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.

Version 2.5.6: Released November 12th, 2022

• Changes in libraries:
  • \ref mrpt_containers_grp
    • New template class mrpt::containers::PerThreadDataHolder
  • \ref mrpt_opengl_grp
    • The rendering pipeline (mrpt::opengl::enqueueForRendering) is now more optimized to cull earlier, achieving faster rendering of large and complex 3D scenes.
    • All opengl shaders, objects, and renderers are now multithread capable, including rendering several FBOs in different threads.
    • mrpt::opengl::CFBORender constructor now takes a parameters struct making it much more configurable.
    • mrpt::opengl::CAssimpModel now supports (de)serializing, storing itself in the Assimp binary format (assbin).
    • New opengl shaders: one set for light-enabled objects and another for objects without diffuse reflection effects (to avoid conditionals inside the GPU shader programs).
  • \ref mrpt_gui_grp
    • mrpt::gui OpenGL canvas windows and components no longer have a background color property. It is now always handled by the mrpt::opengl::COpenGLViewport to avoid duplicated functionalities.
  • \ref mrpt_system_grp
    • These functions are now thread-safe if built in a system with the localtime_r() variant of localtime():
      • mrpt::system::timestampToParts()
      • mrpt::system::dateTimeLocalToString()
      • mrpt::system::timeLocalToString()
• Build system:
  • Provide CMAKE_BUILD_TYPES SanitizeThread and SanitizeAddress.
  • Fix build against latest (Debian/sid) libglut-dev.
• BUG FIXES:
  • Fix build against latest version of EMSDK (Emscripten).
  • Fix wrong scaling of samples in mrpt::random::CRandomGenerator::drawGaussianMultivariate() and mrpt::random::CRandomGenerator::drawGaussianMultivariateMany()
  • mrpt::opengl::CSetOfTexturedTriangles was not automatically registered in the mrpt::rtti system

Version 2.5.5: Released October 19th, 2022

• Changes in applications:
  • prg-configurator:
    • A maximum trajectory time can be specified now for rendering PTGs.
    • New CLI arguments --ini, --ini-section to automate loading custom INI files.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • mrpt::container::yaml:
      • Clearer error messages when an invalid type conversion is requested.
      • It now does not throw internal exceptions when trying to convert strings to bool.
  • \ref mrpt_imgs_grp
    • mrpt::img::CImage::filledRectangle() is now implemented using the fast opencv draw function instead of the slow mrpt::img::CCanvas default base implementation.
  • \ref mrpt_math_grp
    • Correct copyright notes for embedded version of the CSparse sources (PR #1255).
  • \ref mrpt_typemeta_grp
    • mrpt::typemeta::TEnumType<> on invalid names, it now prints all valid known enum names in its exception error message.

Version 2.5.4: Released September 24th, 2022

• Changes in libraries:
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CFBORender is now faster, using a LUT for converting from logarithmic to linear depth values.
  • \ref mrpt_ros1bridge_grp
    • Implemented missing mrpt::ros1bridge::toROS() for point clouds.
  • \ref mrpt_ros2bridge_grp
    • Implemented missing mrpt::ros2bridge::toROS() for point clouds.
• BUG FIXES:
  • Fix build on hppa for parisc architecture too (not supported flag -mtune=native)
  • nanogui: Fix mismatched memory allocator/free in serialization code.
  • Fix potential segfault in RawLogViewer while building the tree view.

Version 2.5.3: Released September 6th, 2022

• Changes in libraries:
  • \ref mrpt_gui_grp
    • nanogui::mainloop() (and mrpt::gui::CDisplayWindowGUI()) now allows defining a minimum period for calls to user callback functions via a new second optional parameter.
  • \ref mrpt_obs_grp
    • Not all CObservation* classes were declared in <mrpt/obs/obs_frwds.h>. Now it is corrected.
• BUG FIXES:
  • Fix build on hppa (parisc64) architecture (not supported flag -mtune=native)

Version 2.5.2: Released August 30th, 2022

• BUG FIXES:
  • mrpt::math::MatrixBase::eig_symmetric() now is ensured not to return negative eigenvalues due to numerical innacuracies in some platforms (i386).
  • mrpt::maps::COccupancyGridMap2D::getAsPointCloud() did not return the outermost cells as obstacles.
  • Fix unit test errors when compiling with LTO (Closes Debian bug #1015550)

Version 2.5.1: Released August 4th, 2022

• Changes in applications:
  • RawLogViewer:
    • Bold points when selecting a sensor in the timeline UI.
• Changes in libraries:
  • Embedded nanoflann version upgraded to v1.4.3
• BUG FIXES:
  • Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
  • mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.
  • Fix static_assert() failure in CTicTac when building with latest emscripten clang compiler.
  • Fix regression: yaml parsing boolean values may throw an exception inside std::stoi().

Version 2.5.0: Released July 18th, 2022

• Changes in applications:
  • RawLogViewer:
    • New time-line UI for quickly navigating and selecting observations.
  • New application:
    • ros-map-yaml2mrpt: CLI tool to import ROS map_server maps into MRPT formats.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • New functions mrpt::containers::find_closest() and mrpt::containers::find_closest_with_tolerance().
    • mrpt::containers::yaml now also keeps information about line and column positions for each token, see mrpt::containers::yaml::node_t::marks
  • \ref mrpt_core_grp
    • mrpt::Clock::toDouble() now returns 0 for default-constructed (invalid) time_point.
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CMesh supports having (x,y) limits with maxCoord<minCoord for flipped elevation and image meshes.
    • New flag mrpt::opengl::CAssimpModel::LoadFlags::IgnoreMaterialColor for mrpt::opengl::CAssimpModel::loadScene()
    • A new rendering mode for default no-perspective transformations. See mrpt::opengl::CCamera::setNoProjection()
  • \ref mrpt_poses_grp
    • Add correct displacement covariance calculation between two poses with cross-correlation via new method mrpt::poses::CPose3DQuatPDFGaussian::inverseCompositionCrossCorrelation() (Closes #1242)
  • \ref mrpt_system_grp
    • New funtions mrpt::system::toAbsolutePath(), mrpt::system::pathJoin()
    • Most functions in \ref filesystem ported to C++17 std::filesystem
  • \ref mrpt_tfest_grp
    • New method TMatchingPairList::overallSquareError() for SE(3) poses (CPose3D).
• Deprecations:
  • The following macros, which were already deprecated, have been removed: ASSERT_BELOW_, ASSERT_ABOVE_(), ASSERT_BELOWEQ_(), ASSERT_ABOVEEQ_()
• Build system:
  • Update fallback embedded version of octomap to v1.9.6
• BUG FIXES:
  • FIX: OpenGL API errors if several CWxGLCanvasBase instances are updated simultaneously in the same program.
  • mrpt::opengl::COpenGLViewport would throw if an uninitialized image is passed for rendering in "image mode".
  • mrpt::system::formatTimeInterval() reported an incorrect number of milliseconds.
  • Fix detection of Boost python module.
  • Calling mrpt::opengl::CRenderizable::setColor_u8() did not force a regeneration of opengl buffer objects in all cases.

Version 2.4.10: Relased June 24th, 2022

• Changes in applications:
  • ptg-configurator:
    • New menu action to export selected path to matlab/octave script.
  • RawLogViewer:
    • Visual improvements and display of timestamps in local time too.
• Changes in libraries:
  • \ref mrpt_poses_grp
    • Adds covariance mapping to SE(3) for GTSAM (Closes #1229)
  • \ref mrpt_ros1bridge_grp
    • Import mrptToROSLoggerCallback() from the now obsolete mrpt_bridge package into mrpt::ros1bridge.
• Build system
  • Fix ROS version detection; select ROS2 if packages for both versions are found.
• BUG FIXES:
  • Fix mrpt-comms rare timeout in busy build farms.
  • mrpt::ros1bridge and mrpt::ros2bridge were not correctly exporting the fromROS() function for LaserScan messages.

Version 2.4.9: Released June 7th, 2022

• Changes in libraries
  • \ref mrpt_math_grp
    • new method mrpt::math::TPlane::signedDistance()
  • \ref mrpt_ros2bridge_grp
    • Fixed missing find_package() in module config.cmake file.
• BUG FIXES:
  • Fix wrong handling of cmake exported built-in version of Eigen3 (Closes #1235)
  • Fix pymrpt Python3 module location (Closes #1232)

Version 2.4.8: Released May 26th, 2022

• Build system:
  • Fixed various ROS-level public dependencies.

Version 2.4.7: Released May 26th, 2022

• Examples:
  • gui_depth_camera_distortion: Added option to change distortion model.
• Build system
  • Fixed ROS-level public dependency on suitesparse.
  • Enable tinyxml2 for ROS builds.
• Changes in libraries:
  • \ref mrpt_maps_grp
    • Method mrpt::maps::CPointsMap::addFrom() removed, it overlapped with mrpt::maps::CPointsMap::insertAnotherMap()
    • New optional parameter in mrpt::maps::CPointsMap::insertAnotherMap()
  • \ref mrpt_obs_grp
    • New option mrpt::obs::T3DPointsProjectionParams::onlyPointsWithIntensityColor

Version 2.4.5: Released May 22nd, 2022

• Changes in libraries:
  • New module mrpt_ros2bridge_grp to support conversions to/from ROS2 data types and MRPT classes.
• Build system:
  • Fix detection of dependencies for both ROS1 and ROS2.

Version 2.4.4: Released March 5th, 2022

• New web-based applications
  • All MRPT modules (including \ref mrpt_opengl_grp and mrpt-nanogui) are now compatible with Emscripten so they can run as Javascript + wasm on any modern browser.
• Changes in applications:
  • RawlogViewer:
    • Browse dialog: Smarter coloring of pointclouds; check all & none buttons for sensor layers.
  • rawlog-edit:
    • Operation --camera-params now also works for mrpt::obs::CObservation3DRangeScan observations.
    • New operation --describe.
• Changes in libraries:
  • \ref mrpt_poses_grp
    • mrpt::poses::CPose3DQuat: Remove use of obsolete base class std::iterator.
• 3rdparty libraries:
  • Updated libfyaml to v0.7.12.
• Build system:
  • Allow using libfyaml-dev system package if found.
  • ROS package.xml: update dependencies so all sensors and mrpt-ros1bridge are enabled.
  • Fix detection of ROS1 native *_msgs packages as build dependencies.
• BUG FIXES:
  • ASSERT_NEAR_() did not work correctly when arguments were expressions with operators.
  • Fixed incorrect parsing of strings with whitespaces in mrpt::from_string<>() when converting to std::string
  • mrpt::obs::CObservation3DRangeScan::get_unproj_lut() was ignoring the depth camera distortion model and always assumed plumb_bob.
  • mrpt::ros1bridge converter for IMU observations now correctly handles missing IMU readings (ROS convention of "-1" in covariance).

Version 2.4.3: Released Feb 22nd, 2022

• Changes in applications:
  • navlog-viewer:
    • The timestamp is now always shown.
• BUG FIXES:
  • Do not run offscreen rendering unit tests in MIPS arch, since they seem to fail in autobuilders.
  • mrpt::vision::checkerBoardCameraCalibration() did not return the distortion model (so if parameters are printed, it would look like no distortion at all!).
  • mrpt::gui::CDisplayWindowGUI::createManagedSubWindow() created the subwindows helper UI on top of the other user windows. It now remains on the back of other windows.

Version 2.4.2: Released Feb 3rd, 2022

• Changes in libraries:
  • \ref mrpt_containers_grp
    • mrpt::container::yaml::operator(size_t) added, conditionally to size_t being a different type than uint64_t and such (Fixes build errors on OSX).
  • \ref mrpt_core_grp
    • mrpt::callStackBackTrace() (and exception backtraces) now only use BFD to solve for line numbers in DEBUG builds, to avoid the large delay in processing each exception.
    • New method mrpt::WorkerThreadsPool::size().
  • \ref mrpt_expr_grp
    • ExprTk updated to latest version.
  • \ref mrpt_gui_grp
    • GUI windows can now have custom icons via mrpt::gui::CDisplayWindowGUI::setIcon() or mrpt::gui::CDisplayWindowGUI::setIconFromData()
  • \ref mrpt_img_grp
    • New static method mrpt::img::CImage::LoadFromFile()
  • \ref mrpt_math_grp
    • Vector and matrix classes: add [[nodiscard]] to static "constructor" methods to avoid mistakes.
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CFBORender now does not rely on GLUT to create opengl contexts, but on EGL.
  • \ref mrpt_typemeta_grp
    • Add syntactic sugar function mrpt::typemeta::str2enum<>().
• BUG FIXES:
  • mrpt::opengl::CFBORender did only render the main viewport, it now processes all of them.
  • Fix FTBFS with ffmpeg 5.0 (Debian Bug #1004585)

Version 2.4.1: Released Jan 5th, 2022

• Changes in build system:
  • Disable -flto in nanogui (to avoid an Eigen regression).
• Changes in applications:
  • rawlog-edit:
    • New flag --externals-filename-format
  • RawlogViewer:
    • Better handling of exceptions failing to load delayed-load images.
• Changes in libraries:
  • \ref mrpt_core_grp
    • Remove unused header <mrpt/3rdparty/llvm/propagate_const.h>.
  • \ref mrpt_graphs_grp
    • mrpt::graphs::CDijkstra now has an optional maximum topological search range.
  • \ref mrpt_math_grp
    • New geometry functions:
      • mrpt::math::intersect(const TPolygon2D& subject, const TPolygon2D& clipping)
      • mrpt::math::signedArea(const mrpt::math::TPolygon2D& p)
  • \ref mrpt_obs_grp
    • New function mrpt::obs::format_externals_filename()
  • Embedded copy of nanoflann: upgraded to v1.4.0.
• BUG FIXES:
  • Fix bug in mrpt::math::getAngle(const TPlane&, const TPlane&).
  • Fix exception if mrpt::opengl::CFBORender is used with setProjectiveFromPinhole() camera models.
  • Fix CMake Warning at cmakemodules/FindFilesystem.cmake and failure to detect the std::filesystem feature in some g++ versions.
  • Fix numerical innacuracies with planar bounding boxes, fixed via new epsilon parameter in mrpt::math::TBoundingBox::intersection()
  • Fix sluggish rendering in opengl+wxWidgets controls (e.g. within RawLogViewer, etc.).

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.

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.

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.

Build timestamp: 2022-12-04T23:16:40.0000000Z Windows binary releases (develop) from AppVeyor CI. APPVEYOR_BUILD_VERSION=2.5.8-develop-build4110 Git commit: b9e510a93e43f2236aba7fc67faecab5932cf071 format

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.

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.

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".

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

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.

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.

Version 2.1.4: Released Nov 8th, 2020

• Changes in libraries:
  • \ref mrpt_core_grp
    • mrpt::format() is no longer a template but a function, to use GCC automated printf-format warnings.
  • \ref mrpt_containers_grp
    • mrpt::containers::yaml avoids throwing internal exceptions as part of regular valid conversions, and better support and report of out-of-range integers.
  • \ref mrpt_math_grp
    • mrpt::math::linspace() added overload returning by value.
  • \ref mrpt_random_grp
    • mrpt::random::CRandomGenerator::permuteVector() added overload returning by value.
  • \ref mrpt_tfest_grp
    • mrpt::tfest::TMatchingPairListTempl::saveAsMATLABScript() now draws 3D correspondences too.
    • RANSAC method mrpt::tfest::se3_l2_ransac() now uses more correct SO(3) metric for angular distance threshold instead of independent yaw/pitch/roll angles.
  • BUG FIXES:
    • Fix wrong Debian dependencies of libmrpt-dev

Version 2.1.3: Released Oct 21st, 2020

• Changes in libraries:
  • \ref mrpt_config_grp
    • Refactor parsing functionality as new exposed method mrpt::config::config_parser()
  • \ref mrpt_gui_grp
    • mrpt::gui::CDisplayWindowGUI subwindows control UI automatically keep tracks of focused subwindows.
• Build system:
  • Support for ccache, enabled by default if found.
  • Fix build with system libsimpleini-dev.
• BUG FIXES:
  • Fix mrpt::opengl::CFBORender requiring images with origin at the bottom-left corner.

Version 2.1.2: Released Oct 20th, 2020

• BUG FIXES:
  • Fix wrong coloring of graph edges in mrpt::opengl::graph_visualize() (Closes #1111).
  • Fix Debian Lintian error: exporting copyrighted sources as part of simpleini submodule.