ros-lyrical-mola-sm-loop-closure (1.0.0-3resolute) resolute; urgency=high

  * package.xml: add missing test-dep
  * add unit tests
  * cli: use output directory as default for debug output files, not input
  * Install pipelines so they are accessible under 'share'
  * Make the package discoverage by ament
  * Merge pull request #6 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/6> from MOLAorg/save-ram
    F2F algorithm: save ram in offline runs
  * More memory efficient loop
  * Bump minimum cmake version to 3.7
  * Reuse mp2p_icp::update_velocity_buffer_from_obs() from mp2p_icp
    Removes duplicated code in this repo now that mp2p_icp>=2.5.0 is available in all distributions
  * Fix build against mp2p_icp <2.6.0
  * icp debug log files: save only good edges
  * F2F algorithm: save ram in offline runs
  * sm2mm pipeline yaml: expose more params via env vars
  * Expose more parameters for F2F algorithm
  * Debug feature: enable saving 3Dscene files per optimization round
  * Use Graduated Non-Convexity (GNC) optimizer for superior outlier rejection
  * FIX: Reverted logic in formula for adaptive threshold
  * Add formal CLA
  * Merge pull request #5 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/5> from MOLAorg/feat/smart-ram-lazy-unload
    Lazy unload keyframe clouds to keep RAM usage bounded
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 14 Apr 2026 00:00:00 -0000

ros-lyrical-mola-sm-loop-closure (0.2.0-3resolute) resolute; urgency=high

  * Fix build against different gtsam versions
  * Add optional generation of .3Dscene files with loop-closure visualizations
  * Tolerate missing external files without throwing
  * Better logging and expose more env var params
  * Add GNSS uncertainty multiplier
  * Use debug files prefix
  * Add more frame-to-frame LC selection algorithms
  * Merge pull request #4 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/4> from MOLAorg/feat/f2f-fixes
    Add more parameters to f2f method
  * Add new params for f2f method
  * pipeline file: expose more params and fix reversed sigma logic
  * Fix: prior should be weak for GNSS to transform to ENU frame
  * fix copyright headers
  * Merge pull request #3 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/3> from MOLAorg/feat/new-f2f-algo
    Add alternative frame-to-frame LC algorithm
  * Provide virtual LoopClosureInterface to select the algorithm from a CLI argument
  * Add alternative frame-to-frame LC algorithm
  * Merge pull request #2 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/2> from MOLAorg/feat/add-ci-and-badges
    Add CI workflows and clang-format linting infrastructure
  * package.xml: add FILE tag
  * Merge pull request #1 <https://github.com/MOLAorg/mola_sm_loop_closure/issues/1> from MOLAorg/feature/refactor-pkg-mola-gtsam-factors
    Progress moving code to new package mola_gtsam_factors
  * Update dependencies after refactorization into mola_georeferencing
  * Progress moving code to new package mola_gtsam_factors
  * Protect against invalid GPS cov entries
  * Add param gnss_minimum_uncertainty_xyz; dump trajectories as TUM files.
  * simplify: remove obsolete parameters not used anymore here
  * Remove unused parameter (GPS observations are automatically detected anyway)
  * Fix: ensure minimum uncertainty in edges
  * Fix deskewing generating sm2mm for local maps
  * Implement missing loading of new LocalVelocityBuffer while doing submaps "sm2mm"
  * Don't use absolute paths for debug icplog files
  * FIX: Detect the error case of no GNSS observations in sm-georeference-cli
  * Add gicp pipeline
  * bump minimum cmake version to 3.5
  * add .clang-tidy rules and better vscode integration
  * Expose more env vars in the pipeline
  * robust kernels; optional horizontality
  * progress with submaps
  * implement submaps
  * use new mrpt enu covariance field
  * done georeferencing cli
  * progress
  * progress cli app interface
  * initial structure
  * Initial commit
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 03 Mar 2026 00:00:00 -0000


