changelog.txt

Changelog of GPU-Voxels:

V 0.1 (2014-09-29):
===================
- Initial Version of GPU Voxels 
  (Please find a list of features on the Website or the according scientific papers or have a look at the example programs)
- Open Issue: Compiled only in Debug Mode

V 0.2 (2014-09-12):
===================
- Fixed compilation issued in Release Mode

V 0.3 (2015-02-26):
===================
- Made changes in the include structure to allow compilation with CUDA 6.5 (no longer trying to compile Boost-SharedMem-Headers with NVCC)
- Added datatype "PrimitiveArray" to quickly visualize helpers like thousands of spheres or cubes.
- Added InsertMetaPointCloud option to give each sub-cloud an own voxel type
- Function to sync a MetaPointCloud back to Host Memory
- Speed up in clearing VoxelMaps
- Added an optional offset when intersecting maps. So you can move one map relative to another before intersecting them.
- Added parameter to Kinect Interface to support the new PCL interface where a Cam ID has to be specified.
- More documentation in Octree kernels
- Added more operators for primitive data types
- Added Binvox as file format to generate Pointclouds
- Added Example program to demonstrate the insertion of IBEO Sensor Pointclouds
- Added missing config file for example program that intersects live Kinect data with a robot model (RobotVsEnvironment)
- Open Issues: Flickering colors in Visualization

V 0.4 (2015-03-09):
===================
- Fixed coordinate system in the Viewer
- Improved Viewer XML Config parser
- Added possibility to control visibility of SweptVolume subvolumes from a provider program
- Improved pointcloud file loader (new datatype, scaling)
- Improved example programs, added viwer configfile for them
- Added missing pointcloud filess for the examples
- Moved performance monitor to icl_core
- Some smaller fixes regarding RAD / DEG
- Removed compiler warnings

V 0.5 (2015-04-13):
===================
- Release 0.5: Critical bugfixes and reduction of warnings.
- Fixed loadbalancer bug that occurred when inserting only very little data into an octree.
- Fixed bug in extraction of Octree data.
- Fixed color gradient along Z-Axis in viewer.
- Fixed overwrite of Swept-Volume subvolumes via provider in the Viewer.
- Fixed heaps of compiler warnings (Thanks to Felix Mauch).
- Renamed MapTypes to more understandable names.
- Implemented disk-reader and writer for generic Voxelmaps.
- Simplified file loading of pointclouds.
- Moved some math functions to more general file.
- Moved some DH computation code in preparation for URDF support.
- Reimplemented function to move focus point in Viewer.
- Removed dead code and dead files.

V 0.51 (2015-04-24):
====================
- Synced readme files.

V 0.6 (2015-04-24):
===================
- Fixed crahses of octree_provider command line interface resulting from race-conditions.
- Fixed flickering in Visualizer when drawing more then one Octree. Resulted from same race-conditions as above.
- Corrected axis order in visualizer console output.
- Fixed model loading path when not using GPU_VOXELS_MODEL_PATH
- Changed argument handling in command line interface for loading models from PCD only to more general pointcloud files.

V 0.7 (2015-06-10):
===================
- Added URDF parser and interfaces to load ROS robots.
- Added URDF example program with HoLLiE robot model and URDF file.
- Unified API for DH-Parameter and URDF robots.
- Added name lookup to MetaPointClouds.
- Restructured CMake files to generate more descriptive report about missing libs.
- Fixed missing thrust include.
- Fixed color gradient in visualizer.
- Fixed DH transformations for prismatic links.

V 0.71 (2015-06-10):
====================
- Updated this changelog.

V 0.8 (2015-11-09):
===================
- Compiles with CUDA 7.5
- Added Voxellists as new Datatype
    - Huge speedup compared to Voxelmaps with sparse data.
    - Added Bit-Shifting-Collisionchecks (Thanks to Felix Mauch)
    - Added Bit-Margin for Bitvoxel Collisionchecks (Thanks to Felix Mauch)
- General:
    - Removed superficial memory allocation from Voxelmap.
    - Added script to automatize binvox mesh voxelization
    - Improved PrimitiveArrays update speed when number of primitives stays constant.
    - Removed heaps of compiler warnings (Thanks to Christian Juelg)
    - Various Bugfixes, mainly in collision Kernels
- Renamings / moved code:
    - HighLevel-API: Added "merge" function.
    - CudaMath now longer requires an instance. Now it is a namespace.
    - VoxelType ==> BitVoxelMeaning
    - Fixed standard CTORs of basic datatypes for CUDA shared memory allocation.
    - Moved voxels to gpu_voxels namespace
    - Removed seom missleading typedefs
    - Moved Voxel definitions to own subfolder.
    - Removed dead code fragments.
- Octree:
    - Adapted to new API.
    - Removed its own voxellist. Now uses more general Voxellist.
    - Removed VoxelTypeFlags and replaced them by more general bitvectors.
    - Simplified Octree selftests and triggered them by Boost-Test.
    - Dropped CUB lib. Now using CUDAs version from Thrust.
- Robot representation:
    - Enhanced robot interface (jointnames and min max angles).
    - Restructured inheritance of robot implementations.
    - Fixed install of robot headers.
- Visualizer:
    - Updated Visualizer to new API.
    - Added new function to move cam in plane.
    - Switched from Octree to more general Cubelist interface,
      as this can also be used to visualize Voxellists.
    - Visualizer now cleans Shared-Mem files.
    - Added Script to generate color gradient config files for visualizer.
    - Fixed a bug in drawing the grid
- Example programs and Testcases:
    - Updated examples to new API.
    - Added more Boost-Tests.
    - Reordered model files.
- icl_core and basic libs:
    - Added performance monitor docu
    - Some new cmake magic
    - Improved ringbuffer
    - New Doxygen version.
    - Tinyxml cmake updated.
    - Added missing Findscripts for OpenNi.

V 0.81 (2015-12-14):
====================
- Fixed severe Bug in MetaPointCloud::updatePointCloud() that lead to Segfaults.
- Implemented new functions for VoxelLists:
    - Equality check (Mainly for Boost-Tests)
    - Subtraction (Bool operation)
    - Collisioncheck that counts the collisions per Voxel-meaning.
    - ShrinkToFit: Frees preallocated Thrust memory
- Fixed error handling when reading and writing all data structures.
- Added more Boost testcases.
- Fixed URDF robot rendering when for collision meshes.
- Made some const functions const.
- Visualizer:
    - Improved python script to generate color gradients for Visualizer configfiles.
    - Made Voxellist Voxels clickable
    - Enhanced reliability of Visualizer (Thanks to Christian Juelg)
    - Added slicing functionality to Visualizer (Thanks to Christian Juelg)
- Improved voxelize.sh script to delete intermediate files.

V 0.82 (2016-02-12):
====================
- Fixed severe Bug in the locking of Voxellists. Warning: This only concerns VoxelLists.
- Added collision check between ProbabilisticVoxelMaps and VoxelLists.
- Added transform functionality to MetaPointClouds and removed it from Robot classes.
- Fixed Vec3ToMat4() function.
- Implemented Deep-Copy operator for MetaPointClouds.
- Implemented Pointcloud-Offsets for geometry entities of URDF models.
    - Warning: Only translation, NO rotation available here!
- Added new struct to describe oriented boxes.
- Added new file for helper functions to generate pointclouds from geometric primitives.
- Fixed RPY rotation matrices.
- Added Boost testcase for shifted collision checks.
- Added script to generate Visualizer configuration with random colors for SweptVolume IDs.
- Refined the models of the SVH with 0.4 mm resolution.

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:
- Added enlarged UR5 model
- Updated list of contributors
- Compiles with Ubuntu 16.04
    - Added CMake macro to remove VTK defines
    - Required lib glm fix: https://github.com/g-truc/glm/issues/530

V 0.91 (2016-09-14):
====================
- Added example which shows how to link against GPU-Voxels.
- Fixed a bug in the default collider regarding thresholds of probabilistic voxels.
- Added code to visualize pointclouds as Primitive-Arrays.
- Enhanced static Doxygen pages.

V 0.92 (2016-09-16):
====================
API breaking changes:
- Restructured CUDA datatypes and their math functions:
    - Removed CudaMath and put all functions into the datatypes.
    - Split CUDA datatypes into Vectors and Matrices.

Minor changes:
- Switched readme file format to Markup
- Deleted some examples that were not usable.
- Removed PointCloudOperations as they were unused.

V 0.93 (2016-12-24):
====================
API breaking changes:
- Multiplying a vector<int> with an int scalar now gives a vector<int>
- Removed offset when colliding VoxelLists as implementation was faulty
- Unified CTor of VoxelLists and VoxelMaps
- Unified spelling of insertPointcloud ==> insertPointCloud

Major changes:
- Added DistanceField calculations (thanks to Christian Jülg)
    - New DistanceVoxelMap type
    - Re-implementation of the Parallel Banding Algorithm (Original by Cao Thanh Tung)
    - Added according example and test cases
- Added BitMasked collision check and testcase for BitVoxels
- Implemented a HeighMap loader to populate 3D worlds from Bitmap files
- Added insertPointCloudIntoMap() to HighLevel-API
- Added collision functions between BitVectorVoxelList and BitVectorVoxelMap
- Improved Mutex-Locking (thanks to Christian Jülg)
    - No more busy waiting
    - Recursive locking now possible
- Reworked Boost-Tests to function as Benchmarks (Thanks to Herbert Pietrzyk)
- Improved BitVector code
    - Fixed error in Bit-negation
    - Added according testcase
- Fixed defaultCollider for BitVoxels (counted eBVM_FREE as collision previously)

Minor changes:
- Added screendump function for VoxelLists
- Fix in CMake to export CUDA dependency
- Restructured optional dependency management
- Improved the handling of warnings within Kernels (less printf spam)
- Visualizer config files: Added option to set color for all BitVoxelMeanings at once
- Consistently using RPY for geometry generation (instead of YPR formerly)
- Improved BitVoxelLists operations
    - Thrust performance optimization
    - Added according testcase

Other changes:
- Now compiles with CLang (fixed ambigous names)
- Improved docs
- Improved tescases for VoxelLists
- Fix for CUDA 7 on Ubuntu 16.04 (-D_FORCE_INLINES)
- Added UR10 & Robotique FTS model (10% larger, voxelized at 4mm)
- Added Pelican UAV model
- Corrected copy paste errors in CMake IC_BUILDER defines
- Removed own source version of TinyXML: Now using system lib
- Updated icmaker build tools
- Updated QT include dirs in icl_core
- icl_performance_monitor got some new functions

V 1.0 (2017-04-27):
====================
Added mouse GUI for visualizer (GVL4TW edition)

API breaking changes:
- PrimitiveArrays
  - Fixed the interface by adding metric AND Voxel commands. Fixes issue 41.
  - Renamed the enums for the PrimitiveArray types.

Major changes:
- Changes in CUDA CMake setup
- addMap() now returns a GpuVoxelsMapSharedPtr. Fixes issue 43.
  Throws a std::string in case of error (thanks to Herbert Piertrzyk).
- Generalized collide function of VoxelLists to work with VoxelMaps. Fixes issue 33.
- Fixed relative paths in URDF loding. Fixes issue 30.
- Visualizer:
  - Added a Right-Click-Menu in the visualizer (thanks to Herbert Piertrzyk). Fixes issue 35.
  - Added a bunch of info text overlays (thanks to Herbert Piertrzyk). Fixes issue 26.
- Implemented converter to create BitVectorVoxels from DistanceVoxels.
- Added a scaling function for PointClouds.

Minor changes:
- Improved API stability for DistanceMap computation (Thanks to Christian Jülg).
- New boost test cases:
  - Transformation of PointClouds
  - Collide functions for VoxelLists with VoxelMaps
  - Improved tests for DistanceMaps
- New examples:
  - PrimitiveArray interfaces
- Added div operator for Vector3i / float
- Added mul operator for Vector3f * Vector3f
- Added abs operator for Vector3f
- Added setters for rotations and translations for Matrix4f
- Fixed the SharedMemory transactions between Provider and Visualizer
- Right click info for Voxels in visualizer now also works on VoxelLists

Other changes:
- New coarse model of the SCHUNK SVH hand
- Documentation updates
- More CMake output, when libs can not be found

V 1.1 (2018-02-05):
====================
New Year Release: 
Lots of fixes and better C++11 compatibility. Partial Cuda 9.1 support.

Known issues:
- Octrees are broken on Pascal GPUs
  - confirmed on Titan Xp and GTX 1080 Ti
- the GLM in Ubuntu 16.04 has to be patched to allow usage of the visualizer.
  - see https://github.com/g-truc/glm/issues/530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch
- Cuda 9.1
  - many incompatibilities are fixed, but there are still failing tests in the voxellist and octree test-suites

API breaking changes:
- GpuVoxels
  - addMap returns null-initialized shared_ptr if map already exists
  - lockSelf, lockBoth & Co removed, replaced by exception-safe lock_guard
  constructs to improve debugging
- TinyXML
  - use system version from APT package libtinyxml-dev

Major changes:
- Changes in CUDA CMake setup
  - uncomment SET(CMAKE_CXX_STANDARD 11) at the top of CMakeLists.txt to activate C++11 mode
  - set -maxrregcount=63 to avoid errors on desktop GPUs with 1024 threads per block
  - always use ICMAKER_CUDA_CPPDEFINES to pass parameters to nvcc
- Added OMPL planning example gvl_ompl_planning  (Thanks to Andreas Hermann)
  - requires C++11
  - incompatible with GPU-Voxels built with PCL 1.7
- Added model "ur10_coarse" voxelized at 9mm
- Added CountingVoxelList to offer pointcloud density filtering  (Thanks to Herbert Pietrzyk)
  - Use remove_underpopulated(minimum_count) to remove outliers
  - Use subtractFromCountingVoxelList to remove the robot and static objects
- Added BitVoxelMap collision with ProbVoxelmap
- ProbVoxelMap
  - insert() parses BitVoxelMeaning to allow freeing single voxels
  - SVCollider checks for noneButEmpty instead of isZero
- Fix CUDA 9 incompatibilities, issue 63
  - version macro
  - cub namespace
  - __ballot vs __ballot_sync

Minor changes:
- DistanceVoxelTest uses double buffering of DistanceVoxelMap to avoid flickering
- ProbVoxelMap: Speed up the clearing of ProbVoxelMap by using memset instead of ctor calls for every voxel
- C++11 fixes
  - icl_core_logging operator<< stringstream bug
  - various fixes collected by dybedal in issue 55
- VoxelList collision
  - added test cases and examples
- fixed memory leaks in TemplateVoxelList
- fixed PCL dependency of examples and helpers, see issue 61
- fix computeLinearLoad returning grid and block size 0
- added many checks after kernel launches to improve error discovery

Other changes:
- Documentation updates

V1.1.1 (2018-02-05):
====================
Fix gvl_ompl_planner missing icl_core includes


V1.1.2 (2018-02-07):
====================
Cuda 9.1 support: all tests pass.
- Fix Cuda 9.1 linking problem that break voxellist code using Thrust CUB.

Known issues:
- Octrees are broken on Pascal GPUs
  - confirmed on Titan Xp and GTX 1080 Ti
- the GLM in Ubuntu 16.04 has to be patched to allow usage of the visualizer.
  - see https://github.com/g-truc/glm/issues/530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch

Minor changes:
- added synchronization points after some voxellist Thrust calls
- removed obsolete explicit Kinect.cpp references in src/examples
- define GLM_ENABLE_EXPERIMENTAL in Primitive.h to fix issue #55

V1.2.0 (2018-05-01):
====================
Self-Collision checks, ProbVoxelMap raycasting, distance extraction, VoxelList bounds checking

Thanks to Andreas Hermann for these additions:
- Implemented self collision checks. Also added an example and a testcase. Fixes #67 and resolves #68
- Improvements and fixes for prob voxels. Resolves #69
- Added example and vis config file
- Moved conversion from float to Probability to ProbabilisticVoxel
- Fixed the updates of probabilistic voxels.
- Added example about constructing a distance map from a probabilistic map
- Added a raycasting example. Resolves #70
- Rewrote the insertSensorData() function to resemble the current interfaces.
- Deleted old sensor / environment map code.
- Moved cSENSOR_MODEL_FREE and cSENSOR_MODEL_OCCUPIED to the common defines.
- Removed unnecessary meaning checks in ProbabilisticVoxelMap
- Added a missing template instance for the sensor model.
- Corrected all VisConfig files from the examples.
- Fixes in the visualizer for probability voxels and SWEPT_VOLUME_END

Possibly breaking changes:
- Added TemplateVoxelList::remove_out_of_bounds functionality.
- Always check for VoxelList map dimensions when inserting PointClouds into VoxelLists. Old behavior was not to check at all.
- Added mapToVoxels(linear_id, coords) to VoxelMapOperations. Available for host code too.
- Removed "linearIndexToCoordinates"
- Changed Logging in computeLinearLoad: 
  - Inputting 0 items generates a warning now and lead to one block with one thread. 
  - More than 64M items create an error message and only cMAX_NR_OF_BLOCKS blocks.

Additional changes:
- Added DVM::get(Squared)Distances(ToHost) functions: extract distance value for voxels at selected indexes
- Implemented TemplateVoxelList.merge(CountingVoxelList)
- Added TemplateVoxelMap::gatherVoxelsByIndex as basis for getDistances
- Added TemplateVoxelList::copyCoordsToHost
- Added test countingvoxellist_merge_into_bitvectorvoxellist_minimal
- Added test distance_extraction
- Fixed memory management for URDF RobotLink

Known issues:
- Octrees are broken on Pascal GPUs
  - confirmed on Titan Xp and GTX 1080 Ti
- The constant cMAX_NR_OF_BLOCKS is currently limited to 65535, while current CUDA devices support over 2 billion blocks
  - relevant during computeLinearLoad calls and collision checking
- the GLM headers provided by Ubuntu 16.04 have to be patched to allow usage of the visualizer.
  - see https://github.com/g-truc/glm/issues/530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch


V1.2.1 (2018-08-28):
====================
Octree and 18.04 bugfixes, insertCoordinateList and geometry generation with integer coordinates.

Important Bufixes:
- Octrees issues on Pascal GPUs have been fixed. Fixes #60. Thanks to Florian!
- Icmaker updated to avoid issues on CMake 3.6.2 and newer. Fixes #58
- Fix Boost 1.65.1 compatibility issues for Ubuntu 18.04
- Fix CUBIN compilation in code=sm_** settings. Thanks to @r2b0 and Florian! Fixes #73 and #54

Known Issues:
- the GLM headers provided by Ubuntu 16.04 have to be patched to allow usage of the visualizer.
  - see https://github.com/g-truc/glm/issues/530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch
- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer
  - produces runtime error "PTX JIT compilation failed"
- Eigen 3.3.4 and 3.3.5 issue with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x".
  - Can be fixed by using latest unstable version of Eigen
- The constant cMAX_NR_OF_BLOCKS is currently limited to 65535, while current CUDA devices support over 2 billion blocks
  - relevant during computeLinearLoad calls and collision checking

Possibly breaking changes:
- TemplateVoxelList::getDimensions returns (size,1,1) instead of (size,0,0)
  - Important: TemplateVoxelList::getDimensions does not depend on m_ref_map_dim, unlike TemplateVoxelList::getMetricDimensions!

Additional changes:
- New example: GeometryGeneration showcases 
- New function GpuVoxelsMap::insertCoordinateList and geometry generation with integer coordinates 
  - Example: geometry_generation::createBoxOfPoints(corner_min, corner_max, delta, side_length);
  - Available for maps, lists and octrees. Can create boxes, spheres and cylinders. Thanks to Herbert for his contribution!
- GpuVoxels::insertBoxIntoMap now uses the integer coordinate based creation and insertion functionality, avoiding discretization issues
- Remove warnings regarding logging and visualizer initialization. Fixes #72
- Fix visualizer warning by always creating the shared memory segment on initialization. Fixes #72
- Removed unused shader loading code
- Updated URDF code for compatibility with new ROS releases

V1.2.2 (2018-08-29):
====================
Fix missing CUDA include and link directive in gvl_ompl_planner and example_howto_link


V1.3.0 (2019-01-07):
====================
CUDA 10.0 and Ubuntu 18.04 compatibility. Use C++11 by default. Add
ROS-connected DistanceROSDemo example. Improve Visualizer Shared Memory error handling.

Major changes:
- Added DistanceROSDemo to show-case a ROS node subscribing to PCL point-clouds.
- Implemented additional merge functions
  - Added TemplateVoxelMap.merge(TemplateVoxelList)
  - Added functions to merge TemplateVoxelList into BitVoxelList and CountingVoxelList;
- Added TemplateVoxelMap::clone and TemplateVoxelList::clone, was previously
only available in DistanceVoxelMap
- Added functions that implement the morphological operations Closing, Dilation and Erosion
- Added function getCenterOfMass to TemplateVoxelList and TemplateVoxelMap
- Added BitVoxelList::copyCoordsToHostBvmBounded: allows the selective copy of voxels with BitVoxelMeanings in a given range
- Updated icmaker and icl_core to fix issues with new Boost and CMake versions

Possibly breaking changes:
- C++11 support is active by default. The new "indigo" branch has C++11 deactivated by default, is identical otherwise
- changed BitVoxelList::findMatchingVoxels signature:
  - Implicitly set argument list1 to 'this'.
  - Add option omit_coords: if true, output VoxelLists will only contain voxel IDs and data but the coord_list will be empty (default). If set to false, voxel coordinates will also be copied to the output lists.

Additional changes:
- gvl_ompl_planner:
  - fixed collision check threshold value
  - updated comments and logging output
- gvl_ompl_planner: added comment regarding LD_LIBRARY_PATH
- fix MetaPointCloud name unknown for robot links without geometry
- updated stb_image.h to version 2.19
- fix ROS&Urdf CMake discovery issue
- add tests for TemplateVoxelList and TemplateVoxelMap clone
- add hollie_from_pointcloud2.pcd for example DistanceVoxelTest.cpp
- fix a CountingVoxelList visualization issue

Known Issues:
- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
  + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
  + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
  + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). 
  + Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
- The GLM headers provided by Ubuntu 16.04 have to be patched to allow usage of the visualizer.
  - see https://github.com/g-truc/glm/issues/530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch
- The constant cMAX_NR_OF_BLOCKS is currently limited to 65535, while current CUDA devices support over 2 billion blocks
  - relevant during computeLinearLoad calls and collision checking

V1.3.1 (2019-01-17):
====================
Fix findMatchingVoxels usage of binary_search. Could cause segfaults before.