Generator: creates CGenericPointsMap by default; add sanity checks in most filters

CMakeLists.txt

@@ -55,7 +55,7 @@ endif()
 add_subdirectory(3rdparty)
 
 # find dependencies:
-find_package(MRPT 2.15.0 REQUIRED COMPONENTS
+find_package(MRPT 2.15.4 REQUIRED COMPONENTS
   containers
   tfest
   maps

agents.md

@@ -9,7 +9,7 @@ Quick-start reference for AI agents and new contributors.
 - **Version**: 2.7.1 (March 2026)
 - **License**: BSD-3-Clause
 - **Maintainer**: Jose Luis Blanco-Claraco
-- **Minimum MRPT**: 2.15.0
+- **Minimum MRPT**: 2.15.4
 
 ---
 
@@ -172,7 +172,7 @@ SIMD-optimized translation units are compiled separately with `-mavx` / `-msse2`
 
 | Dependency | Notes |
 |-----------|-------|
-| MRPT ≥ 2.15.0 | containers, tfest, maps, gui, topography — mandatory |
+| MRPT ≥ 2.15.4 | containers, tfest, maps, gui, topography — mandatory |
 | TBB | Optional; enables parallel ICP iterations |
 | mola_common | CMake scripts; fetched as git submodule |
 | mola_imu_preintegration | Optional; advanced deskew in FilterDeskew |

apps/txt2mm/main.cpp

@@ -21,20 +21,13 @@
 
 #include <mp2p_icp/metricmap.h>
 #include <mrpt/3rdparty/tclap/CmdLine.h>
+#include <mrpt/maps/CGenericPointsMap.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/math/CMatrixDynamic.h>
 #include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/version.h>
 
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
-#include <mrpt/maps/CGenericPointsMap.h>
-#else
-#include <mrpt/maps/CColouredPointsMap.h>
-#include <mrpt/maps/CPointsMapXYZI.h>
-#include <mrpt/maps/CPointsMapXYZIRT.h>
-#endif
-
 const char* VALID_FORMATS = "(xyz|xyzi|xyzirt|xyzrgb|xyzrgb_normalized)";
 
 // Replicated here from CGenericPointsMap until MRPT 2.15.3 is minimum required version:
@@ -214,14 +207,10 @@ int main(int argc, char** argv)
         {
             ASSERT_GE_(nCols, 6U);
             const bool rgb_normalized = (format == "xyzrgb_normalized");
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
-            auto pts = mrpt::maps::CGenericPointsMap::Create();
+            auto       pts            = mrpt::maps::CGenericPointsMap::Create();
             pts->registerField_float("color_r");
             pts->registerField_float("color_g");
             pts->registerField_float("color_b");
-#else
-            auto pts = mrpt::maps::CColouredPointsMap::Create();
-#endif
             pts->reserve(nRows);
             if (nCols > 6)
             {
@@ -250,15 +239,9 @@ int main(int argc, char** argv)
                     b_val = mrpt::u8tof(static_cast<uint8_t>(data(i, idxBlue)));
                 }
 
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
                 pts->insertPointField_float("color_r", r_val);
                 pts->insertPointField_float("color_g", g_val);
                 pts->insertPointField_float("color_b", b_val);
-#else
-                pts->insertPointField_color_R(r_val);
-                pts->insertPointField_color_G(g_val);
-                pts->insertPointField_color_B(b_val);
-#endif
             }
 
             pc = pts;

demos/sm2mm_bonxai_voxelmap.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_bonxai_voxelmap_gridmap.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_bonxai_voxelmap_gridmap_no_deskew.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu.yaml

@@ -4,18 +4,18 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Deskew using IMU, remove close points.
 #  - Final filters: intensity normalization.
 # -----------------------------------------------------------------------------
 
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu_mls.yaml

@@ -4,8 +4,7 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Deskew using IMU, remove close points.
 #  - Final filters: intensity normalization, MLS filtering.
 # -----------------------------------------------------------------------------
@@ -17,6 +16,7 @@ generators:
   - class_name: mp2p_icp_filters::Generator
     params:
       generate_view_vector: true # Generate "view" vectors for advanced normals handling (Default=true)
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu_mls_keyframe_map.yaml

@@ -18,6 +18,7 @@ generators:
   - class_name: mp2p_icp_filters::Generator
     params:
       name: "generator_default"
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
   # This one will just create the layer "localmap", expected by the GICP LIO algorithm for localization
   - class_name: mp2p_icp_filters::Generator

demos/sm2mm_pointcloud_voxelize.yaml

@@ -4,18 +4,18 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Just one downsampling filter, with an additional removal of close
 #             points (e.g. the robot body)
 # -----------------------------------------------------------------------------
 
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_pointcloud_voxelize_no_deskew.yaml

@@ -4,18 +4,18 @@
 # See: https://github.com/MOLAorg/mp2p_icp/tree/develop/apps/sm2mm
 #
 # Explanation of this particular pipeline:
-#  - Generators: empty, so the default generator is used (everything in one
-#                layer named 'raw' with all points).
+#  - Generators: default generator is used (creates an 'raw' layer).
 #  - Filters: Just one downsampling filter, with an additional removal of close
 #             points (e.g. the robot body)
 # -----------------------------------------------------------------------------
 
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_voxels_static_dynamic_points.yaml

@@ -69,6 +69,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: "(mrpt::obs::CObservationPointCloud|mrpt::obs::CObservation3DRangeScan|mrpt::obs::CObservation2DRangeScan)"
       process_sensor_labels_regex: ".*"
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
       metric_map_definition:
         # Any class derived from mrpt::maps::CMetricMap https://docs.mrpt.org/reference/latest/group_mrpt_maps_grp.html
         class: mrpt::maps::CGenericPointsMap

mp2p_icp_filters/include/mp2p_icp_filters/FilterDeskew.h

@@ -61,8 +61,8 @@ enum class MotionCompensationMethod : uint8_t
  *   reference time point, which can be the start or middle point of the scan. This can be
  *   controlled by adding a FilterAdjustTimestamps before this block.
  *
- * - The input layer must contain a point cloud in the format
- *   mrpt::maps::CPointsMapXYZIRT or mrpt::maps::CGenericPointsMap so timestamps are present.
+ * - The input layer must contain a point cloud of type mrpt::maps::CGenericPointsMap
+ *   so timestamps are present.
  *
  * - If the input layer is of a different type, or the `t` field is missing,
  *   an exception will be thrown by default, unless the option

mp2p_icp_filters/include/mp2p_icp_filters/Generator.h

@@ -161,6 +161,20 @@ class Generator : public mrpt::rtti::CObject,  // RTTI support
          */
         bool generate_view_vector = true;
 
+        /** When processing mrpt::obs::CObservationPointCloud as inputs, this will be the class of
+         * the generated layer, in which the cloud will be later inserted.
+         * Set to empty means use the same class as the original cloud in the observation.
+         * Default is to use the modern CGenericPointsMap which is capable of arbitrary point cloud
+         * fields.
+         */
+        std::string default_pointcloud_class = "mrpt::maps::CGenericPointsMap";
+
+        /** When processing mrpt::obs::CObservationPointCloud as inputs, this controls whether
+         *  points with (x,y,z)=(0,0,0) should be discarded as invalid ones; e.g. typical in
+         *  organized clouds from LiDAR sensors.
+         */
+        bool filterOutPointsAtZero = false;
+
         /** If not empty, it will be used instead of class name in Logger and Profiler.
          *  This is loaded from the `name` key in the YAML configuration block.
          */

mp2p_icp_filters/src/FilterAdjustTimestamps.cpp

@@ -82,11 +82,7 @@ void FilterAdjustTimestamps::filter(mp2p_icp::metric_map_t& inOut) const
         return;
     }
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
     auto* TsPtr = pc.getPointsBufferRef_float_field("t");
-#else
-    auto* TsPtr = pc.getPointsBufferRef_timestamp();
-#endif
 
     if (TsPtr == nullptr || (TsPtr->empty() && !pc.empty()))
     {

mp2p_icp_filters/src/FilterBoundingBox.cpp

@@ -18,6 +18,7 @@
  * @date   Sep 10, 2021
  */
 
+#include <mp2p_icp/pointcloud_field_utils.h>
 #include <mp2p_icp_filters/FilterBoundingBox.h>
 #include <mp2p_icp_filters/GetOrCreatePointLayer.h>
 #include <mrpt/containers/yaml.h>
@@ -106,19 +107,19 @@ void FilterBoundingBox::filter(mp2p_icp::metric_map_t& inOut) const
         outsidePc->reserve(outsidePc->size() + pc.size() / 10);
     }
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
     mrpt::maps::CPointsMap::InsertCtx ctxOutside, ctxInside;
     if (insidePc)
     {
         insidePc->registerPointFieldsFrom(pc);
         ctxInside = insidePc->prepareForInsertPointsFrom(pc);
+        mp2p_icp::warn_on_field_padding_mismatch(pc, *insidePc, *this);
     }
     if (outsidePc)
     {
         outsidePc->registerPointFieldsFrom(pc);
         ctxOutside = outsidePc->prepareForInsertPointsFrom(pc);
+        mp2p_icp::warn_on_field_padding_mismatch(pc, *outsidePc, *this);
     }
-#endif
 
     const auto& xs = pc.getPointsBufferRef_x();
     const auto& ys = pc.getPointsBufferRef_y();
@@ -129,18 +130,10 @@ void FilterBoundingBox::filter(mp2p_icp::metric_map_t& inOut) const
         const bool isInside = params.bounding_box.containsPoint({xs[i], ys[i], zs[i]});
 
         auto* targetPc = isInside ? insidePc.get() : outsidePc.get();
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
-        auto* ctx = isInside ? &ctxInside : &ctxOutside;
-#endif
+        auto* ctx      = isInside ? &ctxInside : &ctxOutside;
         if (targetPc)
         {
-#if MRPT_VERSION >= 0x020f03  // 2.15.3
             targetPc->insertPointFrom(i, *ctx);
-#elif MRPT_VERSION >= 0x020f00  // 2.15.0
-            targetPc->insertPointFrom(pc, i, *ctx);
-#else
-            targetPc->insertPointFrom(pc, i);
-#endif
         }
     }
 

mp2p_icp_filters/src/FilterByIntensity.cpp

@@ -126,7 +126,6 @@ void FilterByIntensity::filter(mp2p_icp::metric_map_t& inOut) const
     ASSERT_EQUAL_(Is.size(), xs.size());
     const size_t N = xs.size();
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
     mrpt::maps::CPointsMap::InsertCtx ctxLow, ctxHigh, ctxMid;
     if (outLow)
     {
@@ -143,7 +142,6 @@ void FilterByIntensity::filter(mp2p_icp::metric_map_t& inOut) const
         outMid->registerPointFieldsFrom(pc);
         ctxMid = outMid->prepareForInsertPointsFrom(pc);
     }
-#endif
 
     size_t countLow = 0, countMid = 0, countHigh = 0;
 
@@ -153,43 +151,29 @@ void FilterByIntensity::filter(mp2p_icp::metric_map_t& inOut) const
 
         mrpt::maps::CPointsMap* trg = nullptr;
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
         mrpt::maps::CPointsMap::InsertCtx* ctx = nullptr;
-#endif
         if (I < params.low_threshold)
         {
             trg = outLow.get();
             ++countLow;
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
             ctx = &ctxLow;
-#endif
         }
         else if (I > params.high_threshold)
         {
             trg = outHigh.get();
             ++countHigh;
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
             ctx = &ctxHigh;
-#endif
         }
         else
         {
             trg = outMid.get();
             ++countMid;
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
             ctx = &ctxMid;
-#endif
         }
 
         if (trg)
         {
-#if MRPT_VERSION >= 0x020f03  // 2.15.3
             trg->insertPointFrom(i, *ctx);
-#elif MRPT_VERSION >= 0x020f00  // 2.15.0
-            trg->insertPointFrom(pc, i, *ctx);
-#else
-            trg->insertPointFrom(pc, i);
-#endif
         }
     }