Changelog for package mp2p_icp

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