrpt::uint_select_by_bytecount_t and mrpt::int_select_by_bytecount_t
  • \ref mrpt_gui_grp
    • mrpt::gui::CDisplayWindowGUI: improved API to allow multiple callback handlers, and to report exceptions in them.
    • New 3D navigation key binding: SHIFT+scroll wheel, for fast up/down pure vertical motion of the camera point.
  • \ref mrpt_img_grp
    • mrpt::img::CImage::loadFromFile() now avoids memory allocations if there was already an image in memory with the same size.
  • \ref mrpt_obs_grp
    • mrpt::obs::CObservation now has a common API to export datasets to TXT/CSV files, see methods exportTxtSupported(), exportTxtHeader(), exportTxtDataRow(). It has been implemented in all suitable observation classes.
    • mrpt::obs::CObservationImage::unload() defaulted to doing nothing. It now correctly unloads lazy-load images.
  • \ref mrpt_poses_grp
    • New methods mrpt::math::TTwist2D::rotated() and mrpt::math::TTwist3D::rotated()
  • \ref mrpt_system_grp
    • mrpt::system::CTimeLogger:
      • Include custom name in underlying mrpt::system::COutputLogger name.
      • Fix all valgrind/helgrind warning messages.
    • New functions mrpt::system::firstNLines() and mrpt::system::nthOccurrence()
• BUG FIXES:
  • mrpt::img::CImage::isEmpty() should return false for delay-load images.
  • Fix build error with GCC 8 in mrpt/containers/yaml.h.
  • Fix exception rendering empty point clouds due to invalid bounding box.
  • Fix broken 2D plots rendering in Ubuntu 20.04 (and probably other systems), via an update in mpWindow to properly use wxAutoBufferedPaintDC.
  • mrpt::img::CImage::getPixelDepth() should force loading lazy load images.
  • Fixed wrong rendering of different textures within the same opengl shader program.
  • Fixed potential crashes inside BFD if using BFD and calling mrpt::callStackBackTrace() from several parallel threads.

Release of v2.3.1

Version 2.3.1: Released May 26th, 2021

• General cmake scripts:
  • find_package(mrpt-xxx) is now much faster.
• Changes in applications:
  • RawLogViewer:
    • Browse scans window now has a check-box list to show/hide individual sensors.
  • SceneViewer3D:
    • Graceful failure when loading a corrupted 3Dscene file.
• Changes in libraries:
  • \ref mrpt_core_grp
    • Removed mrpt::reverseBytesInPlace(long double) for it not being portable.
  • \ref mrpt_containers_grp
    • New environment variable MRPT_YAML_PARSER_VERBOSE controlling mrpt::containers::yaml
  • \ref mrpt_hwdrivers_grp
    • New argument to pass custom ffmpeg options to mrpt::hwdrivers::CFFMPEG_InputStream::openURL(). New default is to prefer stream over TCP for more reliable IP cameras reading.
    • mrpt::hwdrivers::CHokuyoURG now has a parameter for between-data communications timeout (comms_between_timeout_ms).
  • \ref mrpt_gui_grp
    • mrpt::gui::CDisplayWindowGUI new methods to minimize/restore subwindows.
  • \ref mrpt_math_grp
    • New method mrpt::math::TLine3D::closestPointTo()
    • New methods mrpt::math::TPose3D::translation(), mrpt::math::TPose2D::translation().
  • \ref mrpt_obs_grp
    • New mrpt::obs::CActionCollection::insert() overload for smart pointers.
    • New method mrpt::obs::CObservation2DRangeScan::getScanAngle() and clarify docs on class members.
    • New class mrpt::obs::CObservation3DScene.
    • mrpt::obs::CObservationIMU now uses std::array instead of std::vector (faster due to less dynamic memory).
  • \ref mrpt_opengl_grp
    • Deprecate mrpt::opengl::COpenGLScene::dumpListOfObjects() in favor of new mrpt::opengl::COpenGLScene::asYAML()
    • New method mrpt::opengl::CSimpleLine::setLineCoords() accepting mrpt::math::TPoint3D (older signature deprecated).
  • \ref mrpt_system_grp
    • New return-by-value signature for mrpt::system::CDirectoryExplorer::explore(), older version deprecated.
    • mrpt::system::extractFileDirectory() returns "." instead of an empty string for filenames without any explicit full path.
• BUG FIXES:
  • Fix wrong formatting of empty string values (not null values) in mrpt::containers::yaml.
  • Fix exception loading old datasets with stereo observations, via a new argument in mrpt::img::CImage::makeSureImageIsLoaded()
  • Fix unhandled deserialization of v2 of mrpt::opengl::CPlanarLaserScan
  • Fix build errors with MinGW.

Windows nightly builds

Build timestamp: 2024-11-18T08:44:58.0000000Z
Windows binary releases (develop) from AppVeyor CI.
APPVEYOR_BUILD_VERSION=2.14.6-develop-build4998
Git commit: 40f443b Patch version bump

Release of v2.3.0

Version 2.3.0: Released April 25th, 2021

• General build changes:
  • CMake >=3.8.0 is now required to ensure proper handling of dependencies compile options.
• Changes in applications:
  • ptg-configurator: target now also comprises a heading angle.
  • RawLogViewer:
    • New tab with CObservation3DRangeScan visualization options.
    • All icons have been updated for a more modern look.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • add method mrpt::containers::map_as_vector::at()
  • \ref mrpt_graphs_grp
    • mrpt::graphs::CDijkstra:
      • now no longer requires a field nodes in input graphs.
      • add convenient return by value getTreeGraph()
      • Deprecate mrpt::graphs::CDijkstra::Visitor virtual class API in favor of new C++11 std::function-based mrpt::graphs::CDijkstra::visitor_t
  • \ref mrpt_math_grp
    • Removed redundant mrpt::math::pointIntoPolygon2D() -> mrpt::math::TPolygon2D::contains()
    • Removed redundant mrpt::math::SegmentsIntersection() -> mrpt::math::intersect(mrpt::math::TSegment2D,mrpt::math::TSegment2D)
    • Removed redundant mrpt::math::distancePointToPolygon2D() -> TPolygon2D::distance()
    • Moved mrpt::math::minDistBetweenLines() -> mrpt::math::TLine3D::distance()
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CAssimpModel now uses a texture cache to speed up and reduce RAM usage if loading the same textures in different objects.
  • \ref mrpt_system_grp
    • New function mrpt::system::progress()
• BUG FIXES:
  • ptg-configurator: Fix failure to list existing PTGs, due to RTTI unregistered name "CParameterizedTrajectoryGenerator".
  • mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord() returned wrong pixel coordinates when in orthogonal projection mode.
  • mrpt::opengl::CArrow: Fix wrong normal calculation (wrong rendering reflections).
  • mrpt::opengl::CPointCloud::markAllPointsAsNew() and mrpt::opengl::CPointCloudColoured::markAllPointsAsNew() did not refresh OpenGL buffers.
  • mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathTwist() returned much larger velocities than the actual values.
  • Fix broken Debian dependencies for libmrpt-vision-lgpl (Closes Debian bug #986071).
  • mrpt::maps::CPointsMap::load2Dor3D_from_text_stream() for 2D maps left uninitialized values in z. Fixed to load zeros instead.
  • Fixed crash in mrpt::vision::checkerBoardCameraCalibration() causing segfault in the camera-calib app.

Release of v2.2.0

Version 2.2.0: Released March 10th, 2021

• Changes in libraries:
  • \ref mrpt_vision_grp
    • Remove all obsolete SIFTOptions.implementation values. OpenCV is now the only possibility.
  • \ref mrpt_nav_grp
    • mrpt::nav::TWaypoint now uses std::optional instead of magic numbers in some fields.
    • mrpt::nav::TWaypoint now has std::any fields to hold user-given extra data.
• BUG FIXES:
  • Fix invalid bounding box returned by octree_getBoundingBox() and mrpt::opengl point cloud classes when empty (Closes #1145).
  • Fix potential infinite recursion in exceptions with stack trace (Closes #1141).
  • Fix potential race conditions accessing waypoint lists in mrpt::nav::CWaypointsNavigator
  • Fix build errors with gcc-11.

Release of v2.1.8

Version 2.1.8: Released Feb 23rd, 2021

• Changes in applications:
  • RawLogViewer:
    • "Scan animation" window: now also shows the timestamp of observations.
  • camera-calib and kinect-stereo-calib:
    • New option to save camera calibration results as YAML files.
  • navlog-viewer:
    • New option to enable orthogonal view.
• General build changes:
  • Fix excessive alignment in aarch64 (32->16 bytes).
  • clang-format: enforce and upgraded to use clang-format-10.
  • Fix building against the non-legacy GL library (Linux).
  • nanoflann source code is no longer included as a copy: it will be used as the system library libnanoflann-dev, or as a git submodule if the former is not found.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • New YAML to/from matrix methods: mrpt::containers::yaml::FromMatrix(), mrpt::containers::yaml::toMatrix()
  • \ref mrpt_core_grp
    • New CMake build flags MRPT_EXCEPTIONS_WITH_CALL_STACK to optionally disable reporting call stacks upon exceptions and MRPT_EXCEPTIONS_CALL_STACK_MAX_DEPTH to set their maximum depth.
  • \ref mrpt_hwdrivers_grp
    • mrpt::hwdrivers::CHokuyoURG now has a parameter for communications timeout (comms_timeout_ms).
  • \ref mrpt_math_grp
    • New class mrpt::math::TBoundingBox
  • \ref mrpt_maps_grp
    • Const correctness fixed in all mrpt::maps::CMetricMap classes.
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CFrustum() new constructor from mrpt::img::TCamera()
  • \ref mrpt_poses_grp
    • mrpt::poses::CPose3D: Add more syntactic sugger static constructors.
  • \ref mrpt_slam_grp
    • mrpt::slam::TMonteCarloLocalizationParams map parameters are now shared pointers instead of plain pointers for safer code.
• BUG FIXES:
  • Log *_THROTTLE_* macros (e.g. MRPT_LOG_THROTTLE_DEBUG) did not report the message the first time they were called, which seems a safer behavior.
  • Reverted changed behavior: mrpt::config::CConfigFile did not throw if a non-existing file was passed to its constructor, but it throws in MRPT 2.1.{0-7}.
  • Fix build against opencv 2.4.x (version in Ubuntu Xenial 16.04).
  • Fixed: CHokuyoURG::initialize() won't report sensor status as ssError if it fails to communicate with the sensor, incorrectly leaving it as ssInitializing instead.
  • Fixed: mrpt::opengl::CTexturedPlane::setPlaneCorners() did not check for incorrect null width or height.
  • Fixed: mrpt::opengl textured objects leaking memory (Closes #1136).
  • Fix bug in parsing CARMEN logs: mrpt::obs::carmen_log_parse_line() returned all scan ranges marked as "invalid".

Release of v2.1.7

Version 2.1.7: Released Jan 2nd, 2021

• BUG FIXES:
  • Fix bash syntax error in PPA release scripts.
  • Fix Debian bug #978209: FTBFS : mainwindow.h:218:2: error: reference to Tracker is ambiguous

Release of v2.1.6

Version 2.1.6: Released Dec 14th, 2020

• Changes in libraries:
  • \ref mrpt_core_grp
    • Disable the use of BFD for symbols in stack traces by default in Debian builds. It is still used if found in the system and in Ubuntu PPAs.
• BUG FIXES:
  • Fix Debian bug #976803: mrpt uses private binutils shared library.
  • Fix Debian bug #977247: fail to link pymrpt against opencv.

Release of v2.1.5

Version 2.1.5: Released Dec 6th, 2020

• Changes in libraries:
  • \ref mrpt_containers_grp
    • Both mrpt::containers::CDynamicGrid and mrpt::containers::CDynamicGrid3D are now compatible with range-based for loops, and also have a data() method.
  • \ref mrpt_core_grp
    • Added mrpt::LockHelper::unlock()
    • Added mrpt::Clock::nowDouble()
    • New method mrpt::WorkerThreadsPool::name()
    • Function mrpt::system::callStackBackTrace() moved to mrpt::callStackBackTrace()
    • mrpt::callStackBackTrace() now uses BFD to find out line numbers if debug info (at least -g1) is available.
    • Stacked exceptions changes:
      • Line numbers will be now shown if built with debug info (>= -g1).
      • Exceptions in STL or any other 3rd-party library will be also reported with exact call point line number, as long as MRPT_START/MRPT_END is used in the user function.
      • No further need to call mrpt::exception_to_str(), just calling what() will return a detailed stack backtrace.
      • New function mrpt::winerror2str()
  • \ref mrpt_gui_grp
    • New method mrpt::gui::CGlCanvasBase::CamaraParams::FromCamera()
  • \ref mrpt_math_grp
    • Added missing method for consistent API across pose classes: mrpt::math::TPose3D::operator+()
  • \ref mrpt_system_grp
    • mrpt::system::COutputLogger::writeLogToFile() will now save all messages despite the runtime log verbosity level.
• BUG FIXES:
  • Fix error rendering an opengl scene with mrpt::opengl::CCamera objects in it.
  • rawlog-edit silently ignored when more than one operation was requested.
  • Fix FTBFS against libjsoncpp 1.9.4 (Closes #1118)
  • Fix AppStream errors and warnings in Debian Tracker.