Changelog for package cloudini_lib

1.0.0 (2026-02-21)

• minor changes

• feat: add bag directory support and metadata.yaml generation to rosbag converter The converter now accepts ROS2 bag directories as input (in addition to bare .mcap files), auto-detects sibling metadata.yaml, and generates a transformed metadata.yaml alongside the output with updated topic types and file references. Output defaults to a new sibling directory to prevent accidental overwrites of the original bag. Co-Authored-By: Claude Opus 4.6 <<noreply@anthropic.com>>

• feat: add single-threaded compression mode to PointcloudEncoder Add [use_threads]{.title-ref} field to EncodingInfo (defaults to true). When false, LZ4/ZSTD compression runs inline in the calling thread instead of spawning a worker thread. Useful for simpler deployments, debugging, and environments where threading overhead isn't worth the pipelining benefit. No wire format changes — the field is runtime-only and not serialized.

• Fixed cmake issues and added some improvements (#55)

• fix: harden encoder/decoder against UB, data races, and corrupted input (#57)

  * fix: harden encoder/decoder against UB, data races, and corrupted input Address issues found during code review:

  • Fix decodeVarint shift UB: check overflow before shift operation
  • Fix decodeVarint underflow: guard against uval==0 on corrupted data
  • Fix worker thread deadlock: detect dead worker on subsequent encode()
  • Fix WASM encode: avoid extra allocation by encoding directly when buffer fits
  • Clean up waitForCompressionComplete: only set worker_failed_ in error path
  • Optimize encode(BufferView&): use header_.size() instead of YAML reserialization
  • Improve readability and error messages in DecodeHeader/MaxSerializedFieldSize
  • Add explicit <cstring> include in encoding_utils.hpp
  • Fix pre-existing FloatLossy test bug: use float instead of double for kResolution
  • Re-enable previously commented-out tests
  • fix: additional hardening for decoder bounds checks and encoder thread safety

  - Add per-point bounds check in decodeChunk to replace per-field checks in fixed-size decoders (FieldDecoderCopy, FieldDecoderFloat_XOR), eliminating 12-14% decode overhead while maintaining safety

  - Keep per-field checks for variable-size decoders (Float_Lossy, FloatN_Lossy) where overhead is negligible relative to varint decoding

  - Fix encoder deadlock on re-use after worker thread failure by joining dead thread and re-spawning; protect shared state resets with mutex

  • Tighten decodeVarint overflow check from shift>=64 to shift>=63

  - Derive point count from actual data size in ROS conversion instead of trusting metadata width*height to prevent over-allocation DoS

  * fix: remove non-existent apt package from Jazzy CI workflow python3-ament-package does not exist on Ubuntu 24.04. The setup-ros action and action-ros-ci already handle installing colcon and ament dependencies, matching the working Humble CI workflow.

  • fix: install ros-humble-ament-cmake-test for test runner

  * revert some changes ---------Co-authored-by: Claude Opus 4.6 <<noreply@anthropic.com>>

• Need to add these constructors for emscripten build to work on ubuntu 24 (#54)

  • Need to add these constructors for emscripten build to work

  * add default ctors and default values ---------

• Contributors: Alireza Moayyedi, Davide Faconti, tomdeblauwe

0.11.1 (2025-12-12)

• fix ROS compilation
• Contributors: Davide Faconti

0.11.0 (2025-11-29)

• optimize yaml parser

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