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    |                     Mobile Robot Programming Toolkit (MRPT)            |
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 /** \page changelog Change Log
  *
  
 <p> <b>Note:</b> <i>If you are displaying a local version of this page and you
 have not built the whole HTML documentation, the links above will be broken.
 Either build the documentation invoking <code>make documentation_html</code> or
 [browse it on-line](http://www.mrpt.org/).</i></p>
  
 <hr>
 <a name="2.0.0">
 <h2>Version 2.0.0: (Under development)  </h2></a>
 - <b>Most important changes:</b>
         - MRPT now requires **C++14** 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.
         - Using a variant type from the mapbox variant library, and added
 serialization with variants(To be replaced by std::variant eventually).
 - <b>Detailed list of changes:</b>
         - Changes in applications:
                 - RawLogViewer:
                         - The ICP module now supports Velodyne 3D scans.
                 - pf-localization:
                         - Odometry is now used also for observation-only rawlogs.
         - Changes in libraries:
                 - \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.
                 - \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_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).
                 - \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.
                 - \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
                         - Added optional "channel" attribute to CReflectivityGrdMap2D 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.
                 - \ref mrpt_opengl_grp
                         - Update Assimp lib version 4.0.1 -> 4.1.0 (when built as ExternalProject)
         - 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.
  
 <hr>
 <a name="1.5.6">
 <h2>Version 1.5.6: (Under development) </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`.
  
 <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/otherlibs/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/otherlibs/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::project3DPointsFromDepthImageInto() 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
                                 - 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
 MRPT_MAKE_ALIGNED_OPERATOR_NEW - <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 MRPT_MAKE_ALIGNED_OPERATOR_NEW
                                 - 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_
  
 */