Release of v2.8.1

Version 2.8.1: Released April 17th, 2023

• Changes in libraries:
  • \ref mrpt_opengl_grp
    • Expose shadow bias parameters into mrpt::opengl::TLightParameters
• BUG FIXES:
  • OpenGL shadow rendering: Fix error in calculation of anti peter-panning and shadow acne effects.

Release of v2.8.0

Version 2.8.0: Released April 8th, 2023

• Changes in apps:
  • rosbag2rawlog: Added support for converting nav_msgs/Odometry topics to mrpt::obs::CObservationOdometry
• Changes in libraries:
  • \ref mrpt_hwdrivers_grp
    • New driver for TAObotics IMU sensors. See mrpt::hwdrivers::CTaoboticsIMU and the example \ref hwdrivers_taobotics_imu
  • \ref mrpt_math_grp
    • mrpt::math::getRegressionPlane() return value is not roughly the inverse of the condition number of the regression problem, which gives a stronger quality indicator than the former formula.
  • \ref mrpt_opengl_grp
    • Header <mrpt/opengl.h> has been updated to include the backwards-compatible type mrpt::opengl::COpenGLScene to smooth transition of existing code bases.
    • mrpt::opengl::CSphere now has a number of divisions property instead of two (one of them was not actually used).
    • Fixed const correctness of mrpt::opengl::CGeneralizedEllipsoidTemplate::getNumberOfSegments()
  • \ref mrpt_system_grp
    • Removed mrpt::system::setConsoleColor() (Deprecated since MRPT 2.3.3)
• Build system:
  • Fix use of obsolete qt5_use_modules().
  • New minimum CMake version required is CMake 3.16.0
• BUG FIXES:
  • Fix regression in mrpt::obs::CRawlog::detectImagesDirectory() leading to RawLogViewer and other apps not finding the external image directories for datasets.
  • Fix wrong rendering of shadows of lines when in orthographic projection.
  • mrpt::opengl::CSphere::onUpdateBuffers_Triangles() did not update the list of points

Release of v2.7.0

Version 2.7.0: Released March 4th, 2023

• Changes in libraries:
  • \ref mrpt_gui_grp
    • All OpenGL viewports: pan is now also achieved by pressing the mouse middle button (wheel) + dragging, for similarity with many other CAD UIs.
  • \ref mrpt_opengl_grp
    • Shadows can now be rendered for directional lights. See mrpt::opengl::Viewport::enableShadowCasting()
    • These class names have been shortened for ease of use (typedefs with the older names still exist for backwards compatibility, including deserialization of old files):
      • mrpt::opengl::COpenGLScene ==> mrpt::opengl::Scene
      • mrpt::opengl::COpenGLViewport ==> mrpt::opengl::Viewport
    • New class mrpt::opengl::CSkyBox for rendering "3D background" as sky boxes. Refer to example \ref opengl_skybox_example
    • OpenGL shaders: more rational use of GLSL precision specifiers: highp for positions, lowp for colors.
    • New flag mrpt::opengl::CFBORender::Parameters::raw_depth
    • mrpt::opengl::FrameBuffer: Remove stencil bit for faster off-screen rendering.
    • New class mrpt::opengl::OpenGLDepth2LinearLUTs
    • mrpt::opengl::CMesh now supports texture wrapping over the mesh extension.
    • Texture handling refactored into a new class mrpt::opengl::Texture
    • Enabled GL MipMap texture generation.
    • Triangles shaders now also account for shininess of material to generate specular reflections. See new method mrpt::opengl::CRenderizable::materialShininess()
    • mrpt::opengl::TLightParameters has been modified to make it more consistent: just one light color and three floats (diffuse, ambient, specular).
    • mrpt::opengl::CRenderizable base methods are now 100% thread-safe. getPoseRef() method has been removed since it was not safe.
• BUG FIXES:
  • Fix unrealistic odometry error simulation in mrpt::kinematics::CVehicleSimulVirtualBase (it affected the app GridmapNavSimul).

Release of v2.6.0

Version 2.6.0: Released January 12th, 2023

• Changes in libraries:
  • \ref mrpt_math_grp
    • Remove unused header: <mrpt/math/bits_math.h>
  • \ref mrpt_opengl_grp
    • New method mrpt::opengl::CAssimpModel::texturedObjects()
• BUG FIXES:
  • Fix wrong evaluation of the pivot point for the angular threshold parameters in ICP (Closes #1264)

Release of v2.5.8

Version 2.5.8: Released January 7th, 2023

• Changes in libraries:
  • \ref mrpt_core_grp
    • Move the _deg literal to a new namespace mrpt::literals to allow finer-grained using namespace mrpt::literals; instead of using namespace mrpt;. This change is backwards compatible, no user code change required, but recommended.
  • \ref mrpt_expr_grp
    • New mrpt::expr::CRuntimeCompiledExpression::register_function() to allow user-defined functions in runtime-compiled formulas.

Release of v2.5.7

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.

Release of v2.5.6

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

Release of v2.5.5

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.

Release of v2.5.4

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.

Release of v2.5.3

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)