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[wip/mrpt] Upgrade to 1.2.2
From the Changelog
***** Version 1.2.2: Released 12-SEP-2014 *****
* Changes in apps:
o SceneViewer3D:
# New menu "File" -> "Import" -> "3D model" which supports many
standard formats (via mrpt::opengl::CAssimpModel)
* New classes:
o [mrpt-hwdrivers]
# mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR
scanners.
o [mrpt-opengl]
# mrpt::opengl::CAssimpModel for rendering complex 3D models
(many supported formats) in OpenGL scenes.
* Changes in classes:
o Consistency in all "laser scan" classes: angular increments between
rays are now FOV/(N-1) instead of FOV/N.
o [mrpt-base]
# New method mrpt::utils::CImage::loadTGA()
# IMPORTANT: Changed behavior of CSerializable/CObject macros
(see bugfix below), introducing the new macros
DEFINE_SERIALIZABLE_POST_*. May require changes in user code
if serializable classes are defined:
# Previous version:
DEFINE_SERIALIZABLE_PRE_*(...)
class XXX {
DEFINE_SERIALIZABLE(XXX)
};
# Must be changed in this version to:
DEFINE_SERIALIZABLE_PRE_*(...)
class XXX {
DEFINE_SERIALIZABLE(XXX)
};
DEFINE_SERIALIZABLE_POST_*(...)
o [mrpt-hwdrivers]
# Bumblebee2 Linux support in mrpt::hwdrivers::
CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
o [mrpt-maps]
# New method mrpt::slam::COccupancyGridMap2D::getRawMap()
# New method mrpt::slam::CColouredPointsMap::
getPCLPointCloudXYZRGB()
o [mrpt-opengl]
# mrpt::opengl::CMyGLCanvasBase (affects all 3D rendering
classes): better handling of internal timers for smoother
updates while rendering in multithreading apps.
o [mrpt-srba]
# New method to recover the global coordinates graph-slam
problem for a RBA map: mrpt::srba::RbaEngine::
get_global_graphslam_problem() (see example [MRPT]-
examples\srba-tutorials\tutorial-srba-how-to-recover-global-
map.cpp)
* BUG FIXES:
o mrpt::utils::CImage constructor from a matrix crashed.
o Unit tests: Named semaphores are not tested anymore if it's
detected that the kernel version doesn't support them (Fix Debian
758725).
o mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
o mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
o Valgrind: Fixed potential unaligned memory access warning in point
clouds.
o Fix build error with AppleClang 5.1 (Closes #71).
o mrpt::utils::CClientTCPSocket: Use a connection success check that
works on all platforms
o Important bug fixed regarding a missing dynamic_cast<> in smart
pointers casting. See above possible implications in user code.
properly (Patch by Joe Burmeister).
===============================================================================
***** Version 1.2.1: Released 10-JUL-2014 *****
* Changes in classes:
o [mrpt-base]
# All points and poses now have a method setToNaN(), e.g.
mrpt::poses::CPose3D::setToNaN()
o [mrpt-hwdrivers]
# mrpt::hwdrivers::COpenNI2Sensor now has better support for
opening several RGBD cameras (by Kenzaburo Miyawaki &
Eduardo Fernandez)
* Build system:
o Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
o Fix de-serialization error in mrpt::reactivenav::CLogFileRecord
(and new unit tests added to avoid regressions).
o Several Debian bugs closed (see packaging/debian/changelog),
including build errors in uncommon platforms (MIPS, kFreeBSD, etc.)
===============================================================================
***** Version 1.2.0: Released 25-JUN-2014 *****
* Most important changes:
o Public header files (.h) have undergone a serious refactoring to
minimize unnecesary dependencies and reduce compile time and memory
as much as possible. As a side effect, user code might need to add
new #include<> lines. This change justifies the new minor version
series 1.2.X.
o MRPT now cleanly builds in clang and OSX.
o Support for new camera drivers (OpenNI2, DUO3D).
o Many bug fixes.
* Detailed list of changes:
o Changes in apps:
# rawlog-edit:
# New operations: –export-odometry-txt,
–recalc-odometry
# New flag: –rectify-centers-coincide
o New examples:
# kitti_dataset2rawlog
o New classes:
# [mrpt-base]
# mrpt::math::ContainerType<CONTAINER>::element_t to
allow handling either Eigen or STL containers
seamlessly.
# mrpt::utils::CConfigFilePrefixer
# [mrpt-hwdrivers]
# mrpt::hwdrivers::COpenNI2Sensor: Interface to OpenNI2
cameras, capable of reading from an array of OpenNI2
RGBD cameras (By Eduardo Fernandez)
# mrpt::hwdrivers::CDUO3DCamera: Interface to DUO3D
cameras (By Francisco Angel Moreno)
# mrpt::hwdrivers::CGPS_NTRIP: A combination of GPS
receiver + NTRIP receiver capable of submitting GGA
frames to enable RTCM 3.0
# [mrpt-obs]
# mrpt::slam::CObservation6DFeatures
o Changes in classes:
# [mrpt-base]
# Robust kernel templates moved from mrpt::vision to
mrpt::math. See mrpt::math::RobustKernel<>. Added unit
tests for robust kernels.
# CPose3D has new SE(3) methods: mrpt::poses::CPose3D::
jacob_dexpeD_de(), mrpt::poses::CPose3D::
jacob_dAexpeD_de()
# More efficient mrpt::utils::OctetVectorToObject()
(avoid memory copy).
# Fixed const-correctness of mrpt::utils::CImage::
forceLoad() and mrpt::utils::CImage::unload()
# [mrpt-hwdrivers]
# mrpt::hwdrivers::CCameraSensor: Added a hook for user
code to run before saving external image files: mrpt::
hwdrivers::CCameraSensor::addPreSaveHook()
# mrpt::hwdrivers::CNationalInstrumentsDAQ now supports
analog and digital outputs.
# New method mrpt::hwdrivers::CNTRIPClient::
sendBackToServer()
# [mrpt-srba]
# Now also implements SE(3) relative graph-slam.
# [mrpt-vision]
# mrpt::vision::checkerBoardStereoCalibration: More
robust handling of stereo calibration patterns. OpenCV
sometimes detects corners in the wrong order between
(left/right) images, so we detect the situation and fix
it.
# mrpt::vision::findMultipleChessboardsCorners():
# Now enforces a consistent counterclockwise XYZ
coordinate frame at each detected chessboard.
# Much more robust in distingishing quads of
different sizes.
o Build system / public API:
# Fixes to build in OS X - Patch by Randolph Voorhies.
# Removed most "using namespace" from public headers, as good
practice.
# Refactoring of MRPT headers.
# <mrpt/utils/stl_extensions.h> has been split into:
# <mrpt/utils/stl_serialization.h>
# <mrpt/utils/circular_buffer.h>
# <mrpt/utils/list_searchable.h>
# <mrpt/utils/bimap.h>
# <mrpt/utils/map_as_vector.h>
# <mrpt/utils/traits_map.h>
# <mrpt/utils/stl_serialization.h>
# <mrpt/utils/printf_vector.h>
# <mrpt/utils/stl_containers_utils.h>
# <mrpt/utils/ci_less.h>
# Deleted methods and functions:
# mrpt::system::breakpoint()
# mrpt::vector_float is now mrpt::math::CVectorFloat,
mrpt::vector_double is mrpt::math::CVectorDouble, for
name consistency. Also, using Eigen::VectorXf is
preferred for new code.
# mrpt::CImage::rectifyImage() with parameters as
separate vectors.
# mrpt::slam::CPointsMap::getPoint() with mrpt::poses::
CPoint3D arguments.
# mrpt::vision::correctDistortion() -> use CImage method
instead
# All previous deprecated functions.
# Embedded Eigen updated to version 3.2.1 (commit) (commit)
o BUG FIXES:
# RawlogViewer app: Fixed abort while converting SF->obs.only
datasets when there is no odometry.
# mrpt::slam::CSensoryFrame: The cached point map is now
invalidated with any change to the list of observations so
it's rebuild upon next call.
# New implementation of mrpt::synch::CSemaphore avoids crashes
in OS X - by Randolph Voorhies.
# mrpt::opengl::CArrow was always drawn of normalized length.
# FlyCapture2 monocular & stereo cameras could return an
incorrect timestamp (only in Linux?).
# mrpt::system::createDirectory() returned false (error) when
the directory already existed.
# mrpt::vision::CStereoRectifyMap::rectify() didn't update the
left & right camera poses inside mrpt::slam::
CObservationStereoImages objects while rectifying.
# RawLogViewer: Operation "convert to SF format" didn't take
into account odometry observations.
# Fix build errors with GCC 4.9
# Fix crash of mrpt::hwdrivers::CIMUXSens_MT4's destructor when
it fails to scan and open a device.
# Fix potential crash in mrpt::slam::
data_association_full_covariance with JCBB when no
individually compatible matching exists (commit)
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