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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 &amp;
                  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: &ndash;export-odometry-txt,
                        &ndash;recalc-odometry
                      # New flag: &ndash;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 &amp; 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 &amp; 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)

Changes since 1.0.2:
--------------------

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

Related to 511e95f03480537ff18ad2ca on upstream repository

Bump PKGREVISION

Mobile Robot Programming Toolkit provides developers with portable and
well-tested applications and libraries covering data structures and
algorithms employed in common robotics research areas, in particular
vision, slam, and reactive navigation. It is open source, released under
the BSD license.