Releases: MRPT/mrpt
Releases · MRPT/mrpt
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()
- \ref mrpt_maps_grp:
- Others:
- Fix Debian appstream warnings on mrpt-apps.
- Fix build against opencv 5.
Release of v2.11.9
Version 2.11.9: Released Feb 11th, 2024
- Changes in libraries:
- \ref mrpt_vision_grp:
- mrpt::vision::TStereoCalibParams::use_robust_kernel now defaults to
true
.
- mrpt::vision::TStereoCalibParams::use_robust_kernel now defaults to
- \ref mrpt_img_grp:
- Fix const-correctness of arguments in mrpt::img::CImage::drawChessboardCorners()
- \ref mrpt_obs_grp:
- Added support for mrpt::typemeta::TEnumType to mrpt::obs::CActionRobotMovement3D::TDrawSampleMotionModel and mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel.
- \ref mrpt_vision_grp:
- BUG FIXES:
- Fix missing build dep on tf2_geometry_msgs for ROS 1 only.
- Application kinect-stereo-calib: fix exceptions when selecting images without a good chessboard detection on the left list box.
Release of v2.11.8
Version 2.11.8: Released Feb 7th, 2024
- Changes in apps:
- RawLogViewer: Show pointcloud ring, intensity, and time min/max ranges.
- rawlog-edit: Show dataset duration as formatted time interval.
- rosbag2rawlog (ROS 1):
- Added support for XYZIRT point clouds.
- Finally, implemented automatic detection of sensor poses wrt
base_link
fromtf
messages, with an option to manually override sensor poses from YAML config.
- Changes in libraries:
- \ref mrpt_maps_grp:
- Implement missing probabilistic observation models in mrpt::maps::CVoxelMap and mrpt::maps::CVoxelMapRGB
- Add debug env variable
MRPT_DEBUG_OBSPTS_LAZY_LOAD
to debug lazy-load point cloud observations.
- \ref mrpt_ros1bridge_grp:
- Add missing mrpt::ros1bridge::fromROS() for
PointCloud2
=> mrpt::maps::CPointsMapXYZIRT conversions.
- Add missing mrpt::ros1bridge::fromROS() for
- \ref mrpt_ros2bridge_grp:
- Fix wrong macros leading to including obsolete header
<cv_bridge/cv_bridge.h>
.
- Fix wrong macros leading to including obsolete header
- \ref mrpt_system_grp:
- New function mrpt::system::hyperlink() to generate clickable links in terminal messages.
- \ref mrpt_maps_grp:
Release of v2.11.7
Version 2.11.7: Released Jan 25th, 2024
- Changes in apps:
- carmen2rawlog: Generate valid timestamps.
- Changes in libraries:
- rosbag2rawlog: Add support for
sensor_msgs/CompressedImage
topics.
- rosbag2rawlog: Add support for
- BUG FIXES:
- mrpt::hwdrivers::CImageGrabber_dc1394 did not mark the right image as present in stereo cameras.
- kinect-stereo-calib: Fix exception un-distorting images.
Release of v2.11.6
Version 2.11.6: Released Jan 13th, 2024
- Changes in libraries:
- \ref mrpt_obs_grp
- mrpt::obs::CObservation::load() is now protected with a std::mutex for safe multi-threading usage.
- \ref mrpt_nav_grp
- mrpt::nav::CPTG_DiffDrive_alpha now has a "K" parameter for generating backwards trajectories too.
- \ref mrpt_obs_grp
- BUG FIXES:
- Fix wrong filenames in
rawlog-edit --externalize
when sensor labels contain the/
character (e.g. mimicking ROS topic names). - Fix crash in mrpt::ros2bridge::toROS() for XYZIRT point clouds.
- Fix exception while rendering paths in the
ptg-configurator
application. - Fix potential race condition in mrpt::obs::CObservation3DRangeScan.
- Fix wrong filenames in
Release of v2.11.5
Version 2.11.5: Released Dec 21st, 2023
- Changes in libraries:
- \ref mrpt_maps_grp
- New method mrpt::maps::CPointsMap::insertPointFrom() (and associated auxiliary methods) to easily copy points between different point clouds with different fields (timestamp, ring, RGB, etc.).
- \ref mrpt_obs_grp
- mrpt::maps::CSimpleMap changes:
- Added an optional twist field.
- Simplified API for preferred usage with structured binding tuples.
- mrpt::maps::CSimpleMap changes:
- \ref mrpt_system_grp
- More readable results in mrpt::system::unitsFormat() for the special case of exactly
0
.
- More readable results in mrpt::system::unitsFormat() for the special case of exactly
- \ref mrpt_maps_grp
- BUG FIXES:
- Fix filtering of NANs input point clouds in mrpt::maps::CPointsMap::insertAnotherMap().
Release of v2.11.4
Version 2.11.4: Released Dec 15th, 2023
- Changes in apps:
- RawLogViewer: visualize mrpt::obs::CObservationRotatingScan as point cloud + range image + intensity image.
- rawlog-edit:
--info
command now also shows the type of each sensor label.
- Changes in libraries:
- \ref mrpt_maps_grp
- Use nanoflann RKNN search in mrpt::maps::CPointsMap::nn_radius_search()
- Added a new point cloud class mrpt::maps::CPointsMapXYZIRT, including its Python and ROS wrappers.
- \ref mrpt_math_grp
- mrpt::math::KDTreeCapable: Add optional argument maximumSearchDistanceSqr in many API methods to exploit the new nanoflann RKNN search method.
- \ref mrpt_opengl_grp
- mrpt::opengl::PLY_Importer: Add support for importing point clouds with the
timestamp
property per point.
- mrpt::opengl::PLY_Importer: Add support for importing point clouds with the
- \ref mrpt_obs_grp
- mrpt::obs::CObservationRotatingScan:
- Moved from the library mrpt-maps to mrpt-obs, since it no longer requires any mrpt::maps class.
- Complete its implementation: insertion into point cloud, observation likelihood, visualization in RawLogViewer, etc.
- mrpt::obs::CObservationRotatingScan:
- \ref mrpt_maps_grp
- BUG FIXES:
- Fix missing Threads::Threads downstream due to missing
find_dependency(Threads)
in MRPT cmake config files. - Fix broken import of PLY files in SceneViewer3D (empty scene even if correctly imported).
- mrpt::math::CMatrixDynamic constructor from (row,col) was not marked explicit, leading to potential problems.
- mrpt::opengl::Viewport::setViewportPosition() did not handle negative width values as expected (i.e. pixel distances from the opposite corner).
- Fix missing Threads::Threads downstream due to missing
Release of v2.11.3
Version 2.11.3: Released Nov 21st, 2023
- Changes in libraries:
- \ref mrpt_core_grp
- Add the
[[nodiscard]]
attribute to all functions returning a value in<mrpt/core/bits_math.h>
- Add the
- \ref mrpt_maps_grp
- mrpt::maps::COccupancyGridMap3D::insertObservation() now also handles mrpt::obs::CObservationPointCloud
- New virtual interface mrpt::maps::NearestNeighborsCapable, implemented in:
- All mrpt::maps::CPointsMap classes
- All classes derived from mrpt::maps::CVoxelMapOccupancyBase
- mrpt::maps::COccupancyGridMap2D
- mrpt::maps::COccupancyGridMap2D
- New virtual method mrpt::maps::CMetricMap::boundingBox()
- mrpt::maps::TMetricMapInitializer now returns
shared_ptr
s instead of plain pointers. - mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() now throws if it finds a
*_count
entry with an unknown map class name.
- \ref mrpt_math_grp
- New template mrpt::math::confidenceIntervalsFromHistogram()
- \ref mrpt_obs_grp
- mrpt::maps::CMetricMap::loadFromSimpleMap() now automatically calls mrpt::obs::CObservation::load() and mrpt::obs::CObservation::unload() for all observations, so it works with lazy-load datasets.
- \ref mrpt_core_grp
- BUG FIXES:
- Fix compilation errors if using the
MCP_SAVE()
macro with class enum types. - Fix wrong cloud pose in CPointsMap::insertObservation() when inserting an mrpt::obs::CObservationPointCloud.
- Fix potential data race in mrpt::WorkerThreadsPool::pendingTasks()
- Fix compilation errors if using the
Release of v2.11.2
Version 2.11.2: Released Oct 25th, 2023
- Changes in libraries:
- \ref mrpt_gui_grp
- New function mrpt::gui::GetScaledClientSize().
- \ref mrpt_obs_grp
- Fix typo in data field: mrpt::obs::CObservationRange:
sensorConeApperture
->sensorConeAperture
- Fix typo in data field: mrpt::obs::CObservationRange:
- \ref mrpt_ros2bridge_grp
- Address the new field
variance
insensor_msgs/Range
(Closes issue #1270).
- Address the new field
- \ref mrpt_gui_grp
- BUG FIXES:
- Fix wrong rendering of all wxWidgets-based OpenGL windows when using Ubuntu's display settings to change UI to a size different than 100% (Fixes issue #1114).
- Fix ignored sensorPose of mrpt::obs::CObservationPointCloud while inserting them into voxel maps.
Release of v2.11.1
Version 2.11.1: Released Oct 23rd, 2023
- Changes in libraries:
- \ref mrpt_math_grp
- Fix several build warnings introduced in the last version.
- \ref mrpt_maps_grp
- Voxel maps: A voxel is considered occupied if its occupancy is larger than
likelihoodOptions.occupiedThreshold
instead of a fixed0.5
.
- Voxel maps: A voxel is considered occupied if its occupancy is larger than
- \ref mrpt_math_grp