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MRPT v2.0.4 Release Notes

Release Date: 2020-06-20 // almost 4 years ago

  • 🔖 Version 2.0.4: Released Jun 20, 2020

    • 🔄 Changes in applications:
      • rawlog-edit, rawlog-grabber: Now allows loading external "plugin" modules (.so) with user-defined types.
      • RawLogViewer, navlog-viewer, ptg-configurator allows more than one "plugin" modules to be loaded.
    • 🔄 Changes in libraries:
      • \ref mrpt_math_grp
      • New semantically-rich named static methods:
        • mrpt::math::TLine3D::FromPointAndDirector()
        • mrpt::math::TLine3D::FromTwoPoints()
        • mrpt::math::TLine2D::FromCoefficientsABC()
        • mrpt::math::TLine2D::FromTwoPoints()
      • \ref mrpt_obs_grp
      • CObservation3DRangeScan::points3D_convertToExternalStorage() stores point clouds with points as rows (vs as columns as it did before).
      • \ref mrpt_opengl_grp
      • Emit warnings to std::cerr whenever opengl memory is leaked due to OpenGL buffers being created and destroyed in different threads.
      • Overlaid text messages are now also (de)serialized in mrpt::opengl::COpenGLViewport, and hence in 3D scenes in general.
      • All opengl shader base classes now expose their internal buffers as const ref. See children of mrpt::opengl::CRenderizable
      • \ref mrpt_system_grp
      • New class: mrpt::system::CControlledRateTimer (+ associated example)
      • New functions: mrpt::system::loadPluginModule(), mrpt::system::loadPluginModules()
      • mrpt::system::CRateTimer: enforce use of high-resolution monothonic clock.
      • mrpt::system::CTicTac: enforce use of nanosecond monothonic clock.
      • Misplaced functions moved to their proper namespace: mrpt::io::vectorToTextFile()
      • New functions: mrpt::system::thread_name() to get and set thread names for debuggers.
      • mrpt::system::setConsoleColor(): Do not change color if stdout/stderr are not real terminals.
      • \ref mrpt_nav_grp
      • mrpt::nav::PlannerSimple2D does not throw an exception if goal/source is out of map bounds.
    • 🐛 BUG FIXES:
      • mrpt::obs::CObservation3DRangeScan would try to (incorrectly) "autofix" camera resolution if loading an externally-stored observation.
      • mrpt::maps::CPointsMap::determineMatching2D(): avoid potential multi-thread problems with a vector::swap()
      • Fix build against opencv <3.4.4
      • Fix potential pointer to local returned in CParticleFilterData
      • Fix: mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI() was using a non-existing method.
      • Fix: mrpt::nav::PlannerSimple2D did not honored maximum path length correctly.
      • Fix race condition in CGenericCamera_AVI unit test.