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[wip/mrpt] Upgrade to 1.1.0
Changes since 1.0.2:
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New apps:
DifOdometry-Camera. (By Mariano Jaimez Tarifa)
DifOdometry-Datasets. (By Mariano Jaimez Tarifa)
New classes:
[mrpt-base]
mrpt::synch::CPipe: OS-independent pipe support.
[mrpt-hwdrivers]
- mrpt::hwdrivers::CIMUXSens_MT4 : Support for 4th generation xSens MT
IMU devices.
- mrpt::hwdrivers::CNationalInstrumentsDAQ: Support for acquisition
boards compatible with National Instruments DAQmx Base
- mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey
Research's cameras via the FlyCapture2 libray
[mrpt-maps]
There are now two versions of octomaps (by Mariano Jaimez Tarifa/Jose Luis Blanco)
mrpt::slam::COctoMap (only occupancy)
mrpt::slam::CColouredOctoMap (occupancy + RGB color)
[mrpt-obs]
mrpt::slam::CObservationRawDAQ, a placeholder for raw and generic
measurements from data acquisition devices.
[mrpt-opengl]
- mrpt::opengl::CMeshFast, an open gl object that draws a "mesh" as a
structured point cloud which is faster to render (by Mariano Jaimez Tarifa).
- mrpt::opengl::CVectorField2D, an opengl object that shows a 2D Vector
Field (by Mariano Jaimez Tarifa).
[mrpt-reactivenav]
mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large code
refactoring of these classes:
mrpt::reactivenav::CReactiveNavigationSystem
mrpt::reactivenav::CReactiveNavigationSystem3D
[mrpt-vision]
mrpt::vision::CDifodo, a class which implements visual odometry based
on depth images and the "range flow constraint equation". (by Mariano
Jaimez Tarifa)
Changes in classes:
- Clean up and slight optimization of metric map matching API:
Methods marked as deprecated:
mrpt::slam::CMetricMap::computeMatchingWith2D() –> mrpt::slam::CMetricMap::determineMatching2D()
mrpt::slam::CMetricMap::computeMatchingWith3D() –> mrpt::slam::CMetricMap::determineMatching3D()
New structures:
mrpt::slam::TMatchingParams
mrpt::slam::TMatchingExtraResults
- mrpt::slam::CPointsMap::TInsertionOptions now have methods to save/load
from binary streams, making more maintainable the serialization of point maps
- New options in point maps:
mrpt::slam::CPointsMap::TInsertionOptions::insertInvalidPoints
- mrpt::slam::CObservationIMU now includes data fields for 3D magnetometers and altimeters.
- Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont() to avoid shadowing mrpt::utils::CCanvas::selectTextFont()
- mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
- mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for inverse look-up of WS to TP space
- mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() - (commit)
- Changed the signature of mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D & 2.5D PTGs
Deleted classes:
mrpt::utils::CEvent, which was actually unimplemented (!)
mrpt::hwdrivers::CInterfaceNI845x has been deleted. It didn't offer features enough to justify a class.
New examples:
[MRPT]/samples/threadsPipe
[MRPT]/samples/NIDAQ_test
[MRPT]/openNI2_RGBD_demo (by Mariano Jaimez Tarifa)
[MRPT]/openNI2_proximity_demo (by Mariano Jaimez Tarifa)
Build system:
Fixed compilation with clang.
Fixed building against OpenCV 3.0.0 (GIT head)
Updated to the latest nanoflann 1.1.7.
Updated to Eigen 3.2.0
Binary packages for Windows now include .pdb files to help debugging with Visual Studio.
BUG FIXES:
Fixed potential infinity loop in mrpt::math::make_vector<1,T>()
Fixed build error with GCC when experimental parallelization is enabled.
- mrpt::reactivenav::CReactiveNavigationSystem complained about missing
config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in MRPT
1.0.2
- Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in
SRBA for 32bit builds.
- mrpt::topography::geodeticToENU_WGS84() and related functions used a
local +Z axis aligned to the line towards the Earth center; now the Z axis
points normally to the ellipsoid surface. The difference with the previous
behavior is small but may be of a few millimeters for each meter from the
reference point.
- Potential crash when setting mpPolygon::setPoints() with empty vectors
- mrpt::reactivenav::CReactiveNavigationSystem and
mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the
"enableConsoleOutput" constructor flag
- mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got an
external signal
Showing
mrpt/patches/patch-aa
deleted
100644 → 0
mrpt/patches/patch-ab
deleted
100644 → 0
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