Changelog

This page aggregates the changelogs from the most relevant MOLA repositories:

Changelog for package mola_bridge_ros2

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

  • fix clang-format

  • Implement publishing of optional “metadata” map field too

  • Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

  • Fix: Do not use the deprecated ament_target_dependencies()

  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-05-25)

  • Update license tag to “BSD-3-Clause”

  • Update copyright year

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

1.6.4 (2025-04-23)

  • fix: Correctly handling Livox cloud timestamps (“double”s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.

  • modernize clang-format

  • Merge pull request #82 from ahpinder/develop Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion

  • fixed Clang formatting

  • Clean up voxel map publishing code

  • Added voxel map point cloud publishing Added code to timerPubMap to publish the occupied voxels of a mrpt::maps::CVoxelMap as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture

  • Contributors: Jose Luis Blanco-Claraco, ahpinder

1.6.3 (2025-03-15)

  • clang-tidy: const correctness

  • Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator

  • FIX: Potential deadlock in initialization

  • Contributors: Jose Luis Blanco-Claraco

1.6.2 (2025-02-22)

  • Implement publish Diagnostics per mola module & ROS2 publishers refactored (code clean up)

  • BridgeROS2: add source filter for forwarding localization updates to ROS2

  • ROS2: base_footprint_frame /tf is broadcasted now as base_link -> base_footprint to avoid /tf warnings (better as a child than as a second parent in the tf tree)

  • FIX: In parsing base_footprint_to_base_link_tf

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

1.6.1 (2025-02-13)

  • Add new option: publish_tf_from_slam; add better docs on the meaning of all parameters

  • Publish georef /tf as /tf_static

  • ROS2 bridge now publishes georeferenced map metadata as /tf’s and as mrpt_nav_interfaces/GeoreferencingMetadata

  • Revert “Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging” This reverts commit 8a84611d85022f37b80d8bdcb7acaa1910669fc1.

  • FIX: wrong variable in former commit

  • Merge pull request #75 from MOLAorg/feature/mrpt-to-ros-console Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging

  • Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging

  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

  • Publish gridmaps too

  • ros2 bridge: rep105 only for map->base_link tfs

  • BridgeROS2: support forwarding more than one localization message per timer call

  • Fix published /tf’s: those from LocalizationSources now can explicitly define their parent and child frames

  • Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

  • BridgeROS2: add option (now enabled by default) to publish /tfs following REP105 order

  • BUG FIX: Published odometry msg lacked target frame_id

  • Rename method for better reflecting its goal

  • Contributors: Jose Luis Blanco-Claraco

1.4.0 (2024-12-18)

  • Publish localization quality topic

  • Forward –ros-args to BridgeROS2

  • expose services for runtime parameters

  • Load relocalize_from_topic from yaml file

  • ros2bridge: handle /initialpose topic -> relocalize service

  • Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

  • Support publishing IMU readings MOLA -> ROS2

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

  • BUGFIX: Prevent potential race condition

  • Contributors: Jose Luis Blanco-Claraco

1.2.0 (2024-09-16)

  • sort <depend> entries

  • Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Merge pull request #65 from MOLAorg/add-more-srvs Add more Services

  • Offer ROS2 services for the new MOLA MapServer interface

  • clang-format: switch to 100 columns

  • ros2bridge: offer ROS2 services for relocalization

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • change ament linters to apply in test builds

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Fix GNSS typo

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • BridgeROS2: more robust /tf find_transform by using tf2::BufferCore

  • FIXBUG: inverse sensor poses in rosbag2 reader. Also: unify notation in C++ calls to lookupTransform()

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

  • update docs

  • Contributors: Jose Luis Blanco-Claraco

1.0.1 (2024-03-28)

  • BridgeROS2: do not quit on temporary /tf timeout

  • mola_bridge_ros2: option to publish /tf_static for base_footprint

  • mola_bridge_ros2: implement missing MOLA->ROS2 conversion for GNSS observations

  • BUGFIX: Inverted value of “use_fixed_sensor_pose” was used

  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-03-19)

  • Comply with ROS2 REP-2003

  • Merge ROS2 input and output in one module

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

Changelog for package mola_kernel

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

  • MapSourceBase: add a new optional field “metadata”

  • NavStateFilter interface: Now is a RawDataConsumer too

  • Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

  • Update Viz interface: add methods to run arbitrary Scene manipulation and camera orthographic mode

  • Update copyright year

  • fix reversed logic

  • clang-format fix

  • Add mola::Synchronizer for grouping observations

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

  • code clean up: remove useless dtors, and mark the required copy ctors as deleted

  • Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

  • fix: Correctly handling Livox cloud timestamps (“double”s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.

  • modernize clang-format

  • Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

  • ExecutableBase inteface: added diagnostics API

  • Contributors: Jose Luis Blanco Claraco

1.6.1 (2025-02-13)

  • mola_kernel: Add Georeferencing structure and add it to map updates

  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

  • Fix published /tf’s: those from LocalizationSources now can explicitly define their parent and child frames

  • LocalizationSources now can explicitly define both, their reference and child frames for each estimated pose

  • docs: add state estimation images

  • Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

  • NavStateFilter API: add estimated_trajectory()

  • Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

  • NavStateFilter Interface now also inherits from ExecutableBase for convenience

  • MinimalModuleContainer ctor should not be explicit

  • Add mola::MinimalModuleContainer

  • Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations

  • Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

  • MOLA system yaml files: added “enabled” optional property for modules and rds visualizers

  • Add field for localization quality

  • cmake: remove duplicated info message

  • ExecutableBase: Add support for runtime-configurable parameter API

  • mola-kernel Doxygen docs: add groups

  • Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

  • NavStateFilter interface: add API for merging GNSS observations

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

  • Update RTTI macros for upcoming MRPT 2.14.0

  • Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • add <mola_kernel/version.h> with a version-checking macro

  • Merge pull request #65 from MOLAorg/add-more-srvs Add more Services

  • Avoid cmake file glob expressions

  • mola_kernel: add MapServer interface

  • mola_kernel: add public symbols MOLA_{MAJOR,MINOR,PATCH}_VERSION

  • Update clang-format style; add reformat bash script

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • mola_kernel: add C++ virtual interface for relocalization methods

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Viz interface: add API for rotate camera

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

  • Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages

  • mola_kernel: renamed factor FactorConstVelKinematics

  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

  • viz: fix mismatched free/delete inside nanogui layout

  • Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Avoid global static objects

  • remove useless #include’s

  • Define Dataset_UI dtor/ctor in a separate translation unit

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

  • Remove now-useless build dependencies and includes for mola-kernel

  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-03-19)

  • add methods to query for subscribers

  • New interfaces

  • Refactor initialize()

  • mola_kernel: new UI interface for datasets

  • New option to shutdown automatically mola-cli after dataset ends

  • viz API: add enqueue_custom_nanogui_code()

  • mola_viz: show console messages

  • Correct usage of mola:: namespace in cmake targets

  • copyright update

  • mola_viz: support visualizing velodyne observations

  • Add look_at() viz interface

  • Fewer mutex locking()

  • dont force by default load() lazy-load observations

  • FrontEndBase: attach to VizInterface too

  • Fix loss of yaml key/values when using import-from-file feature

  • kitti eval cli moves to its own package

  • port to mrpt::lockHelper()

  • reorganize as monorepo

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Correct references to the license.

  • viz interface: new service update_3d_object()

  • Fix const-correctness of observations

  • FIX missing dependency on mrpt::gui for public header

  • Contributors: Jose Luis Blanco-Claraco

0.2.1 (2023-09-02)

  • Add virtual interface for dataset groundtruth

  • Update copyright date

  • Update to new colcon ROS2 build system

  • Contributors: Jose Luis Blanco-Claraco

Changelog for package mola_lidar_odometry

0.9.0 (2025-08-26)

  • FIX: bug in formula for pitch-roll initialization from IMU

  • Store local IMU velocity buffer in key-frame simplemaps

  • mola-lidar-odometry-cli: New CLI arguments to support datasets with IMUs

  • Implement precise IMU-based deskew (requires latest mp2p_icp library)

  • fix clang-format

  • Modernize copyright notices

  • rosbag2 mola-cli launch file: add MOLA_ROS2BAG_EXPORT_TO_RAWLOG_FILE optional env var

  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2025-06-06)

  • Publish mp2p_icp metric map metadata, if existing in loaded maps.

  • state estimation config yaml file: expose IMU sensor name env var

  • Update mola_lo_pipelines.rst: explicitly show an example of using the NDT pipeline

  • ros2 launch: add new argument to control the scan validity filter based on minimum point count (now, enabled by default)

  • Update broken link to ROS Index

  • mola-lidar-odometry-cli: now also forward raw sensor data to state estimator

  • Fix build against mola <1.8.0

  • Docs: better explain existing variables to override sensor poses

  • gui option: implement show as orthographic camera

  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2025-05-25)

  • feature: new threshold to discard state estimation as invalid if uncertainty is too high

  • Fixed unit tests in CI

  • Prepare GUI for ortho camera option

  • progress implementing init pitch/roll from IMU

  • pipelines YAML files reformated with RedHat YAML formatter

  • Update env var name to explicitly mention LO: MOLA_LO_INITIAL_LOCALIZATION_METHOD

  • docs: on initial localization methods

  • ROS2 launch: Add new mola_state_estimator_reference_frame argument. It should be used together with mola_lo_reference_frame to use an alternative reference map TF frame than the default map.

  • Fix wrong namespace in class name (it worked anyway because of a fall-back mechanism using unqualified names)

  • Expose env vars to change the reference frame_id for smoother (MOLA_TF_MAP)

  • fix: potential missing publication of updated poses if there is no map subscriber

  • lidar 3d pipeline: add rendering options for local map

  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2025-04-23)

  • better integration of clang-tidy, colcon_defaults, and clangd with vscode

  • Expose two more env vars: MOLA_MAP_CLOUD_DECIMATION, MOLA_ICP_CLOUD_DECIMATION

  • FIX: also initial pose for localmap

  • BUGFIX: Initial twist was wrong for custom initial poses

  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2025-03-15)

  • FIX: Handle correctly the case of input scans with non-normal numbers

  • docs: format of ros2 launch argument

  • FIX: reset map to start again might lead to divergence; Add new ‘reset_state’ command via MOLA dynamic variables

  • Force requiring valid poses for IMU and GNSS inputs

  • Refactor implementation source into several smaller files

  • FIX: mola-lo didn’t exit due to waiting ICP queue if fed faster than ICP processing

  • FIX: mola-lo-gui apps may show duplicated UI controls in particular circumstances

  • Drop frames warning message now tells the exact drop ratio

  • Initial localization method is now loadable from yaml or ros2 launch file

  • MOLA-LO no longer subscribes to wheels odometry. That is now delegated directly to state estimation modules.

  • Add new ROS2 launch argument: forward_ros_tf_odom_to_mola

  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2025-02-22)

  • Implement new mola_kernel diagnostics API

  • Ensure map is published after ROS2 bridge is already listening (FIXES: potential loss of map publication if MM map is given via env var)

  • FIX: Proper configurable dropped frames mechanism and stats

  • FIX: Update GUI, publish maps, correctly independently of whether MolaGUI is enabled

  • launch: fix localization source name

  • FIX: Do not ever reset the map when in localization mode

  • Fix: refresh GUI with initial map

  • Allow dropping LiDAR frames in too slow for real-time, but not any other observation type

  • FIX: ensure georef metadata is published when map_load service is called

  • rename kitti ros2 demo file to unclutter ros2 launch autocompletion

  • Add ros launch argument ‘use_state_estimator’

  • FIX: publish georeferencing metadata at start up

  • Add ROS2 launch arguments to select an state_estimator method

  • update citation

  • Add more params to smoother state estimation default YAML file

  • Add env variable MOLA_STATE_ESTIMATOR_PUBLISH_RATE to control filtered pose update rate

  • Add new env var MOLA_NAVSTATE_ENFORCE_PLANAR_MOTION and ros2 launch argument for it

  • Add new ros launch argument mola_footprint_to_base_link_tf

  • Fix expected pose format in yaml

  • ROS2 launch: shutdown if mvsim crashes

  • Fix parse error with default .mm and .simplemap launch arguments

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.6.2 (2025-02-13)

  • ros2 launch: add .mm and .simplemap optional initial map arguments

  • All exhaustive docs on ros2-related mola launch YAML files with the meaning of all BridgeROS2 parameter

  • Delegate publishing georeference info to BridgeROS2

  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2025-01-26)

  • Do not re-publish the map if it does not change, e.g. in localization-only mode

  • ros2 launch file: two new arguments ‘mola_lo_pipeline’ and ‘generate_simplemap’

  • Default 3D-LO pipeline: Add new env var ‘MOLA_LOCALMAP_LAYER_NAME’, useful when localizing with prebuilt maps

  • Merge pull request #12 from r-aguilera/develop fix launch file params

  • fix launch file params

  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera

0.6.0 (2025-01-21)

  • Fix: publish map on first iteration

  • Publish georeferencing frames (utm, enu) when loading a metric map with georef. info

  • ros2 lidar odometry launch: add ros argument for /tf reference_frame

  • ROS2 kitti Lidar-Odometry demo: fixed to publish correct /tf’s

  • Add new frame parameters to pipeline YAML files

  • Two new parameters (publish_reference_frame, publish_vehicle_frame), to have explicit control on frame names published to both, ROS, and the MOLA state_estimator

  • ROS2 service call for load_map(): more concise error messages

  • Contributors: Jose Luis Blanco-Claraco

0.5.4 (2025-01-16)

  • Add a debug helper env var MOLA_BRIDGE_ROS2_EXPORT_TO_RAWLOG_FILE

  • Do not reset the state estimator on a bad ICP, allowing merging from other sensors or extrapolating.

  • Docs: add missing ros2 launch args

  • More ROS2 launch arguments

  • Contributors: Jose Luis Blanco-Claraco

0.5.3 (2025-01-15)

  • FIX: mola_state_estimator_simple must be available as a build dep too for easier usage of mola-lo-cli

  • Contributors: Jose Luis Blanco-Claraco

0.5.2 (2025-01-11)

  • Merge pull request #11 from MOLAorg/10-bad-first-icp-re-starting-from-scratch-with-a-new-local-map Fix NaN pointcloud radius in doInitializeEstimatedMaxSensorRange()

  • Unit tests: add test run against MulRan dataset fragment (Lidar+IMU)

  • cli: fix name of example pipeline file when –help invoked

  • unit tests: fix wrong usage of state estimator yaml file

  • mola-lo-gui-mulran: show IMU & GPS data in GUI

  • Define a sensible value for maxRange

  • Fix cmake warning when built w/o mola_state_estimation_simple sourced in the env

  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2025-01-07)

  • mola-lidar-odometry-cli: add flags to select the state estimation method

  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2024-12-29)

  • cmake test logic: add find_package() for state_estimation_simple

  • Merge pull request #7 from MOLAorg/wip/new-state-estimators New state estimators (Merge after MOLA 1.5.0 is installable via apt)

  • Split state estimation params so each implementation has its own yaml file

  • CI: build against both, ROS testing and stable

  • Add new state estimator module in all MOLA-CLI yaml files

  • Update to new state estimation packages

  • Reorganization such as state estimator is now an independent external module

  • docs: add new ros-arg publish_localization_following_rep105

  • FIX: publish local map even when not active

  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2024-12-20)

  • ROS2 launch: add ros argument for new option publish_localization_following_rep105

  • rviz2 demo file: better orbit view

  • ROS2 config file: define env vars for all tf frames (odom, map, base_link)

  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2024-12-18)

  • demo rviz file: fix lidar topic name

  • Include /tf remaps too in ros2 launch

  • mola launch for ROS 2: Add placeholder for ros args parsing

  • mola launch for ROS 2: add env variables to quickly control verbosity of each module. Env. vars. are: MOLA_VERBOSITY_MOLA_VIZ, MOLA_VERBOSITY_MOLA_LO,MOLA_VERBOSITY_BRIDGE_ROS2 (Default: INFO)

  • Support for ROS2 namespaces in launch file

  • docs; and fix launch var typo

  • ROS 2 launch: add more ros args

  • move MOLA-LO ROS2 docs to the main MOLA repo

  • Expose one more runtime param: generate_simplemap

  • clarify docs on sensor input topic names

  • runtime parameters: update in GUI too

  • publish ICP quality as part of localization updates

  • mola module name changed: ‘icp_odom’ -> ‘lidar_odom’

  • Do not publish localization if ICP is not good

  • Expose runtime parameters using MOLA v1.4.0 configurable parameters: active, mapping_enabled

  • docs clarifications

  • map_load service: allow not having a .simplemap file and don’t report it as an error

  • FIX: motion model handling during re-localization

  • Implement map_save

  • reset adaptive sigma upon relocalization

  • Implement map_load; Implement relocalize around pose

  • Forward IMU readings to the navstate fusion module

  • CI and readme: remove ROS2 iron

  • Merge branch ‘wip/map_load_save’ into develop

  • docs: add ref to yaml extensions

  • Add docs on 3D-NDT pipeline and demo usage with Mulran

  • parameterize maximum_sigma

  • CLI: add flag to retrieve all twists in a file; avoid use of “static” variables

  • LO: Add a getter for the latest pose and twist

  • doc: explain “no tf” error message

  • tune 3D-NDT defaults

  • Kitti and Mulran evaluation scripts: extend so they can be run with other pipelines

  • ros2 launch: Add ‘use_rviz’ argument

  • NDT pipeline: expose max sigma as parameter too

  • Avoid anoying warning message when not really needed

  • Extend options for GNSS initialization

  • Add docs on mola-lo-gui-rawlog

  • Default pipeline: reduce density of keyframes in simplemap

  • Docs: mola_lo_apps.rst fix PIPELINE_YAML var name

  • Update mola_lo_pipelines.rst: fix format

  • recover passing var args to mola-lo-gui-rosbag2 script

  • UI: show instantaneous max. sensor range too

  • FIX: formula for the estimated max. sensor range fixed for asymmetric cases

  • add new visualization param ground_grid_spacing

  • viz: grow ground grid as the local map grows

  • FIX: disabling visualization of raw observations left last raw observation rendered

  • fix: separate GPS topic and sensorLabel variables

  • Consistent GPS topic name

  • Add another env variable: MOLA_LOCAL_VOXELMAP_RESOLUTION

  • Expose new param for local map max size

  • enable the relocalize API

  • Expose fixed sensor pose coords as optional env variables

  • Readme: add ROS badges for arm64 badges

  • GitHub actions: use ROS2-testing packages

  • Contributors: Jose Luis Blanco-Claraco

0.3.3 (2024-09-01)

  • default 3D pipeline: Expose a couple more parameters as env variables

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2024-08-26)

  • Support input dataset directories for split bags

  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2024-08-22)

  • add missing exec dependencies to package.xml for mola-lo-* commands.

  • Contributors: Jose Luis Blanco-Claraco

0.3.0 (2024-08-14)

  • First public release

  • Contributors: Jose Luis Blanco-Claraco

Changelog for package mola_metric_maps

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

  • Fix: Do not use the deprecated ament_target_dependencies()

  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-05-25)

  • Update copyright year

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

  • fix clang-format

  • Metric maps can now be rendered as semitransparent pointclouds

  • Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

  • robin-map: Update to v1.4.0

  • modernize clang-format

  • Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

  • NDT maps: more render options (enable colormaps,etc.)

  • mola_metric_maps: robin-maps upgraded to latest version

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

  • gcc warning fix

  • Avoid gcc warning

  • Merge pull request #69 from MOLAorg/new-map-ndt New NDT-3D metric map

  • Add NDT-3D map class

  • Remove leftover dead .cpp file from MOLA package template

  • FIX BUG: missing cmake dependency on robin_map in exported targets

  • Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • Update robin-map to latest version (Fix cmake < 3.5 compatibility warning)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • Metric maps: load insertion options from field ‘insertOpts’ instead of ‘insertionOptions’ for compatibility with all other MRPT maps

  • disable clang-format in 3rdparty submodules

  • Fix usage of const_cast<> with proper value() method

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Add macro HASHED_VOXEL_POINT_CLOUD_WITH_CACHED_ACCESS

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • implement cached conversion to pointcloud

  • make cfg file section optional

  • FIX: error on rendering empty voxel maps

  • HashedVoxelPointCloud: add missing reserve()

  • copyright update

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

Changelog for package mola_state_estimation_simple

1.9.0 (2025-06-06)

  • State estimation interface is now raw data consumer too

  • FIX: Error if sensor labels were provided in config yaml file

  • Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

  • Feature: Implement basic twist covariance handling in the SimpleEstimator

  • fixes for clang-tidy

  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

  • const correctness

  • State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

  • Add parameter enforce_planar_motion

  • Contributors: Jose Luis Blanco-Claraco

1.6.1 (2025-01-10)

  • Merge pull request #1 from MOLAorg/9-need-help-on-integrating-imu-for-lidar-odometry More stable integration of IMU twist information

  • Shorter logger name

  • Fix package.xml URLs

  • tolerate unsorted sensor inputs without throwing

  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

  • Simple estimator: Integrate IMU angular velocity readings

  • Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

  • Allow zero variances for some pose components

  • Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

  • Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

  • Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages

  • Twist in local frame

  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • use odometry

  • add new package mola_state_estimation_simple

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

Changelog for package mola_state_estimation_smoother

1.9.0 (2025-06-06)

  • State estimation interface is now raw data consumer too

  • FIX: Error if sensor labels were provided in config yaml file

  • Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

  • Update copyright year

  • fixes for clang-tidy

  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

  • const correctness

  • State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

  • Use more generic localization source name

  • make it thread safe; fix replaying extrapolated poses using past timestamps

  • Documentation: explain the different types of factors and kinematic models

  • Smoother: observe the enforce_planar_motion parameter

  • FIX: use last guess as initial values to improve optimization stability; expose more parameters

  • StateEstimationSmoother: Publish pose updates in a timely manner

  • Add parameter enforce_planar_motion

  • Fix gtsam must be a runtime depend too

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

1.6.1 (2025-01-10)

  • Shorter logger name

  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

  • Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update test-navstate-basic.cpp: less noisy test data for more predictable results

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Fix GNSS typo

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

  • Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages

  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • use odometry

  • add new package mola_state_estimation_simple

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

Changelog for package mola_viz

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

  • Implement new virtual Viz methods

  • Update copyright year

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

  • Metric maps can now be rendered as semitransparent pointclouds

  • Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

  • modernize clang-format

  • Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

  • Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations

  • MolaViz: show package name in GUI windows

  • Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

  • mola_viz: Show IMU data in the GUI too

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

  • mola_viz: do not add a XY ground grid by default to all GUIs

  • Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Viz interface: add API for rotate camera

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

  • viz: fix mismatched free/delete inside nanogui layout

  • Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • MolaViz: BUGFIX: shared_ptr were captured by lambdas, delaying proper dtors. Replaced by weak_ptr’s

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • ROS2 launch demos

  • use new mrpt GPS covariance field

  • visualize sensor pose

  • mola_kernel: new UI interface for datasets

  • mola-viz: show image channel of RGBD observations

  • Fix sensorPose on lidar preview

  • Viz: show GPS data

  • mola_viz: add custom icon

  • viz: more options to visualize RGBD camera observations

  • viz API: add enqueue_custom_nanogui_code()

  • viz console: add fading effect

  • mola_viz: show console messages

  • Correct usage of mola:: namespace in cmake targets

  • copyright update

  • mola_viz: support visualizing velodyne observations

  • Add look_at() viz interface

  • Fewer mutex locking()

  • reorganize as monorepo

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Initial public release.

  • Contributors: Jose Luis Blanco-Claraco

Changelog for package mp2p_icp

1.8.0 (2025-08-26)

  • Modernize and unify license notes in all files

  • Merge pull request #8 from MOLAorg/feat/precise-deskew Precise scan deskew: - Implement LocalVelocityBuffer inside ParameterSource’s - Update LocalVelocityBuffer from IMU data from Generators. - Export / Import LocalVelocityBuffer to/from YAML - Implement precise cloud undistortion in FilterDeskew - Use precise cloud undistortion in the context of sm2mm.

  • sm2mm: Use local velocity buffer if available

  • add serialization to velocity buffer

  • Generators now handle IMU readings and forward them to the velocity buffer

  • Update to latest mola_common for embedded builds

  • linter: clang-tidy fixes

  • fix param name for better consistency

  • feature: Option to use std::map instead of tsl robin_map in voxelization filters

  • docs: fill txt2mm man page

  • Feature: txt2mm new import format ‘xyzrgb_normalized’

  • remove code to support older MRPT versions; code style clean ups

  • Fix: FilterAdjustTimestamps may trigger exception if input cloud is empty

  • Contributors: Jose Luis Blanco-Claraco

1.7.1 (2025-06-20)

  • docs: Populate sm2mm app page

  • New feature: all pipeline modules now has an optional “plugin” YAML field to load them from user-provided plugins.

  • Update REAME ROS badges

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-06-02)

  • metric map data type: add new metadata YAML field

  • Update broken link to ROS Index

  • docs: change references to default branch master->develop

  • Default generator: more details in debug traces when ignoring an observation

  • Update package license tag to “BSD-3-Clause”

  • Integrate vscode with colcon custom settings and clang-tidy

  • Fix build unit tests with older gcc versions

  • Drop apparently useless build dep

  • Contributors: Jose Luis Blanco-Claraco

1.6.7 (2025-04-03)

  • mm-georef cli app: support reading/writing georef info in YAML format

  • georeferencing metadata now can be read/writen as YAML files

  • clang-format: switch to column limit=100

  • Update to robin-map v1.4.0

  • Contributors: Jose Luis Blanco-Claraco

1.6.6 (2025-02-26)

  • Docs: add page for mm-georef

  • docs: Update 2025 paper citation

  • print metric_map_t as string: show lat/lon coordinates in a format directly compatible with Google Map searches.

  • New cli tool: mm-georef, to manipulate the geo-referencing metadata of metric map files

  • Contributors: Jose Luis Blanco-Claraco

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