CHANGELOG

Changelog for package mola_sm_loop_closure

0.2.0 (2026-03-03)

  • Fix build against different gtsam versions

  • Add optional generation of .3Dscene files with loop-closure visualizations

  • Tolerate missing external files without throwing

  • Better logging and expose more env var params

  • Add GNSS uncertainty multiplier

  • Use debug files prefix

  • Add more frame-to-frame LC selection algorithms

  • Merge pull request #4 from MOLAorg/feat/f2f-fixes Add more parameters to f2f method

  • Add new params for f2f method

  • pipeline file: expose more params and fix reversed sigma logic

  • Fix: prior should be weak for GNSS to transform to ENU frame

  • fix copyright headers

  • Merge pull request #3 from MOLAorg/feat/new-f2f-algo Add alternative frame-to-frame LC algorithm

  • Provide virtual LoopClosureInterface to select the algorithm from a CLI argument

  • Add alternative frame-to-frame LC algorithm

  • Merge pull request #2 from MOLAorg/feat/add-ci-and-badges Add CI workflows and clang-format linting infrastructure

  • package.xml: add FILE tag

  • Merge pull request #1 from MOLAorg/feature/refactor-pkg-mola-gtsam-factors Progress moving code to new package mola_gtsam_factors

  • Update dependencies after refactorization into mola_georeferencing

  • Progress moving code to new package mola_gtsam_factors

  • Protect against invalid GPS cov entries

  • Add param gnss_minimum_uncertainty_xyz; dump trajectories as TUM files.

  • simplify: remove obsolete parameters not used anymore here

  • Remove unused parameter (GPS observations are automatically detected anyway)

  • Fix: ensure minimum uncertainty in edges

  • Fix deskewing generating sm2mm for local maps

  • Implement missing loading of new LocalVelocityBuffer while doing submaps “sm2mm”

  • Don’t use absolute paths for debug icplog files

  • FIX: Detect the error case of no GNSS observations in sm-georeference-cli

  • Add gicp pipeline

  • bump minimum cmake version to 3.5

  • add .clang-tidy rules and better vscode integration

  • Expose more env vars in the pipeline

  • robust kernels; optional horizontality

  • progress with submaps

  • implement submaps

  • use new mrpt enu covariance field

  • done georeferencing cli

  • progress

  • progress cli app interface

  • initial structure

  • Initial commit

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