Release of v2.10.2

Version 2.10.2: Released Oct 5th, 2023

• Build system:
  • ROS: fix missing deps in package.xml needed for build via Nix.
  • MRPT and OpenCV versions were until now exposed as macros with 3 hexadecimal digits (e.g. 2.4.0->0x240), with a clear limitation of versions greater than 15. Now, both symbols MRPT_VERSION and MRPT_OPENCV_VERSION_NUM use TWO hexadecimal digits per version part, like: 2.10.2 -> 0x010A02, which is much more general and safe for the future. For backwards compatibility, just make sure your user code only uses MRPT_VERSION>=xxx or MRPT_VERSION>xxx comparisons, instead of less-than comparisons (Fixes issue #1285).
• Changes in apps:
  • rawlog-edit: Add --select-label optional filter to command --remap-timestamps.
• Changes in libraries:
  • mrpt-ros1bridge and mrpt-ros2bridge: Remove leftover printf debugging trace printing Ok to console.
  • \ref mrpt_hwdrivers_grp
    • New overload mrpt::hwdrivers::CFFMPEG_InputStream::retrieveFrame() returning the frame PTS (presentation timestamp).
• BUG FIXES:
  • Fix CSparse "C" linkage build error (OSX Clang). PR #1280
  • Fix missing Python wrapping of poses PDF (poses with uncertainty) composition (\oplus and \ominus) operators. (Closes #1281). PR #1283
  • Fix wrong Jacobian in mrpt::math::CQuaternion::rpy_and_jacobian() for the case of Gimbal Lock. Thanks @giafranchini for reporting!. PR #1290 (Closes #1289)
  • Fix spurious failures in offscreen render unit tests in RISCV64 (Closes #1287).

Release of v2.10.1

Version 2.10.1: Released August 10th, 2023

• Build system:
  • Add cmake flag to disable LTO in pymrpt module.
  • Add -flto=auto to pymrpt so linking is much faster.
• BUG FIXES:
  • Fix "FTBFS when binutils-dev is installed but not libiberty-dev" (Debian bug #1041165)
  • pymrpt Debian packaging: triggering of post/pre installation scripts was missing.

Release of v2.10.0

Version 2.10.0: Released July 9th, 2023

• Changes in libraries:
  • \ref mrpt_opengl_grp
    • Move the parameter eyeDistance2lightShadowExtension from TRenderMatrices to mrpt::opengl::TLightParameters so it can be changed from user code (ABI change).
    • New parameter mrpt::opengl::TLightParameters::minimum_shadow_map_extension_ratio
• Python:
  • More pymrpt examples.
• BUG FIXES:
  • pymrpt was not automatically built when invoking the python tests using make test_legacy.

Release of v2.9.4

Version 2.9.4: Released July 1st, 2023

• Python:
  • pymrpt now ships stub .pyi files, for IDEs to autocomplete MRPT Python programs.
  • maps and multimaps are iterable again (Fixes a regression in v2.9.3)
  • timestamps now has a __str__ operator and to_double() method.
• Build system:
  • Fix several modern cmake warnings.
• BUG FIXES:
  • Fix fail to build with libftdi1 v1.4 (Ubuntu Focal).

Release of v2.9.3

Version 2.9.3: Released June 22nd, 2023

• Python:
  • New module pymrpt.ros_bridge
  • Matrices now have proper conversion and accessor methods in the Python API, including conversion from/to numpy.
  • Reduce build time of pymrpt.

Release of v2.9.2

Version 2.9.2: Released June 20th, 2023

• Changes in docs:
  • Update dependency in instructions from libftdi-dev to libftdi1-dev
• Changes in libraries:
  • \ref mrpt_comms_grp
    • mrpt::comms::CInterfaceFTDI Fix usage of deprecated API in libftdi
  • \ref mrpt_obs_grp
    • New static method mrpt::obs::CRawlog::ReadFromArchive() (useful for python bindings)
    • New overload mrpt::obs::obs_to_viz() for mrpt::obs::CSensoryFrame containers
  • \ref mrpt_slam_grp
    • mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap() returns a const ref instead of a pointer (safer, and does not lead to memory crashes in the Python wrapper).
• Python:
  • New wrapped functions:
    • mrpt.serialization.archiveFrom()
  • Fix python install directory:
    • ROS 1 or pure Debian: [...]/lib/python3/site-packages/
    • ROS 2: [...]/lib/python3.X/site-packages/
• BUG FIXES:
  • Fixed including the wrong <mrpt/config.h> if building MRPT in a system with another ROS-provided MRPT build.
  • Fixed build errors with gcc-13 (Fixes Debian bug #1037783)

Release of v2.9.1

Version 2.9.1: Release June 14th, 2023

• Build system:
  • ROS 2: fix missing explicit dep on rclcpp in package.xml.

Release of v2.9.0

Version 2.9.0: Released June 7th, 2023

• Changes in apps:
  • rosbag2rawlog: Added support for converting nav_msgs/LaserScan topics to mrpt::obs::CObservation2DRangeScan
• Changes in libraries:
  • New Python3 module pymrpt with an almost full wrapping of all MRPT classes (via pybind11). Refer to the Python API documentation (pydoc3).
  • Removed the legacy module mrpt::hmtslam and associated applications. Please refer to older MRPT releases if needed.
  • Removed all deprecated functions and headers.
  • \ref mrpt_ros2bridge_grp
    • Fix use of obsolete header <cv_bridge.h> in newer ROS distributions.

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