CHANGELOG.rst

Changelog for package mp2p_icp

1.6.5 (2025-01-28)

• Add GitHub actions
• Add pole-detector filter
• mm-filter app: add --load-plugins flag too
• Add sanity check assert in FilterDeskew
• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2024-12-18)

• merge two docs pages in one to shorten the docs TOC
• Update README.md: Mark ROS2 Iron as EOL
• Also use TBB for parallel solving point-to-plane pairings
• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2024-11-11)

• icp-log-viewer: also reduce GUI refresh rate
• mm-viewer: avoid useless GUI refresh (CPU usage reduction)
• txt2mm: Add input filter xyzrgb
• mm-viewer: add a 'fit view to map' button
• New cli app rawlog-filter
• FilterCurvature: better handling scans with <=3 points in some rings
• new subcommand 'sm-cli tf'
• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2024-09-14)

• Expose << and >> operators for geo-reference data structures
• Fix missing build_dep
• Contributors: Jose Luis Blanco-Claraco

1.6.1 (2024-09-11)

• Fix missing catkin buildtoo_depend for ROS1 builds
• Update RTTI macros for upcoming MRPT 2.14.0
• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2024-09-08)

• Port Point2Plane matcher to use the new NN-for-planes API
• mp2p_icp_map library: add NearestPlaneCapable virtual API
• cmake: move from glob expressions to explicit lists of source files
• clarify eigenvalues order in headers
• Contributors: Jose Luis Blanco-Claraco

1.5.6 (2024-09-07)

• sm2mm cli: show map contents before writing to disk
• add another demo sm2mm file for the mola tutorials
• Add another sm2mm demo file w/o deskew for the mola mapping tutorial
• Matcher_Point2Plane: fix build error in armhf
• Fix build with embedded mola_common
• README: Add ROS badges for all architectures
• Contributors: Jose Luis Blanco-Claraco

1.5.5 (2024-08-27)

• Explicitly add tbb as dependency in package.xml
• Depend on new mrpt_lib packages (deprecate mrpt2)
• FIX: build errors in armhf arch
• Contributors: Jose Luis Blanco-Claraco

1.5.4 (2024-08-20)

• Do not use Eigen::Vector for compatibility with Eigen3 <3.4 in ROS Noetic
• Contributors: Jose Luis Blanco-Claraco

1.5.3 (2024-08-20)

• Re-add ROS1 Noetic as supported distribution
• Generator sanity check asserts: more informative error messages
• sm-cli: new command 'join' to merge simplemaps
• icp-log-viewer UI: new keybind 'I' to switch initial/final pose
• icp-log-viewer UI: add option to visualize voxelmaps empty space
• Contributors: Jose Luis Blanco-Claraco

1.5.2 (2024-07-24)

• Add sm2mm yaml example for dynamic/static obstacles
• Update sample sm2mm pipelines to use de-skew
• docs: add mm-filter example
• Fix pointcloud ptr typo
• More safety sanity checks added in mm-viewer and sm2mm
• BUGFIX: Generator should not create empty maps for GPS observations
• Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López

1.5.1 (2024-07-03)

• Update docs
• ICP: Add optional functors for before-logging maps
• icp-log-viewer UI: fix potential out-of-range exception when autoplay is on
• FilterAdjustTimestamps: add new param 'time_offset' useful for multiple LiDARs setups
• Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-06-21)

• ICP: Add optional user-provided per-iteration hooks
• Add new filter: FilterByRing
• Add new filter: FilterAdjustTimestamps
• Add sanity checks for point cloud fields.
• Fix typo in default class for FilterDeskew
• generators API: add bool return type to detect if observation was actually processed
• generic Generator: handle velodyne observations so timestamps are generated
• Contributors: Jose Luis Blanco-Claraco

1.4.3 (2024-06-11)

• Add pointcloud_sanity_check() auxiliary function
• Generator: more DEBUG level traces
• BUGFIX: FilterDeskew generated buggy output points if the input does not contain timestamps
• Add sanity checks for point cloud fields
• ICP log records now also store the dynamic variables. icp-log-viewer displays them.
• ICP log files: automatically create output directory if it does not exist
• Update ros2 badges (added Jazzy)
• Contributors: Jose Luis Blanco-Claraco

1.4.2 (2024-05-28)

• mm-viewer: add check-all, check-none to layer filters
• Add new filter: FilterRemoveByVoxelOccupancy
• mm-viewer: camera travelling keyframes-based animations
• mm-viewer: navigate the map with keyboard arrows; add a load button
• mm-viewer: can now also draws a TUM trajectory overlaid with the map
• UI apps: smoother rendering
• icp-log-viewer and mm-viewer: the UI now has a XYZ corner overlay
• sm-cli: command "export-kfs" now has an optional flag '--output-twist'
• FilterDeskew: ignore empty input maps
• More debug-level traces
• deskew filter: Fix case of variable names in docs
• sm-cli app: Add new command 'trim' to cut simplemaps by bounding box
• mm-viewer: show mouse pointing coordinates
• Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-05-19)

• Fix build for older mrpt versions
• ICP pipelines: Implement loading quality_checkpoints parameter from YAML config file
• Quality evaluators: add the option for 'hard discard'
• Update QualityEvaluator_Voxels to use prebuilt voxel layers from input maps. Add unit tests.
• BUGFIX: Fix deserializing georeferenced .mm files stored in <1.4.0 format
• ICP: quality evaluators can now have formulas in their parameters too
• mm-viewer and icp-log-viewer: extend zoom range so maps of tens of kms can be viewed at once
• Contributors: Jose Luis Blanco-Claraco

1.4.0 (2024-05-06)

• Update commit for robin-map to latest version (patch contributed upstream)
• icp-log-viewer: UI now has a slider for each map point size
• ICP: Add a new quality_checkpoint parameter to early abort ICP attempts
• georeferenced maps: T_enu_to_map now has a covariance field
• mm-viewer: display ENU frame too
• Contributors: Jose Luis Blanco-Claraco

1.3.3 (2024-04-30)

• Add minimum_input_points_to_filter option to FilterDecimateVoxels
• FIX: QualityEvaluator_PairedRatio throws when one of the reference maps is empty
• FIX BUG: Won't try to match 2D pointclouds if their height is different
• Clarify comments in metricmap.h about geodetic references
• Fix printing metric_map_t contents when it only has a gridmap
• Fix potential dangling references (g++ 13 warning)
• Fix potential use of uninitialized point index
• Bump cmake_minimum_required to 3.5
• Contributors: Jose Luis Blanco-Claraco

1.3.2 (2024-04-22)

• tsl::robin_map library is no longer exposed neither in the public API nor as public headers (PIMPL pattern) This is to prevent Debian-level collisions with other packages also exposing it.
• add first icp-log-viewer docs
• Contributors: Jose Luis Blanco-Claraco

1.3.1 (2024-04-16)

• mm-viewer and icp-log-viewer: saves UI state in persistent user config file
• FIX: missing UI refresh when clicking showPairings checkbox
• renamed apps for less verbose names: icp-run, icp-log-viewer
• ICP core now defines a variable ICP_ITERATION for use in programmable formulas in pipelines
• icp-log-viewer: much faster rendering of ICP iteration details
• mm-viewer: fix bug in calculation of bounding box
• Merge docs with main MOLA repo
• Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-03-10)

• mm-viewer: new options to visualize georeferenced maps
• New sm-cli commands: --cut, --export-keyframes, --export-rawlog
• propagate cmake deps downstream
• metric_map_t: add georeferencing optional field
• mm-filter: add --rename operation
• GetOrCreatePointLayer() moved to its own header and uses shared ptrs
• FilterMerge: add param input_layer_in_local_coordinates
• Contributors: Jose Luis Blanco-Claraco

1.2.0 (2024-02-16)

• Add new apps: sm-cli, mm-info, txt2mm, mm2txt, mm-filter
• Improved documentation.
• new filter FilterByIntensity
• FilterNormalizeIntensity: add option for intensity range memory
• FilterByRange: renamed params to simplify them (removed param 'keep_between')
• FIX: missing intensity channel in decimate voxel when using some decimation methods
• sm-cli: new subcommand 'level' to maximize the 'horizontality' of built maps
• add optional profiler to filter pipelines
• Contributors: Jose Luis Blanco-Claraco

1.1.1 (2024-02-07)

• MergeFilter: now also handles CVoxelMap as inputs
• more memory efficient defaults
• FilterCurvature: now based on ring_id channel
• Use hash map min_factor to speed up clear()s
• add missing hash reserve
• PointCloudToVoxelGridSingle: Fix wrong initialization of point count
• Contributors: Jose Luis Blanco-Claraco

1.1.0 (2024-01-25)

• FilterDecimateVoxels: Replace 3 bool parameters with an enum
• Fix clang warnings
• Save and visualize ICP step partial solutions
• QualityEvaluator_PairedRatio: now does not require parameters
• Add filter: Bonxai VoxelMap -> 2D gridmap. Bayesian filtering of voxel columns
• Generator: allow defining custom metric maps directly in the YAML configuration
• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-01-20)

• Gauss-Newton solver: Add optional prior term
• Added FilterMerge and modifications to allow sm2mm to build any type maps
• sm2mm: add option for lazy-load external directory
• Decimate filter: add flatten_to option to efficiently convert 3D->2D point clouds
• FilterBoundingBox: parameter name changed for clearer split of inside / outside bbox
• Deskew: add option to bypass de-skew operation
• bump minimum required mrpt version
• Better coloring; add option to export mm layers
• Use new mrpt api to propagate point properties; add final_filter stage to sm2mm
• sm2mm: add verbosity flag
• bbox filter: allow processing variables too
• Introduce robot_{x,y,z} variables
• Better mm-viewer; update sm2mm demo file
• Progress with RST docs
• Add missing robotPose argument to generators; progress with mm-viewer
• Add sm2mm app
• Add FILE attribute to license tag
• More dynamic parameters
• fix print format
• Add Deskew filter
• update CI to u22.04
• Introduce Parameterizable interface
• New layers: create of the same input cloud type
• Add FilterCurvature
• filter: optional additional layer for deleted points
• FIX: important error in robust gradient
• expose GN params as public
• new generators and filters
• Filters: use tsl robin_map, faster than std::unordered_map
• prefer nn_radius_search() to exploit nanoflann rknn
• Minor UI updates
• gui: autoplay
• estimate_points_eigen.h moved to the mp2p_icp_map library
• Solvers: add option to select by correction magnitude
• add [[nodiscard]] to generator API
• Add specialized implementation of voxelize for 1 pt/vx
• add Cauchy robust kernel
• Add support for TBB for parallelization
• add angularThresholdFactor; add max plane-to-pt distance
• viewer UI: show number of points per layer
• Prefer Teschner's spatial hash
• Use nn_single_search() when possible
• viewer: add follow local checkbox
• Add new filter: FilterDecimateVoxelsQuadratic
• FilterDecimateVoxels: new option use_closest_to_voxel_average
• FilterDecimateVoxels: new param use_random_point_within_voxel
• less unnecesary mem allocs
• generator: create map layers first, then filter by observation name/class filter
• port to NN radius search
• add "enabled" property to base Matcher class
• Solvers: add property 'enabled'
• Add robust kernels to GN solver
• Add optional profiler to ICP
• New parameter decimationDebugFiles
• Add plugin option to viewer
• VoxelFilter: is now ~7 times faster and does not need a bounding box parameter, thanks to using an associative container.
• viewer: add new flag -f to load one single log file
• viewer: increase slider range for max far plane
• Options to recolorize maps in icp log viewer
• Fix regression in rendering options for point clouds
• Matcher: new parameter bounding_box_intersection_check_epsilon
• New env var MP2P_ICP_GENERATE_DEBUG_FILES can be use to override generation of icp log files
• BUGFIX: Ignored sensorPose for Generator::filterPointCloud()
• Allow ICP matching against voxel metric map types
• mp2p_icp_filters::Generator now can create a map from a generic INI file (e.g. voxelmaps)
• fix references to old pointcloud_t -> metric_map_t
• Remove support for MRPT<2.4.0
• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

• Fix missing cmake dependencies between libraries
• Update mola_common
• Refactor into a new small library mp2p_icp_map with just the metric_map_t class
• sync mola_common submodule
• Update submodule mola_common
• Remove redundant section
• Update ROS badges
• Contributors: Jose Luis Blanco-Claraco

0.2.1 (2023-09-02)

• Update copyright date
• Update to new name of mola_common
• update ros badges
• Contributors: Jose Luis Blanco-Claraco

0.2.0 (2023-08-24)

• First release as MOLA submodule.

0.1.0 (2023-06-14)

• First official release of the mp2p_icp libraries
• Contributors: FranciscoJManasAlvarez, Jose Luis Blanco-Claraco