Changelog for package mp2p_icp_core

3.1.0 (2026-11-01)

• New filters: FilterTraversability (obstacles over a 2.5D ground model, canopy aware) and FilterInsertPoint (#135)
• New filter: FilterNormals (#147)
• New cli tool mm-merge, to merge the layers of several metric map files (#137)
• sm-cli: new 'level-walls' to correct global pitch/roll from wall and floor normals (#128)
• mm2txt: new --no-header flag; txt2mm: honor --layer
• YAML: expand ${VAR|default} variables, quote-aware comments (#142)
• ParameterSource: new hasVariable() and getVariableValue(); getVariableValues() returns a const reference
• Censi3D covariance returned in the [x y z yaw pitch roll] layout (#141)
• Do not rotate view directions twice with MRPT >= 3.6.0 (#148)
• Voxel grids: round voxel indices down, not toward zero (#139)
• metric_map_t::merge_with(): transform planes, handle self-merge, reject non-point into point layers (#144)
• Generator: per-instance IMU transformers and deep-copied IMU state
• Parameterizable: reject out-of-range unsigned parameters
• Gauss-Newton: fail on a non-finite step instead of returning a NaN pose
• FilterDeskew, FilterMerge, FilterByRange: fewer copies and allocations
• FilterFartherPointSampling: deterministic start point; FilterDecimateAdaptive: correct budget count
• Matcher_Cov2Cov: clear error for layers of different map classes (#149)
• sm2mm: never add keyframe IMU readings to a restored velocity buffer
• demos: sm2mm traversability 2D obstacles pipeline; voxel map demos pin prob_miss (#143)
• Fix compiler warnings
• Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-06)

• Fix voxel grid hash masked to 20 bits, which blew up tsl::robin_map memory (#127)
• Contributors: Jose Luis Blanco-Claraco

3.0.1 (2026-09-28)

• Disable LTO for GCC < 12, which miscompiled devirtualized calls into MRPT classes (hanging/aborting unit tests on ROS 2 Humble)
• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-09-28)

• FilterMLS: fix per-point fields (color, intensity, normal) getting misaligned with their points under TBB
• sm2mm: do not run per-frame filters on IMU-only observations
• Keep per-point fields in sync for VoxelAverage and flatten_to decimation (fixes out-of-bounds read)
• Add FilterRangeBiasCorrection: per-class range and incidence surface-bias model
• FilterDeskew: IMU methods take their initial velocity from 'twist' when defined
• FilterDeskew: fix ignore_accelerometer=true integrating a phantom free fall
• Add DecimateMethod::RotatingIndex, removing the shared per-scan displacement of FirstPoint decimation
• Matcher_Cov2Cov: optional per-point weighting of pairings by range and by beam incidence angle
• Solver_GaussNewton: make the parallel accumulation of H and g deterministic across thread counts
• FilterDecimateVoxels: faster ClosestToAverage/VoxelAverage via PointCloudToVoxelGridAverage; smaller voxel_t for FirstPoint
• Fix pre-existing clang-format-14 violations
• Add unit tests for previously untested code, fix a Matcher_Adaptive crash
• ICP: optional freezePairingsAfterIteration parameter
• Port to MRPT's CMultiMetricMap::mapsList()
• Port to MRPT 3.x (mrpt::opengl -> mrpt::viz, per-component find_package, yaml API changes, camera controller, etc.)
• Contributors: Jose Luis Blanco-Claraco

2.14.1 (2026-09-15)

• Geman-McClure: square the kernel parameter, as its own derivation says (#102)
• Two optional, env-gated solver diagnostics: H spectrum and the Birge ratio (#93)
• Contributors: Jose Luis Blanco-Claraco

2.14.0 (2026-09-05)

• Point matchers (Matcher_Points_DistanceThreshold, Matcher_Points_Blend): fixed a nondeterministic pairing order caused by parallel reduction depending on TBB thread scheduling; the

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