Changelog for package mp2p_icp_core

2.12.0 (2026-07-10)

• add missing changelogs

• Merge pull request #74 from MOLAorg/split-core-viz-packages Split repo into mp2p_icp_core (headless) + mp2p_icp_viz (GUI) + mp2p_icp (metapackage)

• fix: apply clang-format-14 to TCLAP->CLI11 converted files Address CI failure: several files from the TCLAP-to-CLI11 conversion weren't run through clang-format-14 before the previous commit.

• Split repo into mp2p_icp_core (headless) + mp2p_icp_viz (GUI) + mp2p_icp (metapackage) Consumers that only need the headless C++ libraries and CLI apps no longer need to pull in mrpt_libgui (nanogui/GLFW/X11) or build the GUI apps. mp2p_icp remains as a backward-compatible metapackage depending on both, so existing <depend>mp2p_icp</depend> consumers are unaffected.

  - mp2p_icp_core: mp2p_icp_common/map/filters + the ICP algorithms lib + 13 headless CLI apps. Root find_package(MRPT COMPONENTS ...) drops "gui"; mrpt::opengl/system/expr remain available transitively via maps->obs and tfest->poses->bayes->config.

  - mp2p_icp_viz: mm-viewer and icp-log-viewer, the only two apps that actually use mrpt::gui (sm-cli's dependency on it was vestigial and dropped instead).

  - Removed the one real GUI leak in the mp2p_icp (ICP) library: an interactive CDisplayWindow debug feature in QualityEvaluator_RangeImageSimilarity (debug_show_all_in_window), which was the only reason that library linked mrpt::gui at all. The headless debug_save_all_matrices option remains.

  - Dropped the mola_common git submodule and its standalone-build bootstrap logic; standalone (non-colcon) plain-CMake builds are no longer supported, matching every other MOLAorg package in this ecosystem (find_package(mola_common REQUIRED) via the ROS workspace). robin-map stays vendored (no rosdep key, private dep of filters).

  - Replaced TCLAP with CLI11 for all CLI apps' argument parsing (rosdep key "cli11", same pattern already used elsewhere in MOLAorg repos). Behavior-preserving: same flags, defaults, and help text everywhere.

  - Removed .circleci/config.yml: its bare-cmake + PPA-installed libmrpt-dev jobs tested exactly the standalone-build path being dropped, and can't provide mola_common without reintroducing the bootstrap complexity just removed from CMakeLists. The colcon-based GH Actions jobs (humble/jazzy) are now the CI.

  - Updated docs (agents.md, README.md, docs/source/index.rst) and check-clang-format.yml/formatter.sh for the new layout. Verified: mp2p_icp_core, mp2p_icp_viz, mp2p_icp all build via colcon; all 104 mp2p_icp_core tests pass; mp2p_icp_core binaries have zero GUI/nanogui/GLFW linkage; mm-viewer still loads and renders a real georeferenced .mm file; a real downstream consumer (mola_metric_maps) builds unmodified against the new layout. Note: mp2p_icp/CMakeLists.txt shows as "modified" rather than deleted+added in the diff -- this is a git rename-detection artifact from the old mp2p_icp/ (ICP library) subfolder and the new mp2p_icp/ (metapackage) folder sharing the same repo-relative path after the library moved one level deeper into mp2p_icp_core/mp2p_icp/.

• Contributors: Jose Luis Blanco-Claraco

2.11.0 (2026-07-04)

• Merge pull request #72 from MOLAorg/fix/filterdeskew-graceful-imu-anchor fix(FilterDeskew): never let IMU trajectory errors crash the pipeline
• Merge pull request #71 from MOLAorg/feat/prior-referenced-robust-kernel Prior-referenced robust kernel for the Gauss-Newton solver
• Merge pull request #70 from MOLAorg/fix/filtermerge-view-vector-rotation Fix view-direction vector frame mismatch in FilterMerge
• chore: demo sm2mm files updated for LIO localization maps
• demos: add sm2mm_pointcloud_voxelize_merged_keyframe_map.yaml
• Merge pull request #69 from MOLAorg/feat/filter-decimate-range-adaptive feat: FilterDecimateRangeAdaptive (EllipseLIO range-adaptive scan filter)
• feat: add FilterBase::enabled for env-based pipeline toggling Adds an [enabled]{.title-ref} boolean field to FilterBase (default: true)
• feat: add FilterDecimateRangeAdaptive (EllipseLIO range-adaptive scan filter)
• Fix build status badge for ROS 2 Lyrical arm64
• docs: add ROS 2 Lyrical badge row, update Rolling to Ubuntu 26.04 (resolute)
• Merge pull request #68 from

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