Release of v2.14.5

Version 2.14.5: Released Nov 4th, 2024

• Upgraded nanoflann to v1.6.2 (fixes a potential bug).
• Debian files:
  • Fix appstreamcli warnings in metadata XML files.
• Changes in libraries:
  • \ref mrpt_expr_grp
    • ExprTk updated to latest version (https://www.partow.net/programming/exprtk/exprtk_release_notes_v0.0.3.txt).
• BUG FIXES:
  • mrpt::maps::CPointsMapXYZIRT::getPointRGB() now handles the case of no intensity without throwing, fixing the visualization of such clouds through mrpt::opengl::CPointCloudColoured::loadFromPointsMap().
  • GridmapNavSimul: Loading a different gridmap won't update the map visualization.

Release of v2.14.4

Version 2.14.4: Released Oct 19th, 2024

• BUG FIXES:
  • mrpt::nav::CAbstractPTGBasedReactive: Missing heading information in recently-added TP-Space targets as TPose2D.
  • rosbag2rawlog: Fix detection of mrpt-ros1bridge when built within mrpt_ros ROS packaging.

Release of v2.14.3

Version 2.14.3: Released Oct 12th, 2024

• Changes in libraries:
  • \ref mrpt_img_grp:
    • mrpt::img::CImage::rotateImage(): Special angles 90,-90, 180 are handled as expected with a quick image transformation and rotation.
  • \ref mrpt_math_grp:
    • mrpt::math::TPose2D and mrpt::math::TPose3D constructors from points are marked as explicit.
  • \ref mrpt_nav_grp:
    • mrpt::nav::CWaypointsNavigator: New parameter "minimum_target_approach_per_step" and feature to keep approaching waypoints until no significant improvement is done.
    • mrpt::nav::CHolonomicFullEval: Rewritten TP-Space data structures so the target heading is visible to holonomic evaluator algorithms. Added a new weight [7] related to correct alignment at target. All RNAV INI files have been updated accordingly.
  • \ref mrpt_ros1bridge_grp and mrpt_ros2bridge_grp:
    • Convert from MRPT occupancy grids to ROS: Add new optional parameter to interpret grid maps as cost maps.

Release of v2.14.2

Version 2.14.2: Released Oct 5th, 2024

• Changes in libraries:
  • \ref mrpt_nav_grp:
    • Add generic internalState to PTGs.
  • \ref mrpt_opengl_grp:
    • mrpt::opengl::CMesh: Remove the annoying warning "Texture image and Z matrix have different sizes"

Release of v2.14.1

Version 2.14.1: Released Sep 24th, 2024

• Changes in apps:
  • SceneViewer3D: New button to enable shadow casting.
• Changes in libraries:
  • \ref mrpt_opengl_grp:
    • New method mrpt::opengl::CAssimpModel::split_triangles_rendering_bbox() to enable a new feature in Assimp 3D models: splitting into smaller triangle sets for correct z-ordering of semitransparent objects; e.g. required for trees with masked leaves.
    • SkyBox shader changed its internal ID so it gets rendered before potentially transparent elements, fixing render artifacts.
    • mrpt::opengl::Texture: Wrapped OpenGL options for texture coordinate wrapping.
  • \ref mrpt_ros2bridge_grp:
    • Handle PointCloud2 with uint32 timestamps, interpreted as nanoseconds.

Release of v2.14.0

Version 2.14.0: Released Sep 15th, 2024

• Changes in libraries:
  • \ref mrpt_slam_grp:
    • Particle filtering algorithm pfStandardProposal now uses TBB (if present) for automatically running weight updates in parallel.
  • \ref mrpt_rtti_grp:
    • mrpt::rtti::CObject::GetRuntimeClassIdStatic() no longer depends on static variables, but on constexpr. This totally removes the possibility of initialization order fiasco while registering classes.
    • IMPORTANT CHANGE: To make the change above possible, these macros have changed:
      • DEFINE_VIRTUAL_SERIALIZABLE(class) ==>DEFINE_VIRTUAL_SERIALIZABLE(class, namespace)
      • DEFINE_VIRTUAL_MRPT_OBJECT(class) ==>DEFINE_VIRTUAL_MRPT_OBJECT(class, namespace)
• BUG FIXES:
  • Fix recursive mutex lock if calling mrpt::opengl::CPointCloud::insertPoint() with signatures for mrpt::math::TPoint3D.
  • Fix potential initialization-order fiasco accessing GetRuntimeClassIdStatic() in clang (see change above).

Release of v2.13.8

Version 2.13.8: Released Sep 7th, 2024

• Changes in libraries:
  • \ref mrpt_vision_grp:
    • mrpt::vision::TMatchingOptions: Remove useless custom "operator=".
  • pymrpt:
    • Fix all C++ build warnings in pymrpt.
• BUG FIXES:
  • Fix unstable keypoint KLT response values leading to NaN in some architectures.
  • Fix tons of typos and Debian-specific spare install files (lintian --pedantic).
  • Fix segfault in arm64 EKF unit tests.
  • Fix bug in mrpt::system::CDirectoryExplorer: it would throw and stop if finds a broken symlink.
  • Fix regression in mrpt::math::KDTreeCapable: all RKNN calls (NN with maximum radius) may return undefined pairing indices if less than N points are found within the given radius.

Release of v2.13.7

Version 2.13.7: Released Aug 22nd, 2024

• Changes in apps:
  • rosbag2rawlog (ROS1): Implement generation of odometry from /tf messages.
• BUG FIXES:
  • Fix incorrect check in mrpt-io unit tests leading to potential false positives.

Release of v2.13.6

Version 2.13.6: Released Aug 14th, 2024

• Build system:
  • This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
    • https://github.com/MRPT/mrpt_ros
    • https://github.com/MRPT/python_mrpt_ros
• BUG FIXES:
  • CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
  • Fix FTBFS in Debian sid (g++-14) due to missing #include <iomanip>.

Release of v2.13.4

Version 2.13.4: Released July 24th, 2024

• Fix docs typos.
• Upgraded nanoflann to v1.6.0 (fixes an important bug).