Changelog for package mrpt_obs

3.3.0 (2026-09-26)

• fix: big-endian and armhf test failures (#1431)
• Python bindings: datasets, maps, localization, sensors (+ fixes) (#1429)
• changelogs
• Contributors: Jose Luis Blanco-Claraco

3.2.0 (2026-09-16)

• feat: improve API consistency and const-correctness across smart-pointer containers and points-map access.
• fix: resolve ROS warning cleanup issues and fix the correctness problems they exposed.
• feat: raise coverage in math, maps, obs, and slam with new serialization and regression tests.
• Contributors: Jose Luis Blanco-Claraco

3.1.4 (2026-09-04)

• Merge pull request #1395 from MRPT/test/coverage-2026-08-31 test(slam): raise mrpt_slam coverage to 90% and fix the bugs it uncovered

• fix(slam): report stds_Q_no_odo's heading in degrees, as it is read Addresses review feedback on the new TOptions dumps: CRangeBearingKFSLAM2D loads the third component of stds_Q_no_odo in degrees, so the dump must not print it in radians. Also documents that TMetricMapInitializer::saveToConfigFile() only round-trips the generic map params, since there is no saving counterpart to loadFromConfigFile_map_specific().

• test(slam): raise mrpt_slam coverage to 90% and fix the bugs it uncovered Adds unit tests for the parts of mrpt_slam that had none, all driven by synthetic data (a simulated closed room for 2D scans, a small landmark map for range-bearing readings) so no dataset files are needed:

  • observations_overlap and CLandmarksMap, both previously at 0%

  * CIncrementalMapPartitioner beyond the dataset test: options I/O, the three similarity methods, node removal, origin changes, 3D scene, serialization

  • CMetricMapBuilderICP and its CMetricMapBuilder base
  • CMetricMapBuilderRBPF / CMultiMetricMapPDF, including range-only SLAM
  • CRangeBearingKFSLAM and CRangeBearingKFSLAM2D
  • CMonteCarloLocalization2D/3D over the four particle filter algorithms

  * TSetOfMetricMapInitializers config-file round trip (in mrpt_maps) mrpt_slam goes from 67.9%/45.4% to 90.2%/62.3% lines/branches; the repo-wide figure goes from 72.5%/53.2% to 73.6%/54.4%. Bugs found and fixed along the way:

  * observationsOverlap()'s CSensoryFrame overload ignored its relative-pose argument, so the observation-overlap similarity compared keyframes as if co-located.

  * CIncrementalMapPartitioner::addMapFrame() passed the same relative pose for both directions of its symmetrized similarity; the swapped evaluation needs the inverse. This moves one keyframe between partitions in the existing dataset test, whose expectations are updated.

  * removeSetOfNodes(..., changeCoordsRef=true) composed +p instead of -p, doubling the first node's coordinates instead of moving it to the origin.

  * Two options were loaded with a quoted name passed to MRPT_LOAD_HERE_CONFIG_VAR, which stringifies it again, so they could never be read from a config file.

  • CLandmarksMap was never registered for RTTI and could not be deserialized.

  * TSetOfMetricMapInitializers::saveToConfigFile() wrote a format that loadFromConfigFile() cannot read back.

  * CMultiMetricMapPDF::getLastPose() left its is_valid_pose output untouched on the success path.

  * CMetricMapBuilderICP::saveCurrentEstimationToImage() dereferenced a null gridmap pointer right after null-checking it.

  * The range-only branch of the RBPF optimal proposal never initialized firstEstimateRobotHeading when odometry was present, so it always tripped the assert guarding it; it also printed to std::cout per particle. Both KF-SLAM TOptions::dumpToTextStream() now report the noise parameters they load instead of silently omitting them.

• Contributors: Jose Luis Blanco-Claraco

3.1.3 (2026-08-12)

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