Release of v2.13.8

Version 2.13.8: Released Sep 7th, 2024

• Changes in libraries:
  • \ref mrpt_vision_grp:
    • mrpt::vision::TMatchingOptions: Remove useless custom "operator=".
  • pymrpt:
    • Fix all C++ build warnings in pymrpt.
• BUG FIXES:
  • Fix unstable keypoint KLT response values leading to NaN in some architectures.
  • Fix tons of typos and Debian-specific spare install files (lintian --pedantic).
  • Fix segfault in arm64 EKF unit tests.
  • Fix bug in mrpt::system::CDirectoryExplorer: it would throw and stop if finds a broken symlink.
  • Fix regression in mrpt::math::KDTreeCapable: all RKNN calls (NN with maximum radius) may return undefined pairing indices if less than N points are found within the given radius.

Release of v2.13.7

Version 2.13.7: Released Aug 22nd, 2024

• Changes in apps:
  • rosbag2rawlog (ROS1): Implement generation of odometry from /tf messages.
• BUG FIXES:
  • Fix incorrect check in mrpt-io unit tests leading to potential false positives.

Release of v2.13.6

Version 2.13.6: Released Aug 14th, 2024

• Build system:
  • This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
    • https://github.com/MRPT/mrpt_ros
    • https://github.com/MRPT/python_mrpt_ros
• BUG FIXES:
  • CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
  • Fix FTBFS in Debian sid (g++-14) due to missing #include <iomanip>.

Release of v2.13.4

Version 2.13.4: Released July 24th, 2024

• Fix docs typos.
• Upgraded nanoflann to v1.6.0 (fixes an important bug).

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.