Mrpt Versions Save

:zap: The Mobile Robot Programming Toolkit (MRPT)

2.12.2

3 weeks ago

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.

2.12.1

1 month ago

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.

2.12.0

1 month ago

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.

2.11.12

2 months ago

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.

2.11.11

2 months ago

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.

2.11.10

2 months ago

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.

2.11.9

3 months ago

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.
    • \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.
  • 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.

2.11.8

3 months ago

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 from tf 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.
    • \ref mrpt_ros2bridge_grp:
      • Fix wrong macros leading to including obsolete header <cv_bridge/cv_bridge.h>.
    • \ref mrpt_system_grp:
      • New function mrpt::system::hyperlink() to generate clickable links in terminal messages.

2.11.7

3 months ago

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.
  • 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.

2.11.6

4 months ago

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.
  • 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.