13<p> <b>Note:</b> <i>If you are displaying a local version of this page and you have not built the whole HTML documentation, the links above will be broken. Either build the documentation invoking <code>make documentation_html</code> or [browse it on-line](http://www.mrpt.org/).</i></p>
14
15<a name="1.2.2">
16 <h2>Version 1.2.2: Released 12-SEP-2014 </h2></a>
19 - New menu "File" -> "Import" -> "3D model" which supports many standard formats (via mrpt::opengl::CAssimpModel)
20 - New classes:
21 - [mrpt-hwdrivers]
22 - mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR scanners.
23 - [mrpt-opengl]
24 - mrpt::opengl::CAssimpModel for rendering complex 3D models (many supported formats) in OpenGL scenes.
25 - Changes in classes:
26 - Consistency in all "laser scan" classes: angular increments between rays are now FOV/(N-1) instead of FOV/N.
27 - [mrpt-base]
28 - New method mrpt::utils::CImage::loadTGA()
29 - *IMPORTANT*: Changed behavior of CSerializable/CObject macros (see bugfix below), introducing the new macros DEFINE_SERIALIZABLE_POST_*.
30 May require changes in user code if serializable classes are defined:
31 - Previous version:
32 \code
33 DEFINE_SERIALIZABLE_PRE_*(...)
34 class XXX {
35 DEFINE_SERIALIZABLE(XXX)
36 };
37 \endcode
38 - Must be changed in this version to:
39 \code
40 DEFINE_SERIALIZABLE_PRE_*(...)
41 class XXX {
42 DEFINE_SERIALIZABLE(XXX)
43 };
44 DEFINE_SERIALIZABLE_POST_*(...)
45 \endcode
46 - [mrpt-hwdrivers]
47 - Bumblebee2 Linux support in mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
48 - [mrpt-maps]
49 - New method mrpt::slam::COccupancyGridMap2D::getRawMap()
50 - New method mrpt::slam::CColouredPointsMap::getPCLPointCloudXYZRGB()
51 - [mrpt-opengl]
52 - mrpt::opengl::CMyGLCanvasBase (affects all 3D rendering classes): better handling of internal timers for smoother updates while rendering in multithreading apps.
53 - [mrpt-srba]
54 - New method to recover the global coordinates graph-slam problem for a RBA map: mrpt::srba::RbaEngine::get_global_graphslam_problem() (see example [MRPT]\samples\srba-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
55 - BUG FIXES:
56 - mrpt::utils::CImage constructor from a matrix crashed.
57 - Unit tests: Named semaphores are not tested anymore if it's detected that the kernel version doesn't support them (Fix Debian 758725).
60 - Valgrind: Fixed potential unaligned memory access warning in point clouds.
61 - Fix build error with AppleClang 5.1 (Closes #71).
62 - mrpt::utils::CClientTCPSocket: Use a connection success check that works on all platforms
63 - Important bug fixed regarding a missing dynamic_cast<> in smart pointers casting. See above possible implications in user code.
64 properly (Patch by Joe Burmeister).
65
66<hr>
67<a name="1.2.1">
68 <h2>Version 1.2.1: Released 10-JUL-2014 </h2></a>
69 - Changes in classes:
70 - [mrpt-base]
71 - All points and poses now have a method setToNaN(), e.g. mrpt::poses::CPose3D::setToNaN()
72 - [mrpt-hwdrivers]
73 - mrpt::hwdrivers::COpenNI2Sensor now has better support for opening several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
74 - Build system:
75 - Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
76 - Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and new unit tests added to avoid regressions).
77 - Several Debian bugs closed (see packaging/debian/changelog), including build errors in uncommon platforms (MIPS, kFreeBSD, etc.)
78
79<hr>
80<a name="1.2.0">
81 <h2>Version 1.2.0: Released 25-JUN-2014 </h2></a>
82 - <b>Most important changes:</b>
83 - Public header files (.h) have undergone a serious refactoring to minimize unnecesary dependencies and reduce compile time and memory as much as possible.
84 As a side effect, user code might need to add new #include<> lines. This change justifies the new minor version series 1.2.X.
85 - MRPT now cleanly builds in clang and OSX.
86 - Support for new camera drivers (OpenNI2, DUO3D).
91 - New operations: --export-odometry-txt, --recalc-odometry
92 - New flag: --rectify-centers-coincide
93 - New examples:
94 - kitti_dataset2rawlog
95 - New classes:
96 - [mrpt-base]
97 - mrpt::math::ContainerType<CONTAINER>::element_t to allow handling either Eigen or STL containers seamlessly.
98 - mrpt::utils::CConfigFilePrefixer
99 - [mrpt-hwdrivers]
100 - mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2 cameras, capable of reading from an array of OpenNI2 RGBD cameras (By Eduardo Fernandez)
101 - mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D cameras (By Francisco Angel Moreno)
102 - mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0
103 - [mrpt-obs]
104 - mrpt::slam::CObservation6DFeatures
105 - Changes in classes:
106 - [mrpt-base]
107 - Robust kernel templates moved from mrpt::vision to mrpt::math. See mrpt::math::RobustKernel<>. Added unit tests for robust kernels.
108 - CPose3D has new SE(3) methods: mrpt::poses::CPose3D::jacob_dexpeD_de(), mrpt::poses::CPose3D::jacob_dAexpeD_de()
109 - More efficient mrpt::utils::OctetVectorToObject() (avoid memory copy).
110 - Fixed const-correctness of mrpt::utils::CImage::forceLoad() and mrpt::utils::CImage::unload()
111 - [mrpt-hwdrivers]
112 - mrpt::hwdrivers::CCameraSensor: Added a hook for user code to run before saving external image files: mrpt::hwdrivers::CCameraSensor::addPreSaveHook()
113 - mrpt::hwdrivers::CNationalInstrumentsDAQ now supports analog and digital outputs.
114 - New method mrpt::hwdrivers::CNTRIPClient::sendBackToServer()
115 - [mrpt-srba]
116 - Now also implements SE(3) relative graph-slam.
117 - [mrpt-vision]
118 - mrpt::vision::checkerBoardStereoCalibration: More robust handling of stereo calibration patterns. OpenCV sometimes detects corners in the wrong order between (left/right) images, so we detect the situation and fix it.
120 - Now enforces a consistent counterclockwise XYZ coordinate frame at each detected chessboard.
121 - Much more robust in distingishing quads of different sizes.
122 - Build system / public API:
123 - Fixes to build in OS X - [Patch](https://gist.github.com/randvoorhies/9283072) by Randolph Voorhies.
124 - Removed most "using namespace" from public headers, as good practice.
125 - Refactoring of MRPT headers.
126 - <mrpt/utils/stl_extensions.h> has been split into:
127 - <mrpt/utils/stl_serialization.h>
128 - <mrpt/utils/circular_buffer.h>
129 - <mrpt/utils/list_searchable.h>
130 - <mrpt/utils/bimap.h>
131 - <mrpt/utils/map_as_vector.h>
132 - <mrpt/utils/traits_map.h>
133 - <mrpt/utils/stl_serialization.h>
134 - <mrpt/utils/printf_vector.h>
135 - <mrpt/utils/stl_containers_utils.h>
136 - <mrpt/utils/ci_less.h>
137 - Deleted methods and functions:
138 - mrpt::system::breakpoint()
139 - mrpt::vector_float is now mrpt::math::CVectorFloat, mrpt::vector_double is mrpt::math::CVectorDouble, for name consistency. Also, using Eigen::VectorXf is preferred for new code.
140 - mrpt::CImage::rectifyImage() with parameters as separate vectors.
141 - mrpt::slam::CPointsMap::getPoint() with mrpt::poses::CPoint3D arguments.
142 - mrpt::vision::correctDistortion() -> use CImage method instead
143 - All previous deprecated functions.
144 - Embedded Eigen updated to version 3.2.1 [(commit)](https://github.com/jlblancoc/mrpt/commit/47913da94a27e98a9115f85b2a530b6c14a10b8f) [(commit)](https://github.com/jlblancoc/mrpt/commit/33258761d3b75bf133d38aecb257c64e4d76b21e)
145 - BUG FIXES:
146 - RawlogViewer app: Fixed abort while converting SF->obs.only datasets when there is no odometry.
147 - mrpt::slam::CSensoryFrame: The cached point map is now invalidated with any change to the list of observations so it's rebuild upon next call.
148 - New implementation of mrpt::synch::CSemaphore avoids crashes in OS X - by Randolph Voorhies.
149 - mrpt::opengl::CArrow was always drawn of normalized length.
150 - FlyCapture2 monocular & stereo cameras could return an incorrect timestamp (only in Linux?).
151 - mrpt::system::createDirectory() returned false (error) when the directory already existed.
152 - mrpt::vision::CStereoRectifyMap::rectify() didn't update the left & right camera poses inside mrpt::slam::CObservationStereoImages objects while rectifying.
153 - RawLogViewer: Operation "convert to SF format" didn't take into account odometry observations.
154 - Fix build errors with GCC 4.9
155 - Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when it fails to scan and open a device.
156 - Fix potential crash in mrpt::slam::data_association_full_covariance with JCBB when no individually compatible matching exists [(commit)](https://github.com/jlblancoc/mrpt/commit/482472ebd80a3484dce63d294b1ac4e8f001e1eb)
157
158<hr>
159 <a name="1.1.0">
160 <h2>Version 1.1.0: Released 22-FEB-2014 </h2></a>
168 - mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens MT IMU devices.
169 - mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition boards compatible with National Instruments DAQmx Base - [(commit)](https://github.com/jlblancoc/mrpt/commit/a82a7e37997cfb77e7ee9e903bdb2a55e3040b35).
170 - mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey Research's cameras via the FlyCapture2 libray - [(commits)](https://github.com/jlblancoc/mrpt/pull/5/commits).
171 - [mrpt-maps]
172 - There are now two versions of octomaps (by Mariano Jaimez Tarifa/Jose Luis Blanco) - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3443)
176 - mrpt::slam::CObservationRawDAQ, a placeholder for raw and generic measurements from data acquisition devices. - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3459)
177 - [mrpt-opengl]
178 - mrpt::opengl::CMeshFast, an open gl object that draws a "mesh" as a structured point cloud which is faster to render (by Mariano Jaimez Tarifa). -[(commit)](https://github.com/jlblancoc/mrpt/commit/9306bb4a585387d4c85b3f6e41dd2cbe5a354e80)
179 - mrpt::opengl::CVectorField2D, an opengl object that shows a 2D Vector Field (by Mariano Jaimez Tarifa). - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3461)
180 - [mrpt-reactivenav]
181 - mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large code refactoring of these classes: [(commit)](https://github.com/jlblancoc/mrpt/pull/4)
185 - mrpt::vision::CDifodo, a class which implements visual odometry based on depth images and the "range flow constraint equation". (by Mariano Jaimez Tarifa) - [(commit)](https://github.com/jlblancoc/mrpt/commit/e6ab5595f70cb889d07658c0b540c27e495a1cfb)
186 - Changes in classes:
187 - Clean up and slight optimization of metric map matching API: - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
194 - mrpt::slam::CPointsMap::TInsertionOptions now have methods to save/load from binary streams, making more maintainable the serialization of point maps - [(commit)](https://github.com/jlblancoc/mrpt/commit/544d439c3462228b07344142de68e5bc10c1a2e3)
195 - New options in point maps: mrpt::slam::CPointsMap::TInsertionOptions::insertInvalidPoints - [(commit)](https://github.com/jlblancoc/mrpt/pull/8)
196 - mrpt::slam::CObservationIMU now includes data fields for 3D magnetometers and altimeters. - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3451)
197 - Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont() to avoid shadowing mrpt::utils::CCanvas::selectTextFont()
198 - mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
199 - mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for inverse look-up of WS to TP space - [(commit)](https://github.com/jlblancoc/mrpt/commit/4d04ef50e3dea581bed6287d4ea6593034c47da3)
201 - Changed the signature of mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D & 2.5D PTGs - [(commit)](https://github.com/jlblancoc/mrpt/commit/7bd68e49a4ba3bf08f194678787816c65de1d685)
202 - Deleted classes:
203 - mrpt::utils::CEvent, which was actually unimplemented (!)
204 - mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer features enough to justify a class.
212 - Fixed building against OpenCV 3.0.0 (GIT head)
213 - Updated to the latest nanoflann 1.1.7.
214 - Updated to Eigen 3.2.0 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3455)
215 - Binary packages for Windows now include .pdb files to help debugging with Visual Studio.
216 - BUG FIXES:
217 - Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
218 - Fixed build error with GCC when experimental parallelization is enabled. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3441)
219 - mrpt::reactivenav::CReactiveNavigationSystem complained about missing config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in MRPT 1.0.2 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3452)
220 - Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in SRBA for 32bit builds. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3457)
221 - mrpt::topography::geodeticToENU_WGS84() and related functions used a local +Z axis aligned to the line towards the Earth center; now the Z axis points normally to the ellipsoid surface. The difference with the previous behavior is small but may be of a few millimeters for each meter from the reference point. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
222 - Potential crash when setting mpPolygon::setPoints() with empty vectors - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
223 - mrpt::reactivenav::CReactiveNavigationSystem and mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the "enableConsoleOutput" constructor flag - [(commit)](https://github.com/jlblancoc/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
224 - mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got an external signal [(commit)](https://github.com/jlblancoc/mrpt/commit/511e95f03480537ff18ad2cad178c504b1cfbb53)
225
226 <hr>
227 <a name="1.0.2">
228 <h2>Version 1.0.2: Released 2-AUG-2013 (SVN 3435) </h2></a>
233 - New operations: --list-timestamps, --remap-timestamps, --export-2d-scans-txt, --export-imu-txt
234 - New classes:
235 - [mrpt-base]
236 - mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco Angel Moreno).
237 - [mrpt-opengl]
238 - mrpt::opengl::CLight - OpenGL scenes now allow customization of OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport - <a href="http://code.google.com/p/mrpt/source/detail?r=3409" >r3409</a>
246 - Generic particle filter classes now allow directly resampling to a dynamic number of particles. Affected methods: - <a href="http://code.google.com/p/mrpt/source/detail?r=3381" >r3381</a>
249 - New method: CImage::loadFromXPM() - <a href="http://code.google.com/p/mrpt/source/detail?r=3397" >r3397</a>
250 - [mrpt-maps]
251 - mrpt::slam::COctoMap now exposes the inner octomap::OcTree object. See example samples/octomap_simple - <a href="http://code.google.com/p/mrpt/source/detail?r=4304" >r4304</a>
252 - [mrpt-openg]
253 - mrpt::opengl::CBox now be also rendered as a solid box + line borders. See mrpt::opengl::CBox::enableBoxBorder()
256 - Added new coloring scheme to mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
257 - By default, light effects are disabled in this object, because shadows aren't computed anyway and the effect isn't pleasant.
258 - Voxels cubes are sorted in ascending Z order so the visual effect is correct when rendering with transparency.
259 - [mrpt-reactivenav]
260 - mrpt::reactivenav::CParameterizedTrajectoryGenerator: The "low pass filter" has been removed since it wasn't practical and was never used; thus, parameters "TAU" and "DELAY" has been removed. - <a href="http://code.google.com/p/mrpt/source/detail?r=3395" >r3395</a>
261 - Methods removed since they weren't implemented in any derived class and there are no plans for doing it.
265 - Updated to nanoflann 1.1.7: ICP is ~5% faster.
266 - More unit tests:
267 - [mrpt-base] geometry module.
268 - BUG FIXES:
269 - CTimeLogger::registerUserMeasure() ignored the enable/disable state of the logger - <a href="http://code.google.com/p/mrpt/source/detail?r=3382" >r3382</a>
270 - mrpt-srba: SEGFAULT in 32bit builds due to missing MRPT_MAKE_ALIGNED_OPERATOR_NEW - <a href="http://code.google.com/p/mrpt/source/detail?r=3429" >r3429</a>
271
272 <br/>
273 <hr>
274 <a name="1.0.1">
275 <h2>Version 1.0.1: Released 12-MAY-2013 (SVN 3370) </h2></a>
297 - mrpt::slam::COccupancyGridMap2D now also evalutes likelihoods for sonar-like observations (mrpt::slam::CObservationRange), allowing particle-filter localization with these sensors - <a href="http://code.google.com/p/mrpt/source/detail?r=3330" >r3330</a>
298 - New method mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
299 - [mrpt-kinematics]
300 - mrpt::kinematics::CKinematicChain: Now allows changing the orientation of the first DOF (X,Y,Z).
301 - Removed stuff:
302 - Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has been removed. Replace with mrpt::vision::TFeatureTrackStatus
303 - KLT-specific values for mrpt::vision::TFeatureTrackStatus has been removed, since they were not used in detected features anyway.
304 - Build system:
305 - Fixed a potential build error if including FFMPEG's <time.h> instead of the standard header - <a href="http://code.google.com/p/mrpt/source/detail?r=3316" >r3316</a>
306 - Fixed determination of GCC version for all GCC builds - <a href="http://code.google.com/p/mrpt/source/detail?r=3324" >r3324</a>
307 - Updated to Eigen 3.1.3 - <a href="http://code.google.com/p/mrpt/source/detail?r=3349" >r3349</a>
308 - Updated to nanoflann 1.1.5
309 - BUG FIXES:
310 - Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due to an improperly initialized reference to a local variable - <a href="http://code.google.com/p/mrpt/source/detail?r=3318" >r3318</a>
315 <h2>Version 1.0.0: Released 1-MAR-2013 (SVN 3287) </h2></a>
316 - <b>Most important changes:</b>
317 - New library with a flexible implementation of Sparser Relative Bundle Adjustment (RBA), as presented in ICRA 2013: <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
318 - New library for Plane-based Maps: <a href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a> (also presented in ICRA 2013).
319 - Some MRPT modules are now header-only libraries.
320 - Support for a new Octomap metric map, via the octomap library. See mrpt::slam::COctoMap and detailed changes below.
321 - Support for importing/exporting point clouds in the standard LAS format (Look for liblas below).
322 - Better support for custom builds of MRPT (selective building of individual apps and libs, etc.)
323 - Ready for Visual Studio 2012 and GCC 4.7
324 - From now on, MRPT is released under the "New BSD" license.
325 - Many bug fixes.
326 - <b>Detailed list of changes:</b>
327 - New apps:
328 - <a href="http://www.mrpt.org/Application:srba-slam" >srba-slam</a>: A command-line frontend for the Relative Bundle Adjustment engine in mrpt-srba.
330 - <a href="http://www.mrpt.org/Application:robotic-arm-kinematics" >robotic-arm-kinematics</a>: A GUI for experimenting with Denavit-Hartenberg parameters.
335 - Import sequence of images as rawlog: Didn't detect "png" file extension as images - <a href="http://code.google.com/p/mrpt/source/detail?r=2940" >r2940</a> - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=34" >#34</a>
336 - The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a href="http://code.google.com/p/mrpt/source/detail?r=2950" >r2950</a>
340 - The GUI toolbar has been ported from wxWidget's ToolBar to sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a href="http://code.google.com/p/mrpt/source/detail?r=2952" >r2952</a>
341 - Added a new menu: "File -> Import -> From LAS file..." - <a href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
342 - <a href="http://www.mrpt.org/Application%3Agrid-matching" >grid-matching</a>: new argument "--aligner" to select aligner method - <a href="http://code.google.com/p/mrpt/source/detail?r=3021" >r3021</a>
343 - New classes:
344 - [mrpt-base]
345 - mrpt::math::MatrixBlockSparseCols, a templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information - <a href="http://code.google.com/p/mrpt/source/detail?r=2995" >r2995</a>
356 - CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been removed since they didn't work robustly. Replace with mrpt::vision::CFeatureTracker_KL
357 - New libraries:
358 - [mrpt-kinematics] See mrpt::kinematics
359 - [mrpt-pbmap] See <a href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>.
360 - [mrpt-srba] See <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
361 - Changes in libraries:
362 - These libs are now header-only: <a href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3045" >r3045</a>
363 - [mrpt-bayes]
364 - [mrpt-graphs]
365 - [mrpt-graphslam]
366 - Integration of the Octomap C++ library (new BSD License) by Kai M. Wurm et al.: <a href="http://code.google.com/p/mrpt/source/detail?r=3081" >r3081</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3083" >r3083</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3084" >r3084</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3086" >r3086</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3087" >r3087</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3088" >r3088</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3093" >r3093</a>
367 - The main new classes are mrpt::slam::COctoMap & mrpt::opengl::COctoMapVoxels
368 - mrpt::slam::CMultiMetricMap now allows the seamless integration of octomaps in many MRPT map building or localization algorithms.
369 - New example: samples/octomap_simple
370 - Changes in classes:
371 - [mrpt-base]
372 - Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT derived matrix classes, are now much faster loading huge matrices from text files - <a href="http://code.google.com/p/mrpt/source/detail?r=2997" >r2997</a>
373 - The typedef Eigen::MatrixBase<Derived>::typename of MRPT's plugin to Eigen classes has been REMOVED, to avoid conflicts with some part of Eigen's sparse classes. Use Matrix::Scalar instead - <a href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
374 - New method mrpt::poses::CPose3DQuat::inverse()
375 - New methods mrpt::poses::SE_traits::pseudo_exp()
376 - mrpt::utils::CTimeLogger:
377 - New method mrpt::utils::CTimeLogger::getStats() for programatic execution time stats analysis - <a href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
378 - New method mrpt::utils::CTimeLogger::registerUserMeasure() for making stats of user-providen values - <a href="http://code.google.com/p/mrpt/source/detail?r=3005" >r3005</a>
379 - mrpt::utils::map_as_vector<> can be now customized to use different underlying STL containers for storage - <a href="http://code.google.com/p/mrpt/source/detail?r=3001" >r3001</a>
380 - mrpt::utils::CDynamicGrid::setSize() now also accepts a "fill_value" argument.
381 - Added method mrpt::math::TPoint2D::norm() for consistency with mrpt::math::TPoint3D
382 - Better support for saving (and not only loading) plain text configuration files, including commented files with default values of all existing parameters: - <a href="http://code.google.com/p/mrpt/source/detail?r=2954" >r2954</a>
383 - All mrpt::utils::CConfigFileBase::write() now have an extended signature for formatting.
384 - mrpt::utils::CLoadableOptions::dumpToTextStream() is no longer pure virtual: it now relies on mrpt::utils::CLoadableOptions::saveToConfigFile()
385 - mrpt::utils::CStream::Seek() now supports files larger than 2GB by using uint64_t instead of long (still see issue report for another patch required for MSVC2010) - (Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=39" >issue 39</a>, thanks Robert Schattschneider) - <a href="http://code.google.com/p/mrpt/source/detail?r=3042" >r3042</a>
386 - mrpt::utils::TTypeName<> moved to its own header <mrpt/utils/TTypeName.h> while refactoring <mrpt/utils/CSerializable.h> - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
387 - mrpt::utils::CConfigFileBase::write() now has signatures for "uint32_t" and "uint64_t" in both 32 and 64bit builds, instead of relying of the "size_t" type. This was done to fix build errors in some GCC versions under 32bits.
388 - mrpt::poses::CPose2D now caches the cos() and sin() of phi, with a huge performance improvement in most common operations.
389 - [mrpt-bayes]
390 - mrpt::bayes::CKalmanFilterCapable (and all EKF-SLAM methods based on it) are now much faster. The implementation now exploits the sparsity of the Jacobian (~25% faster in a test 6D EKF-SLAM dataset) - <a href="http://code.google.com/p/mrpt/source/detail?r=3059" >r3059</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3060" >r3060</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3061" >r3061</a>
391 - mrpt::bayes::CParticleFilterCapable now makes use of the Curiously Recurring Template Pattern (CRTP) design instead of ugly #define macros - <a href="http://code.google.com/p/mrpt/source/detail?r=3182" >r3182</a>
392 - [mrpt-graphs]
393 - mrpt::graphs::CNetworkOfPoses2D, mrpt::graphs::CNetworkOfPoses3D,... and so on, are now all typedef's instead of classes, since serialization is now implemented as pure templatized code, thus avoiding the need to declare derived auxiliary classes - <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
394 - [mrpt-gui]
395 - mrpt::gui::CDisplayWindow3D::addTextMessage() (and other opengl text routines) now allows drawing text with a shadow effect - <a href="http://code.google.com/p/mrpt/source/detail?r=3007" >r3007</a>
396 - [mrpt-hwdrivers]
397 - New method mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
398 - mrpt::hwdrivers::CGenericSensor (and all derived classes) now allocate objects aligned in memory with MRPT_MAKE_ALIGNED_OPERATOR_NEW
399 - New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()
400 - [mrpt-maps]
401 - Better integration of point cloud classes with PCL: - <a href="http://code.google.com/p/mrpt/source/detail?r=2943" >r2943</a>
405 - Point cloud loading & saving in the standard ASPRS LiDAR LAS format (if liblas is installed in the system, see http://www.liblas.org/ ). See also the ready-to-use import menu in SceneViewer3D - <a href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
406 - mrpt::slam::CPointsMap::loadLASFile()
407 - mrpt::slam::CPointsMap::saveLASFile()
408 - Integration of wind measurements in gas-concentration maps (by Javier G. Monroy) - <a href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
409 - [mrpt-obs]
410 - New method mrpt::slam::CObservationGPS::clear()
411 - [mrpt-opengl]
412 - Evaluation of bounding box of opengl objects. New methods: - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
416 - mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a new flag to draw solid boxes at each leaf node - <a href="http://code.google.com/p/mrpt/source/detail?r=3033" >r3033</a>
417 - mrpt::opengl::COpenGLViewport has a new set of "global OpenGL switches" that affect the rendering of entire scenes - <a href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
418 - Classes drawing lines now by default enable anti-aliasing (can be disabled by the programmer): - <a href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
423 - Much code of mrpt::reactivenav classes have undergone a clean-up, slight optimizations and a translation of old Spanish names/comments to English - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2942" >r2942</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2958" >r2958</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3091" >r3091</a>
424 - mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid now has a more maintainable binary serialization format - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
425 - mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now also saves text files which can be used to visualize PTGs from MATLAB (see scripts/viewPTG.m) - <a href="http://code.google.com/p/mrpt/source/detail?r=3009" >r3009</a>
426 - mrpt::reactivenav::CHolonomicVFF and mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable from config files. See their documentation.
427 - Repulsive forces from obstacles in mrpt::reactivenav::CHolonomicVFF are now automatically normalized wrt the density of the 360deg view of obstacles and forces follow a "1/range" law instead of the old "exp(-range)".
428 - Solved a stability issue in C-S paths, in mrpt::reactivenav::CPTG5 (By Mariano Jaimez Tarifa) - <a href="http://code.google.com/p/mrpt/source/detail?r=3085" >r3085</a>
431 - Changed behavior not to allow features to appear in duplicated pairings.
432 - Added a consistency test to avoid seeding RANSAC with an inconsistent initial model.
433 - [mrpt-slam]
434 - mrpt::slam::CMetricMapBuilderICP now does not integrate the small pose changes due to odometry and/or relocalization when considering the distance and angle thresholds. This means that fewer map updates are now done for the same ICP-SLAM parameters, which should lead to "less noisy" maps.
435 - New functions:
436 - [mrpt-base]
437 - mrpt::utils::abs_diff()
438 - mrpt::system::getMRPTLicense()
439 - mrpt::system::getFileModificationTime()
440 - mrpt::math::noncentralChi2PDF_CDF() is now exposed (was private)
449 - Update to Eigen 3.1.2 - <a href="http://code.google.com/p/mrpt/source/detail?r=3064" >r3064</a>
450 - MRPT's root "CMakeLists.txt" has undergone a big refactoring and cleanup - <a href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
451 - Backward compatible "mrpt-core" has been removed as a fake lib for which to search with CMake from user programs - <a href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
452 - More system libs are detected in Linux (libclang-dev, lib3ds-dev), discarding embedded versions then - <a href="http://code.google.com/p/mrpt/source/detail?r=2963" >r2963</a> - <a href="http://code.google.com/p/mrpt/issues/detail?id=17" >Closes #17</a>
453 - Automatic detection of supported SIMD extensions (SSE*) from CMake (only for Linux OS) - <a href="http://code.google.com/p/mrpt/source/detail?r=3013" >r3013</a>
454 - Fixed building with Visual Studio 2012 (MSVC11) - <a href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
455 - MRPT now allows defining header-only libraries with the define_mrpt_lib_header_only() macro - <a href="http://code.google.com/p/mrpt/source/detail?r=3034" >r3034</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>
456 - More unit tests:
457 - for all probability distribution functions in mrpt::math,
458 - for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
459 - for the octomap map
460 - for serialization/deserealization of many classes.
461 - Added new documentation page: <a href="env-vars.html" >environment variables</a>.
462 - Removed the build flag "MRPT_BACKCOMPATIB_08X".
463 - Fixes for building under Mac OSX: <a href="http://code.google.com/p/mrpt/source/detail?r=3181" >r3181</a>
464 - Enable some c++11 features if the compiler supports them - <a href="http://code.google.com/p/mrpt/source/detail?r=3273" >r3273</a>
465 - BUG FIXES:
466 - Build: Fixed detection of OpenCV 2.4.2+ installed in the system via CMake config file instead of pkg-config, which seems to be broken. - <a href="http://code.google.com/p/mrpt/source/detail?r=3019" >r3019</a>
467 - [mrpt-base] The iterator returned by end() in all MRPT vectors and matrices (based on Eigen) pointed to the last element, not to the (now correct) next position after the last element - <a href="http://code.google.com/p/mrpt/source/detail?r=2941" >r2941</a>
468 - [mrpt-base] mrpt::dynamicsize_vector::resize() performed a memory reallocation even if given the current size, due to an inherited behavior from Eigen. It is not the expected behavior, so it has been fixed. - <a href="http://code.google.com/p/mrpt/source/detail?r=3003" >r3003</a>
469 - [mrpt-base] Wrong computation of normPDF() values for the multidimensional cases. Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=46" >#46</a> - <a href="http://code.google.com/p/mrpt/source/detail?r=3068" >r3068</a>
470 - [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D cases (Thanks Cipri!)
471 - [mrpt-base] Fixed errors in de-serialization of mrpt::utils::CPointPDFSOG and mrpt::slam::CReflectivityGridMap2D
472 - [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D() always returned 0 matched.
473 - [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to Edu!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
474 - [mrpt-hwdrivers] Fixed potential SEGFAULT in mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for <a href="http://www.mrpt.org/node/2474" >reporting</a>)
475 - [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
476 - [mrpt-maps] mrpt::slam::COccupancyGridMap2D::getAs3DObject() returned cells with an occupancy of exactly "0" as transparent - <a href="http://code.google.com/p/mrpt/source/detail?r=2957" >r2957</a>
477 - [mrpt-maps] Fixed saving the correct point colors in mrpt::slam::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3090" >r3090</a>
478 - [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching two 3D point clouds as each correspondence was inserted twice into the output vector. (By Paco) - <a href="http://code.google.com/p/mrpt/source/detail?r=3162" >r3162</a>
479 - [mrpt-opengl] Fixed a potential bug: after deserializing an object based on a display-list (most of them), it won't update in the opengl view.
480 - [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not exported in Windows DLL's (Thanks Mariano for noticing!).
481 - [mrpt-reactivenav] Fixed wrong computation of obstacles force fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - <a href="http://code.google.com/p/mrpt/source/detail?r=2953" >r2953</a>
482 - [mrpt-reactivenav] Precomputed collision grids could be loaded in mrpt::reactivenav::CParameterizedTrajectoryGenerator even for different robot parameters/shape: now it correctly detects such situations and recompute when needed - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a> - Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=33" >#33</a>
483 - [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never evaluated" and wrong composition of representative direction for some gaps (By Mariano) - <a href="http://code.google.com/p/mrpt/source/detail?r=3056" >r3056</a>
491 - <a href="http://www.mrpt.org/Application:kinect-stereo-calibrate" >kinect-stereo-calibrate</a>: A GUI tool for calibrating RGB+D and/or stereo cameras, including live Kinect capturing.
492 - Removed applications:
493 - stereo-calib-gui: it's now superseded by kinect-stereo-gui. The old command line tool is still useful, so it's still there as the example "stereo-calib-opencv".
496 - Added a new option (SHOW_LASER_SCANS_3D in config files) to draw laser scans in the live 3D view - <a href="http://code.google.com/p/mrpt/source/detail?r=2881" >r2881</a>
502 - New menu for generating high-resolution renders of any scene directly to imag files - <a href="http://code.google.com/p/mrpt/source/detail?r=2775" >r2775</a>
503 - Many new menus for selective selecting objects and applying operations on them - <a href="http://code.google.com/p/mrpt/source/detail?r=2776" >r2776</a>
504 - stereo-calib-gui: Now generates a report with detailed and clear results from stereo calibration and allows the user to change most parameters interactively - <a href="http://code.google.com/p/mrpt/source/detail?r=2801" >r2801</a>
505 - <a href="http://www.mrpt.org/Application:kinect-3d-view" >kinect-3d-view</a>: New key command: press '9' to grab selected snapshots to disk - <a href="http://code.google.com/p/mrpt/source/detail?r=2890" >r2890</a>
506 - Kinect stuff:
507 - [mrpt-hwdrivers]
508 - mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV instead of default freenect - <a href="http://code.google.com/p/mrpt/source/detail?r=2721" >r2721</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2762" >r2762</a>
509 - mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at start up by default, what may be annoying (if required, set "initial_tilt_angle") - <a href="http://code.google.com/p/mrpt/source/detail?r=2722" >r2722</a>
510 - mrpt::hwdrivers::CKinect now loads Kinect calibration files in a format compatible with stereo cameras. See http://www.mrpt.org/Kinect_calibration
511 - [mrpt-obs]
512 - New method mrpt::slam::CObservation3DRangeScan::convertTo2DScan() allows simulating a "fake 2D laser scanner" from a Kinect. See the example: http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
513 - [mrpt-vision]
514 - New function mrpt::vision::checkerBoardStereoCalibration() to calibrate stereo and RGB+D cameras. See also the program <a href="http://www.mrpt.org/Application:kinect-stereo-calibrate" >kinect-stereo-calibrate</a>:
515 - New classes:
516 - [mrpt-gui]
517 - New event generated by GUI windows: mrpt::gui::mrptEventWindowClosed
518 - [mrpt-hwdrivers]
519 - mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing devices (by Emil Khatib, University of Malaga) - <a href="http://code.google.com/p/mrpt/source/detail?r=2841" >r2841</a>
520 - [mrpt-opengl]
521 - New classes for representing confidence intervals (ellipsoids) in transformed spaces - <a href="http://code.google.com/p/mrpt/source/detail?r=2783" >r2783</a>
