Changelog for package yasmin_pcl

6.1.3 (2026-10-29)

6.1.2 (2026-09-17)

• fix(pcl): improve robustness and data integrity in filter and io states
  • Replace [std::unordered_set]{.title-ref} with [std::vector<bool>]{.title-ref} in [compute_removed_indices]{.title-ref} for better performance and memory efficiency.
  • Add bounds checking and exception handling when retrieving indices from the blackboard.
  • Implement [try-catch]{.title-ref} blocks in IO states ([LoadPcdState]{.title-ref}, [LoadPlyState]{.title-ref}) to gracefully handle filesystem and parsing errors.
  • Fix PLY camera metadata parsing by correcting the rotation matrix construction and homogeneous coordinate.
  • Add conditional compilation for PLY loading to utilize PCL 1.14+ native support for origin and orientation.
  • Introduce parameter validation for [RandomSampleState]{.title-ref} and [VoxelGridState]{.title-ref} to prevent negative input values.
  • Update documentation for parameters that are ignored by underlying PCL implementations.
• Contributors: Miguel Ángel González Santamarta

6.1.1 (2026-08-08)

6.1.0 (2026-07-26)

• refactor(pcl): centralize filter utilities and improve IO robustness Refactor PCL filter states to use shared utility functions and enhance the reliability of file IO operations.

  • Refactor:

  - Move [make_domain_indices]{.title-ref} and [compute_removed_indices]{.title-ref} from individual filter implementations to [filter_state_utils.hpp]{.title-ref}.

  - Standardize index handling and removed index extraction across [CropBoxState]{.title-ref}, [ExtractIndicesState]{.title-ref}, and [RandomSampleState]{.title-ref}.

  - Simplify [RandomSampleState]{.title-ref} by using a deterministic second pass to derive indices.

  • Fix:
  • Add directory existence checks for PCD and PLY save/load operations.

  - Improve PLY camera metadata parsing to handle multi-token properties and skip unsupported binary camera elements.

  - Fix [VoxelGridState]{.title-ref} default filter limits by using infinity instead of zero.

  • Test:

  - Implement [TempFile]{.title-ref} RAII class in [test_utils.hpp]{.title-ref} for safer temporary file management.

  - Replace manual file deletion in tests with [TempFile]{.title-ref} to prevent leaked files on failure.

• Contributors: Miguel Ángel González Santamarta

6.0.0 (2026-07-07)

• relicense to Apache 2.0 (#122)
• refactor: update minimum CMake version to 3.10 across multiple CMakeLists.txt files
• Enhance documentation and improve code clarity across multiple modules
  • Added detailed comments and descriptions for constructors, methods, and parameters in various classes, including [Concurrence]{.title-ref}, [StateMachine]{.title-ref}, and filter states in [yasmin_pcl]{.title-ref}.
  • Improved logging initialization comments in [logs.cpp]{.title-ref} for better understanding of log level settings.
  • Updated [blackboard_pybind11.cpp]{.title-ref} to clarify the registration of [BlackboardPyWrapper]{.title-ref}.
  • Enhanced the [yasmin_demos]{.title-ref} states with additional private member documentation for clarity on their purpose.
  • Improved the [yasmin_factory]{.title-ref} class documentation, particularly around blackboard key and parameter mappings.
  • Added utility functions in [test_utils.hpp]{.title-ref} for creating point clouds and temporary file paths with clear descriptions.
  • Enhanced the [ros_clients_cache]{.title-ref} and [supported_interface_serialization]{.title-ref} classes with detailed comments on cache management and serialization callbacks.
  • Improved the [YasminNode]{.title-ref} and [YasminViewerNode]{.title-ref} classes with comments on copy prevention and connection handling.

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