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Release of v2.11.4

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@jlblancoc jlblancoc released this 15 Dec 09:15
· 343 commits to develop since this release
2.11.4
aa7b1df

Version 2.11.4: Released Dec 15th, 2023

  • Changes in apps:
    • RawLogViewer: visualize mrpt::obs::CObservationRotatingScan as point cloud + range image + intensity image.
    • rawlog-edit: --info command now also shows the type of each sensor label.
  • Changes in libraries:
    • \ref mrpt_maps_grp
      • Use nanoflann RKNN search in mrpt::maps::CPointsMap::nn_radius_search()
      • Added a new point cloud class mrpt::maps::CPointsMapXYZIRT, including its Python and ROS wrappers.
    • \ref mrpt_math_grp
      • mrpt::math::KDTreeCapable: Add optional argument maximumSearchDistanceSqr in many API methods to exploit the new nanoflann RKNN search method.
    • \ref mrpt_opengl_grp
      • mrpt::opengl::PLY_Importer: Add support for importing point clouds with the timestamp property per point.
    • \ref mrpt_obs_grp
      • mrpt::obs::CObservationRotatingScan:
        • Moved from the library mrpt-maps to mrpt-obs, since it no longer requires any mrpt::maps class.
        • Complete its implementation: insertion into point cloud, observation likelihood, visualization in RawLogViewer, etc.
  • BUG FIXES:
    • Fix missing Threads::Threads downstream due to missing find_dependency(Threads) in MRPT cmake config files.
    • Fix broken import of PLY files in SceneViewer3D (empty scene even if correctly imported).
    • mrpt::math::CMatrixDynamic constructor from (row,col) was not marked explicit, leading to potential problems.
    • mrpt::opengl::Viewport::setViewportPosition() did not handle negative width values as expected (i.e. pixel distances from the opposite corner).