Release of v2.1.6

Version 2.1.6: Released Dec 14th, 2020

• Changes in libraries:
  • \ref mrpt_core_grp
    • Disable the use of BFD for symbols in stack traces by default in Debian builds. It is still used if found in the system and in Ubuntu PPAs.
• BUG FIXES:
  • Fix Debian bug #976803: mrpt uses private binutils shared library.
  • Fix Debian bug #977247: fail to link pymrpt against opencv.

Release of v2.1.5

Version 2.1.5: Released Dec 6th, 2020

• Changes in libraries:
  • \ref mrpt_containers_grp
    • Both mrpt::containers::CDynamicGrid and mrpt::containers::CDynamicGrid3D are now compatible with range-based for loops, and also have a data() method.
  • \ref mrpt_core_grp
    • Added mrpt::LockHelper::unlock()
    • Added mrpt::Clock::nowDouble()
    • New method mrpt::WorkerThreadsPool::name()
    • Function mrpt::system::callStackBackTrace() moved to mrpt::callStackBackTrace()
    • mrpt::callStackBackTrace() now uses BFD to find out line numbers if debug info (at least -g1) is available.
    • Stacked exceptions changes:
      • Line numbers will be now shown if built with debug info (>= -g1).
      • Exceptions in STL or any other 3rd-party library will be also reported with exact call point line number, as long as MRPT_START/MRPT_END is used in the user function.
      • No further need to call mrpt::exception_to_str(), just calling what() will return a detailed stack backtrace.
      • New function mrpt::winerror2str()
  • \ref mrpt_gui_grp
    • New method mrpt::gui::CGlCanvasBase::CamaraParams::FromCamera()
  • \ref mrpt_math_grp
    • Added missing method for consistent API across pose classes: mrpt::math::TPose3D::operator+()
  • \ref mrpt_system_grp
    • mrpt::system::COutputLogger::writeLogToFile() will now save all messages despite the runtime log verbosity level.
• BUG FIXES:
  • Fix error rendering an opengl scene with mrpt::opengl::CCamera objects in it.
  • rawlog-edit silently ignored when more than one operation was requested.
  • Fix FTBFS against libjsoncpp 1.9.4 (Closes #1118)
  • Fix AppStream errors and warnings in Debian Tracker.

Release of v2.1.4

Version 2.1.4: Released Nov 8th, 2020

• Changes in libraries:
  • \ref mrpt_core_grp
    • mrpt::format() is no longer a template but a function, to use GCC automated printf-format warnings.
  • \ref mrpt_containers_grp
    • mrpt::containers::yaml avoids throwing internal exceptions as part of regular valid conversions, and better support and report of out-of-range integers.
  • \ref mrpt_math_grp
    • mrpt::math::linspace() added overload returning by value.
  • \ref mrpt_random_grp
    • mrpt::random::CRandomGenerator::permuteVector() added overload returning by value.
  • \ref mrpt_tfest_grp
    • mrpt::tfest::TMatchingPairListTempl::saveAsMATLABScript() now draws 3D correspondences too.
    • RANSAC method mrpt::tfest::se3_l2_ransac() now uses more correct SO(3) metric for angular distance threshold instead of independent yaw/pitch/roll angles.
  • BUG FIXES:
    • Fix wrong Debian dependencies of libmrpt-dev

Release of v2.1.3

Version 2.1.3: Released Oct 21st, 2020

• Changes in libraries:
  • \ref mrpt_config_grp
    • Refactor parsing functionality as new exposed method mrpt::config::config_parser()
  • \ref mrpt_gui_grp
    • mrpt::gui::CDisplayWindowGUI subwindows control UI automatically keep tracks of focused subwindows.
• Build system:
  • Support for ccache, enabled by default if found.
  • Fix build with system libsimpleini-dev.
• BUG FIXES:
  • Fix mrpt::opengl::CFBORender requiring images with origin at the bottom-left corner.

Release of v2.1.2

Version 2.1.2: Released Oct 20th, 2020

• BUG FIXES:
  • Fix wrong coloring of graph edges in mrpt::opengl::graph_visualize() (Closes #1111).
  • Fix Debian Lintian error: exporting copyrighted sources as part of simpleini submodule.

Release of v2.1.1

Version 2.1.1: Released Oct 19th, 2020

• Changes in applications:
  • SceneViewer3D:
    • Command-line argument is now interpreted as ASSIMP model to open if it is not a 3Dscene.
    • New menu: "File -> Import -> Show image" useful to test image-mode viewport rendering.
• Changes in libraries:
  • \ref mrpt_core_grp
    • mrpt::Clock now has a simulated time mode. See mrpt::Clock::setSimulatedTime()
  • \ref mrpt_gui_grp
    • Useless nanogui_win() converted into mrpt::gui::CDisplayWindowGUI::nanogui_screen()
    • nanogui: New methods: nanogui::Screen::mouseState(), nanogui::Screen::mouseModifiers()
    • Managed subwindows with minimize/restore capability. See mrpt::gui::CDisplayWindowGUI::createManagedSubWindow()
  • \ref mrpt_img_grp
    • New method mrpt::img::CImage::channelCount()
  • \ref mrpt_opengl_grp
    • New load flags in mrpt::opengl::CAssimpModel::loadScene()
• BUG FIXES:
  • navlog-viewer: Crash when clicking "play" (Closes #1103).
  • RawLogViewer: Fix wrong indices in tree view. Fix freezed progress bar loading a second rawlog.
  • RawLogViewer: Fix wrong rendering if font is missing in the system (Ubuntu 20.04)
  • rawlog-edit: Fix --cut operation leaving empty sensory frames/action collections.
  • mrpt::opengl::CCylinder::setHasBases() was ignored since last OpenGL3 refactor.
  • Fix building against OpenCV 4.4
  • Correct texture loading in mrpt::opengl::CAssimpModel.
  • Fix wrong aspect ratio of image-mode opengl viewports (Closes #1101).

Release of v2.1.0

Version 2.1.0: Released Aug 31st, 2020

• Incompatible API changes:
  • mrpt::system::TParameters has been removed, superseded by mrpt::containers::yaml.
  • Remove mrpt::hwdrivers::CRovio
  • Removed old mrpt 1.5.x backwards-compatible <mrpt/utils/...> headers (Closes #1083).
• Changes in libraries:
  • \ref mrpt_containers_grp
    • New class mrpt::containers::yaml for nested, YAML-like data structures.
  • \ref mrpt_core_grp
    • New mrpt::for_<> constexpr for loop helper function.
    • New function mrpt::demangle()
    • New class mrpt::WorkerThreadsPool
    • New macro ASSERT_NEAR_(). Defined new macros with correct English names ASSERT_LT_(), etc. deprecating the former ones.
    • mrpt::get_env() gets specialization for bool.
  • \ref mrpt_math_grp
    • New static methods with semantic-rich names: mrpt::math::TPlane::From3Points(), mrpt::math::TPlane::FromPointAndLine(), ...
    • New asString() methods in mrpt::math::TPlane, mrpt::math::TLine2D, mrpt::math::TLine3D
  • \ref mrpt_tfest_grp
    • New templatized mrpt::tfest::TMatchingPairTempl<> and mrpt::tfest::TMatchingPairListTempl<>
    • New mrpt::tfest::se3_l2() for double precision.
• Build:
  • yamlcpp is no longer a build dependency.
  • Less RAM and time required to build debug builds or to load in the debugger.
• BUG FIXES:
  • Avoid crash in camera-calib app when clicking "Close" while capturing a live video.
  • Fix potential Eigen crash in matrixes inverse() and inverse_LLt() if building mrpt and user code with different optimization flags.
  • Wrong parsing of env variables in mrpt::get_env() when called more than once.
  • mrpt::system::CTimeLogger: Fix wrong formatting (parent entry prefix collapse) in summary stats table.
  • mrpt::opengl::CEllipsoid2D was not RTTI registered.
  • Fix wrong copy of internal parameters while copying mrpt::maps::CMultiMetricMap objects.

Release of v2.0.4

Version 2.0.4: Released Jun 20, 2020

• Changes in applications:
  • rawlog-edit, rawlog-grabber: Now allows loading external "plugin" modules (.so) with user-defined types.
  • RawLogViewer, navlog-viewer, ptg-configurator allows more than one "plugin" modules to be loaded.
• Changes in libraries:
  • \ref mrpt_math_grp
    • New semantically-rich named static methods:
      • mrpt::math::TLine3D::FromPointAndDirector()
      • mrpt::math::TLine3D::FromTwoPoints()
      • mrpt::math::TLine2D::FromCoefficientsABC()
      • mrpt::math::TLine2D::FromTwoPoints()
  • \ref mrpt_obs_grp
    • CObservation3DRangeScan::points3D_convertToExternalStorage() stores point clouds with points as rows (vs as columns as it did before).
  • \ref mrpt_opengl_grp
    • Emit warnings to std::cerr whenever opengl memory is leaked due to OpenGL buffers being created and destroyed in different threads.
    • Overlaid text messages are now also (de)serialized in mrpt::opengl::COpenGLViewport, and hence in 3D scenes in general.
    • All opengl shader base classes now expose their internal buffers as const ref. See children of mrpt::opengl::CRenderizable
  • \ref mrpt_system_grp
    • New class: mrpt::system::CControlledRateTimer (+ associated example)
    • New functions: mrpt::system::loadPluginModule(), mrpt::system::loadPluginModules()
    • mrpt::system::CRateTimer: enforce use of high-resolution monothonic clock.
    • mrpt::system::CTicTac: enforce use of nanosecond monothonic clock.
    • Misplaced functions moved to their proper namespace: mrpt::io::vectorToTextFile()
    • New functions: mrpt::system::thread_name() to get and set thread names for debuggers.
    • mrpt::system::setConsoleColor(): Do not change color if stdout/stderr are not real terminals.
  • \ref mrpt_nav_grp
    • mrpt::nav::PlannerSimple2D does not throw an exception if goal/source is out of map bounds.
• BUG FIXES:
  • mrpt::obs::CObservation3DRangeScan would try to (incorrectly) "autofix" camera resolution if loading an externally-stored observation.
  • mrpt::maps::CPointsMap::determineMatching2D(): avoid potential multi-thread problems with a vector::swap()
  • Fix build against opencv <3.4.4
  • Fix potential pointer to local returned in CParticleFilterData
  • Fix: mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI() was using a non-existing method.
  • Fix: mrpt::nav::PlannerSimple2D did not honored maximum path length correctly.
  • Fix race condition in CGenericCamera_AVI unit test.

Release of v2.0.3

Version 2.0.3: Released May 13, 2020

• Changes in applications:
  • navlog-viewer: Can now navigate with keyboard arrows too.
  • RawLogViewer: better 3D pointcloud coloring in observation view and in "scan animation" view.
• Changes in libraries:
  • \ref mrpt_maps_grp
    • Point cloud classes mrpt::maps::CPointsMap: New methods:
      • load2D_from_text_stream()
      • load3D_from_text_stream()
      • save2D_to_text_stream()
      • save3D_to_text_stream()
  • \ref mrpt_poses_grp
    • More accurate analytical Jacobians for CPose3DQuatPDFGaussian::inverse() (Closes #1053)
  • BUG FIXES:
    • Incorrect number of points loaded when trying to load point clouds from incorrectly-formatted text files.
    • Fix build error in riscv64 (gcc doesn't know mtune=native for that arch)
    • Fix spurious unit test failures in mrpt::apps::RawlogGrabberApp due to system load.

Release of v2.0.2

(Changes since 2.0.1)

Version 2.0.2: Released May 4th, 2020

• Changes in applications:
  • navlog-viewer: Ported to the new nanogui UI system (fixes random OpenGL context errors in former version).
• Changes in libraries:
  • mrpt_containers_grp
    • mrpt::containers::vector_with_small_size_optimization: Get rid of potential uninitialized usage GCC warnings.
  • mrtp_hwdrivers_grp
    • Remove support for obsolete XSens MTi 3rd generation devices. Removed class mrpt::hwdrivers::CIMUXSens. 4th+ generation still supported.
  • mrpt_gui_grp
    • Fix mouse-motion rotation glitches if clicking inside a nanogui control.
    • Fix cmake errors building user programs in Windows (missing glfw dependency).
  • mrpt_math_grp
    • mrpt::math::RANSAC_Template made more generic to support custom dataset and model types.
  • mrpt_opengl_grp
    • Fix displaying of uninitialized textured in mrpt::opengl::CTexturedPlane. It now uses the default solid color of the object.
  • mrpt_ros1bridge_grp
    • Narrower build and run time dependencies: rosbag -> rosbag_storage