Release of v2.0.1

Minor fixes since 2.0.0:

• Changes in applications:
  • RawLogViewer: new "-l xxx.so" flag to load datasets with types defined in external projects.
• Changes in libraries:
  • mrpt_obs_grp
    • mrpt::obs::CObservationRobotPose: Fixed missing serialization of sensorPose

Release of v2.0.0

Major stable release, deprecating v1.5.x branch.
See also: browsable doxygen-generated changelog

Windows precompiled binaries: https://bintray.com/mrpt/mrpt-win-binaries/MRPT-nightly-builds/win64-develop

(Changes since 1.5.8)

Version 2.0.0: Released March 29th, 2020

• Most important changes:

  • MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0: \ref porting_mrpt2
  • Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
  • Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
  • All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
  • Add support for serialization with std::variant
  • PbMap has been factored out into its own repository
  • XML-based database C++ classes have been removed from MRPT.

• Changes in applications:

  • RawLogViewer:
    • The ICP module now supports Velodyne 3D scans.
  • rawlog-edit:
    • New operation: --de-externalize
  • pf-localization:
    • Odometry is now used also for observation-only rawlogs.

• Changes in libraries:

  • All otherlibs subdirectories have been renamed to 3rdparty since it is a widespread name used in most projects.
  • \ref mrpt_base_grp => Refactored into several smaller libraries, one per namespace.
    • Removed class std::vectorstd::string. Replace by STL containers of std::string and functions mrpt::system::stringListAsString() in \ref string_manage.
  • \ref mrpt_core_grp [NEW IN MRPT 2.0.0]
    • Memory alignment of aligned_allocator_cpp11<> is set to 16,32 or 64 depending on whether AVX optimizations are enabled, to be compatible with Eigen.
    • mrpt::cpu::supports(): a new cross-OS CPU feature detection function.
    • mrpt::Clock allows users to select between Realtime or Monotonic sources.
    • Removed custom macro MRPT_UNUSED_PARAM (replaced by c++17 attribute).
    • Add syntactic suggar mrpt::lockHelper()
  • \ref mrpt_math_grp [NEW IN MRPT 2.0.0]
    • Removed functions (replaced by C++11/14 standard library):
      • mrpt::math::erf, mrpt::math::erfc, std::isfinite, mrpt::math::std::isnan
      • mrpt::math::make_vector<> => std::vector<>{...} braced initializator
    • Removed the include file: <mrpt/math/jacobians.h>. Replace by <mrpt/math/num_jacobian.h> or individual methods in \ref mrpt_poses_grp classes.
  • \ref mrpt_config_grp [NEW IN MRPT 2.0.0]
    • mrpt::config::CConfigFileBase::write() now supports enum types.
  • \ref mrpt_gui_grp
    • New class mrpt::gui::CDisplayWindowGUI exposing powerful GUI possibilities via the nanogui project.
  • \ref mrpt_img_grp [NEW IN MRPT 2.0.0]
    • mrpt::img::TCamera distortion parameters now also supports the extra K4,K5,K6 distortion parameters.
  • \ref mrpt_serialization_grp [NEW IN MRPT 2.0.0]
    • New method mrpt::serialization::CArchive::ReadPOD() and macro MRPT_READ_POD() for reading unaligned POD variables.-
    • Add support for $env{} syntax to evaluate environment variables.
  • \ref mrpt_slam_grp
    • rbpf-slam: Add support for simplemap continuation.
    • CICP: parameter onlyClosestCorrespondences deleted (always true now).
    • mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
  • \ref mrpt_system_grp
    • functions to get timestamp as local time were removed, since they don't make sense. All timestamps in MRPT are UTC, and they can be formated as dates in either UTC or local time frames.
    • Added: mrpt::system::WorkerThreadsPool
  • \ref mrpt_rtti_grp [NEW IN MRPT 2.0.0]
    • All classes are now registered (and de/serialized) with their full name including namespaces. A backwards-compatible flag has been added to mrpt::rtti::findRegisteredClass().
    • CLASS_INIT() macro for automatic registration of classes has been removed, since it is not well-defined in which order global objects will be initialized.
      Therefore, manual registration (as already done in registerAllClasses.cpp files) is left as the unique registration system.
      This fixes warning messages "[mrpt::rtti::registerClass] Warning: Invoked with a nullptr".
  • \ref mrpt_nav_grp
    • Removed deprecated mrpt::nav::THolonomicMethod.
    • mrpt::nav::CAbstractNavigator: callbacks in mrpt::nav::CRobot2NavInterface are now invoked after navigationStep() to avoid problems if user code invokes the navigator API to change its state.
    • Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
    • Waypoints now have a field speed_ratio which is directly forwarded to the low-level reactive navigator.
  • \ref mrpt_comms_grp [NEW IN MRPT 2.0.0]
    • This new module has been created to hold all serial devices & networking classes, with minimal dependencies.
  • \ref mrpt_maps_grp
    • mrpt::maps::CMultiMetricMap has been greatly simplified and now it is actually defined in the mrpt-maps library.
    • New map type: mrpt::maps::CPointsMapXYZI for pointclouds with an intensity channel.
    • New observation class: mrpt::obs::CObservationPointCloud
    • Added optional "channel" attribute to CReflectivityGridMap2D and CObservationReflectivity to support different colors of light.
  • \ref mrpt_hwdrivers_grp
    • COpenNI2Generic: is safer in multithreading apps.
    • CHokuyoURG:
      • Rewrite driver to be safer and reduce mem allocs.
      • New parameter scan_interval to decimate scans.
    • VelodyneCalibration: Can now load YAML files, in addition to XML.
    • New sensor state enum value: mrpt::hwdrivers::CGenericSensor::ssUninitialized
    • NMEA GPS parser: now also recognizes all existing talker IDs (GP, GN, GA, etc.)
  • \ref mrpt_opengl_grp
    • Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
    • Rendering engine rewritten to work using OpenGL Core (GLSL 3.3) instead of Legacy fixed functions.
  • \ref mrpt_obs_grp
    • mrpt::obs::CObservation2DRangeScan: Deprecated access to scan data via proxy objects obs->scan[i], obs->validRange[i], obs->intensity[i] has been deleted. Please use the alternative getters/setters: obs->getScanRange(i), etc.
    • mrpt::obs::T3DPointsProjectionParams and mrpt::obs::CObservation3DRangeScan::unprojectInto now together support organized PCL point clouds.
    • New method: mrpt::obs::CObservation3DRangeScan::rangeImage_getAsImage()
    • Support for multiple-return sensors in mrpt::obs::CObservation3DRangeScan.
    • New NMEA frame class: Message_NMEA_GSA
  • \ref mrpt_poses_grp [NEW IN MRPT 2.0.0]
    • Reorganized all Lie Algebra methods into \ref mrpt_poses_lie_grp
    • Removed CPose3DRotVec, since its conceptual design is identical to Lie tangent space vectors.
  • \ref mrpt_vision_grp
    • Removed FASTER methods, and the libCVD 3rd party dependency.

• BUG FIXES:

  • Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
  • Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
  • Fix aborting reading from LMS111 scanner on first error.
  • Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
  • Fix accessing unaligned POD variables deserializing CObservationGPS (via the new MRPT_READ_POD() macro).
  • Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
  • Fix crash in CGPSInterface when not setting an external mutex.
  • Fix potential crashes in RawLogViewer while editing list of observations.
  • Fix incorrect conversion from quaternion to CPose3D.

Release of v2.0.0-beta

Check out the complete changelog here.

Release of MRPT 1.5.8

This is a maintenance release for the MRPT 1.5.x series.

BUG FIXES:

• made sin-cos table cache thread safe
• FIX BUG: in x/y indices of unprojected 3D range images
• FIX BUG: max/min filter=0 should mean ignore filter
• reactive navigation:
  • fix wrong classification as is_slowdown motion
  • safer nav score evaluation
  • add optional detailed time logger to rnav
  • OBSTACLE_SLOW_DOWN_DISTANCE is in normalized distance

Release of v2.0.0-alpha

Version 2.0.0-alpha: 2019-Jul-14

Most important changes:

• MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0
• Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
• Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
• All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
• Add support for serialization with std::variant

Detailed list of changes:

• Too many to list here. See a partial list here and checkout the updated API doxygen docs.

BUG FIXES:

• Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
• Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
• Fix aborting reading from LMS111 scanner on first error.
• Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
• Fix accessing unaligned POD variables deserializing CObservationGPS (via the new MRPT_READ_POD() macro).
• Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
• Fix crash in CGPSInterface when not setting an external mutex.

Release of MRPT 1.5.7

Release of MRPT 1.5.7

(Update 19-May-2019: Binary package for Windows has been updated to solve #917 ).

This is probably (hopefully) the last release of the mrpt-1.5 series.

• Detailed list of changes:
  • mrpt_base_grp
    • The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
      • stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
      • mrpt::system::TThreadHandle now is a wrapper around std::thread.
      • Atomic counters now based on std::atomic. Custom implementation has been removed.
      • stlplus source code has been removed.
    • mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
  • mrpt_graphslam_grp
    • levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
    • CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
  • mrpt_nav_grp
    • Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
    • New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
    • Waypoints now have a field speed_ratio which is directly forwarded to the low-level reactive navigator.
  • BUG FIXES:
    • Fix missing "-ldl" linker flag.
    • Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
    • Fix potential segfault in 3D reactive navigator.

Release of MRPT 1.5.6

Version 1.5.6: Released 24/APR/2018

• Applications:
  • pf-localization:
    • Odometry is now used also for observation-only rawlogs.
• mrpt_hwdrivers_grp
  • mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer multi-threading
    operation.
  • mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans. Driver
    clean up to be safer and perform less memory allocs.
• mrpt_maps_grp
  • COccupancyGridMap2D: New LIDAR insertion parameters: maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
• mrpt_reactivenav_grp
  • CAbstractPTGBasedReactive: Added new score holo_stage_eval.
• BUG FIXES:
  • circular_buffer: exception made state preserving

Release of MRPT 1.5.5

Version 1.5.5: Released 2/DEC/2017

• Detailed list of changes:
  • mrpt_base_grp
    • Added methods mrpt::utils::CFileStream::clearError() and mrpt::utils::CFileInputStream::clearError()
  • mrpt_nav_grp
    • mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache for improved performance.
  • Build system:
    • octomap is no longer exposed in public headers, avoiding the dependency propagation.
  • BUG FIXES:
    • Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D (which led to crash)
    • Fixed regression in particle resampling affecting RBPF-SLAM methods. Introduced in Dec. 2016 with this commit.
    • Wrong argument type: CStream::Seek() must allow signed offsets.

Release of MRPT 1.5.4

Version 1.5.4: Released 31/OCT/2017

Detailed list of changes:

• [mrpt-base]
  • Fix potential uninitialized value in CRobot2DPoseEstimator::getLatestRobotPose()
    MRPT_getCompilationDate() returns time as well
• [mrpt-gui]
  • mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event type.
• Smart pointers:
  • All mrpt::utils::CObject derived classes:
    • In MRPT <=1.5.3, there was a typedef Foo::SmartPtr => FooPtr.
    • In MRPT >=1.5.4 is has been replaced by Foo::Ptr => FooPtr for compatibility with MRPT >=2.0.
      stlplus smart pointers in MRPT 1.5.4 now have C++11 shared_ptr-compatible methods, to ease the transition towards MRPT 2.0 in user code (in particular, for MRPT ROS packages). Also, a new template mrpt::prt_cast<TARGET_PTR>::from(ptr) is provided to write user code compatible with both MRPT >=1.5.4 & >=2.0.0.
• Build system:
  • Fix MRPTConfig.cmake for system octomap libraries.
  • Fix package-contains-vcs-control-file (.gitingore) Lintian error.
  • Fix compiling without liboctomap-dev in Ubuntu PPA.
• BUG FIXES:
  • Fix waypoint reactive navigator edge case in which "end event" won't be issued.
  • Fix waypoint reactive navigator error while doing final aligning (missing and dupplicated nav-end events).
  • Fix aborting reading from LMS111 scanner on first error.
  • Fix corrupted pointers in CNetworkOfPoses after copy or move operations.
  • Fix invalid TP-targets generated during reactive navigation.
  • Fix memory leak in reactivenav engine.
  • Fix potential out-of-range access in CObservation3DRangeScan::convertTo2DScan()
  • Fix potential SIGBUS in armhf (patch by Steve Langasek) inside mrpt::utils::CTicTac

Release of MRPT 1.5.3

Version 1.5.3: Released 14/AUG/2017

• Detailed list of changes:
  • CMake >=3.1 is now required for use of ExternalProjects.
  • Scripts scripts/prepare_{debian,release}.sh have been refactored and simplified.
  • Removed embedded source code versions of Eigen, assimp and octomap. Downloaded and built as ExternalProjects if not present in the system.
  • Releases will be signed with PGP from now on and posted as binary attachments to GitHub releases.