MOLAorg · jlblancoc · Oct 12, 2025 · Aug 27, 2025 · Aug 27, 2025 · Sep 4, 2025
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -1,6 +1,6 @@
 version: 2
 jobs:
-  gcc-u22.04-mrpt-dev:
+  gcc-u2204-mrpt-dev:
     docker:
       - image: mrpt/mrpt-build-env:full-jammy
     steps:
@@ -25,7 +25,7 @@ jobs:
 #      - run: make gcov -C build
 #      - run: make -C build
 #      - run: bash <(curl -s https://codecov.io/bash) -X gcov -y .codecov.yml -s build
-  gcc-u22.04-mrpt-stable:
+  gcc-u2204-mrpt-stable:
     docker:
       - image: mrpt/mrpt-build-env:full-jammy
     steps:
@@ -47,7 +47,7 @@ jobs:
           command: cmake -H. -Bbuild
       - run: make -C build
       - run: make CTEST_OUTPUT_ON_FAILURE=1 test -C build
-  clang-u22.04-mrpt-dev:
+  clang-u2204-mrpt-dev:
     docker:
       - image: mrpt/mrpt-build-env:full-jammy
     steps:
@@ -76,6 +76,6 @@ workflows:
   version: 2
   build:
     jobs:
-      - gcc-u22.04-mrpt-dev
-      - gcc-u22.04-mrpt-stable
-      - clang-u22.04-mrpt-dev
+      - gcc-u2204-mrpt-dev
+      - gcc-u2204-mrpt-stable
+      - clang-u2204-mrpt-dev
diff --git a/.clang-tidy b/.clang-tidy
@@ -1,6 +1,7 @@
 Checks: >
   -*,
   bugprone-*,
+  -bugprone-easily-swappable-parameters,
   readability-braces-around-statements,
   readability-else-after-return,
   cppcoreguidelines-interfaces-global-init,

diff --git a/.github/workflows/ros-build.yml b/.github/workflows/ros-build.yml
@@ -20,31 +20,37 @@ jobs:
         # https://ros.org/reps/rep-2000.html
         include:
           # Humble Hawksbill (May 2022 - May 2027)
-          - docker_image: ubuntu:jammy
-            ros_distribution: humble
-            use_ros_testing: false
+          #- docker_image: ubuntu:jammy
+          #  ros_distribution: humble
+          #  use_ros_testing: false
 
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             use_ros_testing: true
 
           # Jazzy (2024 - ??)
-          - docker_image: ubuntu:noble
-            ros_distribution: jazzy
-            use_ros_testing: false
+          #- docker_image: ubuntu:noble
+          #  ros_distribution: jazzy
+          #  use_ros_testing: false
 
           - docker_image: ubuntu:noble
             ros_distribution: jazzy
             use_ros_testing: true
 
           # Rolling Ridley (No End-Of-Life)
+          #- docker_image: ubuntu:noble
+          #  ros_distribution: rolling
+          #  use_ros_testing: false
+
           - docker_image: ubuntu:noble
             ros_distribution: rolling
-            use_ros_testing: false
+            use_ros_testing: true
 
+          # Same as above, but disable TBB
           - docker_image: ubuntu:noble
             ros_distribution: rolling
             use_ros_testing: true
+            disable_tbb: true
 
     container:
       image: ${{ matrix.docker_image }}
@@ -74,5 +80,22 @@ jobs:
       - name: Build with colcon
         run: |
           . /opt/ros/*/setup.sh
+          # If disable_tbb is true, add the CMake flag to disable TBB
+          if [ "${{ matrix.disable_tbb }}" = "true" ]; then
+            echo "Disabling TBB..."
+            EXTRA_CMAKE_ARGS="-DMP2PICP_USE_TBB=OFF"
+          else
+            EXTRA_CMAKE_ARGS=""
+          fi
           env
-          MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+
+          MAKEFLAGS="-j2" colcon build \
+            --symlink-install \
+            --parallel-workers 2 \
+            --event-handlers console_direct+ \
+            --cmake-args $EXTRA_CMAKE_ARGS
+
+      - name: Run unit tests
+        run: |
+          . /opt/ros/*/setup.sh
+          colcon test --event-handlers console_direct+
+          colcon test-result --verbose
diff --git a/.gitmodules b/.gitmodules
@@ -1,9 +1,3 @@
-[submodule "3rdparty/libpointmatcher"]
-	path = 3rdparty/libpointmatcher
-	url = https://github.com/ethz-asl/libpointmatcher.git
-[submodule "3rdparty/libnabo"]
-	path = 3rdparty/libnabo
-	url = https://github.com/ethz-asl/libnabo.git
 [submodule "3rdparty/mola_common"]
     path = 3rdparty/mola_common
 	url = https://github.com/MOLAorg/mola_common.git

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -35,10 +35,16 @@
     },
     "ros.distro": "humble",
     "cSpell.words": [
+        "deskewed",
         "eigen",
+        "linearization",
         "recolorize",
+        "relinearization",
         "reproject",
+        "tfest",
         "unrealize",
-        "voxelmaps"
+        "voxelizes",
+        "voxelmaps",
+        "XYZIRT"
     ]
 }
diff --git a/3rdparty/CMakeLists.txt b/3rdparty/CMakeLists.txt
@@ -1,39 +1,4 @@
 
-set(MP2PICP_BUILD_POINTMATCHER OFF CACHE BOOL "Build libpointmatcher modules")
-
-if (MP2PICP_BUILD_POINTMATCHER)
-    # Check if we have the dependencies of pointmatcher, and silently skip it if we don't have:
-    find_package(Boost COMPONENTS thread filesystem system program_options date_time QUIET)
-    if (NOT Boost_FOUND)
-        message(STATUS "mp2p_icp: Boost not found: building without libpointmatcher")
-        set(MP2PICP_BUILD_POINTMATCHER OFF CACHE BOOL "Build libpointmatcher modules" FORCE)
-    endif()
-endif()
-
-if (MP2PICP_BUILD_POINTMATCHER)
-  # libnabo
-  # ---------------
-  option(LIBNABO_BUILD_EXAMPLES "Build libnabo examples" OFF)
-  option(LIBNABO_BUILD_TESTS "Build libnabo tests" OFF)
-  option(LIBNABO_BUILD_PYTHON "Build libnabo python" OFF)
-  option(LIBNABO_BUILD_DOXYGEN "Build libnabo doxygen documentation" OFF)
-  mark_as_advanced(LIBNABO_BUILD_EXAMPLES)
-  mark_as_advanced(LIBNABO_BUILD_TESTS)
-  mark_as_advanced(LIBNABO_BUILD_PYTHON)
-  mark_as_advanced(LIBNABO_BUILD_DOXYGEN)
-
-  add_subdirectory(libnabo)
-
-  # libpointmatcher:
-  # ---------------
-  option(POINTMATCHER_BUILD_EXAMPLES "Build libpointmatcher examples" OFF)
-  option(POINTMATCHER_BUILD_EVALUATIONS "Build libpointmatcher evaluations" OFF)
-  mark_as_advanced(POINTMATCHER_BUILD_EXAMPLES)
-  mark_as_advanced(POINTMATCHER_BUILD_EVALUATIONS)
-
-  add_subdirectory(libpointmatcher)
-endif()
-
 # ================================
 # robin-map
 # ================================

diff --git a/3rdparty/libnabo b/3rdparty/libnabo
diff --git a/3rdparty/libpointmatcher b/3rdparty/libpointmatcher
diff --git a/3rdparty/mola_common b/3rdparty/mola_common
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,58 +10,62 @@
 cmake_minimum_required(VERSION 3.5)
 
 if("$ENV{ROS_VERSION}" STREQUAL "2")
-	set(DETECTED_ROS2 TRUE)
+  set(DETECTED_ROS2 TRUE)
 elseif("$ENV{ROS_VERSION}" STREQUAL "1")
-	set(DETECTED_ROS1 TRUE)
+  set(DETECTED_ROS1 TRUE)
 endif()
 
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-	set(default_build_type "Release")
-	message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
-	set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE STRING "Choose the type of build." FORCE)
+  set(default_build_type "Release")
+  message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+  set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE STRING "Choose the type of build." FORCE)
 endif()
 # Set the possible values of build type for cmake-gui
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo" "SanitizeAddress" "SanitizeThread")
 
-
 # Tell CMake we'll use C++ for use in its tests/flags
 project(mp2p_icp LANGUAGES CXX)
 
 # MOLA CMake scripts: "mola_xxx()"
 # to allow stand-along builds outside of MOLA, use local copy instead:
 find_package(mola_common QUIET)
 if(NOT mola_common_FOUND)
-	message(STATUS "Standalone ${PROJECT_NAME} build: using mola_common from submodule.")
-	file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/mola_common-build")
-	execute_process(COMMAND
-		${CMAKE_COMMAND} ${PROJECT_SOURCE_DIR}/3rdparty/mola_common -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/mola_common-install
-		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/mola_common-build
-	)
-	execute_process(COMMAND
-		${CMAKE_COMMAND} --build . --target install
-		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/mola_common-build
-	)
-	# 2nd attempt:
-	set(mola_common_DIR ${CMAKE_CURRENT_BINARY_DIR}/mola_common-install/share/mola_common/cmake/)
-	find_package(mola_common REQUIRED)
+  message(STATUS "Standalone ${PROJECT_NAME} build: using mola_common from submodule.")
+  file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/mola_common-build")
+  execute_process(COMMAND
+    ${CMAKE_COMMAND} ${PROJECT_SOURCE_DIR}/3rdparty/mola_common -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/mola_common-install
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/mola_common-build
+  )
+  execute_process(COMMAND
+    ${CMAKE_COMMAND} --build . --target install
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/mola_common-build
+  )
+  # 2nd attempt:
+  set(mola_common_DIR ${CMAKE_CURRENT_BINARY_DIR}/mola_common-install/share/mola_common/cmake/)
+  find_package(mola_common REQUIRED)
 endif()
 
 # 3rd party:
 add_subdirectory(3rdparty)
 
 # find dependencies:
 find_package(MRPT 2.11.5 REQUIRED COMPONENTS
-	containers
-	tfest
-	maps
-	gui
-	topography
+  containers
+  tfest
+  maps
+  gui
+  topography
 )
 find_package(Threads REQUIRED)
 find_package(TBB) # optional
 
 if(TBB_FOUND)
-	option(MP2PICP_USE_TBB "If found TBB, this option controls whether to use it or not" ON)
+  option(MP2PICP_USE_TBB "If found TBB, this option controls whether to use it or not" ON)
+endif()
+
+find_package(mola_imu_preintegration) # Used for advanced deskew methods in FilterDeskew
+if (NOT mola_imu_preintegration_FOUND)
+  message(WARNING "mola_imu_preintegration not found: advanced deskew will not be available")
 endif()
 
 #----
@@ -82,6 +86,9 @@ set(MP2P_ICP_PATCH_VERSION ${CMAKE_MATCH_3})
 # define library targets:
 # -----------------------
 
+# Helper parameter source library:
+add_subdirectory(mp2p_icp_common)
+
 # Metric map container library:
 add_subdirectory(mp2p_icp_map)
 
@@ -109,20 +116,20 @@ if(MP2PICP_BUILD_APPLICATIONS)
 endif()
 
 if(DETECTED_ROS1)
-	# Find catkin macros and libraries
-	# if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-	# is used, also find other catkin packages
-	find_package(catkin
-		REQUIRED
-		#COMPONENTS
-		#roscpp tf2 dynamic_reconfigure std_msgs nav_msgs sensor_msgs visualization_msgs
-		#tf2_geometry_msgs
-	)
-
-	catkin_package(
-	#CATKIN_DEPENDS tf2 tf2_geometry_msgs
-	#  INCLUDE_DIRS include
-	#  LIBRARIES mrpt_localization
-	#  DEPENDS mrpt
-	)
+  # Find catkin macros and libraries
+  # if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+  # is used, also find other catkin packages
+  find_package(catkin
+    REQUIRED
+    #COMPONENTS
+    #roscpp tf2 dynamic_reconfigure std_msgs nav_msgs sensor_msgs visualization_msgs
+    #tf2_geometry_msgs
+  )
+
+  catkin_package(
+  #CATKIN_DEPENDS tf2 tf2_geometry_msgs
+  #  INCLUDE_DIRS include
+  #  LIBRARIES mrpt_localization
+  #  DEPENDS mrpt
+  )
 endif()
diff --git a/README.md b/README.md
@@ -27,6 +27,7 @@ C++ libraries for multi primitive-to-primitive (MP2P) ICP algorithms and flexibl
 
 The project provides these C++ libraries:
  * `mp2p_icp_map`: Provides the [`mp2p_icp::metric_map_t`](https://docs.mola-slam.org/latest/class_mp2p_icp_metric_map_t.html#doxid-classmp2p-icp-1-1metric-map-t) generic metric map container. Metric map files with extension `*.mm` are serializations of instances of this class.
+ * `mp2p_icp_common`: Provides utility classes like `ParameterSources` and IMU-based velocity buffers.
  * `mp2p_icp`: With ICP algorithms. It depends on `mp2p_icp_map`.
  * `mp2p_icp_filters`: With point cloud filtering and manipulation algorithms. It depends on `mp2p_icp_map`.
+13 −0		CHANGELOG.rst
+0 −4		CMakeLists.txt
+27 −26		cmake/mola_cmake_functions.cmake
+0 −15		mola-version.cmake
+1 −1		package.xml