Release of v2.13.3

Version 2.13.3: Released July 1st, 2024

• Build system:
  • ROS package.xml: Re-enable the octomap dependency
• BUG FIXES:
  • Fix FTBFS of pymrpt for armhf
  • Fix failing unit tests for KLT_response() in non-Intel architectures.

Release of v2.13.2

Version 2.13.2: Released June 23rd, 2024

• Changes in libraries:
  • \ref mrpt_maps_grp:
    • mrpt::maps::CPointsMapXYZIRT now creates timestamps per point for input observations of type mrpt::obs::CObservationVelodyneScan
    • mrpt::maps::CPointsMap::asString() now also shows the actual derived class name.
  • \ref mrpt_obs_grp:
    • mrpt::obs::CObservationVelodyneScan now implements unload() to free memory for cached point clouds.
  • \ref mrpt_ros1bridge_grp:
    • mrpt::ros1bridge::toROS() conversion from PointCloud2 to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names "t" and "timestamp", and support conversion from uint32_t timestamps as nanoseconds.
• BUG FIXES:
  • mrpt::vision::CFeatureTracker_KL: Parameter LK_epsilon was rounded to integer.
  • mrpt::maps::CPointsMapXYZI::insertPointFast() did also append to the intensity channel, which is inconsistent behavior with the other map classes.

Release of v2.13.1

Version 2.13.1: Released June 5th, 2024

• BUG FIXES:
  • nanogui: Fix invalidation of iterators/references in widget lists.
  • rnav: fix exception thrown when target is out of the domain of one PTG.

Release of v2.13.0

Version 2.13.0: Released May 19th, 2024

• Changes in apps:
  • SceneViewer3D: it now automatically guesses the min/max clip planes from the scene bounding box.
  • rosbag2rawlog (ROS1): tolerate loss of some sensor observations if /tf has not been yet received instead of aborting conversion.
• Changes in libraries:
  • \ref mrpt_containers_grp:
    • New methods returning safe proxy objects for range-based for loops:
      • mrpt::containers::yaml::asMapRange()
      • mrpt::containers::yaml::asSequenceRange()
    • Upgrade embedded simpleini to v4.22 (for use when not found in the system)
  • \ref mrpt_hwdrivers_grp
    • mrpt::hwdrivers::CJoystick API updated so it can handle an arbitrary number of axes.
  • \ref mrpt_maps_grp
    • mrpt::maps::CVoxelMap and mrpt::maps::CVoxelMapRGB: Added insertion option remove_voxels_farther_than.
    • Removed unused method: mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences()
  • Removed seldom used code (if needed, refer to MRPT versions <2.13.0):
    • The whole module mrpt-detectors
    • mrpt::hwdrivers::CBoardENoses
    • mrpt::hwdrivers::CBoardSonars
    • mrpt::hwdrivers::CDUO3DCamera
    • mrpt::hwdrivers::CPtuDPerception
    • mrpt::hwdrivers::CRoboticHeadInterface
    • mrpt::hwdrivers::CTuMicos
• BUG FIXES:
  • mrpt::hwdrivers::CJoystick: Crash due to missing #include of OS-specific configuration in CJoystick.h
  • mrpt::expr::CRuntimeCompiledExpression::is_compiled() did always return true.

Release of v2.12.2

Version 2.12.2: Released April 23rd, 2024

• Changes in libraries:
  • \ref mrpt_math_grp:
    • Remove deprecated headers:
      • <mrpt/math/lightweight_geom_data_frwds.h>
      • <mrpt/math/lightweight_geom_data.h>
    • Static constructors of mrpt::math::TPoint2D and mrpt::math::TPoint3D marked as [[nodiscard]].
  • \ref mrpt_opengl_grp:
    • Render pipeline is now robust against exceptions thrown in the 3D entities boundingBox determination methods.
• BUG FIXES:
  • rosbag2rawlog: Fix wrong sensorPose while importing ROS1 datasets.
  • mrpt::math::TPoint2D::FromVector() and mrpt::math::TPoint3D::FromVector() will silently access undefined memory if an input vector smaller than the vector dimensionality is passed.

Release of v2.12.1

Version 2.12.1: Released April 4th, 2024

• Changes in apps:
  • simul-landmarks: Fix correct generation of sensorLabel and timestamps in observations.
• Changes in libraries:
  • \ref mrpt_obs_grp:
    • mrpt::obs::CObservationBearingRange now implements the exportTxt*() virtual interface.
  • \ref mrpt_opengl_grp:
    • mrpt::opengl::CAssimpModel now can read embedded textures in model files.
    • Update embedded Assimp lib version 4.1.0 -> 5.3.1 (when built as ExternalProject)
  • \ref mrpt_poses_grp:
    • New methods:
      • mrpt::poses::CPose2DGridTemplate::data(), mrpt::poses::CPose3DGridTemplate::data()
      • mrpt::poses::CPose2DGridTemplate::absidx2idx(), mrpt::poses::CPose3DGridTemplate::absidx2idx()
      • mrpt::poses::CPose2DGridTemplate::idx2absidx(), mrpt::poses::CPose3DGridTemplate::idx2absidx()
    • Fix const-correctness of mrpt::poses::CPose2DGridTemplate::getAsMatrix()
  • rplidar_skd: Update to the latest upstream version, and fix all build warnings.
  • xsens library: Fix all build warnings.

Release of v2.12.0

Version 2.12.0: Released March 17th, 2024

• Changes in libraries:
  • \ref mrpt_obs_grp:
    • mrpt::math::TBoundingBox: Mark all relevant methods with [nodiscard] to avoid mistakes.
  • \ref mrpt_system_grp:
    • Removed explicit references to time_t and redundant functions. Removed functions:
      • mrpt::system::getCurrentTime() -> replaced by mrpt::Clock::now()
      • mrpt::system::now() -> replaced by mrpt::Clock::now()
      • mrpt::system::now_double() -> replaced by mrpt::Clock::nowDouble()
      • mrpt::system::time_tToTimestamp() -> replaced by mrpt::Clock::fromDouble()
      • mrpt::system::timestampTotime_t() -> replaced by mrpt::Clock::toDouble()
      • mrpt::system::timestampToDouble() -> replaced by mrpt::Clock::toDouble()
• BUG FIXES:
  • Fix Debian bug #1066207: FTBFS in latest sid due to undefined declarations in mrpt_xsens C library.
  • Fix FTBFS if using embedded libfreenect due to undefined declarations (usleep).
  • Update embedded version of libfreenect to v0.7.0
  • Fix wrong computation of bounding boxes for mrpt::opengl::CSetOfObjects.

Release of v2.11.12

Version 2.11.12: Released March 10th, 2024

• Changes in libraries:
  • \ref mrpt_obs_grp:
    • Fix compiler error on invocation of template mrpt::obs::CObservationGPS::getMsgByClassPtr()
    • Add field mrpt::obs::CObservationGPS::covariance_enu for easier interoperability with ROS.
    • API simplified: replace custom mrpt::obs::gnss::gnss_message_ptr with a std::shared_ptr<>.
    • mrpt::obs::CObservationRobotPose::getDescriptionAsText(): add human-readable pose uncertainties.
• BUG FIXES:
  • Fix wrong encoding of grayscale images in mrpt::ros1bridge::toROS() and mrpt::ros2bridge::toROS().
  • Correctly return true/false in conversion of GPS observation in mrpt::ros1bridge::toROS() and mrpt::ros2bridge::toROS() depending on whether there is a valid GGA message.
  • mrpt::obs::CObservationComment: Missing serialization of sensorLabel.

Release of v2.11.11

Version 2.11.11: Released March 5th, 2024

• Changes in libraries:
  • \ref mrpt_ros1bridge_grp:
    • Add missing mrpt::ros1bridge::toROS() for mrpt::maps::CPointsMapXYZIRT => PointCloud2 conversions.
• BUG FIXES:
  • mrpt::nav::CPTG_DiffDrive_CollisionGridBased: Fix wrongly discarding of WS points out of the refDistance radius as invalid instead of returning its closest extrapolated path pose.

Release of v2.11.10

Version 2.11.10: Relased Feb 19th, 2024

• Changes in libraries:
  • \ref mrpt_maps_grp:
    • mrpt::maps::CHeightGridMap2D: now supports integrating any point-cloud observation.
  • \ref mrpt_vision_grp:
    • Remove functions that were problematic with opencv 5: mrpt::vision::findMultipleChessboardsCorners()
• Others:
  • Fix Debian appstream warnings on mrpt-apps.
  • Fix build against opencv 5.