:zap: The Mobile Robot Programming Toolkit (MRPT)

MRPT

Last update: Dec 30, 2022

Overview

The MRPT project

gcc/clang: MSVC: Last stable release:

GH downloads: SF downloads (datasets):

Last Win64 builds:

Workspace:

1. Introduction

Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. Libraries include SLAM solutions, 3D(6D) geometry, SE(2)/SE(3) Lie groups, probability density functions (pdfs) over points, landmarks, poses and maps, Bayesian inference (Kalman filters, particle filters), image processing, obstacle avoidance, etc. MRPT also provides GUI apps for Stereo camera calibration, dataset inspection, and much more.

2. Resources

Download the latest unstable code with: git clone https://github.com/MRPT/mrpt.git --depth 1
Ask questions at: this Google group or at stackoverflow (please, use the tag mrpt!)
Main project website, including sources and Windows installer downloads
C++ API reference
ROS packages: mrpt_navigation, mrpt_slam
Bindings documentation (Python, Matlab)
Source code for dozens of examples
Example configuration files for MRPT applications can be found at: MRPT/share/mrpt/config_files
Some sample datasets are stored in: MRPT/share/mrpt/datasets. A more complete dataset repository is available online.
How to contribute with your code for new feaures, bug fixes, etc.
MRPT is used in the MOLA modular SLAM framework.

3. Install

3.1. Ubuntu

See this PPA for nightly builds from the develop branch, or this one for stable releases.

    sudo add-apt-repository ppa:joseluisblancoc/mrpt   # develop branch
    #sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable   # master (stable releases) branch
    #sudo apt update # Only required for Ubuntu 16.04
    sudo apt install libmrpt-dev mrpt-apps

Supported distributions:

Ubuntu 20.04 LTS (Focal), Ubuntu 18.04 LTS (Bionic), 18.10 (Cosmic), 19.10 (Eoan)
Ubuntu 16.04 LTS Xenial (EOL: April 2021)
- Using 16.04 requires installing gcc-7 due to some bugs in gcc-5:
```
add-apt-repository ppa:ubuntu-toolchain-r/test
apt-get update
apt-get install -y g++-7
```

3.2. Build from sources

Minimum compiler requisites:

gcc-7 or newer.
- Ubuntu 16.04LTS Xenial: Instructions for installing gcc-7 in this version of Ubuntu.
- Ubuntu 18.04 or newer: default gcc version is ok.
clang-4 or newer.
Windows: Visual Studio 2017 version 15.3 or newer.
cmake >= 3.3 required (>=3.4 for Windows).
Eigen >= 3.3 required.

To build in Debian/Ubuntu follow the steps below. See full build docs online for Windows instructions or to learn all the details.

Install minimum recommended dependencies:

sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev libwxgtk3.0-gtk3-dev \
libopencv-dev libeigen3-dev libgtest-dev

MRPT builds against OpenCV 2.4.x, 3.x, 4.x, but it is recommended to use 3.0 or later.

Recommended: Install additional dependencies to enable most MRPT features (except ROS bridges):

sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
libassimp-dev libjpeg-dev   libsuitesparse-dev libpcap-dev liboctomap-dev \
libglfw3-dev

Install additional dependencies for ros1bridge using official Ubuntu repositories. If you already have a ROS distribution installed, doing source /opt/ros/xxx/setup.bash is enough, no further packages must be installed.

sudo apt install libcv-bridge-dev libgeometry-msgs-dev libnav-msgs-dev librosbag-storage-dev libroscpp-dev libsensor-msgs-dev libstd-srvs-dev libstereo-msgs-dev libtf2-dev libtf2-msgs-dev libbz2-dev

Build with cmake as usual:

mkdir build && cd build
cmake ..
make

3.3. Windows precompiled versions

Executables (.exes and .dlls) and development libraries (.hs and .libs) included:

Last Win64 builds:

4. License

MRPT is released under the new BSD license.

Stargazers over time

Comments

Port to C++14
To be done (in 2017? -> yes) when it's safe to assume everyone has a decent C++14 compiler.

This implies:

[x] Deprecate support for Ubuntu precise (and also trusty but only in PPA, for the next item:)

[x] Use modern CMake 3.1+ C++ compiler features: target_compile_features, WriteCompilerDetectionHeader, set (CMAKE_CXX_STANDARD 11), etc.

[x] Smart pointers: forget about stlplus and move to C++11 smart pointers.

[x] Threads: move to std::thread, unless there are strong reasons not to do so.

[x] Switch tfest/indiv-compat-decls.h to <functional>

[x] CMake: use EXPORT, etc.

[x] Direct use of Eigen? Moved to its own issue: #496

[x] Semaphore -> http://stackoverflow.com/a/27852868

[x] MRPT_OVERRIDE -> override

[x] CPipe : avoid deprecated auto_ptr<>

[x] Search and rewrite all areas having an #if MRPT_HAS_CXX11

[x] Drop mrpt::synch::CAtomicCounter in favor of C++11 std::atomic.

[x] Prefer nullptr

[x] MRPT_NO_THROWS ==> C++11.

[x] Make all destructors noexcept

[x] Consider replacing uint32_t enums with correct C++11 typed enums. E.g. in GNSS_BINARY_MSG_DEFINITION_START

[x] Review usages of mrpt::utils::delete_safe and consider changing them to use C++11 smart pointers.

[x] Foo::Create with make_shared ()

[x] std::function typedefs or similar for ZMQ wrappers: See #231

[x] Support move semantics (read below)

[x] typedefs ==> using

[x] Add constexpr to geometry constructors, etc.

[x] alignas instead of Eigen align macros

[x] Simplify ctors via member initialization in headers, e.g. int a { 0 }; or int a = 0;

[x] Replace copy_ptr<>, etc. with simple using ... partial template specializations.

[x] Use using FP=... to define functors.

[x] Use template<> using ... instead of current aligned STL containers. ==> Nope: it would break existing code, it's not worth (Nov 3, 2017)

[x] Replace std::vector of fixed length with std::array. E.g. ReactiveNav classes, etc.

[x] Make sure all move ctors and move = operators are declared noexcept. Otherwise, they will not be eligible for "real move".

[x] refactor type traits

[x] Use weak_ptr for m_frame_tf API in ReactiveNav

Minimum compilers (see this table)

MSVC 15 aka 14.1 (2017)

GCC 4.8 (?)

CLANG 3.3 (?)

Minimum CMake version: 3.1
enhancement
opened by jlblancoc 68

Build issues when Qt or OpenGL disabled

[x] Qt5 components shouldn't be required. They should be optional and build to succeed if the optional components are not found.
[x] Disabling OpenGL should not break the build.

From: https://gitter.im/MRPT/mrpt

Alex Giokas @alexge233 Oct 05 04:47 Hi Hunter, I'm trying to build a minimal version of MRPT-1.9.9 (from github) without any GUI stuff. I keep running into the same issue:

-- Architecture (uname -m): x86_64
-- Kernel name (uname -s): Linux
-- Could NOT find OpenGL (missing:  OPENGL_INCLUDE_DIR) 
-- Could NOT find GLUT (missing:  GLUT_glut_LIBRARY GLUT_INCLUDE_DIR) 
-- **Warning**: OpenGL and/or GLUT not found! OpenGL capabilities will be disabled.
--                      OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so
--                      OPENGL_glu_LIBRARY: OPENGL_glu_LIBRARY-NOTFOUND
--                      GLUT_glut_LIBRARY: GLUT_glut_LIBRARY-NOTFOUND
--                      OPENGL_INCLUDE_DIR: OPENGL_INCLUDE_DIR-NOTFOUND
-- Could NOT find wxWidgets (missing:  wxWidgets_LIBRARIES wxWidgets_INCLUDE_DIRS) 
wxWidgets was not found automatically. Please, set wxWidgets_ROOT_DIR to the lib directory to enable it in MRPT.
CMake Warning at cmakemodules/script_qt.cmake:10 (find_package):
  By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Qt5", but
  CMake did not find one.

  Could not find a package configuration file provided by "Qt5" with any of
  the following names:

    Qt5Config.cmake
    qt5-config.cmake

  Add the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR"
  to a directory containing one of the above files.  If "Qt5" provides a
  separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:234 (include)


-- cotire 1.7.9 loaded.
And when I build:
[ 45%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CGlCanvasBase.cpp.o
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘void mrpt::gui::CGlCanvasBase::resizeViewport(int, int)’:
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:119:20: error: ‘GLint’ was not declared in this scope
  glViewport(0, 0, (GLint)w, (GLint)h);
                    ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:119:37: error: ‘glViewport’ was not declared in this scope
  glViewport(0, 0, (GLint)w, (GLint)h);
                                     ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘void mrpt::gui::CGlCanvasBase::clearColors()’:
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:124:65: error: ‘glClearColor’ was not declared in this scope
  glClearColor(clearColorR, clearColorG, clearColorB, clearColorA);
                                                                 ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘virtual double mrpt::gui::CGlCanvasBase::renderCanvas(int, int)’:
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:260:16: error: ‘GL_ALL_ATTRIB_BITS’ was not declared in this scope
   glPushAttrib(GL_ALL_ATTRIB_BITS);
                ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:260:34: error: ‘glPushAttrib’ was not declared in this scope
   glPushAttrib(GL_ALL_ATTRIB_BITS);
                                  ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:263:12: error: ‘GL_DEPTH_TEST’ was not declared in this scope
   glEnable(GL_DEPTH_TEST);
            ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:263:25: error: ‘glEnable’ was not declared in this scope
   glEnable(GL_DEPTH_TEST);
                         ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:264:12: error: ‘GL_ALPHA_TEST’ was not declared in this scope
   glEnable(GL_ALPHA_TEST);
            ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:265:12: error: ‘GL_TEXTURE_2D’ was not declared in this scope
   glEnable(GL_TEXTURE_2D);
            ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:269:19: error: ‘GLsizei’ was not declared in this scope
   resizeViewport((GLsizei)width, (GLsizei)height);
                   ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:293:17: error: ‘GL_MODELVIEW’ was not declared in this scope
    glMatrixMode(GL_MODELVIEW);
                 ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:293:29: error: ‘glMatrixMode’ was not declared in this scope
    glMatrixMode(GL_MODELVIEW);
                             ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:294:19: error: ‘glLoadIdentity’ was not declared in this scope
    glLoadIdentity();
                   ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:307:11: error: ‘glFlush’ was not declared in this scope
   glFlush();
           ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:312:15: error: ‘glPopAttrib’ was not declared in this scope
   glPopAttrib();
               ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:316:15: error: ‘glPopAttrib’ was not declared in this scope
   glPopAttrib();
               ^
/root/mrpt/libs/gui/src/CGlCanvasBase.cpp:325:15: error: ‘glPopAttrib’ was not declared in this scope
   glPopAttrib();
Do you have a CMAKE macro/flag to turn OpenGL/GUI off?

Hunter Laux @jolting Oct 05 10:38 Did you try USE_QT=false?

Alex Giokas @alexge233 Oct 06 02:08 I did now. This is weird, Cmake spots no presence of QT, wxWidgets but it still tries to build the GUI library. I've also run into a similar issue: I can compile the library if I install freeglut-dev, but when I build by application which links to mrpt, then I get link errors to assimp.so.4. Where do you default to using gui and opengl, maybe I can hack into it and turn them off.

Alex Giokas @alexge233 Oct 06 02:14 For example, running with -DUSE_QT=false it still tries to build velodyne (which I don't need) which then fails to link to pthread:

[ 87%] Building CXX object tests/CMakeFiles/test_mrpt_hwdrivers.dir/__/libs/hwdrivers/src/CVelodyneScanner_unittest.cpp.o
/usr/bin/ld: CMakeFiles/velodyne-view.dir/velodyne-view_main.cpp.o: undefined reference to symbol '[email protected]@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
apps/velodyne-view/CMakeFiles/velodyne-view.dir/build.make:162: recipe for target 'bin/velodyne-view' failed
make[2]: *** [bin/velodyne-view] Error 1
CMakeFiles/Makefile2:2549: recipe for target 'apps/velodyne-view/CMakeFiles/velodyne-view.dir/all' failed
make[1]: *** [apps/velodyne-view/CMakeFiles/velodyne-view.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

Just fyi, I am willing to contribute if you point me to the right direction, it's the least I can do

Alex Giokas @alexge233 Oct 06 05:51 This is what I'm trying with right now:

cmake .. -DDISABLE_OPENGL=ON -DDISABLE_LIBUSB=ON -DDISABLE_OPENNI2=ON -DDISABLE_PCAP=ON -DDISABLE_PCL=ON -DDISABLE_PHIDGETS=ON -DDISABLE_PYTHON_BINDINGS=ON -DUSE_QT=OFF -DDISABLE_ROS=ON

Still, I get:

- List of MRPT libs/modules to be built (and dependencies):
-- -----------------------------------------------------------------
--   mrpt-hwdrivers : mrpt-base;mrpt-comms;mrpt-maps;mrpt-obs;mrpt-gui;mrpt-opengl;mrpt-maps;mrpt-vision;mrpt-graphs 
--   mrpt-graphs : mrpt-opengl;mrpt-base 
--   mrpt-base :  
--   mrpt-vision : mrpt-obs;mrpt-opengl;mrpt-base;mrpt-opengl 
--   mrpt-tfest : mrpt-base 
--   mrpt-comms : mrpt-base 
--   mrpt-bayes : mrpt-base   (header-only)
--   mrpt-graphslam : mrpt-base;mrpt-graphs;mrpt-gui;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-slam;mrpt-vision 
--   mrpt-detectors : mrpt-vision;mrpt-maps;mrpt-gui;mrpt-slam;mrpt-base;mrpt-opengl;mrpt-obs;mrpt-graphs 
--   mrpt-hmtslam : mrpt-slam;mrpt-graphslam;mrpt-graphs;mrpt-vision;mrpt-maps;mrpt-base;mrpt-obs;mrpt-opengl;mrpt-gui 
--   mrpt-topography : mrpt-base;mrpt-obs;mrpt-opengl;mrpt-tfest 
--   mrpt-opengl : mrpt-base 
--   mrpt-slam : mrpt-bayes;mrpt-graphs;mrpt-vision;mrpt-tfest;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-base 
--   mrpt-obs : mrpt-opengl;mrpt-base 
--   mrpt-kinematics : mrpt-opengl;mrpt-base 
--   mrpt-maps : mrpt-obs;mrpt-graphs;mrpt-opengl;mrpt-base 
--   mrpt-gui : mrpt-opengl;mrpt-base 
--   mrpt-nav : mrpt-graphs;mrpt-maps;mrpt-kinematics;mrpt-graphs;mrpt-obs;mrpt-opengl;mrpt-base
What I really want is slam, obs, nav, maps and base.
As it builds, it runs into:
Scanning dependencies of target test_mrpt_graphs
[ 48%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CAboutBoxBase.cpp.o
[ 48%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CWxGLCanvasBase.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CGlCanvasBase.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CAboutBox_wx.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CDisplayWindowPlots.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/WxUtils.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CDisplayWindow.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/registerAllClasses.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/gui-precomp.cpp.o
[ 50%] Building CXX object libs/gui/CMakeFiles/mrpt-gui.dir/src/CAboutBoxQt.cpp.o
[ 50%] Building CXX object tests/CMakeFiles/test_mrpt_graphs.dir/test_main.cpp.o
[ 50%] Building CXX object tests/CMakeFiles/test_mrpt_graphs.dir/__/libs/graphs/src/ScalarFactorGraph_unittest.cpp.o
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘void mrpt::gui::CGlCanvasBase::resizeViewport(int, int)’:
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:119:20: error: ‘GLint’ was not declared in this scope
  glViewport(0, 0, (GLint)w, (GLint)h);
                    ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:119:37: error: ‘glViewport’ was not declared in this scope
  glViewport(0, 0, (GLint)w, (GLint)h);
                                     ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘void mrpt::gui::CGlCanvasBase::clearColors()’:
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:124:65: error: ‘glClearColor’ was not declared in this scope
  glClearColor(clearColorR, clearColorG, clearColorB, clearColorA);
                                                                 ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp: In member function ‘virtual double mrpt::gui::CGlCanvasBase::renderCanvas(int, int)’:
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:260:16: error: ‘GL_ALL_ATTRIB_BITS’ was not declared in this scope
   glPushAttrib(GL_ALL_ATTRIB_BITS);
                ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:260:34: error: ‘glPushAttrib’ was not declared in this scope
   glPushAttrib(GL_ALL_ATTRIB_BITS);
                                  ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:263:12: error: ‘GL_DEPTH_TEST’ was not declared in this scope
   glEnable(GL_DEPTH_TEST);
            ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:263:25: error: ‘glEnable’ was not declared in this scope
   glEnable(GL_DEPTH_TEST);
                         ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:264:12: error: ‘GL_ALPHA_TEST’ was not declared in this scope
   glEnable(GL_ALPHA_TEST);
            ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:265:12: error: ‘GL_TEXTURE_2D’ was not declared in this scope
   glEnable(GL_TEXTURE_2D);
            ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:269:19: error: ‘GLsizei’ was not declared in this scope
   resizeViewport((GLsizei)width, (GLsizei)height);
                   ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:293:17: error: ‘GL_MODELVIEW’ was not declared in this scope
    glMatrixMode(GL_MODELVIEW);
                 ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:293:29: error: ‘glMatrixMode’ was not declared in this scope
    glMatrixMode(GL_MODELVIEW);
                             ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:294:19: error: ‘glLoadIdentity’ was not declared in this scope
    glLoadIdentity();
                   ^
/home/zuperath/code/mrpt/libs/gui/src/CGlCanvasBase.cpp:307:11: error: ‘glFlush’ was not declared in this scope
   glFlush();
           ^

opened by jolting 38

Segmentation Fault when saving ICP map
I'm using mrpt 1.5 from an Ubuntu PPA.

The ICP builder exposes some methods which AFAIK allow the CSimpleMap to be saved, however they all SEGFAULT when I try:

saveCurrentMapToFile segfaults right away

setCurrentMapFile when the builder is destroyed, it tries to save the map file

getCurrentlyBuiltMap does not fill the map, which when I try to save segfaults also

Am I using this wrongly, or is this a bug? Running under gdb and backtracing pinpoints to mrpt::obs::CSensoryFrame::writeToStream which in turn hints towards a dynamic_cast.
opened by alexge233 30
MRPT runs on MacOS10.14

Emmm... I have tried to build mrpt on MacOS10.14, but some requirements can not be fullfilled.

Is there any solutions for running MRPT on MacOS? Or does anyone try to fix it? I would like to join this fixed work.

opened by alibenD 24
Fix static builds on Linux

Hello, I complied mrpt 1.5.6 on my Ubuntu Xenial using the source file in the branch. However, when I run the test "test_mrpt_base" I get a failure message: [ FAILED ] Matrices.SerializeCMatrixD [ FAILED ] SerializeTestBase.WriteReadToMem.

Similarly, when I run "test_mrpt_slam", MRPT throws an exception and I get a failure message. [ FAILED ] MonteCarlo2D.RunSampleDataset.

Please can someone tell me if there are fixes for these because I am new to mrpt.

Thank you!
wontfix

opened by JohnDuke259 21
Octomap include problem

When building current master, if there is ros-octomap installed, cmake script finds octomap directory correctly. However, when compiling, there is an error octomap/octomap.h: No such file or directory: build log When uninstalling ros-octomap and using internal one, there is no problem. Built with internal octomap, MRPT installs and then there is an error when building catkin workspace with MRPT included: build log Installing ros-octomap between building MRPT and catkin workspace solves compilation problem but looks like a piece of duct tape.

Isn't it related to #574?

Sincerely, Borys.

opened by spsancti 20
Graphslam devel2
Changed apps/libraries:

mrpt-graphslam

mrpt-graphs

mrpt-base

Notes on Pull-Request

Current PR improves in the robustness of mrpt-graphslam lib (numerous bug fixes) and also adds support for implementing multi-robot graphSLAM - see mrpt_graphslam_2d for an example of such usage

Add support for implementing 3D graphSLAM using CGraphSlamEngine.

mrpt-graphs is a standard lib (not header-only)

Instead of a single function that plots a graph, add separate classes for visualizing graphs produced by a single or by multiple agents - refer to CMRVisualizer.h, CVisualizer.h.

Add compile-time traits for determining whether a PosePDF class holds the uncertainty in covariance or information based form - see pose_traits

Modify the look of github PR template file

For an more in-depth analysis of the proposed changes refer to the commit messages.

I acknowledge to have:

Read the CONTRIBUTING page

Updated docs/doxygen-pages/changelog.h to describe these changes (if applicable)

Updated AUTHORS (if applicable)

(Notify: @MRPT/owners )
opened by bergercookie 20
Errors building with MinGW 4.9 (Was: The Eigen/Array header does no longer exist in Eigen3)

Hi all, I am trying to compile mrpt 1.3.2 under Windows and MinGW32. The CMake configuration has the EIGEN_USE_EMBEDDED_VERSION checked, and my make command is [mingw32-make -f makefile CXXFLAGS="-std=gnu++11" SHARED=1 UNICODE=1 BUILD=release]

The build explodes compiling bayes/CParticleFilter.cpp, and yields the error message "The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core."

What am I doing wrong (besides building under Windows ;) )?

opened by prpsymbol 19
merge JSON-capable serialization methods
By @rachit173 for GSOC 2018. See #783

Additional tasks to be done before merging:

[x] Helper macros

[x] Add serialization for CPose* classes.

[x] Add serialization for, at least, some CObservation* classes. Moved to #820

[x] Add real unit tests?

[x] Add examples + update dox docs with the 2 ways to use JSON serialization ("raw" and "opaque").
opened by jlblancoc 17
MinGW x64 building issue

Hello!

I got issue compiling mrpt wint MinGW64:

cmake .. -G "MSYS Makefiles" - ok mingw32-make: `$ make Scanning dependencies of target EP_octomap [ 0%] Creating directories for 'EP_octomap' [ 0%] Performing download step (download, verify and extract) for 'EP_octomap' -- Downloading... dst='D:/Programming/libs/mrpt-1.5.6/build/EP_octomap-prefix/src/devel.zip' timeout='none' -- Using src='https://github.com/MRPT/octomap/archive/devel.zip' -- Downloading... done -- extracting... src='D:/Programming/libs/mrpt-1.5.6/build/EP_octomap-prefix/src/devel.zip' dst='D:/Programming/libs/mrpt-1.5.6/build/otherlibs/octomap' -- extracting... [tar xfz] -- extracting... [analysis] -- extracting... [rename] -- extracting... [clean up] -- extracting... done [ 0%] No patch step for 'EP_octomap' [ 0%] No update step for 'EP_octomap' [ 1%] Performing configure step for 'EP_octomap' -- The C compiler identification is GNU 7.2.0 -- The CXX compiler identification is GNU 7.2.0 -- Check for working C compiler: D:/Programming/tools/msys2/mingw64/bin/gcc.exe -- Check for working C compiler: D:/Programming/tools/msys2/mingw64/bin/gcc.exe -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: D:/Programming/tools/msys2/mingw64/bin/g++.exe -- Check for working CXX compiler: D:/Programming/tools/msys2/mingw64/bin/g++.exe -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done

-- octomap building as Release -- Found Doxygen: C:/Program Files/doxygen/bin/doxygen.exe (found version "1.8.10") found components: doxygen missing components: dot

-- Compile octomap using: make -- Install octomap using: make install -- (be sure to set the correct CMAKE_INSTALL_PREFIX before) -- Compile API-documentation using: make docs

-- Configuring done -- Generating done -- Build files have been written to: D:/Programming/libs/mrpt-1.5.6/build/EP_octomap-prefix/src/EP_octomap-build [ 1%] Performing build step for 'EP_octomap' Scanning dependencies of target octomath-static [ 7%] Building CXX object octomap/src/math/CMakeFiles/octomath-static.dir/Vector3.cpp.obj [ 14%] Building CXX object octomap/src/math/CMakeFiles/octomath-static.dir/Quaternion.cpp.obj [ 21%] Building CXX object octomap/src/math/CMakeFiles/octomath-static.dir/Pose6D.cpp.obj [ 28%] Linking CXX static library /D/Programming/libs/mrpt-1.5.6/build/otherlibs/octomap/lib/liboctomath.a [ 28%] Built target octomath-static Scanning dependencies of target octomap-static [ 35%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/AbstractOcTree.cpp.obj [ 42%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/AbstractOccupancyOcTree.cpp.obj [ 50%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/Pointcloud.cpp.obj [ 57%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/ScanGraph.cpp.obj [ 64%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/CountingOcTree.cpp.obj [ 71%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/OcTree.cpp.obj [ 78%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/OcTreeNode.cpp.obj [ 85%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/OcTreeStamped.cpp.obj [ 92%] Building CXX object octomap/src/CMakeFiles/octomap-static.dir/ColorOcTree.cpp.obj [100%] Linking CXX static library /D/Programming/libs/mrpt-1.5.6/build/otherlibs/octomap/lib/liboctomap.a [100%] Built target octomap-static [ 1%] No install step for 'EP_octomap' [ 1%] No test step for 'EP_octomap' [ 1%] Completed 'EP_octomap' [ 1%] Built target EP_octomap Scanning dependencies of target DocumentationFiles [ 1%] Built target DocumentationFiles [ 1%] Generating C unity source libs/base/cotire/mrpt-base_C_unity.c [ 2%] Generating CXX prefix source libs/base/cotire/mrpt-base_CXX_prefix.cxx [ 2%] Generating CXX prefix header libs/base/cotire/mrpt-base_CXX_prefix.hxx [ 2%] Building CXX precompiled header libs/base/cotire/mrpt-base_CXX_prefix.hxx.gch [ 2%] Generating C prefix source libs/base/cotire/mrpt-base_C_prefix.c [ 2%] Generating C prefix header libs/base/cotire/mrpt-base_C_prefix.h [ 2%] Building C precompiled header libs/base/cotire/mrpt-base_C_prefix.h.gch Scanning dependencies of target mrpt-base [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/bayes/CParticleFilter.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/bayes/CParticleFilterCapable.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/compress/zip.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CAtan2LookUpTable.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CHistogram.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CMatrix.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CMatrixB.cpp.obj [ 2%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CMatrixD.cpp.obj [ 3%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CPolygon.cpp.obj [ 3%] Building CXX object libs/base/CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj D:/Programming/tools/msys2/mingw64/bin/../lib/gcc/x86_64-w64-mingw32/7.2.0/../../../../x86_64-w64-mingw32/bin/as.exe: CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj: too many sections (49113) D:\Programming\tools\msys2\tmp\ccPuqE9n.s: Assembler messages: D:\Programming\tools\msys2\tmp\ccPuqE9n.s: Fatal error: can't write 19 bytes to section .text of CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj because: 'File too big' D:/Programming/tools/msys2/mingw64/bin/../lib/gcc/x86_64-w64-mingw32/7.2.0/../../../../x86_64-w64-mingw32/bin/as.exe: CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj: too many sections (49113) D:\Programming\tools\msys2\tmp\ccPuqE9n.s: Fatal error: can't close CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj: File too big make[2]: *** [libs/base/CMakeFiles/mrpt-base.dir/build.make:325: libs/base/CMakeFiles/mrpt-base.dir/src/math/CRuntimeCompiledExpression.cpp.obj] Error 1 make[1]: *** [CMakeFiles/Makefile2:332: libs/base/CMakeFiles/mrpt-base.dir/all] Error 2 make: *** [Makefile:152: all] Error 2 `

opened by JekaS178RUS 17
particle filters: use values vs. pointers; enable C++17 in MRPT
CProbabilityParticle now has a "storage" template param.

SE(2) / SE(2) particle filters now use value storage instead of smart pointers for robot poses, saving huge numbers of memory allocations.

MRPT now requires C++17 to build. See minimum compilers in updated README.md

Pending before merging:

[x] Take a look at what's wrong with the python bindings. I fixed many error there but the remaining one, I can't localize the problem origin...
opened by jlblancoc 17
When configuring the running environment of pl-slam, install mrpt software, and then this error occurs

When configuring the running environment of pl-slam, install mrpt software, and then this error occurs。Mrpt version is https://github.com/MRPT/mrpt/tree/0c3d605c3cbf5f2ffb8137089e43ebdae5a55de3

error: /usr/bin/ld: /usr/local/wxWidgets/lib/libwx_baseu-3.1.a(baselib_threadinfo.o): relocation R_X86_64_TPOFF32 against _ZZN12_GLOBAL__N_117GetThisThreadInfoEvE16s_thisThreadInfo' can not be used when making a shared object; recompile with -fPIC /usr/bin/ld: /usr/local/wxWidgets/lib/libwx_baseu-3.1.a(baselib_utilsunx.o): relocation R_X86_64_PC32 against symbol_ZN16wxAppConsoleBase14ms_appInstanceE' can not be used when making a shared object; recompile with -fPIC /usr/bin/ld: The last link failed: wrong value collect2: error: ld returned 1 exit status libs/base/CMakeFiles/mrpt-base.dir/build.make:3638: recipe for target 'lib/libmrpt-base.so.1.5.0' failed make[2]: *** [lib/libmrpt-base.so.1.5.0] Error 1 CMakeFiles/Makefile2:259: recipe for target 'libs/base/CMakeFiles/mrpt-base.dir/all' failed make[1]: *** [libs/base/CMakeFiles/mrpt-base.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2

ubuntu 18.04 wxWidgets3.1.0 opencv3.1.0 gcc7.5.0

opened by xqs-c 2

pymrpt.so already registered; second conversion method ignored.

on noetic if I link the pymrpt.so so that it is in the pythonpath many warnings are generated. The library does work.

$ ln -s /opt/ros/noetic/lib/x86_64-linux-gnu/python3.8/dist-packages/pymrpt.so /usr/local/lib/python3.8/dist-packages/pymrpt.so

$ python
Python 3.8.10 (default, Mar 15 2022, 12:22:08) 
[GCC 9.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pymrpt
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPose2D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPosePDF> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPosePDFGaussian> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPosePDFParticles> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPose3D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPose3DPDF> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPose3DPDFGaussian> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::poses::CPose3DPDFParticles> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CAction> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CActionRobotMovement2D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CObservation> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CObservationOdometry> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CObservationRange> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CObservation2DRangeScan> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CObservationBearingRange> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::obs::CSensoryFrame> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::TMapGenericParams> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CMetricMap> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::COccupancyGridMap2D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CPointsMap> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CSimplePointsMap> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CSimpleMap> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CMultiMetricMap> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::maps::CMultiMetricMapPDF> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CRenderizable> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CGridPlaneXY> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CSetOfObjects> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CSetOfLines> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CEllipsoid3D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::CEllipsoid2D> already registered; second conversion method ignored.
<frozen importlib._bootstrap>:219: RuntimeWarning: to-Python converter for std::shared_ptr<mrpt::opengl::COpenGLScene> already registered; second conversion method ignored.

opened by rdinoff 1

Kinect v2 calibration using Camera calibration app

Hi, I am trying to calibrate Kinect V2 camera. Does the camera-calib app supports the Kinvect V2. I was using kinect v2 with libfreenect2. I tried the app but it doesnt detect the Kinect V2.

Thanks.

opened by nrasulnrasul 0

benchmarkingImageFeatures_GUI segfault - needs refactor (Was: rawlog files not readable)

Some rawlog files are not readable anymore.

download rawlog_rgbd_dataset_freiburg1_360.tgz from https://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011
run the benchmarkingImageFeatures_GUI example with that log file

This will print the errors:

QImage::scaled: Image is a null image
QImage::scaled: Image is a null image
QImage::scaled: Image is a null image
Exception message: Assert condition failed: rows > 0 && cols > 0
==== MRPT exception backtrace ====
[1] ../libs/obs/src/CObservation3DRangeScan.cpp:447: [virtual void mrpt::obs::CObservation3DRangeScan::serializeFrom(mrpt::serialization::CArchive&, uint8_t)] Assert condition failed: rows > 0 && cols > 0
[0] ../libs/serialization/src/CArchive.cpp:462: [void mrpt::serialization::CArchive::internal_ReadObject(mrpt::serialization::CSerializable*, const string&, bool, int8_t)] Exception while parsing typed object 'CObservation3DRangeScan' from stream!

and crash once trying to read the next image.

The first image might be indeed empty, but this used to work with older MRPT versions. It would be very useful to retain backward compatibility with log files.

bug

opened by christian-rauch 6

can't compile with mingw64
Hi

I tried to compile MRPT on windows with mingw64: I have created a build directory next to the CMakeLists.txt file

cd build cmake-gui .. configure generate make

I have directly the following error: Building CXX object libs/core/CMakeFiles/core.dir/src/WorkerThreadsPool.cpp.obj In function 'void mySetThreadName(const string&, std::thread&)': error: 'SetThreadDescription' was not declared in this scope SetThreadDescription(theThread.native_handle(), wName);

I can't find any reference to that issue anywhere.

Help would be appreciated. Regards
opened by Dharmesh946 8

Releases(2.5.7)

2.5.7(Nov 25, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.5.7.tar.gz(41.62 MB)
mrpt-2.5.7.tar.gz.asc(833 bytes)
mrpt-2.5.7.zip(46.48 MB)
mrpt-release-2.5.7.exe(106.46 MB)
2.5.6(Nov 12, 2022)
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

Source code(tar.gz)
Source code(zip)
mrpt-2.5.6.tar.gz(41.62 MB)
mrpt-2.5.6.tar.gz.asc(833 bytes)
mrpt-2.5.6.zip(46.48 MB)
mrpt-release-2.5.6.exe(106.80 MB)
2.5.5(Oct 19, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.5.5.tar.gz(41.59 MB)
mrpt-2.5.5.tar.gz.asc(833 bytes)
mrpt-2.5.5.zip(46.45 MB)
mrpt-release-2.5.5.exe(106.69 MB)
2.5.4(Sep 24, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.5.4.tar.gz(40.09 MB)
mrpt-2.5.4.tar.gz.asc(833 bytes)
mrpt-2.5.4.zip(43.44 MB)
mrpt-release-2.5.4.exe(105.17 MB)
2.5.3(Sep 6, 2022)
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)

Source code(tar.gz)
Source code(zip)
mrpt-2.5.3.tar.gz(40.06 MB)
mrpt-2.5.3.tar.gz.asc(833 bytes)
mrpt-2.5.3.zip(43.42 MB)
mrpt-release-2.5.3.exe(104.88 MB)
2.5.2(Aug 30, 2022)
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)

Source code(tar.gz)
Source code(zip)
mrpt-2.5.2.tar.gz(40.05 MB)
mrpt-2.5.2.tar.gz.asc(833 bytes)
mrpt-2.5.2.zip(43.42 MB)
mrpt-release-2.5.2.exe(104.88 MB)
2.5.1(Aug 3, 2022)
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().

Source code(tar.gz)
Source code(zip)
mrpt-2.5.1.tar.gz(40.02 MB)
mrpt-2.5.1.tar.gz.asc(833 bytes)
mrpt-2.5.1.zip(43.36 MB)
mrpt-release-2.5.1.exe(104.83 MB)
2.5.0(Jul 17, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.5.0.tar.gz(40.01 MB)
mrpt-2.5.0.tar.gz.asc(833 bytes)
mrpt-2.5.0.zip(43.37 MB)
mrpt-release-2.5.0.exe(104.82 MB)
2.4.10(Jul 1, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.4.10.tar.gz(39.99 MB)
mrpt-2.4.10.tar.gz.asc(833 bytes)
mrpt-2.4.10.zip(43.36 MB)
mrpt-release-2.4.10.exe(104.74 MB)
2.4.9(Jun 7, 2022)
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)

Source code(tar.gz)
Source code(zip)
mrpt-2.4.9.tar.gz(39.99 MB)
mrpt-2.4.9.tar.gz.asc(833 bytes)
mrpt-2.4.9.zip(43.34 MB)
mrpt-release-2.4.9.exe(104.73 MB)
2.4.8(May 26, 2022)
Version 2.4.8: Released May 26th, 2022

Build system:

Fixed various ROS-level public dependencies.

Source code(tar.gz)
Source code(zip)
mrpt-2.4.8.tar.gz(39.99 MB)
mrpt-2.4.8.tar.gz.asc(833 bytes)
mrpt-2.4.8.zip(43.35 MB)
mrpt-release-2.4.8.exe(104.73 MB)
2.4.7(May 26, 2022)
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

Source code(tar.gz)
Source code(zip)
mrpt-2.4.7.tar.gz(39.99 MB)
mrpt-2.4.7.tar.gz.asc(833 bytes)
mrpt-2.4.7.zip(43.35 MB)
2.4.5(May 22, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.4.5.tar.gz(39.99 MB)
mrpt-2.4.5.tar.gz.asc(833 bytes)
mrpt-2.4.5.zip(43.35 MB)
2.4.4(May 5, 2022)
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).

Source code(tar.gz)
Source code(zip)
mrpt-2.4.4.tar.gz(39.69 MB)
mrpt-2.4.4.tar.gz.asc(833 bytes)
mrpt-2.4.4.zip(43.01 MB)
2.4.3(Feb 23, 2022)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.4.3.tar.gz(39.68 MB)
mrpt-2.4.3.tar.gz.asc(833 bytes)
mrpt-2.4.3.zip(43.00 MB)
mrpt-release-2.4.3.exe(104.38 MB)
2.4.2(Feb 3, 2022)
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)

Source code(tar.gz)
Source code(zip)
mrpt-2.4.2.tar.gz(39.68 MB)
mrpt-2.4.2.tar.gz.asc(833 bytes)
mrpt-2.4.2.zip(43.00 MB)
mrpt-release-2.4.2.exe(104.36 MB)
2.4.1(Jan 5, 2022)
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.).

Source code(tar.gz)
Source code(zip)
mrpt-2.4.1.exe(104.31 MB)
mrpt-2.4.1.tar.gz(39.60 MB)
mrpt-2.4.1.tar.gz.asc(833 bytes)
mrpt-2.4.1.zip(42.91 MB)
mrpt-release-2.4.1.exe(104.32 MB)
2.4.0(Dec 12, 2021)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.4.0.exe(103.63 MB)
mrpt-2.4.0.tar.gz(39.53 MB)
mrpt-2.4.0.tar.gz.asc(833 bytes)
mrpt-2.4.0.zip(42.83 MB)
mrpt-release-2.4.0.exe(103.63 MB)
2.3.2(Jul 15, 2021)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.3.2.tar.gz(39.33 MB)
mrpt-2.3.2.tar.gz.asc(833 bytes)
mrpt-2.3.2.zip(42.32 MB)
mrpt-release-2.3.2.exe(102.02 MB)
2.3.1(May 26, 2021)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.3.1.tar.gz(39.04 MB)
mrpt-2.3.1.tar.gz.asc(833 bytes)
mrpt-2.3.1.zip(42.03 MB)
mrpt-release-2.3.1.exe(101.62 MB)
Windows-nightly-builds(May 5, 2021)

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
Source code(tar.gz)
Source code(zip)
mrpt-branch-develop.exe(106.46 MB)
2.3.0(Apr 25, 2021)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.3.0.tar.gz(38.31 MB)
mrpt-2.3.0.tar.gz.asc(833 bytes)
mrpt-2.3.0.zip(41.30 MB)
2.2.0(Mar 10, 2021)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.2.0.tar.gz(35.64 MB)
mrpt-2.2.0.tar.gz.asc(833 bytes)
mrpt-2.2.0.zip(38.59 MB)
2.1.8(Feb 28, 2021)
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".

Source code(tar.gz)
Source code(zip)
mrpt-2.1.8.tar.gz(35.65 MB)
mrpt-2.1.8.tar.gz.asc(833 bytes)
mrpt-2.1.8.zip(38.60 MB)
2.1.7(Jan 2, 2021)
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

Source code(tar.gz)
Source code(zip)
mrpt-2.1.7.tar.gz(35.65 MB)
mrpt-2.1.7.tar.gz.asc(833 bytes)
mrpt-2.1.7.zip(38.60 MB)
2.1.6(Dec 14, 2020)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.1.6.tar.gz(35.66 MB)
mrpt-2.1.6.tar.gz.asc(833 bytes)
mrpt-2.1.6.zip(38.60 MB)
2.1.5(Dec 7, 2020)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.1.5.tar.gz(35.65 MB)
mrpt-2.1.5.tar.gz.asc(833 bytes)
mrpt-2.1.5.zip(38.60 MB)
2.1.4(Nov 9, 2020)
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

Source code(tar.gz)
Source code(zip)
mrpt-2.1.4.tar.gz(35.66 MB)
mrpt-2.1.4.tar.gz.asc(833 bytes)
mrpt-2.1.4.zip(38.59 MB)
2.1.3(Oct 21, 2020)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.1.3.tar.gz(35.64 MB)
mrpt-2.1.3.tar.gz.asc(833 bytes)
mrpt-2.1.3.zip(38.57 MB)
2.1.2(Oct 19, 2020)
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.

Source code(tar.gz)
Source code(zip)
mrpt-2.1.2.tar.gz(35.65 MB)
mrpt-2.1.2.tar.gz.asc(833 bytes)
mrpt-2.1.2.zip(38.57 MB)

:zap: The Mobile Robot Programming Toolkit (MRPT)

Related tags

Overview

The MRPT project

1. Introduction

2. Resources

3. Install

3.1. Ubuntu

3.2. Build from sources

3.3. Windows precompiled versions

4. License

Stargazers over time

Comments

Changed apps/libraries:

Notes on Pull-Request

Releases(2.5.7)

2.5.7(Nov 25, 2022)

Version 2.5.7: Released November 25th, 2022

2.5.6(Nov 12, 2022)

Version 2.5.6: Released November 12th, 2022

2.5.5(Oct 19, 2022)

Version 2.5.5: Released October 19th, 2022

2.5.4(Sep 24, 2022)

Version 2.5.4: Released September 24th, 2022

2.5.3(Sep 6, 2022)

Version 2.5.3: Released September 6th, 2022

2.5.2(Aug 30, 2022)

Version 2.5.2: Released August 30th, 2022

2.5.1(Aug 3, 2022)

Version 2.5.1: Released August 4th, 2022

2.5.0(Jul 17, 2022)

Version 2.5.0: Released July 18th, 2022

2.4.10(Jul 1, 2022)

Version 2.4.10: Relased June 24th, 2022

2.4.9(Jun 7, 2022)

Version 2.4.9: Released June 7th, 2022

2.4.8(May 26, 2022)

Version 2.4.8: Released May 26th, 2022

2.4.7(May 26, 2022)

Version 2.4.7: Released May 26th, 2022

2.4.5(May 22, 2022)

Version 2.4.5: Released May 22nd, 2022

2.4.4(May 5, 2022)

Version 2.4.4: Released March 5th, 2022

2.4.3(Feb 23, 2022)

Version 2.4.3: Released Feb 22nd, 2022

2.4.2(Feb 3, 2022)

Version 2.4.2: Released Feb 3rd, 2022

2.4.1(Jan 5, 2022)

Version 2.4.1: Released Jan 5th, 2022

2.4.0(Dec 12, 2021)

Version 2.4.0: Released Dec 12th, 2021

2.3.2(Jul 15, 2021)

Version 2.3.2: Released Jul 14, 2021

2.3.1(May 26, 2021)

Version 2.3.1: Released May 26th, 2021

Windows-nightly-builds(May 5, 2021)

2.3.0(Apr 25, 2021)

Version 2.3.0: Released April 25th, 2021

2.2.0(Mar 10, 2021)

Version 2.2.0: Released March 10th, 2021

2.1.8(Feb 28, 2021)

Version 2.1.8: Released Feb 23rd, 2021

2.1.7(Jan 2, 2021)

Version 2.1.7: Released Jan 2nd, 2021

2.1.6(Dec 14, 2020)

Version 2.1.6: Released Dec 14th, 2020

2.1.5(Dec 7, 2020)

Version 2.1.5: Released Dec 6th, 2020

2.1.4(Nov 9, 2020)

Version 2.1.4: Released Nov 8th, 2020

2.1.3(Oct 21, 2020)

Version 2.1.3: Released Oct 21st, 2020

2.1.2(Oct 19, 2020)

Version 2.1.2: Released Oct 20th, 2020

Owner

MRPT

A compiler for the Bon programming language.

Base64 Encoding implementation in C Programming Language

Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision