mrpt

The Mobile Robot Programming Toolkit (MRPT)

BSD-3-CLAUSE License

Stars
1.9K
Committers
92
View Code on GitHub Visit Website
Ecosystems: Robot Framework, C++

Bot releases are hidden (Show)

mrpt - Release of v2.13.6 Latest Release

Published by jlblancoc 2 months ago

Version 2.13.6: Released Aug 14th, 2024

  • Build system:
  • BUG FIXES:
    • CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
    • Fix FTBFS in Debian sid (g++-14) due to missing #include <iomanip>.
mrpt - Release of v2.13.4

Published by jlblancoc 3 months ago

Version 2.13.4: Released July 24th, 2024

  • Fix docs typos.
  • Upgraded nanoflann to v1.6.0 (fixes an important bug).
mrpt - Release of v2.13.3

Published by jlblancoc 4 months ago

Version 2.13.3: Released July 1st, 2024

  • Build system:
    • ROS package.xml: Re-enable the octomap dependency
  • BUG FIXES:
    • Fix FTBFS of pymrpt for armhf
    • Fix failing unit tests for KLT_response() in non-Intel architectures.
mrpt - Release of v2.13.2

Published by jlblancoc 4 months ago

Version 2.13.2: Released June 23rd, 2024

  • Changes in libraries:
    • \ref mrpt_maps_grp:
      • mrpt::maps::CPointsMapXYZIRT now creates timestamps per point for input observations of type mrpt::obs::CObservationVelodyneScan
      • mrpt::maps::CPointsMap::asString() now also shows the actual derived class name.
    • \ref mrpt_obs_grp:
      • mrpt::obs::CObservationVelodyneScan now implements unload() to free memory for cached point clouds.
    • \ref mrpt_ros1bridge_grp:
      • mrpt::ros1bridge::toROS() conversion from PointCloud2 to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names "t" and "timestamp", and support conversion from uint32_t timestamps as nanoseconds.
  • BUG FIXES:
    • mrpt::vision::CFeatureTracker_KL: Parameter LK_epsilon was rounded to integer.
    • mrpt::maps::CPointsMapXYZI::insertPointFast() did also append to the intensity channel, which is inconsistent behavior with the other map classes.
mrpt - Release of v2.13.1

Published by jlblancoc 5 months ago

Version 2.13.1: Released June 5th, 2024

  • BUG FIXES:
    • nanogui: Fix invalidation of iterators/references in widget lists.
    • rnav: fix exception thrown when target is out of the domain of one PTG.
mrpt - Release of v2.13.0

Published by jlblancoc 5 months ago

Version 2.13.0: Released May 19th, 2024

  • Changes in apps:
    • SceneViewer3D: it now automatically guesses the min/max clip planes from the scene bounding box.
    • rosbag2rawlog (ROS1): tolerate loss of some sensor observations if /tf has not been yet received instead of aborting conversion.
  • Changes in libraries:
    • \ref mrpt_containers_grp:
      • New methods returning safe proxy objects for range-based for loops:
        • mrpt::containers::yaml::asMapRange()
        • mrpt::containers::yaml::asSequenceRange()
      • Upgrade embedded simpleini to v4.22 (for use when not found in the system)
    • \ref mrpt_hwdrivers_grp
      • mrpt::hwdrivers::CJoystick API updated so it can handle an arbitrary number of axes.
    • \ref mrpt_maps_grp
      • mrpt::maps::CVoxelMap and mrpt::maps::CVoxelMapRGB: Added insertion option remove_voxels_farther_than.
      • Removed unused method: mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences()
    • Removed seldom used code (if needed, refer to MRPT versions <2.13.0):
      • The whole module mrpt-detectors
      • mrpt::hwdrivers::CBoardENoses
      • mrpt::hwdrivers::CBoardSonars
      • mrpt::hwdrivers::CDUO3DCamera
      • mrpt::hwdrivers::CPtuDPerception
      • mrpt::hwdrivers::CRoboticHeadInterface
      • mrpt::hwdrivers::CTuMicos
  • BUG FIXES:
    • mrpt::hwdrivers::CJoystick: Crash due to missing #include of OS-specific configuration in CJoystick.h
    • mrpt::expr::CRuntimeCompiledExpression::is_compiled() did always return true.
mrpt - Release of v2.12.2

Published by jlblancoc 6 months 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.
mrpt - Release of v2.12.1

Published by jlblancoc 7 months 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.
mrpt - Release of v2.12.0

Published by jlblancoc 7 months 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.
mrpt - Release of v2.11.12

Published by jlblancoc 7 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.
mrpt - Release of v2.11.11

Published by jlblancoc 8 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.
mrpt - Release of v2.11.10

Published by jlblancoc 8 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.
mrpt - Release of v2.11.9

Published by jlblancoc 8 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.
mrpt - Release of v2.11.8

Published by jlblancoc 9 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.
mrpt - Release of v2.11.7

Published by jlblancoc 9 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.
mrpt - Release of v2.11.6

Published by jlblancoc 9 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.
mrpt - Release of v2.11.5

Published by jlblancoc 10 months ago

Version 2.11.5: Released Dec 21st, 2023

  • Changes in libraries:
    • \ref mrpt_maps_grp
      • New method mrpt::maps::CPointsMap::insertPointFrom() (and associated auxiliary methods) to easily copy points between different point clouds with different fields (timestamp, ring, RGB, etc.).
    • \ref mrpt_obs_grp
      • mrpt::maps::CSimpleMap changes:
        • Added an optional twist field.
        • Simplified API for preferred usage with structured binding tuples.
    • \ref mrpt_system_grp
      • More readable results in mrpt::system::unitsFormat() for the special case of exactly 0.
  • BUG FIXES:
    • Fix filtering of NANs input point clouds in mrpt::maps::CPointsMap::insertAnotherMap().
mrpt - Release of v2.11.4

Published by jlblancoc 10 months ago

Version 2.11.4: Released Dec 15th, 2023

  • Changes in apps:
    • RawLogViewer: visualize mrpt::obs::CObservationRotatingScan as point cloud + range image + intensity image.
    • rawlog-edit: --info command now also shows the type of each sensor label.
  • Changes in libraries:
    • \ref mrpt_maps_grp
      • Use nanoflann RKNN search in mrpt::maps::CPointsMap::nn_radius_search()
      • Added a new point cloud class mrpt::maps::CPointsMapXYZIRT, including its Python and ROS wrappers.
    • \ref mrpt_math_grp
      • mrpt::math::KDTreeCapable: Add optional argument maximumSearchDistanceSqr in many API methods to exploit the new nanoflann RKNN search method.
    • \ref mrpt_opengl_grp
      • mrpt::opengl::PLY_Importer: Add support for importing point clouds with the timestamp property per point.
    • \ref mrpt_obs_grp
      • mrpt::obs::CObservationRotatingScan:
        • Moved from the library mrpt-maps to mrpt-obs, since it no longer requires any mrpt::maps class.
        • Complete its implementation: insertion into point cloud, observation likelihood, visualization in RawLogViewer, etc.
  • BUG FIXES:
    • Fix missing Threads::Threads downstream due to missing find_dependency(Threads) in MRPT cmake config files.
    • Fix broken import of PLY files in SceneViewer3D (empty scene even if correctly imported).
    • mrpt::math::CMatrixDynamic constructor from (row,col) was not marked explicit, leading to potential problems.
    • mrpt::opengl::Viewport::setViewportPosition() did not handle negative width values as expected (i.e. pixel distances from the opposite corner).
mrpt - Release of v2.11.3

Published by jlblancoc 11 months ago

Version 2.11.3: Released Nov 21st, 2023

  • Changes in libraries:
    • \ref mrpt_core_grp
      • Add the [[nodiscard]] attribute to all functions returning a value in <mrpt/core/bits_math.h>
    • \ref mrpt_maps_grp
      • mrpt::maps::COccupancyGridMap3D::insertObservation() now also handles mrpt::obs::CObservationPointCloud
      • New virtual interface mrpt::maps::NearestNeighborsCapable, implemented in:
        • All mrpt::maps::CPointsMap classes
        • All classes derived from mrpt::maps::CVoxelMapOccupancyBase
        • mrpt::maps::COccupancyGridMap2D
        • mrpt::maps::COccupancyGridMap2D
      • New virtual method mrpt::maps::CMetricMap::boundingBox()
      • mrpt::maps::TMetricMapInitializer now returns shared_ptrs instead of plain pointers.
      • mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() now throws if it finds a *_count entry with an unknown map class name.
    • \ref mrpt_math_grp
      • New template mrpt::math::confidenceIntervalsFromHistogram()
    • \ref mrpt_obs_grp
      • mrpt::maps::CMetricMap::loadFromSimpleMap() now automatically calls mrpt::obs::CObservation::load() and mrpt::obs::CObservation::unload() for all observations, so it works with lazy-load datasets.
  • BUG FIXES:
    • Fix compilation errors if using the MCP_SAVE() macro with class enum types.
    • Fix wrong cloud pose in CPointsMap::insertObservation() when inserting an mrpt::obs::CObservationPointCloud.
    • Fix potential data race in mrpt::WorkerThreadsPool::pendingTasks()
mrpt - Release of v2.11.2

Published by jlblancoc 12 months ago

Version 2.11.2: Released Oct 25th, 2023

  • Changes in libraries:
    • \ref mrpt_gui_grp
      • New function mrpt::gui::GetScaledClientSize().
    • \ref mrpt_obs_grp
      • Fix typo in data field: mrpt::obs::CObservationRange: sensorConeApperture -> sensorConeAperture
    • \ref mrpt_ros2bridge_grp
      • Address the new field variance in sensor_msgs/Range (Closes issue #1270).
  • BUG FIXES:
    • Fix wrong rendering of all wxWidgets-based OpenGL windows when using Ubuntu's display settings to change UI to a size different than 100% (Fixes issue #1114).
    • Fix ignored sensorPose of mrpt::obs::CObservationPointCloud while inserting them into voxel maps.
Badges
Extracted from project README
CI Check clang-format
Related Projects
pcl

Point Cloud Library (PCL)

12 Feb 2013 9,544
ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*,...

12 Jan 2023 2,098
MULLS

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA '21]

01 Nov 2020 609
projectm

projectM - Cross-platform Music Visualization Library. Open-source and Milkdrop-compatible.

12 Aug 2013 3,128
retdec

RetDec is a retargetable machine-code decompiler based on LLVM.

12 Dec 2017 7,989
RcppArmadillo

Rcpp integration for the Armadillo templated linear algebra library

02 Nov 2013 192
ReactivePlusPlus

Implementation of async observable/observer (Reactive Programming) in C++ with care about perform...

28 Dec 2021 230
mrpt_vrep_bridge

Interface the Mobile Robot Programming Toolkit (MRPT) with the V-REP robotics simulator

06 May 2018 6