Release 0.9 is out

Release 0.9 is out

Hi everyone!

Finally I could release a new version of GPU-Voxels at!
The release introduces a bunch of new features and makes everything more stable.
Also it compiles on Ubuntu 16.04!
Two little things are on the negative side:
– You probably need to patch your GLM library (see this issue: )
– The update breaks some API functions, but it should be easy to adapt in your code.




Here is the rather long changelog:

V 0.9 (2016-08-21):
API breaking changes:
 - GpuVoxels is now a singleton and has to be initialized
 - BitVoxelMeaning enum changed! 0 = Free, 1 = Occupied. More SV IDs.
 - Added as() operator to cast general maps into specific maps
 - Map-Offsets may now be negative, so Voxel-pointers changed datatype.
 - Shifted main API from general map type to specific implementations:
 Many functions can no longer be called on basic map types but only on
 specific maps. As not all map types offer all interfaces, this allowed
 us to remove unimplemented function stubs (thanks to Herbert Pietrzyk)
 - RPY rotation order changed to ROS standards:
 First rotated around roll, then pitch, then yaw
Major changes:
 - Unified map-locking for all map types to guarantee thread-safety
 - Added new Pointcloud class for single clouds (thanks to Herbert Pietrzyk)
 - Added Octree-API function: insertPointCloudWithFreespaceCalculation
 to trigger raycasting
 - Added option to interpret unknown cells of an octree as obstacles
 when checking collisions
 - Added tfHelper class to interact easily with ROS tf
 - New Math functions:
 - Added host function to invert matrices.
 Code thankfully copied from Maxim Singer
 - Function to convert Mat4 to Roll, Pitch, Yaw
 together with Boost tests
 - Vector3f now offers: apprx_equal, length, normalize, dot, cross
 - angleBetween two vectors, orientationMatrixDiff between two matrices
 - Matrix4f now offers: equality, approximate equality and subtract
 together with Boost tests
Minor changes:
 - Added visualizer config file and a python generator for random swept
 volume colors (this time for real)
 - New Boost testcases for Pointclouds and MetaPointClouds
 - Simplified sensor code for Raycasting in Octree
 - Restructured keyboard shortcuts in visualizer:
 - Added "command mode" to switch between data types so
 all Function keys can toggle maps of the selected kind.
 - Using ALT+digit to set decimal preposition of SweptVol IDs
 - Right-Click available for more datatypes in Visualizer to
 print voxel information
 - Fixed updates of subclouds in MetaPointClouds
 - Added sanity check in computeLinearLoad
 - Added Getter functions for GVL parameters
 - Added some general HTML pages to Doxygen docu (thanks to Darius Pietsch)
 - Unified probability type in all maps
 - Fixed memory leaks in MetaPointCloud
 - Added Kernel for GPU memory comparison
 - Unified geometric transformation kernels
 - Clarified singed and unsigned voxel indices (thanks to Christian Juelg)
 - GPU Voxels main class now checks for Compute Capability at init
 - Added PointCloud constructor to load file
Other changes:
 - Compiles with Ubuntu 16.04
 - Added CMake macro to remove VTK defines
 - Required lib glm fix:
 - Added enlarged UR5 model
 - Updated list of contributors

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