Release of v2.5.0

Version 2.5.0: Released July 18th, 2022

• Changes in applications:
  • RawLogViewer:
    • New time-line UI for quickly navigating and selecting observations.
  • New application:
    • ros-map-yaml2mrpt: CLI tool to import ROS map_server maps into MRPT formats.
• Changes in libraries:
  • \ref mrpt_containers_grp
    • New functions mrpt::containers::find_closest() and mrpt::containers::find_closest_with_tolerance().
    • mrpt::containers::yaml now also keeps information about line and column positions for each token, see mrpt::containers::yaml::node_t::marks
  • \ref mrpt_core_grp
    • mrpt::Clock::toDouble() now returns 0 for default-constructed (invalid) time_point.
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CMesh supports having (x,y) limits with maxCoord<minCoord for flipped elevation and image meshes.
    • New flag mrpt::opengl::CAssimpModel::LoadFlags::IgnoreMaterialColor for mrpt::opengl::CAssimpModel::loadScene()
    • A new rendering mode for default no-perspective transformations.
      See mrpt::opengl::CCamera::setNoProjection()
  • \ref mrpt_poses_grp
    • Add correct displacement covariance calculation between two poses with cross-correlation via new method mrpt::poses::CPose3DQuatPDFGaussian::inverseCompositionCrossCorrelation() (Closes #1242)
  • \ref mrpt_system_grp
    • New funtions mrpt::system::toAbsolutePath(), mrpt::system::pathJoin()
    • Most functions in \ref filesystem ported to C++17 std::filesystem
  • \ref mrpt_tfest_grp
    • New method TMatchingPairList::overallSquareError() for SE(3) poses (CPose3D).
• Deprecations:
  • The following macros, which were already deprecated, have been removed: ASSERT_BELOW_, ASSERT_ABOVE_(), ASSERT_BELOWEQ_(), ASSERT_ABOVEEQ_()
• Build system:
  • Update fallback embedded version of octomap to v1.9.6
• BUG FIXES:
  • FIX: OpenGL API errors if several CWxGLCanvasBase instances are updated simultaneously in the same program.
  • mrpt::opengl::COpenGLViewport would throw if an uninitialized image is passed for rendering in "image mode".
  • mrpt::system::formatTimeInterval() reported an incorrect number of milliseconds.
  • Fix detection of Boost python module.
  • Calling mrpt::opengl::CRenderizable::setColor_u8() did not force a regeneration of opengl buffer objects in all cases.

Release of v2.4.10

Version 2.4.10: Relased June 24th, 2022

• Changes in applications:
  • ptg-configurator:
    • New menu action to export selected path to matlab/octave script.
  • RawLogViewer:
    • Visual improvements and display of timestamps in local time too.
• Changes in libraries:
  • \ref mrpt_poses_grp
    • Adds covariance mapping to SE(3) for GTSAM (Closes #1229)
  • \ref mrpt_ros1bridge_grp
    • Import mrptToROSLoggerCallback() from the now obsolete mrpt_bridge package into mrpt::ros1bridge.
• Build system
  • Fix ROS version detection; select ROS2 if packages for both versions are found.
• BUG FIXES:
  • Fix mrpt-comms rare timeout in busy build farms.
  • mrpt::ros1bridge and mrpt::ros2bridge were not correctly exporting the fromROS() function for LaserScan messages.

Release of v2.4.9

Version 2.4.9: Released June 7th, 2022

• Changes in libraries
  • \ref mrpt_math_grp
    • new method mrpt::math::TPlane::signedDistance()
  • \ref mrpt_ros2bridge_grp
    • Fixed missing find_package() in module config.cmake file.
• BUG FIXES:
  • Fix wrong handling of cmake exported built-in version of Eigen3 (Closes #1235)
  • Fix pymrpt Python3 module location (Closes #1232)

Release of v2.4.8

Version 2.4.8: Released May 26th, 2022

• Build system:
  • Fixed various ROS-level public dependencies.

Release of v2.4.7

Version 2.4.7: Released May 26th, 2022

• Examples:
  • gui_depth_camera_distortion: Added option to change distortion model.
• Build system
  • Fixed ROS-level public dependency on suitesparse.
  • Enable tinyxml2 for ROS builds.
• Changes in libraries:
  • \ref mrpt_maps_grp
    • Method mrpt::maps::CPointsMap::addFrom() removed, it overlapped with mrpt::maps::CPointsMap::insertAnotherMap()
    • New optional parameter in mrpt::maps::CPointsMap::insertAnotherMap()
  • \ref mrpt_obs_grp
    • New option mrpt::obs::T3DPointsProjectionParams::onlyPointsWithIntensityColor

Release of v2.4.5

Version 2.4.5: Released May 22nd, 2022

• Changes in libraries:
  • New module mrpt_ros2bridge_grp to support conversions to/from ROS2 data types and MRPT classes.
• Build system:
  • Fix detection of dependencies for both ROS1 and ROS2.

Release of v2.4.4

Version 2.4.4: Released March 5th, 2022

• New web-based applications
  • All MRPT modules (including \ref mrpt_opengl_grp and mrpt-nanogui) are now compatible with Emscripten so they can run as Javascript + wasm on any modern browser.
• Changes in applications:
  • RawlogViewer:
    • Browse dialog: Smarter coloring of pointclouds; check all & none buttons for sensor layers.
  • rawlog-edit:
    • Operation --camera-params now also works for mrpt::obs::CObservation3DRangeScan observations.
    • New operation --describe.
• Changes in libraries:
  • \ref mrpt_poses_grp
    • mrpt::poses::CPose3DQuat: Remove use of obsolete base class std::iterator.
• 3rdparty libraries:
  • Updated libfyaml to v0.7.12.
• Build system:
  • Allow using libfyaml-dev system package if found.
  • ROS package.xml: update dependencies so all sensors and mrpt-ros1bridge are enabled.
  • Fix detection of ROS1 native *_msgs packages as build dependencies.
• BUG FIXES:
  • ASSERT_NEAR_() did not work correctly when arguments were expressions with operators.
  • Fixed incorrect parsing of strings with whitespaces in mrpt::from_string<>() when converting to std::string
  • mrpt::obs::CObservation3DRangeScan::get_unproj_lut() was ignoring the depth camera distortion model and always assumed plumb_bob.
  • mrpt::ros1bridge converter for IMU observations now correctly handles missing IMU readings (ROS convention of "-1" in covariance).

Release of v2.4.3

Version 2.4.3: Released Feb 22nd, 2022

• Changes in applications:
  • navlog-viewer:
    • The timestamp is now always shown.
• BUG FIXES:
  • Do not run offscreen rendering unit tests in MIPS arch, since they seem to fail in autobuilders.
  • mrpt::vision::checkerBoardCameraCalibration() did not return the distortion model (so if parameters are printed, it would look like no distortion at all!).
  • mrpt::gui::CDisplayWindowGUI::createManagedSubWindow() created the subwindows helper UI on top of the other user windows. It now remains on the back of other windows.

Release of v2.4.2

Version 2.4.2: Released Feb 3rd, 2022

• Changes in libraries:
  • \ref mrpt_containers_grp
    • mrpt::container::yaml::operator(size_t) added, conditionally to size_t being a different type than uint64_t and such (Fixes build errors on OSX).
  • \ref mrpt_core_grp
    • mrpt::callStackBackTrace() (and exception backtraces) now only use BFD to solve for line numbers in DEBUG builds, to avoid the large delay in processing each exception.
    • New method mrpt::WorkerThreadsPool::size().
  • \ref mrpt_expr_grp
    • ExprTk updated to latest version.
  • \ref mrpt_gui_grp
    • GUI windows can now have custom icons via mrpt::gui::CDisplayWindowGUI::setIcon() or mrpt::gui::CDisplayWindowGUI::setIconFromData()
  • \ref mrpt_img_grp
    • New static method mrpt::img::CImage::LoadFromFile()
  • \ref mrpt_math_grp
    • Vector and matrix classes: add [[nodiscard]] to static "constructor" methods to avoid mistakes.
  • \ref mrpt_opengl_grp
    • mrpt::opengl::CFBORender now does not rely on GLUT to create opengl contexts, but on EGL.
  • \ref mrpt_typemeta_grp
    • Add syntactic sugar function mrpt::typemeta::str2enum<>().
• BUG FIXES:
  • mrpt::opengl::CFBORender did only render the main viewport, it now processes all of them.
  • Fix FTBFS with ffmpeg 5.0 (Debian Bug #1004585)

Release of v2.4.1

Version 2.4.1: Released Jan 5th, 2022

• Changes in build system:
  • Disable -flto in nanogui (to avoid an Eigen regression).
• Changes in applications:
  • rawlog-edit:
    • New flag --externals-filename-format
  • RawlogViewer:
    • Better handling of exceptions failing to load delayed-load images.
• Changes in libraries:
  • \ref mrpt_core_grp
    • Remove unused header <mrpt/3rdparty/llvm/propagate_const.h>.
  • \ref mrpt_graphs_grp
    • mrpt::graphs::CDijkstra now has an optional maximum topological search range.
  • \ref mrpt_math_grp
    • New geometry functions:
      • mrpt::math::intersect(const TPolygon2D& subject, const TPolygon2D& clipping)
      • mrpt::math::signedArea(const mrpt::math::TPolygon2D& p)
  • \ref mrpt_obs_grp
    • New function mrpt::obs::format_externals_filename()
  • Embedded copy of nanoflann: upgraded to v1.4.0.
• BUG FIXES:
  • Fix bug in mrpt::math::getAngle(const TPlane&, const TPlane&).
  • Fix exception if mrpt::opengl::CFBORender is used with setProjectiveFromPinhole() camera models.
  • Fix CMake Warning at cmakemodules/FindFilesystem.cmake and failure to detect the std::filesystem feature in some g++ versions.
  • Fix numerical innacuracies with planar bounding boxes, fixed via new epsilon parameter in mrpt::math::TBoundingBox::intersection()
  • Fix sluggish rendering in opengl+wxWidgets controls (e.g. within RawLogViewer, etc.).