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Release of MRPT 1.3.1
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@jlblancoc jlblancoc released this 17 Jul 22:52
· 7124 commits to master since this release
1.3.1
d7a24b0

Version 1.3.1: Released 18-JUL-2015

Changes in apps:

  • navlog-viewer: Now shows more information on navigation logs.
  • icp-slam-live: New application for real-time SLAM with one LIDAR sensor.

Changes in libraries:

  • [mrpt-base]
    • New helper templates: mrpt::utils::int_select_by_bytecount<>, mrpt::utils::uint_select_by_bytecount<>
    • New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and weighted averages. See:
    • Header <mrpt/poses/SO_SE_average.h>
    • mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
    • mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
  • [mrpt-hwdrivers]
    • New sensors supported:
    • mrpt::hwdrivers::CIMUIntersense
    • mrpt::hwdrivers::CSkeletonTracker
    • New parameter mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty Hokuyo timestamps with PC time.
    • mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really implement turning on/off the RPLidar motor.
  • [mrpt-maps]
    • New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
  • [mrpt-nav]
    • Removed old base class CPathPlanningMethod
    • CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class renamed (and better described) for consistency with other planners
    • mrpt::nav::CReactiveNavigationSystem:
    • Documentation has been added about all existing parameters, and template config files provided as starting points.
    • The loadConfigFile() method with 2 config files has been deprecated favoring the newer, simpler single config file.
    • The "ROBOT_NAME" parameter is no longer employed. A minor side effect (probably affecting no one) is that PTG cache files are no longer named differently for different robots.
    • mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save and load trajectories to binary streams. Used to debug in navlog-viewer.
  • [mrpt-obs]
    • mrpt::obs::CObservation3DRangeScan now supports pixel labels (semantic mapping, etc.)
    • New class mrpt::obs::CObservationSkeleton to hold body tracking information (by Francisco Angel Moreno)
    • mrpt::obs::CObservationIMU has new data fields and fields are better documented to reflect whether they refer to local/global coordinate frames
  • [mrpt-vision]
    • mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter from NEAREST to HQLINEAR

BUG FIXES:

  • Fix ocasional (false) failure of RANSAC unit tests due to their non-deterministic nature.
  • Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
  • Fixed potential wrong bounding box results in mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
  • mrpt::obs::CObservation6DFeatures: Fixed random crashes related to non-aligned memory in 32bit builds (Fixes #141)
  • Fix Debian bug #786349 on Eigen2 support.
  • mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects not attached to a physical device.
  • Fix wrong quaternion cross product when target variable is one of the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes #148)
  • mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential memory corruption.
  • Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning without trying to find a good consensus solution. It affected the demo app kinect-3d-slam (Fixes #156)
  • Fix wrong feature points in CFeatureExtraction::extractFeaturesKLT() (Fixes #138)

See detailed changelog

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