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   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
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// clang-format off

/** \page changelog Change Log
 *

------
# Version 2.0.0: (Under development)
- **Most important changes:**
  - MRPT now requires **C++17** to build and use. See this page for a guide to port existing code to MRPT 2.0: \ref porting_mrpt2
  - Support for old namespaces `mrpt-scanmatching`, `mrpt-reactivenav` is over.
  - Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
  - All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
  - Add support for serialization with std::variant
  - PbMap has been factored out into [its own repository](https://github.com/MRPT/pbmap)
  - XML-based database C++ classes have been removed from MRPT.
- Changes in applications:
  - RawLogViewer:
    - The ICP module now supports Velodyne 3D scans.
  - rawlog-edit:
    - New operation: `--de-externalize`
  - pf-localization:
    - Odometry is now used also for observation-only rawlogs.
- Changes in libraries:
  - All `otherlibs` subdirectories have been renamed to `3rdparty` since it is a widespread name used in most projects.
  - \ref mrpt_base_grp => Refactored into several smaller libraries, one per namespace.
    - Removed class std::vector<std::string>. Replace by STL containers of `std::string` and functions mrpt::system::stringListAsString() in \ref string_manage.
  - \ref mrpt_core_grp  [NEW IN MRPT 2.0.0]
    - Memory alignment of aligned_allocator_cpp11<> is set to 16,32 or 64 depending on whether AVX optimizations are enabled, to be compatible with Eigen.
    - mrpt::cpu::supports(): a new cross-OS CPU feature detection function.
    - mrpt::Clock allows users to select between Realtime or Monotonic sources.
  - \ref mrpt_math_grp  [NEW IN MRPT 2.0.0]
    - Removed functions (replaced by C++11/14 standard library):
      - mrpt::math::erf, mrpt::math::erfc, std::isfinite, mrpt::math::std::isnan
      - `mrpt::math::make_vector<>` => `std::vector<>{...}` braced initializator
    - Removed the include file: `<mrpt/math/jacobians.h>`. Replace by `<mrpt/math/num_jacobian.h>` or individual methods in \ref mrpt_poses_grp classes.
  - \ref mrpt_config_grp  [NEW IN MRPT 2.0.0]
    - mrpt::config::CConfigFileBase::write() now supports enum types.
  - \ref mrpt_gui_grp
    - New class mrpt::gui::CDisplayWindowGUI exposing powerful GUI possibilities via the nanogui project.
  - \ref mrpt_img_grp  [NEW IN MRPT 2.0.0]
    - mrpt::img::TCamera distortion parameters now also supports the extra K4,K5,K6 distortion parameters.
  - \ref mrpt_serialization_grp  [NEW IN MRPT 2.0.0]
    - New method mrpt::serialization::CArchive::ReadPOD() and macro `MRPT_READ_POD()` for reading unaligned POD variables.-
    - Add support for `$env{}` syntax to evaluate environment variables.
  - \ref mrpt_slam_grp
    - rbpf-slam: Add support for simplemap continuation.
    - CICP: parameter `onlyClosestCorrespondences` deleted (always true now).
    - mrpt::slam::CICP API: Simplified and modernized to use only one output parameter, using std::optional.
  - \ref mrpt_system_grp
    - functions to get timestamp as *local* time were removed, since they don't make sense. All timestamps in MRPT are UTC, and they can be formated as dates in either UTC or local time frames.
    - Added: mrpt::system::WorkerThreadsPool
  - \ref mrpt_rtti_grp  [NEW IN MRPT 2.0.0]
    - All classes are now registered (and de/serialized) with their full name including namespaces. A backwards-compatible flag has been added to mrpt::rtti::findRegisteredClass().
    - CLASS_INIT() macro for automatic registration of classes has been removed, since it is not well-defined in which order global objects will be initialized.
      Therefore, manual registration (as already done in registerAllClasses.cpp files) is left as the unique registration system.
      This fixes warning messages "[mrpt::rtti::registerClass] Warning: Invoked with a nullptr".
  - \ref mrpt_nav_grp
    - Removed deprecated mrpt::nav::THolonomicMethod.
    - mrpt::nav::CAbstractNavigator: callbacks in mrpt::nav::CRobot2NavInterface are now invoked *after* `navigationStep()` to avoid problems if user code invokes the navigator API to change its state.
    - Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
    - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
  - \ref mrpt_comms_grp [NEW IN MRPT 2.0.0]
    - This new module has been created to hold all serial devices & networking classes, with minimal dependencies.
  - \ref mrpt_maps_grp
    - mrpt::maps::CMultiMetricMap has been greatly simplified and now it is actually defined in the mrpt-maps library.
    - New map type: mrpt::maps::CPointsMapXYZI for pointclouds with an intensity channel.
    - New observation class: mrpt::obs::CObservationPointCloud
    - Added optional "channel" attribute to CReflectivityGridMap2D and CObservationReflectivity to support different colors of light.
  - \ref mrpt_hwdrivers_grp
    - COpenNI2Generic: is safer in multithreading apps.
    - CHokuyoURG:
      - Rewrite driver to be safer and reduce mem allocs.
      - New parameter `scan_interval` to decimate scans.
    - VelodyneCalibration: Can now load YAML files, in addition to XML.
    - New sensor state enum value: mrpt::hwdrivers::CGenericSensor::ssUninitialized
    - NMEA GPS parser: now also recognizes all existing talker IDs (GP, GN, GA, etc.)
  - \ref mrpt_opengl_grp
    - Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
    - Rendering engine rewritten to work using OpenGL Core (GLSL 3.3) instead of Legacy fixed functions.
  - \ref mrpt_obs_grp
    - mrpt::obs::CObservation2DRangeScan: Deprecated access to scan data via proxy objects `obs->scan[i]`, `obs->validRange[i]`, `obs->intensity[i]` has been deleted. Please use the alternative getters/setters: `obs->getScanRange(i)`, etc.
    - mrpt::obs::T3DPointsProjectionParams and mrpt::obs::CObservation3DRangeScan::unprojectInto now together support organized PCL point clouds.
    - New method: mrpt::obs::CObservation3DRangeScan::rangeImage_getAsImage()
    - Support for multiple-return sensors in mrpt::obs::CObservation3DRangeScan.
    - New NMEA frame class: Message_NMEA_GSA
  - \ref mrpt_poses_grp  [NEW IN MRPT 2.0.0]
    - Reorganized all Lie Algebra methods into \ref mrpt_poses_lie_grp
    - Removed CPose3DRotVec, since its conceptual design is identical to Lie tangent space vectors.
  - \ref mrpt_vision_grp
    - Removed FASTER methods, and the libCVD 3rd party dependency.

- BUG FIXES:
  - Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
  - Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
  - Fix aborting reading from LMS111 scanner on first error.
  - Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
  - Fix accessing unaligned POD variables deserializing CObservationGPS (via the new `MRPT_READ_POD()` macro).
  - Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
  - Fix crash in CGPSInterface when not setting an external mutex.
  - Fix potential crashes in RawLogViewer while editing list of observations.
  - Fix incorrect conversion from quaternion to CPose3D.

<a name="1.5.7">
<h2>Version 1.5.7: Released 24/APR/2019  </h2></a>
- <b>Detailed list of changes:</b>
    - \ref mrpt_base_grp
        - The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
            - stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
            - mrpt::system::TThreadHandle now is a wrapper around std::thread.
            - Atomic counters now based on std::atomic. Custom implementation has been removed.
            - stlplus source code has been removed.
        - mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
    - \ref mrpt_graphslam_grp
        - levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
        - CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
    - \ref mrpt_nav_grp
        - Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
        - New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
        - Waypoints now have a field `speed_ratio` which is directly forwarded to the low-level reactive navigator.
    - BUG FIXES:
        - Fix missing "-ldl" linker flag.
        - Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
        - Fix potential segfault in 3D reactive navigator.

<hr>
<a name="1.5.6">
<h2>Version 1.5.6: Released 24/APR/2018 </h2></a>
  - Applications:
    - pf-localization:
      - Odometry is now used also for observation-only rawlogs.
  - \ref mrpt_hwdrivers_grp
    - mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer
multi-threading operation.
    - mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans.
Driver clean up to be safer and perform less memory allocs.
  - \ref mrpt_maps_grp
    - COccupancyGridMap2D: New LIDAR insertion parameters:
maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
  - \ref mrpt_reactivenav_grp
    - CAbstractPTGBasedReactive: Added new score `holo_stage_eval`.
  - BUG FIXES:
    - circular_buffer: exception made state preserving

<hr>
<a name="1.5.5">
<h2>Version 1.5.5: (Under development) </h2></a>
- <b>Detailed list of changes:</b>
  - \ref mrpt_nav_grp
    - mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache
for improved performance.
  - \ref mrpt_hwdrivers_grp
    - A new class for SICK TIM561(TIM55x/TIM56x) lidar:
      - A new source file named CSICKTim561Eth_2050101.cpp, which supports
SICK TIM series lidar including Tim55x, Tim56x
      - mrpt::hwdrivers::CSICKTim561Eth
    - A new test sample for SICK TIM561(TIM55x/TIM56x) lidar:
      - sample/SICK_tim561eth_test/test.cpp
  - BUG FIXES:
    - Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D
(which led to crash)
    - Fixed regression in particle resampling affecting RBPF-SLAM methods.
Introduced in Dec. 2016 with [this
commit](https://github.com/MRPT/mrpt/commit/691973813bdc53d3faa7088b092eb041aa80d0ce).

<hr>
<a name="1.5.4">
<h2>Version 1.5.4: Released 31/OCT/2017 </h2></a>
- <b>Detailed list of changes:</b>
  - \ref mrpt_base_grp
    - Fix potential uninitialized value in
CRobot2DPoseEstimator::getLatestRobotPose()
    - MRPT_getCompilationDate() returns time as well
  - \ref mrpt_gui_grp
    - mrpt::gui::mrptEventMouseMove:  Added new mrpt::gui windows event
type.
  - Build system:
    - Fix MRPTConfig.cmake for system octomap libraries.
    - Fix package-contains-vcs-control-file (.gitingore) Lintian error.
    - Fix compiling without liboctomap-dev in Ubuntu PPA.
  - BUG FIXES:
    - Fix waypoint reactive navigator edge case in which "end event" won't
be issued.
    - Fix waypoint reactive navigator error while doing final aligning
(missing and dupplicated nav-end events).
    - Fix aborting reading from LMS111 scanner on first error.
    - Fix waypoint reactive navigator edge case in which "end event" won't
be issued.
    - Fix corrupted pointers in CNetworkOfPoses after copy or move
operations.
    - Fix invalid TP-targets generated during reactive navigation.
    - Fix memory leak in reactivenav engine.
    - Fix potential out-of-range access in
CObservation3DRangeScan::convertTo2DScan()

<hr>
<a name="1.5.3">
<h2>Version 1.5.3: Released 13/AUG/2017  </h2></a>
- <b>Detailed list of changes:</b>
  - CMake >=3.1 is now required for use of ExternalProjects.
  - Scripts `scripts/prepare_{debian,release}.sh` have been refactored and
simplified.
  - Removed embedded source code versions of Eigen, assimp and octomap.
Downloaded and built as ExternalProjects if not present in the system.
  - Releases will be signed with PGP from now on and posted as binary
attachments to GitHub releases.

<hr>
<a name="1.5.2">
<h2>Version 1.5.2: Released 6/AUG/2017 </h2></a>
- <b>Detailed list of changes:</b>
  - Changes in libraries:
    - \ref mrpt_base_grp
      - Added methods:
        - mrpt::synch::CCriticalSection::try_enter()
        - mrpt::synch::CCriticalSectionRecursive::try_enter()
    - \ref mrpt_nav_grp
      - mrpt::nav::CAbstractNavigator: callbacks in
mrpt::nav::CRobot2NavInterface are now invoked *after* `navigationStep()` to
avoid problems if user code invokes the navigator API to change its state.
      - Added methods to load/save mrpt::nav::TWaypointSequence to
configuration files.
    - \ref mrpt_slam_grp
      - rbpf-slam: Add support for simplemap continuation.
  - BUG FIXES:
    - Fix reactive navigator inconsistent state if navigation API is called
from within rnav callbacks.
    - Fix incorrect evaluation of "ASSERT" formulas in
mrpt::nav::CMultiObjectiveMotionOptimizerBase

<hr>
<a name="1.5.1">
<h2>Version 1.5.1: Released 21/JUN/2017  </h2></a>
- <b>Detailed list of changes:</b>
  - Changes in libraries:
    - \ref mrpt_nav_grp
      - fix const-correctness:
[commit](https://github.com/MRPT/mrpt/commit/7e79003d2adeb7b170fa04e0bc34d42707e07306)
      - More flexible callback behavior:
[commit](https://github.com/MRPT/mrpt/commit/5b054336a1ac75f6e4f8741e5049971917a2980a)


<hr>
<a name="1.5.0">
<h2>Version 1.5.0: Released 10-JUN-2018</h2></a>
  - Changes in apps:
    - New app
[PTG-configurator](http://www.mrpt.org/list-of-mrpt-apps/application-ptg-configurator/)
    -
[ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/)
has been totally rebuilt as a 3D visualizer capable of testing different
navigation algorithms and robot kinematics.
    - [RawLogViewer](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/):
      - Now displays a textual and graphical representation of all
observation timestamps, useful to quickly detect sensor "shortages" or temporary
failures.
      - New menu operation: "Edit" -> "Rename selected observation"
      - mrpt::obs::CObservation3DRangeScan pointclouds are now shown in
local coordinates wrt to the vehicle/robot, not to the sensor.
    -
[rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
New flag: `--txt-externals`
  - Changes in libraries:
    - \ref mrpt_base_grp
      - New API to interface ZeroMQ: \ref noncstream_serialization_zmq
      - Deprecated function (since 1.3.0) deleted:
mrpt::system::registerFatalExceptionHandlers()
      - New method mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses()
      - Class mrpt::utils::CRobotSimulator renamed ==>
mrpt::kinematics::CVehicleSimul_DiffDriven
      - New twist (linear + angular velocity state) classes:
mrpt::math::TTwist2D, mrpt::math::TTwist3D
      - New template method: mrpt::utils::CStream::ReadAsAndCastTo
      - Added missing method mrpt::poses::CPose2D::inverseComposePoint()
for consistency with CPose3D
      - New class std::recursive_mutex
      - New class mrpt::system::COutputLogger replaces the classes
mrpt::utils::CDebugOutputCapable (deprecated) and mrpt::utils::CLog (removed).
      - New macros for much more versatily logging:
        - MRPT_LOG_DEBUG(), MRPT_LOG_INFO(), MRPT_LOG_WARN(),
MRPT_LOG_ERROR()
        - MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM,
MRPT_LOG_WARN_STREAM, MRPT_LOG_ERROR_STREAM
      - New functions for polynomial roots: see \ref polynomial_roots
      - New functions for signal filtering: see \ref filtering_grp
      - New functions for Fresnel integrals: see \fresnel_integrals_grp
      - New classes mrpt::math::CAtan2LookUpTable,
mrpt::math::CAtan2LookUpTableMultiRes
      - [API change] The following functions are no longer static methods:
(since their classes are now derived from the state-aware
mrpt::system::COutputLogger)
        - mrpt::math::RANSAC_Template::execute()
        - mrpt::math::CLevenbergMarquardtTempl::execute()
      - Deleted methods in Eigen-extensions: leftDivideSquare(),
rightDivideSquare()
      - Removed support for **named** semaphores in
mrpt::synch::CSemaphore
      - new method mrpt::system::CTimeLogger::getLastTime()
      - Removed mrpt::utils::CStartUpClassesRegister, replaced by the new
macro MRPT_INITIALIZER()
      - New class mrpt::utils::CRateTimer
      - mrpt::poses::CRobot2DPoseEstimator now uses a more generic
odometry-based velocity model (vx,vy,omega).
      - New template mrpt::utils::ts_hash_map<> for thread-safe,
std::map-like containers based on hash functions.
      - Included exprtk header-only library to runtime compile &
evaluation of mathematical expressions, under `<mrpt/3rdparty/exprtk.hpp>`
      - New smart pointer templates: `mrpt::utils::copy_ptr<>`,
`mrpt::utils::poly_ptr<>`.
      - New colormap: mrpt::utils::hot2rgb()
      - New function mrpt::system::find_mrpt_shared_dir()
      - New class mrpt::containers::CDynamicGrid3D<>
      - New function mrpt::comms::net::http_request()
      - New function mrpt::system::now_double()
      - New function mrpt::rtti::getAllRegisteredClassesChildrenOf()
      - Safer CClassRegistry: detect and warn on attempts to duplicated
class registration.
      - New class mrpt::expr::CRuntimeCompiledExpression
      - mrpt::config::CConfigFile and mrpt::config::CConfigFileMemory now
can parse config files with end-of-line backslash to split long strings into
several lines.
      - New class mrpt::poses::FrameTransformer
      - mrpt::poses classes now have all their constructors from
mrpt::math types marked as explicit, to avoid potential ambiguities and
unnoticed conversions.
      - [Sophus](https://github.com/strasdat/Sophus/) is now used
internally for some Lie Algebra methods, and also exposed to the user as
`#include <mrpt/3rdparty/sophus/so3.hpp>`, etc. as part of mrpt-base
    - \ref mrpt_bayes_grp
      - [API change] `verbose` is no longer a field of
mrpt::bayes::CParticleFilter::TParticleFilterOptions. Use the
setVerbosityLevel() method of the CParticleFilter class itself.
      - [API change] mrpt::bayes::CProbabilityParticle (which affects all
PF-based classes in MRPT) has been greatly simplified via usage of the new
mrpt::utils::copy_ptr<> pointee-copy-semantics smart pointer.
    - \ref mrpt_graphs_grp
      - New class mrpt::graphs::ScalarFactorGraph, a simple but extensible
linear GMRF solver. Refactored from mrpt::maps::CGasConcentrationGridMap2D, etc.
    - \ref mrpt_gui_grp
      - mrpt::gui::CWxGLCanvasBase is now derived from
mrpt::opengl::CTextMessageCapable so they can draw text labels
      - New class mrpt::gui::CDisplayWindow3DLocker for exception-safe 3D
scene lock in 3D windows.
    - \ref mrpt_hwdrivers_grp
      - Using rplidar newest SDK 1.5.6 instead of 1.4.3, which support
rplidar A1 and rplidar A2
      - mrpt::hwdrivers::CNTRIPEmitter can now also dump raw NTRIP data to
a file
    - \ref mrpt_kinematics_grp
      - New classes for 2D robot simulation:
        - mrpt::kinematics::CVehicleSimul_DiffDriven
        - mrpt::kinematics::CVehicleSimul_Holo
      - New classes for 2D robot kinematic motion commands. See children
of mrpt::kinematics::CVehicleVelCmd
    - \ref mrpt_maps_grp
      - mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile() correct
description of `yCentralPixel` parameter.
      - mrpt::maps::CPointsMap `liblas` import/export methods are now in a
separate header. See \ref mrpt_maps_liblas_grp and \ref dep-liblas
      - New class mrpt::maps::CRandomFieldGridMap3D
      - New class mrpt::maps::CPointCloudFilterByDistance
    - \ref mrpt_obs_grp
      - [ABI change] mrpt::obs::CObservation2DRangeScan
        - range scan vectors are now protected for safety.
        - New getter/setter methods.
        - backwards-compatible proxies added for read-only from range
scan members.
      - [ABI change] mrpt::obs::CObservation3DRangeScan:
        - Now uses more SSE2 optimized code
        - Depth filters are now available for
mrpt::obs::CObservation3DRangeScan::unprojectInto() and
mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
        - New switch
mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT for runtime selection of
externals format.
      - mrpt::obs::CObservation2DRangeScan now has an optional field for
intensity.
      - mrpt::obs::CRawLog can now holds objects of arbitrary type, not
only actions/observations. This may be useful for richer logs aimed at
debugging.
      - mrpt::obs::CObservationVelodyneScan::generatePointCloud() can now
generate the microseconds-precise timestamp for each individual point (new param
`generatePerPointTimestamp`).
    - \ref mrpt_opengl_grp
      - [ABI change] mrpt::opengl::CAxis now has many new options exposed
to configure its look.
      - mrpt::opengl::CSetOfLines can now optionally show vertices as
dots.
      - lib3DS is no longer shipped as an embedded version. A system
library in Linux is required to use mrpt::opengl::C3DSScene. Use
mrpt::opengl::CAssimpModel as a more powerful alternative.
    - \ref mrpt_slam_grp
      - [API change] mrpt::slam::CMetricMapBuilder::TOptions does not have
a `verbose` field anymore. It's supersedded now by the verbosity level of the
CMetricMapBuilder class itself.
      - [API change] getCurrentMetricMapEstimation() renamed
mrpt::slam::CMultiMetricMapPDF::getAveragedMetricMapEstimation() to avoid
confusions.
    - \ref mrpt_hwdrivers_grp
      - mrpt::hwdrivers::CGenericSensor: external image format is now
`png` by default instead of `jpg` to avoid losses.
      - [ABI change] mrpt::hwdrivers::COpenNI2Generic:
        - refactored to expose more methods and allow changing
parameters via its constructor.
        - Now supports reading from an IR, RGB and Depth channels
independenty.
      -  mrpt::hwdrivers::CHokuyoURG now can optionally return intensity
values.
      - Deleted old, unused classes:
        - mrpt::hwdrivers::CBoardIR
        - mrpt::hwdrivers::CBoardDLMS
        - mrpt::hwdrivers::CPtuHokuyo
      - mrpt::hwdrivers::CHokuyoURG no longer as a "verbose" field. It's
superseded now by the COutputLogger interface.
      - mrpt::hwdrivers::CActivMediaRobotBase and the embedded ARIA
library have been removed. Nowadays, one can access to ARIA robots via ROS
packages more easily than via MRPT.
    - \ref mrpt_maps_grp
      - mrpt::maps::CMultiMetricMapPDF added method
CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard().
    - \ref mrpt_nav_grp
      - New mrpt::nav::CWaypointsNavigator interface for waypoint
list-based navigation.
      - [ABI & API change] PTG classes refactored (see new virtual base
class mrpt::nav::CParameterizedTrajectoryGenerator and its derived classes):
        - Old classes `CPTG%d` have been renamed to describe each path
type. Old PTGs #6 and #7 have been removed for lack of practical use.
        - New separate classes for PTGs based on numerically-integrated
paths and on closed-form formulations.
        - Old deprecated method of PTGs `lambdaFunction()` removed.
        - Parameters are no longer passed via a
mrpt::system::TParameters class, but via a mrpt::config::CConfigFileBase which
makes parameter passing to PTGs much more maintainable and consistent.
        - PTGs now have a score_priority field to manually set hints
about preferences for path planning.
        - PTGs are now mrpt::config::CLoadableOptions classes
      - New classes:
        - mrpt::nav::CMultiObjectiveMotionOptimizerBase
    - \ref mrpt_graphslam_grp
      - Extend mrpt-graphslam lib to execute simulated/real-time
graphSLAM. mrpt-graphslam supports 2D/3D execution of graphSLAM, utilizing
        LaserScans, odometry information.
      - Develop application `graphslam-engine` that executes graphSLAM via
        the mrpt-graphslam lib
      - mrpt::grpahslam::CGraphSlamEngine as the generic object that
         manages graphSLAM, Node/Edge registration decider
         classes under the mrpt::graphslam::deciders namesapce, optimizer
         wrapper classes under mrpt::graphslam::optimizers
  - Changes in build system:
    - [Windows only] `DLL`s/`LIB`s now have the signature
`lib-${name}${2-digits-version}${compiler-name}_{x32|x64}.{dll/lib}`, allowing
several MRPT versions to coexist in the system PATH.
    - [Visual Studio only] There are no longer `pragma comment(lib...)` in
any MRPT header, so it is the user responsibility to correctly tell user
projects to link against MRPT libraries. Normally, this is done with the
standard command `TARGET_LINK_LIBRARIES(MYTARGET ${MRPT_LIBS})`.
    - Debian package: depends on libopenni-dev
    - Optional dependency `liblas`: minimum required version is now 1.6.0
(Ubuntu Trusty or above).
    - Update of embedded copy of nanoflann to version 1.2.0.
    - New script for automated dumping stack traces on unit tests failures
(`tests/run_all_tests_gdb.sh`)
    - Fix build against wxWidgets 3.1.*
    - Embedded version of gtest upgraded to 1.8.0
  - BUG FIXES:
    - Fix inconsistent state after calling
mrpt::obs::CObservation3DRangeScan::swap()
    - Fix SEGFAULT in mrpt::obs::CObservation3DRangeScan if trying to build
a pointcloud in an external container (mrpt::opengl, mrpt::maps)
    - Fix mrpt::hwdrivers::CHokuyoURG can return invalid ray returns as
valid ranges.
    - Fix PTG look-up-tables will always fail to load from cache files and
will re-generate (Closes [GitHub #243](https://github.com/MRPT/mrpt/issues/243))
    - Fix mrpt::maps::COccupancyGridMap2D::simulateScanRay() fails to mark
out-of-range ranges as "invalid".
    - Fix mrpt::io::CMemoryStream::Clear() after assigning read-only
memory blocks.
    - Fix point into polygon checking not working for concave polygons. Now,
mrpt::math::TPolygon2D::contains() uses the winding number test which works for
any geometry.
    - Fix inconsistent internal state after externalizing
mrpt::obs::CObservation3DRangeScan
    - Fix a long outstanding bug regarding losing of keystroke events in
CDisplayWindow3D windows (Closes #13 again)
    - Fix wrong units for negative numbers in mrpt::system::unitsFormat()
    - Fix potential thread-unsafe conditions while inserting a
mrpt::obs::CObservation2DRangeScan into a pointmap with SSE2 optimizations
enabled.
    - CStream: Fix memory leak if an exception (e.g. EOF) is found during
object deserialization.
    - Fix a bug in the `onlyUniqueRobust` option for point cloud matching
(affecting CICP, etc.). Thanks [Shuo](https://github.com/ygzhangsoya)!

<hr>
<a name="1.4.0">
  <h2>Version 1.4.0: Released 22-APR-2016  </h2></a>
  - <b>Most important changes:</b>
    - Support for Velodyne LIDAR sensors.
    - New minor version number due to changes in the API of these classes
(read details below): mrpt::obs::CObservationGPS, mrpt::hwdrivers::CGPSInterface
    - [Python bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings)
added for a subset of MRPT functionality (Thanks Peter Rudolph and Nikolaus
Demmel!)
  - <b>Detailed list of changes:</b>
    - New apps:
      -
[gps2rawlog](http://www.mrpt.org/list-of-mrpt-apps/application-gps2rawlog/):
Application to parse raw dumps of a GPS (GNSS) receiver output.
      -
[image2gridmap](http://www.mrpt.org/list-of-mrpt-apps/application-image2gridmap/):
Small tool to import any image as an MRPT gridmap object file (*.gridmap).
      -
[velodyne-view](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/):
Application to test, visualize and grab data from a live Velodyne sensor or from
a PCAP record.
    - Changes in apps:
      -
[rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/):
Now does not show GPS and IMU debug data in console, unless
`MRPT_HWDRIVERS_VERBOSE` environment variable is set.
      -
[rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
New operation: `--export-gps-all`
    - Changes in libraries:
      - \ref mrpt_base_grp
        - [ABI change] mrpt::system::tokenize() new parameter
`skipBlankTokens`
        - mrpt::utils::circular_buffer now has peek() methods
        - Eigen::MatrixBase<Derived>::loadFromTextFile() now also
accepts `,` as column separator.
        - New functions:
          - mrpt::system::timestampAdd()
          - mrpt::utils::compute_CRC32()
          - mrpt::utils::saturate<>()
        - mrpt::containers::CDynamicGrid<> now uses `double` instead of
`float` for all dimensions and coordinate computations.
        - Priority with these functions now work properly in GNU/Linux;
though, see the notes in their documentation for required permissions:
          - mrpt::system::changeCurrentProcessPriority()
          - mrpt::system::changeThreadPriority()
        - New classes/structures:
          - mrpt::math::TPointXYZIu8, mrpt::math::TPointXYZRGBu8,
mrpt::math::TPointXYZfIu8, mrpt::math::TPointXYZfRGBu8
      - \ref mrpt_hwdrivers_grp
        - New class mrpt::hwdrivers::CVelodyneScanner
        - mrpt::hwdrivers::CNTRIPEmitter now has a parameter to
enable/disable sending back the data from the serial port to the NTRIP caster.
        - <b>[API changed]</b> mrpt::hwdrivers::CGPSInterface API
clean-up and made more generic so any stream can be used to parse GNSS messages,
not only serial ports.
        - New class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394
for capturing without PGR Flycapture but directly through libdc1394.
        - Removed class mrpt::hwdrivers::CStereoGrabber_Bumblebee ,
superseded by mrpt::hwdrivers::CImageGrabber_FlyCapture2 which is capable of
both monocular and stereo grabbing.
      - \ref mrpt_maps_grp
        - New class mrpt::maps::CHeightGridMap2D_MRF
        - New base class mrpt::maps::CHeightGridMap2D_Base
        - mrpt::maps::COccupancyGridMap2D:
          - New method
mrpt::maps::COccupancyGridMap2D::copyMapContentFrom()
          - New likelihood parameter `LF_useSquareDist`
          - New parameter
mrpt::maps::COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS
          - mrpt::maps::COccupancyGridMap2D::simulateScanRay() is now
~40% (GCC) to ~250% (MSVC) faster by default.
          - New method
mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
        - New method
mrpt::maps::CHeightGridMap2D::insertIndividualPoint()
        - mrpt::maps::CMetricMap::compute3DMatchingRatio() has a
simplified API now
      - \ref mrpt_obs_grp
        - New class mrpt::obs::CObservationVelodyneScan
        - mrpt::obs::CSinCosLookUpTableFor2DScans now can build a table
from a mrpt::obs::T2DScanProperties structure, which now also has its separate
header file for better modularity.
        - <b>[API changed]</b> mrpt::obs::CObservationGPS now stores
only one message per objects. API clean-up and extended so the number of GNSS
message types is larger and more scalable.
        - mrpt::obs::gnss: A new namespace with many new data structures
for GPS-related messages
        - mrpt::obs::CObservation3DRangeScan: projection of RGBD images
to 3D points now correctly filters out invalid points, which were in previous
versions mapped as (0,0,0) points (relative to the sensor). In turn, this leads
to point clouds of a dynamic number of points. In case of needing the (u,v)
pixel coordinates of projected points, checkout the new fields `points3D_idxs_x`
& `points3D_idxs_y`.
        - New class mrpt::obs::CObservation2DRangeScanWithUncertainty
      - \ref mrpt_opengl_grp
        - New class mrpt::opengl::CMesh3D to render 3D models/meshes
        - New method
mrpt::opengl::CPointCloudColoured::recolorizeByCoordinate()
      - \ref mrpt_slam_grp
        - Small clean up of mrpt::slam::CICP API, add separate variable
to select covariance estimation method.
      - \ref mrpt_topography_grp
        - New function mrpt::topography::geocentricToENU_WGS84()
      - \ref mrpt_vision_grp
        - Removed the old GPL-licensed Hess SIFT implementation.
        - mrpt::vision::CDifOdo has been refactored and now does faster
image pyramid computation (By Mariano Jaimez)
        - mrpt::maps::CLandmarksMap changes:
          - `beaconMaxRange` & `alphaRatio` parameters have been
removed since they were not used.
          - New likelihood parameter `beaconRangesUseObservationStd`
to allow using different uncertainty values with each observation.
    - Changes in build system:
      - [Python
bindings](https://github.com/MRPT/mrpt/wiki/PythonBindings) added for a subset
of MRPT functionality (Thanks Peter Rudolph!)
      - Code ported to support the new libftdi1-dev (Fixes Debian bug
#810368, GitHub issue #176)
      - Fix building with gcc 6.0 (Closes Debian bug #811812)
      - CMake new option: `DISABLE_MRPT_AUTO_CLASS_REGISTRATION` to reduce
the footprint of MRPT statically-linked programs.
      - Fix building against wxWidgets 3.1
    - BUG FIXES:
      - mrpt::math::CQuaternion<> did not check for unit norm in Release
builds.
      - Fix build errors against OpenCV 3.0.0+ without opencv_contrib
modules.
      - mrpt::hwdrivers::CHokuyoURG now correctly handles opening both USB
and Ethernet Hokuyo devices (Closes Github issue #180)
      - Fixed mrpt::comms::net::DNS_resolve_async() may SIGSEGV in slow
networks.
      - mrpt::opengl::CMesh::updateColorsMatrix() did not ignore cells
masked out.
      - Wrong weights used in mrpt::poses::CPosePDFSOG::getMean()
      - Removed ad-hoc bias addition in range-only predictions in
landmarks maps.
      - Error loading height map count in
mrpt::maps::TSetOfMetricMapInitializers (Closes GitHub issue <a
href="https://github.com/MRPT/mrpt/issues/205" >#205</a>.
      - Fix "gray images" grabbed in Windows when capturing the render
output of 3D windows (Thanks Mariano J.T. & Christian Kerl from TUM!)
      - Fix typos and wxWidgets align errors in RawLogViewer GUI (Closes
#219)
      - mrpt::nav::CHolonomicND & mrpt::nav::CHolonomicVFF didn't use the
full range of output velocities.
      - mrpt::img::CImage::loadFromFile() now does not leave the image in
undefined state if the load operation fails.
      - mrpt::hwdrivers::CLMS100Eth failed to load "pose_yaw" parameter
from config file.
      -
mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide() did not
correctly return `false` for negative offsets between the camera poses.

<hr>
<a name="1.3.2">
  <h2>Version 1.3.2: Released 3-NOV-2015 </h2></a>
  - Changes in Apps:
    -
[rawlog-edit](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit/):
      - New operation: `--list-poses`
      - `--list-images` now also works with 3D range scans
  - Changes in libraries:
    - The library mrpt-srba has been moved out of MRPT and now is an
independent project: https://github.com/MRPT/srba
    - \ref mrpt_base_grp
      - mrpt::math::KDTreeCapable::TKDTreeSearchParams: Removed parameter
nChecks, which was ignored by nanoflann anyway.
    - \ref mrpt_hwdrivers_grp
      - mrpt::hwdrivers::CCameraSensor: Implemented OpenNI2 support for
CCameraSensor
    - \ref mrpt_nav_grp
      - mrpt::nav::CAbstractPTGBasedReactive: Maximum acceleration filter
(SPEEDFILTER_TAU) now follows paths better (Thanks to Steven Butner, UCSB/ECE)
  - Changes in build system:
    - `FIND_PACKAGE(MRPT)` will return libraries in the var
`MRPT_LIBRARIES`, following the CMake convention. The old variable name
`MRPT_LIBS` will be also returned for backward compatibility.
  - BUG FIXES:
    - Fix excessive width of paths drawn by
CMetricMapBuilderRBPF::drawCurrentEstimationToImage()
    - Fix image distortion: k3 may be ignored. (Thanks to CBaiz)
    - Fix Debian bugs.

<hr>
<a name="1.3.1">
  <h2>Version 1.3.1: Released 18-JUL-2015 </h2></a>
  - Changes in apps:
    -
[navlog-viewer](http://www.mrpt.org/list-of-mrpt-apps/application-navlog-viewer/):
Now shows more information on navigation logs.
    - New app
[icp-slam-live](http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam-live/):
Real-time ICP-SLAM with a LIDAR sensor.
  - Changes in libraries:
    - \ref mrpt_base_grp
      - New helper templates: mrpt::utils::int_select_by_bytecount<>,
mrpt::uint_select_by_bytecount<>
      - New methods to evaluate SO(2), SO(3), SE(2) and SE(3) averages and
weighted averages. See:
        - Header <mrpt/poses/SO_SE_average.h>
        - mrpt::poses::SO_average<2>, mrpt::poses::SO_average<3>
        - mrpt::poses::SE_average<2>, mrpt::poses::SE_average<3>
    - \ref mrpt_hwdrivers_grp
      - New sensors supported:
        - mrpt::hwdrivers::CIMUIntersense
        - mrpt::hwdrivers::CSkeletonTracker
      - New parameter
mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp to override faulty
Hokuyo timestamps with PC time.
      - mrpt::hwdrivers::CRoboPeakLidar::turnOn() and turnOff() now really
implement turning on/off the RPLidar motor.
    - \ref mrpt_maps_grp
      - New method mrpt::maps::COccupancyGridMap2D::getAsPointCloud()
    - \ref mrpt_nav_grp
      - Removed old base class CPathPlanningMethod
      - CPathPlanningCircularRobot => mrpt::nav::PlannerSimple2D: Class
renamed (and better described) for consistency with other planners
      - mrpt::nav::CReactiveNavigationSystem:
        - Documentation has been added about all existing parameters,
and template config files provided as starting points.
        - The loadConfigFile() method with 2 config files has been
deprecated favoring the newer, simpler single config file.
        - The "ROBOT_NAME" parameter is no longer employed. A minor side
effect (probably affecting no one) is that PTG cache files are no longer named
differently for different robots.
      - mrpt::nav::CParameterizedTrajectoryGenerator: New methods to save
and load trajectories to binary streams. Used to debug in navlog-viewer.
    - \ref mrpt_obs_grp
      - mrpt::obs::CObservation3DRangeScan now supports pixel labels
(semantic mapping, etc.)
      - New class mrpt::obs::CObservationSkeleton to hold body tracking
information (by Francisco Angel Moreno)
      - mrpt::obs::CObservationIMU has new data fields and fields are
better documented to reflect whether they refer to local/global coordinate
frames
    - \ref mrpt_vision_grp
      - mrpt::vision::CImageGrabber_dc1394: Changed default Bayer filter
from NEAREST to HQLINEAR
  - BUG FIXES:
      - Fix ocasional (false) failure of RANSAC unit tests due to their
non-deterministic nature.
      - Fix build error with MSVC 2010 in mrpt-hmtslam (Closes #127).
      - Fixed potential wrong bounding box results in
mrpt::maps::CPointsMap::boundingBox() when SSE2 optimization is enabled.
      - mrpt::obs::CObservation6DFeatures: Fixed random crashes related to
non-aligned memory in 32bit builds (Fixes #141)
      - Fix Debian bug
[#786349](https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=786349) on Eigen2
support.
      - mrpt::hwdrivers::CIMUXSens_MT4: Fix crash in destructor of objects
not attached to a physical device.
      - Fix wrong quaternion cross product when target variable is one of
the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes
#148)
      - mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential
memory corruption.
      - Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning
without trying to find a good consensus solution. It affected the demo app
kinect-3d-slam (Fixes #156)
      - Fix wrong feature points in
CFeatureExtraction::extractFeaturesKLT()  (Fixes #138)

<hr>
<a name="1.3.0">
  <h2>Version 1.3.0: Released 12-JAN-2015 </h2></a>
  - <b>Most important changes:</b>
    - Classes in libraries \ref mrpt_obs_grp and \ref mrpt_maps_grp now
belong to new namespaces (mrpt::obs, mrpt::maps) instead of the old mrpt::slam
    - No more `using namespace`s polute MRPT headers. <b>Errors in user
projects</b> missing `using namespace XXX` that might be formerly masked will
now reveal. <b>This is a good thing</b>, though admitedly annoying...
    - New library \ref mrpt_nav_grp, subsumming the old \ref
mrpt_reactivenav_grp.
    - New library \ref mrpt_tfest_grp, a refactor of the old \ref
mrpt_scanmatching_grp.
    - <b>Backwards compatible headers</b> have been provided to ease the
transition of user code for all those library changes. Warning messages will be
shown recommending deprecated replacements.
  - <b>Detailed list of changes:</b>
    - Lib changes:
      - Clean up of the bad practice of `using namespace` in public scopes
of headers. May lead to user code failing for missing `using namespace`s which
were previously masked.
      - Namespace "slam" deprecated in libraries mrpt-obs and mrpt-maps
(used for historical reasons):
        - New namespaces  \ref mrpt_obs_grp and \ref mrpt_maps_grp.
        - #include files moved from old paths <mrpt/slam/...> =>
<mrpt/{obs,maps}/...>
        - Backward compatible headers added in <mrpt/slam/...> until
mrpt 2.0.0
      - New library \ref mrpt_nav_grp, subsumming the old mrpt-reactivenav
(\ref mrpt_reactivenav_grp).
      - \ref mrpt_reactivenav_grp is now a meta-library, depending on \ref
mrpt_nav_grp.
      - \ref mrpt_tfest_grp : Old library mrpt-scanmatching (\ref
mrpt_scanmatching_grp) has been refactored, its API clean-up, and renamed \ref
mrpt_tfest_grp
      - \ref mrpt_scanmatching_grp is now a meta-library, depending on
\ref mrpt_tfest_grp.
      - These classes have been moved between libs for a more sensible
organization:
        - mrpt::slam::CDetectorDoorCrossing ==>
mrpt::detectors::CDetectorDoorCrossing
        - mrpt::slam::CPathPlanningMethod & CPathPlanningCircularRobot:
\ref mrpt_slam_grp ==> \ref mrpt_nav_grp
    - Build System / General changes:
      - Many optimizations in function arguments (value vs ref). Forces
ABI incompatibility with previous versions, hence the change to a new minor
version number.
      - Updated embedded version of Eigen to 3.2.3
      - Kinect: Dropped support for the CL NUI API, which seems
discontinued. Alternatives in use are libfreenect and OpenNI2.
      - libfreenect is now detected in the system and used instead of
compiling the embedded copy of it.
      - Embedded copy of libfreenect has been updated to (23/oct/2014). It
now supports "Kinect for Windows".
      - More selective linking of .so files to avoid useless dependencies
(Fixes #52).
      - (Windows only) MRPT can now be safely built with libusb support
(Freenect, Kinect,...) and it will run on systems without libusb installed, by
means of /DELAYLOAD linking flags.
      - More unit tests.
    - Changes in classes:
      - [mrpt-base]
        - New function mrpt::math::angDistance()
      - [mrpt-hwdrivers]
        - mrpt::hwdrivers::CIMUXSens_MT4: (by Joe Burmeister for Suave
Aerial Software)
          - Upgrade to latest XSens SDK 4.2.1. Requires libudev-dev in
Linux
          - Add GPS observations to CIMUXSens_MT4 for Xsens devices
like GTi-G-700 which have GPS
        - mrpt::hwdrivers::CImageGrabber_dc1394: Length of ring buffer
is now configurable via TCaptureOptions_dc1394::ring_buffer_size
      - [mrpt-maps]
        - Important refactor of internal code related to
mrpt::maps::CMultiMetricMap:
          - All maps (derived from mrpt::maps::CMetricMap) now have a
more uniform interface.
          - Each map now has a `MapDefinition` structure with all its
parameters. See docs for mrpt::maps::TMetricMapInitializer
          - Introduced mrpt::maps::TMapGenericParams to hold
parameters shared in all maps.
      - [mrpt-obs]
        - CObservation::getDescriptionAsText(): New virtual method to
obstain a textual description of observations. Refactoring of messy code
previously in the RawLogViewer app.
      - [mrpt-vision]
        - mrpt::vision::CFeatureExtraction: Removed (unused) optional
ROI parameter in detectors.
    - BUG FIXES:
      - mrpt::poses::CRobot2DPoseEstimator could estimate wrong angular
velocities for orientations near +-180deg.
      - mrpt::system::CDirectoryExplorer::sortByName() didn't sort in
descending order
      - Fixed crashes from MATLAB .mex files:
mrpt::system::registerFatalExceptionHandlers() has no longer effect, and will be
removed in future releases. (Thanks to Jesús Briales García for all the
testing!)
      - Fixed potential crash for Eigen unaligned memory access in 32bit
builds in mrpt::slam::CGridMapAligner and other places ([Closes
#94](https://github.com/MRPT/mrpt/issues/94))

<hr>
<a name="1.2.2">
  <h2>Version 1.2.2: Released 12-SEP-2014  </h2></a>
  - Changes in apps:
    - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-sceneviewer3d/"
>SceneViewer3D</a>:
      - New menu "File" -> "Import" -> "3D model" which supports many
standard formats (via mrpt::opengl::CAssimpModel)
  - New classes:
    - [mrpt-hwdrivers]
      - mrpt::hwdrivers::CRoboPeakLidar to interface Robo Peak LIDAR
scanners.
    - [mrpt-opengl]
      - mrpt::opengl::CAssimpModel for rendering complex 3D models (many
supported formats) in OpenGL scenes.
  - Changes in classes:
    - Consistency in all "laser scan" classes: angular increments between
rays are now FOV/(N-1) instead of FOV/N.
    - [mrpt-base]
      - New method mrpt::img::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:
          \code
            DEFINE_SERIALIZABLE_PRE_*(...)
            class XXX {
              DEFINE_SERIALIZABLE(XXX)
            };
          \endcode
        - Must be changed in this version to:
          \code
            DEFINE_SERIALIZABLE_PRE_*(...)
            class XXX {
              DEFINE_SERIALIZABLE(XXX)
            };
            DEFINE_SERIALIZABLE_POST_*(...)
          \endcode
    - [mrpt-hwdrivers]
      - Bumblebee2 Linux support in
mrpt::hwdrivers::CImageGrabber_FlyCapture2 via Triclops (by Jesus Briales)
    - [mrpt-maps]
      - New method mrpt::maps::COccupancyGridMap2D::getRawMap()
      - New method
mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB()
    - [mrpt-opengl]
      - mrpt::opengl::CWxGLCanvasBase (affects all 3D rendering classes):
better handling of internal timers for smoother updates while rendering in
multithreading apps.
    - [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]\samples\srba-examples\srba-tutorials\tutorial-srba-how-to-recover-global-map.cpp)
  - BUG FIXES:
    - mrpt::img::CImage constructor from a matrix crashed.
    - Unit tests: Named semaphores are not tested anymore if it's detected
that the kernel version doesn't support them (Fix Debian 758725).
    - mrpt::synch::CSemaphore [Linux]: didn't call sem_unlink().
    - mrpt::gui::CDisplayWindow3D didn't implement get/set FOV.
    - Valgrind: Fixed potential unaligned memory access warning in point
clouds.
    - Fix build error with AppleClang 5.1 (Closes #71).
    - mrpt::utils::CClientTCPSocket: Use a connection success check that
works on all platforms
    - Important bug fixed regarding a missing dynamic_cast<> in smart
pointers casting. See above possible implications in user code. properly (Patch
by Joe Burmeister).

<hr>
<a name="1.2.1">
  <h2>Version 1.2.1: Released 10-JUL-2014 </h2></a>
  - Changes in classes:
    - [mrpt-base]
      - All points and poses now have a method setToNaN(), e.g.
mrpt::poses::CPose3D::setToNaN()
    - [mrpt-hwdrivers]
      - mrpt::hwdrivers::COpenNI2Sensor now has better support for opening
several RGBD cameras (by Kenzaburo Miyawaki & Eduardo Fernandez)
  - Build system:
    - Fix compilation of SRBA with DEBUG_GARBAGE_FILL_ALL_NUMS=1
    - Fix de-serialization error in mrpt::reactivenav::CLogFileRecord (and
new unit tests added to avoid regressions).
    - Several Debian bugs closed (see packaging/debian/changelog), including
build errors in uncommon platforms (MIPS, kFreeBSD, etc.)

<hr>
<a name="1.2.0">
  <h2>Version 1.2.0: Released 25-JUN-2014  </h2></a>
  - <b>Most important changes:</b>
    - 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.
    - MRPT now cleanly builds in clang and OSX.
    - Support for new camera drivers (OpenNI2, DUO3D).
    - Many bug fixes.
  - <b>Detailed list of changes:</b>
    - Changes in apps:
      - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
        - New operations: --export-odometry-txt, --recalc-odometry
        - New flag: --rectify-centers-coincide
    - New examples:
      - kitti_dataset2rawlog
    - New classes:
      - [mrpt-base]
        - mrpt::math::ContainerType<CONTAINER>::element_t to allow
handling either Eigen or STL containers seamlessly.
        - mrpt::config::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::obs::CObservation6DFeatures
    - 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.
        - mrpt::poses::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::img::CImage::forceLoad() and
mrpt::img::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.
    - Build system / public API:
      - Fixes to build in OS X -
[Patch](https://gist.github.com/randvoorhies/9283072) 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/serialization/stl_serialization.h>
          - <mrpt/containers/circular_buffer.h>
          - <mrpt/utils/list_searchable.h>
          - <mrpt/containers/bimap.h>
          - <mrpt/utils/map_as_vector.h>
          - <mrpt/containers/traits_map.h>
          - <mrpt/serialization/stl_serialization.h>
          - <mrpt/containers/printf_vector.h>
          - <mrpt/containers/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::maps::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)](https://github.com/MRPT/mrpt/commit/47913da94a27e98a9115f85b2a530b6c14a10b8f)
[(commit)](https://github.com/MRPT/mrpt/commit/33258761d3b75bf133d38aecb257c64e4d76b21e)
    - BUG FIXES:
      - RawlogViewer app: Fixed abort while converting SF->obs.only
datasets when there is no odometry.
      - mrpt::obs::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::obs::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)](https://github.com/MRPT/mrpt/commit/482472ebd80a3484dce63d294b1ac4e8f001e1eb)

<hr>
 <a name="1.1.0">
  <h2>Version 1.1.0: Released 22-FEB-2014  </h2></a>
  - New apps:
    -
[DifOdometry-Camera](http://www.mrpt.org/list-of-mrpt-apps/application-difodometry-camera).
(By Mariano Jaimez Tarifa)
    -
[DifOdometry-Datasets](http://www.mrpt.org/list-of-mrpt-apps/application-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 -
[(commit)](https://github.com/MRPT/mrpt/commit/a82a7e37997cfb77e7ee9e903bdb2a55e3040b35).
      - mrpt::hwdrivers::CImageGrabber_FlyCapture2: Support for Point Grey
Research's cameras via the FlyCapture2 libray -
[(commits)](https://github.com/MRPT/mrpt/pull/5/commits).
    - [mrpt-maps]
      - There are now two versions of octomaps (by Mariano Jaimez
Tarifa/Jose Luis Blanco) -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3443)
        - mrpt::maps::COctoMap (only occupancy)
        - mrpt::maps::CColouredOctoMap (occupancy + RGB color)
    - [mrpt-obs]
      - mrpt::obs::CObservationRawDAQ, a placeholder for raw and generic
measurements from data acquisition devices. -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3459)
    - [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).
-[(commit)](https://github.com/MRPT/mrpt/commit/9306bb4a585387d4c85b3f6e41dd2cbe5a354e80)
      - mrpt::opengl::CVectorField2D, an opengl object that shows a 2D
Vector Field (by Mariano Jaimez Tarifa). -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3461)
    - [mrpt-reactivenav]
      - mrpt::reactivenav::CAbstractPTGBasedReactive, as part of a large
code refactoring of these classes:
[(commit)](https://github.com/MRPT/mrpt/pull/4)
        - 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) -
[(commit)](https://github.com/MRPT/mrpt/commit/e6ab5595f70cb889d07658c0b540c27e495a1cfb)
  - Changes in classes:
    - Clean up and slight optimization of metric map matching API: -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3446)
      - <b>Methods marked as deprecated: </b>
        - mrpt::maps::CMetricMap::computeMatchingWith2D() -->
mrpt::maps::CMetricMap::determineMatching2D()
        - mrpt::maps::CMetricMap::computeMatchingWith3D() -->
mrpt::maps::CMetricMap::determineMatching3D()
      - New structures:
        - mrpt::slam::TMatchingParams
        - mrpt::slam::TMatchingExtraResults
    - mrpt::maps::CPointsMap::TInsertionOptions now have methods to
save/load from binary streams, making more maintainable the serialization of
point maps -
[(commit)](https://github.com/MRPT/mrpt/commit/544d439c3462228b07344142de68e5bc10c1a2e3)
    - New options in point maps:
mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints -
[(commit)](https://github.com/MRPT/mrpt/pull/8)
    - mrpt::obs::CObservationIMU now includes data fields for 3D
magnetometers and altimeters. -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3451)
    - Method renamed mrpt::utils::CEnhancedMetaFile::selectVectorTextFont()
to avoid shadowing mrpt::CCanvas::selectTextFont()
    - mrpt::reactivenav::CParameterizedTrajectoryGenerator: New methods:
      -
mrpt::reactivenav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP() for
inverse look-up of WS to TP space -
[(commit)](https://github.com/MRPT/mrpt/commit/4d04ef50e3dea581bed6287d4ea6593034c47da3)
      -
mrpt::reactivenav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine() -
[(commit)](https://github.com/MRPT/mrpt/commit/a224fc2489ad00b3ab116c84e8d4a48532a005df)
    - Changed the signature of
mrpt::reactivenav::build_PTG_collision_grids() to become more generic for 2D
& 2.5D PTGs -
[(commit)](https://github.com/MRPT/mrpt/commit/7bd68e49a4ba3bf08f194678787816c65de1d685)
  - 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 -
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3455)
    - 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. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3441)
    - mrpt::reactivenav::CReactiveNavigationSystem complained about missing
config variables ROBOTMODEL_TAU & ROBOTMODEL_DELAY, which were removed in
MRPT 1.0.2 - [(commit)](http://code.google.com/p/mrpt/source/detail?r=3452)
    - Fixed potential mem alignment errors (Eigen's UnalignedArrayAssert) in
SRBA for 32bit builds.
[(commit)](http://code.google.com/p/mrpt/source/detail?r=3457)
    - 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. [(commit)](http://code.google.com/p/mrpt/source/detail?r=3473)
    - Potential crash when setting mpPolygon::setPoints() with empty vectors
- [(commit)](http://code.google.com/p/mrpt/source/detail?r=3478)
    - mrpt::reactivenav::CReactiveNavigationSystem and
mrpt::reactivenav::CReactiveNavigationSystem3D didn't obey the
"enableConsoleOutput" constructor flag -
[(commit)](https://github.com/MRPT/mrpt/commit/db7b0e76506af2c24f119a28443a1e8f1a217861)
    - mrpt::synch::CSemaphore::waitForSignal() : Fixed error when thread got
an external signal
[(commit)](https://github.com/MRPT/mrpt/commit/511e95f03480537ff18ad2cad178c504b1cfbb53)

 <hr>
 <a name="1.0.2">
  <h2>Version 1.0.2: Released 2-AUG-2013 (SVN 3435)  </h2></a>
  - New apps:
    -
[ReactiveNav3D-Demo](http://www.mrpt.org/Application%3AReactiveNav3D-Demo) (By
Mariano Jaimez Tarifa)
  - Changes in apps:
    - [rawlog-edit](http://www.mrpt.org/Application%3Arawlog-edit):
      - New operations: --list-timestamps, --remap-timestamps,
--export-2d-scans-txt, --export-imu-txt
  - New classes:
    - [mrpt-base]
      - mrpt::poses::CPose3DRotVec is now fully implemented (By Francisco
Angel Moreno).
    - [mrpt-opengl]
      - mrpt::opengl::CLight - OpenGL scenes now allow customization of
OpenGL lighting. See also new lighting methods in mrpt::opengl::COpenGLViewport
- <a href="http://code.google.com/p/mrpt/source/detail?r=3409" >r3409</a>
    - [mrpt-reactivenav]
      - mrpt::reactivenav::CReactiveNavigationSystem3D - By Mariano Jaimez
Tarifa - <a href="http://code.google.com/p/mrpt/source/detail?r=3389" >r3389</a>
  - New functions:
    - [mrpt-opengl]
      - mrpt::opengl::stock_objects::RobotRhodon()
  - Changes in classes:
    - [mrpt-base]
      - Generic particle filter classes now allow directly resampling to a
dynamic number of particles. Affected methods: - <a
href="http://code.google.com/p/mrpt/source/detail?r=3381" >r3381</a>
        - mrpt::bayes::CParticleFilterCapable::performResampling()
        - mrpt::bayes::CParticleFilterCapable::computeResampling()
      - New method: CImage::loadFromXPM() - <a
href="http://code.google.com/p/mrpt/source/detail?r=3397" >r3397</a>
    - [mrpt-maps]
      - mrpt::maps::COctoMap now exposes the inner octomap::OcTree object.
See example samples/octomap_simple - <a
href="http://code.google.com/p/mrpt/source/detail?r=4304" >r4304</a>
    - [mrpt-openg]
      - mrpt::opengl::CBox now be also rendered as a solid box + line
borders. See mrpt::opengl::CBox::enableBoxBorder()
      - mrpt::opengl::COctoMapVoxels - <a
href="http://code.google.com/p/mrpt/source/detail?r=4329" >r4329</a>
        - Fixed calculation of normals (fix shading)
        - Added new coloring scheme to
mrpt::opengl::COctoMapVoxels::visualization_mode_t : "FIXED"
        - By default, light effects are disabled in this object, because
shadows aren't computed anyway and the effect isn't pleasant.
        - Voxels cubes are sorted in ascending Z order so the visual
effect is correct when rendering with transparency.
    - [mrpt-reactivenav]
      - mrpt::reactivenav::CParameterizedTrajectoryGenerator: The "low
pass filter" has been removed since it wasn't practical and was never used;
thus, parameters "TAU" and "DELAY" has been removed. - <a
href="http://code.google.com/p/mrpt/source/detail?r=3395" >r3395</a>
      - Methods removed since they weren't implemented in any derived
class and there are no plans for doing it.
        - mrpt::reactivenav::CReactiveNavigationSystem ::evaluate()
        - mrpt::reactivenav::CReactiveNavigationSystem ::setParams()
  - Build system:
    - Updated to nanoflann 1.1.7: ICP is ~5% faster.
    - More unit tests:
      - [mrpt-base] geometry module.
  - BUG FIXES:
    - CTimeLogger::registerUserMeasure() ignored the enable/disable state of
the logger - <a href="http://code.google.com/p/mrpt/source/detail?r=3382"
>r3382</a>
    - mrpt-srba: SEGFAULT in 32bit builds due to missing
 - <a
href="http://code.google.com/p/mrpt/source/detail?r=3429" >r3429</a>

 <br/>
 <hr>
 <a name="1.0.1">
  <h2>Version 1.0.1: Released 12-MAY-2013 (SVN 3370)  </h2></a>
  - Changes in apps:
    - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
>RawLogViewer</a>:
      - Better description of the "too much memory used" warning while
loading large datasets.
    - <a href="http://www.mrpt.org/Application%3Arobotic-arm-kinematics"
>robotic-arm-kinematics</a>:
      - Now allows changing the orientation of the first DOF (X,Y,Z).
  - New classes:
    - [mrpt-hwdrivers]
      - mrpt::hwdrivers::CInterfaceNI845x: An interface for this USB
SPI/I2C data acquisition board.
      - mrpt::hwdrivers::CCANBusReader: A class to record CAN bus frames
with a CAN232 converter.
    - [mrpt-obs]
      - mrpt::obs::CObservationCANBusJ1939
  - New functions:
    - New opengl_stock objects:
      - mrpt::opengl::stock_objects::Hokuyo_URG()
      - mrpt::opengl::stock_objects::Hokuyo_UTM()
      - mrpt::opengl::stock_objects::Househam_Sprayer()
    - mrpt::math::saveEigenSparseTripletsToFile() - <a
href="http://code.google.com/p/mrpt/source/detail?r=3351" >r3351</a>
  - New examples:
      - gmrf_map_demo
  - Changes in classes:
    - [mrpt-maps]
      - mrpt::maps::COccupancyGridMap2D now also evalutes likelihoods for
sonar-like observations (mrpt::obs::CObservationRange), allowing particle-filter
localization with these sensors - <a
href="http://code.google.com/p/mrpt/source/detail?r=3330" >r3330</a>
      - New method
mrpt::slam::CRandomFieldGridMap2D::insertIndividualReading()
    - [mrpt-kinematics]
      - mrpt::kinematics::CKinematicChain: Now allows changing the
orientation of the first DOF (X,Y,Z).
  - Removed stuff:
    - Backwards-compatibility typedef mrpt::vision::TKLTFeatureStatus has
been removed. Replace with mrpt::vision::TFeatureTrackStatus
    - KLT-specific values for mrpt::vision::TFeatureTrackStatus has been
removed, since they were not used in detected features anyway.
  - Build system:
    - Fixed a potential build error if including FFMPEG's <time.h> instead
of the standard header - <a
href="http://code.google.com/p/mrpt/source/detail?r=3316" >r3316</a>
    - Fixed determination of GCC version for all GCC builds - <a
href="http://code.google.com/p/mrpt/source/detail?r=3324" >r3324</a>
    - Updated to Eigen 3.1.3 - <a
href="http://code.google.com/p/mrpt/source/detail?r=3349" >r3349</a>
    - Updated to nanoflann 1.1.5
  - BUG FIXES:
    - Unit tests "SchurTests" for mrpt-srba incorrectly reported errors due
to an improperly initialized reference to a local variable - <a
href="http://code.google.com/p/mrpt/source/detail?r=3318" >r3318</a>
    - Debian packages: added missing binary deps for libmrpt-dev  - <a
href="http://code.google.com/p/mrpt/source/detail?r=3335" >r3335</a>

 <hr>
 <a name="1.0.0">
  <h2>Version 1.0.0: Released 1-MAR-2013 (SVN 3287)  </h2></a>
  - <b>Most important changes:</b>
    - New library with a flexible implementation of Sparser Relative Bundle
Adjustment (RBA), as presented in ICRA 2013: <a href="http://www.mrpt.org/srba"
>mrpt-srba</a>.
    - New library for Plane-based Maps: <a
href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a> (also presented in ICRA
2013).
    - Some MRPT modules are now header-only libraries.
    - Support for a new Octomap metric map, via the octomap library. See
mrpt::maps::COctoMap and detailed changes below.
    - Support for importing/exporting point clouds in the standard LAS
format (Look for liblas below).
    - Better support for custom builds of MRPT (selective building of
individual apps and libs, etc.)
    - Ready for Visual Studio 2012 and GCC 4.7
    - From now on, MRPT is released under the "New BSD" license.
    - Many bug fixes.
  - <b>Detailed list of changes:</b>
    - New apps:
      - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-srba-slam"
>srba-slam</a>: A command-line frontend for the Relative Bundle Adjustment
engine in mrpt-srba.
      - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-holonomic-navigator-demo"
>holonomic-navigator-demo</a>
      - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-robotic-arm-kinematics"
>robotic-arm-kinematics</a>: A GUI for experimenting with Denavit-Hartenberg
parameters.
    - Changes in apps:
      - <a href="http://www.mrpt.org/Application%3Anavlog-viewer"
>navlog-viewer</a>:
        - Fixed some minor visualization errors.
      - <a href="http://www.mrpt.org/Application%3ARawLogViewer"
>RawLogViewer</a>:
        - Import sequence of images as rawlog: Didn't detect "png" file
extension as images - <a
href="http://code.google.com/p/mrpt/source/detail?r=2940" >r2940</a> - Closes <a
href="http://code.google.com/p/mrpt/issues/detail?id=34" >#34</a>
        - The GUI toolbar has been ported from wxWidget's ToolBar to
sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
href="http://code.google.com/p/mrpt/source/detail?r=2950" >r2950</a>
      - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-ReactiveNavigationDemo"
>ReactiveNavigationDemo</a>:
        - The default holonomic navigation method is now the VFF, since
after the last bug fixes and tunes it seems to work quite well.
      - <a href="http://www.mrpt.org/Application%3ASceneViewer"
>SceneViewer3D</a>:
        - The GUI toolbar has been ported from wxWidget's ToolBar to
sets of wxCustomButton's to avoid visualization problems in wx 2.9.X - <a
href="http://code.google.com/p/mrpt/source/detail?r=2952" >r2952</a>
        - Added a new menu: "File -> Import -> From LAS file..." - <a
href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
      - <a href="http://www.mrpt.org/Application%3Agrid-matching"
>grid-matching</a>: new argument "--aligner" to select aligner method - <a
href="http://code.google.com/p/mrpt/source/detail?r=3021" >r3021</a>
    - New classes:
      - [mrpt-base]
        - mrpt::math::MatrixBlockSparseCols, a templated column-indexed
efficient storage of block-sparse Jacobian or Hessian matrices, together with
other arbitrary information - <a
href="http://code.google.com/p/mrpt/source/detail?r=2995" >r2995</a>
        - mrpt::utils::ignored_copy_ptr<>
        - mrpt::system::CTimeLoggerEntry
      - [mrpt-obs]
        - mrpt::obs::CObservationWindSensor - <a
href="http://code.google.com/p/mrpt/source/detail?r=3050" >r3050</a>
      - [mrpt-maps]
        - mrpt::maps::COctoMap
      - [mrpt-opengl]
        - mrpt::opengl::COctoMapVoxels
    - Deleted classes:
      - [mrpt-vision]
        - CFeatureTracker_FAST and CFeatureTracker_PatchMatch have been
removed since they didn't work robustly. Replace with
mrpt::vision::CFeatureTracker_KL
    - New libraries:
      - [mrpt-kinematics] See mrpt::kinematics
      - [mrpt-pbmap] See <a href="group__mrpt__pbmap__grp.html"
>mrpt-pbmap</a>.
      - [mrpt-srba] See <a href="http://www.mrpt.org/srba" >mrpt-srba</a>.
    - Changes in libraries:
      - These libs are now header-only: <a
href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=3045" >r3045</a>
        - [mrpt-bayes]
        - [mrpt-graphs]
        - [mrpt-graphslam]
      - Integration of the Octomap C++ library (new BSD License) by Kai M.
Wurm et al.: <a href="http://code.google.com/p/mrpt/source/detail?r=3081"
>r3081</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3083"
>r3083</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3084"
>r3084</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3086"
>r3086</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3087"
>r3087</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3088"
>r3088</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3093"
>r3093</a>
        - The main new classes are mrpt::maps::COctoMap &
mrpt::opengl::COctoMapVoxels
        - mrpt::maps::CMultiMetricMap now allows the seamless
integration of octomaps in many MRPT map building or localization algorithms.
        - New example: samples/octomap_simple
    - Changes in classes:
      - [mrpt-base]
        - Eigen::MatrixBase<Derived>::loadFromTextFile(), and all MRPT
derived matrix classes, are now much faster loading huge matrices from text
files - <a href="http://code.google.com/p/mrpt/source/detail?r=2997" >r2997</a>
        - The typedef Eigen::MatrixBase<Derived>::typename of MRPT's
plugin to Eigen classes has been REMOVED, to avoid conflicts with some part of
Eigen's sparse classes. Use Matrix::Scalar instead - <a
href="http://code.google.com/p/mrpt/source/detail?r=3065" >r3065</a>
        - New method mrpt::poses::CPose3DQuat::inverse()
        - New methods mrpt::poses::SE_traits::pseudo_exp()
        - mrpt::system::CTimeLogger:
          - New method mrpt::system::CTimeLogger::getStats() for
programatic execution time stats analysis - <a
href="http://code.google.com/p/mrpt/source/detail?r=2998" >r2998</a>
          - New method
mrpt::system::CTimeLogger::registerUserMeasure() for making stats of
user-providen values - <a
href="http://code.google.com/p/mrpt/source/detail?r=3005" >r3005</a>
        - mrpt::utils::map_as_vector<> can be now customized to use
different underlying STL containers for storage - <a
href="http://code.google.com/p/mrpt/source/detail?r=3001" >r3001</a>
        - mrpt::containers::CDynamicGrid::setSize() now also accepts a
"fill_value" argument.
        - Added method mrpt::math::TPoint2D::norm() for consistency with
mrpt::math::TPoint3D
        - Better support for saving (and not only loading) plain text
configuration files, including commented files with default values of all
existing parameters: - <a
href="http://code.google.com/p/mrpt/source/detail?r=2954" >r2954</a>
          - All mrpt::config::CConfigFileBase::write() now have an
extended signature for formatting.
          -
mrpt::config::CLoadableOptions::dumpToTextStreamstd::ostream::Seek() now
supports files larger than 2GB by using uint64_t instead of long (still see
issue report for another patch required for MSVC2010) - (Closes <a
href="http://code.google.com/p/mrpt/issues/detail?id=39" >issue 39</a>, thanks
Robert Schattschneider) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3042" >r3042</a>
        - mrpt::typemeta::TTypeName<> moved to its own header
<mrpt/typemeta/TTypeName.h> while refactoring
<mrpt/serialization/CSerializable.h>
- <a href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
        - mrpt::config::CConfigFileBase::write() now has signatures for
"uint32_t" and "uint64_t" in both 32 and 64bit builds, instead of relying of the
"size_t" type. This was done to fix build errors in some GCC versions under
32bits.
        - mrpt::poses::CPose2D now caches the cos() and sin() of phi,
with a huge performance improvement in most common operations.
      - [mrpt-bayes]
        - mrpt::bayes::CKalmanFilterCapable (and all EKF-SLAM methods
based on it) are now much faster. The implementation now exploits the sparsity
of the Jacobian (~25% faster in a test 6D EKF-SLAM dataset) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3059" >r3059</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=3060" >r3060</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=3061" >r3061</a>
        - mrpt::bayes::CParticleFilterCapable now makes use of the
Curiously Recurring Template Pattern (CRTP) design instead of ugly #define
macros - <a href="http://code.google.com/p/mrpt/source/detail?r=3182" >r3182</a>
      - [mrpt-graphs]
        - mrpt::graphs::CNetworkOfPoses2D,
mrpt::graphs::CNetworkOfPoses3D,... and so on, are now all typedef's instead of
classes, since serialization is now implemented as pure templatized code, thus
avoiding the need to declare derived auxiliary classes  - <a
href="http://code.google.com/p/mrpt/source/detail?r=3044" >r3044</a>
      - [mrpt-gui]
        - mrpt::gui::CDisplayWindow3D::addTextMessage() (and other
opengl text routines) now allows drawing text with a shadow effect - <a
href="http://code.google.com/p/mrpt/source/detail?r=3007" >r3007</a>
      - [mrpt-hwdrivers]
        - New method
mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled()
        - mrpt::hwdrivers::CGenericSensor (and all derived classes) now
allocate objects aligned in memory with
        - New static method mrpt::hwdrivers::CGPSInterface::parse_NMEA()
      - [mrpt-maps]
        - Better integration of point cloud classes with PCL: - <a
href="http://code.google.com/p/mrpt/source/detail?r=2943" >r2943</a>
          - mrpt::maps::CPointsMap::loadPCDFile()
          - mrpt::maps::CPointsMap::setFromPCLPointCloud()
          - mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB()
        - Point cloud loading & saving in the standard ASPRS LiDAR LAS
format (if liblas is installed in the system, see http://www.liblas.org/ ). See
also the ready-to-use import menu in SceneViewer3D - <a
href="http://code.google.com/p/mrpt/source/detail?r=3244" >r3244</a>
          - mrpt::maps::CPointsMap::loadLASFile()
          - mrpt::maps::CPointsMap::saveLASFile()
        - Integration of wind measurements in gas-concentration maps (by
Javier G. Monroy) - <a href="http://code.google.com/p/mrpt/source/detail?r=3050"
>r3050</a>
      - [mrpt-obs]
        - New method mrpt::obs::CObservationGPS::clear()
      - [mrpt-opengl]
        - Evaluation of bounding box of opengl objects. New methods: -
<a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
          - mrpt::opengl::CRenderizable::getBoundingBox()
          - mrpt::opengl::COpenGLScene::getBoundingBox()
          - mrpt::opengl::COpenGLViewport::getBoundingBox()
        -
mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes() has a
new flag to draw solid boxes at each leaf node - <a
href="http://code.google.com/p/mrpt/source/detail?r=3033" >r3033</a>
        - mrpt::opengl::COpenGLViewport has a new set of "global OpenGL
switches" that affect the rendering of entire scenes - <a
href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
        - Classes drawing lines now by default enable anti-aliasing (can
be disabled by the programmer): - <a
href="http://code.google.com/p/mrpt/source/detail?r=3185" >r3185</a>
          - mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ
          - mrpt::opengl::CSimpleLine
          - mrpt::opengl::CSetOfLines
      - [mrpt-reactivenav]
        - Much code of mrpt::reactivenav classes have undergone a
clean-up, slight optimizations and a translation of old Spanish names/comments
to English - <a href="http://code.google.com/p/mrpt/source/detail?r=2939"
>r2939</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2942"
>r2942</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=2958"
>r2958</a>, <a href="http://code.google.com/p/mrpt/source/detail?r=3091"
>r3091</a>
        -
mrpt::reactivenav::CParameterizedTrajectoryGenerator::CCollisionGrid now has a
more maintainable binary serialization format - <a
href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
        -
mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles() now
also saves text files which can be used to visualize PTGs from MATLAB (see
scripts/viewPTG.m) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3009" >r3009</a>
        - mrpt::reactivenav::CHolonomicVFF and
mrpt::reactivenav::CHolonomicND now have more configurable parameters, loadable
from config files. See their documentation.
        - Repulsive forces from obstacles in
mrpt::reactivenav::CHolonomicVFF are now automatically normalized wrt the
density of the 360deg view of obstacles and forces follow a "1/range" law
instead of the old "exp(-range)".
        - Solved a stability issue in C-S paths, in
mrpt::reactivenav::CPTG_DiffDrive_CS (By Mariano Jaimez Tarifa) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3085" >r3085</a>
      - [mrpt-scanmatching]
        - mrpt::scanmatching::robustRigidTransformation():
          - Changed behavior not to allow features to appear in
duplicated pairings.
          - Added a consistency test to avoid seeding RANSAC with an
inconsistent initial model.
      - [mrpt-slam]
        - mrpt::slam::CMetricMapBuilderICP now does not integrate the
small pose changes due to odometry and/or relocalization when considering the
distance and angle thresholds. This means that fewer map updates are now done
for the same ICP-SLAM parameters, which should lead to "less noisy" maps.
    - New functions:
      - [mrpt-base]
        - mrpt::utils::abs_diff()
        - mrpt::system::getMRPTLicense()
        - mrpt::system::getFileModificationTime()
        - mrpt::math::noncentralChi2PDF_CDF() is now exposed (was
private)
        - mrpt::utils::sprintf_container()
        - mrpt::poses::operator -(mrpt::poses::CPose3DQuat)
        - max3() and min3() moved from the global namespace to
mrpt::utils::max3() and mrpt::utils::min3()
    - New examples:
      - octomap_simple
      - ransac-data-association
    - Build system:
      - Update to nanoflann 1.1.4 - <a
href="http://code.google.com/p/mrpt/source/detail?r=2937" >r2937</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
      - Update to Eigen 3.1.2 - <a
href="http://code.google.com/p/mrpt/source/detail?r=3064" >r3064</a>
      - MRPT's root "CMakeLists.txt" has undergone a big refactoring and
cleanup - <a href="http://code.google.com/p/mrpt/source/detail?r=2961"
>r2961</a>
      - Backward compatible "mrpt-core" has been removed as a fake lib for
which to search with CMake from user programs - <a
href="http://code.google.com/p/mrpt/source/detail?r=2961" >r2961</a>
      - More system libs are detected in Linux (libclang-dev, lib3ds-dev),
discarding embedded versions then - <a
href="http://code.google.com/p/mrpt/source/detail?r=2963" >r2963</a> - <a
href="http://code.google.com/p/mrpt/issues/detail?id=17" >Closes #17</a>
      - Automatic detection of supported SIMD extensions (SSE*) from CMake
(only for Linux OS) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3013" >r3013</a>
      - Fixed building with Visual Studio 2012 (MSVC11) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3017" >r3017</a>
      - MRPT now allows defining header-only libraries with the
define_mrpt_lib_header_only() macro - <a
href="http://code.google.com/p/mrpt/source/detail?r=3034" >r3034</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=3035" >r3035</a>
      - More unit tests:
        - for all probability distribution functions in mrpt::math,
        - for the parser in mrpt::hwdrivers::CGPSInterface::parse_NMEA()
        - for the octomap map
        - for serialization/deserealization of many classes.
      - Added new documentation page: <a href="env-vars.html" >environment
variables</a>.
      - Removed the build flag "MRPT_BACKCOMPATIB_08X".
      - Fixes for building under Mac OSX: <a
href="http://code.google.com/p/mrpt/source/detail?r=3181" >r3181</a>
      - Enable some c++11 features if the compiler supports them - <a
href="http://code.google.com/p/mrpt/source/detail?r=3273" >r3273</a>
    - BUG FIXES:
      - Build: Fixed detection of OpenCV 2.4.2+ installed in the system
via CMake config file instead of pkg-config, which seems to be broken. - <a
href="http://code.google.com/p/mrpt/source/detail?r=3019" >r3019</a>
      - [mrpt-base] The iterator returned by end() in all MRPT vectors and
matrices (based on Eigen) pointed to the last element, not to the (now correct)
next position after the last element - <a
href="http://code.google.com/p/mrpt/source/detail?r=2941" >r2941</a>
      - [mrpt-base] mrpt::dynamicsize_vector::resize() performed a memory
reallocation even if given the current size, due to an inherited behavior from
Eigen. It is not the expected behavior, so it has been fixed. - <a
href="http://code.google.com/p/mrpt/source/detail?r=3003" >r3003</a>
      - [mrpt-base] Wrong computation of normPDF() values for the
multidimensional cases. Closes <a
href="http://code.google.com/p/mrpt/issues/detail?id=46" >#46</a> - <a
href="http://code.google.com/p/mrpt/source/detail?r=3068" >r3068</a>
      - [mrpt-base] mrpt::poses::CPoint::asString() confused the 2D and 3D
cases (Thanks Cipri!)
      - [mrpt-base] Fixed errors in de-serialization of
mrpt::utils::CPointPDFSOG and mrpt::maps::CReflectivityGridMap2D
      - [mrpt-base] mrpt::math::KDTreeCapable::kdTreeRadiusSearch2D()
always returned 0 matched.
      - [mrpt-graphs] Fixed bug in RecursiveSpectralPartition (Thanks to
Edu!) - <a href="http://code.google.com/p/mrpt/source/detail?r=3026" >r3026</a>
      - [mrpt-hwdrivers] Fixed potential SEGFAULT in
mrpt::hwdrivers::CGPSInterface (Thanks K.Miyawaki for <a
href="http://www.mrpt.org/node/2474" >reporting</a>)
      - [mrpt-hwdrivers] Fixed communications to LMS 1xx scanners (Thanks
Henry! See http://code.google.com/p/mrpt/issues/detail?id=49 )
      - [mrpt-maps] mrpt::maps::COccupancyGridMap2D::getAs3DObject()
returned cells with an occupancy of exactly "0" as transparent - <a
href="http://code.google.com/p/mrpt/source/detail?r=2957" >r2957</a>
      - [mrpt-maps] Fixed saving the correct point colors in
mrpt::maps::CColouredPointsMap::savePCDFile() (Thanks Mariano!) - <a
href="http://code.google.com/p/mrpt/source/detail?r=3090" >r3090</a>
      - [mrpt-maps] In CPointsMap::computeMatchingWith3D. Fixed matching
two 3D point clouds as each correspondence was inserted twice into the output
vector. (By Paco) - <a href="http://code.google.com/p/mrpt/source/detail?r=3162"
>r3162</a>
      - [mrpt-opengl] Fixed a potential bug: after deserializing an object
based on a display-list (most of them), it won't update in the opengl view.
      - [mrpt-reactivenav] Class mrpt::reactivenav::CHolonomicVFF was not
exported in Windows DLL's (Thanks Mariano for noticing!).
      - [mrpt-reactivenav] Fixed wrong computation of obstacles force
fields in mrpt::reactivenav::CHolonomicVFF (Thanks Mariano for noticing!) - <a
href="http://code.google.com/p/mrpt/source/detail?r=2953" >r2953</a>
      - [mrpt-reactivenav] Precomputed collision grids could be loaded in
mrpt::reactivenav::CParameterizedTrajectoryGenerator even for different robot
parameters/shape: now it correctly detects such situations and recompute when
needed - <a href="http://code.google.com/p/mrpt/source/detail?r=2939" >r2939</a>
- Closes <a href="http://code.google.com/p/mrpt/issues/detail?id=33" >#33</a>
      - [mrpt-reactivenav] ND algorithm: Fixed bugs of "last gap is never
evaluated" and wrong composition of representative direction for some gaps (By
Mariano) - <a href="http://code.google.com/p/mrpt/source/detail?r=3056"
>r3056</a>


 <br>
 <hr>
 <a name="0.9.6">
  <h2>Version 0.9.6 - (Version 1.0.0-Release_Candidate_4): Released 30-MAY-2012
(SVN 2930) </h2></a>
  - New applications:
    - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
>kinect-stereo-calibrate</a>: A GUI tool for calibrating RGB+D and/or stereo
cameras, including live Kinect capturing.
  - Removed applications:
    - stereo-calib-gui: it's now superseded by kinect-stereo-gui. The old
command line tool is still useful, so it's still there as the example
"stereo-calib-opencv".
  - Changes in applications:
    - <a href="http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam"
>icp-slam</a>:
      - Added a new option (SHOW_LASER_SCANS_3D in config files) to draw
laser scans in the live 3D view - <a
href="http://code.google.com/p/mrpt/source/detail?r=2881" >r2881</a>
    - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-edit"
>rawlog-edit</a>:
      - Operation "--camera-params" now also handles stereo observations.
      - New operation "--stereo-rectify" for batch rectifying datasets
with stereo images.
      - New operation "--rename-externals".
    - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-SceneViewer"
>SceneViewer3D</a>:
      - New menu for generating high-resolution renders of any scene
directly to imag files - <a
href="http://code.google.com/p/mrpt/source/detail?r=2775" >r2775</a>
      - Many new menus for selective selecting objects and applying
operations on them - <a
href="http://code.google.com/p/mrpt/source/detail?r=2776" >r2776</a>
    - stereo-calib-gui: Now generates a report with detailed and clear
results from stereo calibration and allows the user to change most parameters
interactively - <a href="http://code.google.com/p/mrpt/source/detail?r=2801"
>r2801</a>
    - <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-3d-view"
>kinect-3d-view</a>: New key command: press '9' to grab selected snapshots to
disk  - <a href="http://code.google.com/p/mrpt/source/detail?r=2890" >r2890</a>
  - Kinect stuff:
    - [mrpt-hwdrivers]
      - mrpt::hwdrivers::CKinect now decodes Bayer color using OpenCV
instead of default freenect - <a
href="http://code.google.com/p/mrpt/source/detail?r=2721" >r2721</a>, <a
href="http://code.google.com/p/mrpt/source/detail?r=2762" >r2762</a>
      - mrpt::hwdrivers::CKinect no longer forces a horizontal tilt at
start up by default, what may be annoying (if required, set
"initial_tilt_angle") - <a
href="http://code.google.com/p/mrpt/source/detail?r=2722" >r2722</a>
      - mrpt::hwdrivers::CKinect now loads Kinect calibration files in a
format compatible with stereo cameras. See
http://www.mrpt.org/Kinect_calibration
    - [mrpt-obs]
      - New method mrpt::obs::CObservation3DRangeScan::convertTo2DScan()
allows simulating a "fake 2D laser scanner" from a Kinect. See the example:
http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
    - [mrpt-vision]
      - New function mrpt::vision::checkerBoardStereoCalibration() to
calibrate stereo and RGB+D cameras. See also the program <a
href="http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calibrate"
>kinect-stereo-calibrate</a>:
  - New classes:
    - [mrpt-gui]
      - New event generated by GUI windows:
mrpt::gui::mrptEventWindowClosed
    - [mrpt-hwdrivers]
      - mrpt::hwdrivers::CRaePID: A new interface to PID gas sensing
devices (by Emil Khatib, University of Malaga) - <a
href="http://code.google.com/p/mrpt/source/detail?r=2841" >r2841</a>
    - [mrpt-opengl]
      - New classes for representing confidence intervals (ellipsoids) in
transformed spaces - <a
href="http://code.google.com/p/mrpt/source/detail?r=2783" >r2783</a>
        - mrpt::opengl::CGeneralizedEllipsoidTemplate<>
        - mrpt::opengl::CEllipsoidRangeBearing2D
        - mrpt::opengl::CEllipsoidInverseDepth2D
        - mrpt::opengl::CEllipsoidInverseDepth3D
      - mrpt::opengl::CFrustum to easily render these geometric figures
      - New struct mrpt::opengl::TFontParams result of a code refactoring
    - [mrpt-vision]
      - mrpt::vision::TSIFTDescriptorsKDTreeIndex,
TSURFDescriptorsKDTreeIndex  - <a
href="http://code.google.com/p/mrpt/source/detail?r=2799" >2799</a>
      - mrpt::vision::CStereoRectifyMap - See tutorial online:
http://www.mrpt.org/Rectifying_stereo_

*/
// clang-format on