Merge branch 'develop'

Author: jlblancoc

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.15.1-{branch}-build{build}
+version: 2.15.2-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,12 @@
 \page changelog Change Log
 
+# Version 2.15.2: Released Nov 19th, 2025
+- Changes in libraries:
+  - \ref mrpt_maps_grp
+    - mrpt::maps::CGenericPointsMap now supports fields of type `double` too.
+- Others:
+  - Fix appstreamcli warnings for metainfo files
+
 # Version 2.15.1: Released Oct 29th, 2025
 - Bug fixes:
   - FIX: Avoid throw when viewing and describing as text a PCD with an empty field.

libs/maps/include/mrpt/maps/CGenericPointsMap.h

@@ -52,6 +52,9 @@ class CGenericPointsMap : public CPointsMap
   // see docs in parent class
   bool registerField_float(const std::string_view& fieldName) override;
 
+  // see docs in parent class
+  bool registerField_double(const std::string_view& fieldName) override;
+
   // see docs in parent class
   bool registerField_uint16(const std::string_view& fieldName) override;
 
@@ -108,12 +111,15 @@ class CGenericPointsMap : public CPointsMap
     @{ */
   bool hasPointField(const std::string_view& fieldName) const override;
   std::vector<std::string_view> getPointFieldNames_float() const override;
+  std::vector<std::string_view> getPointFieldNames_double() const override;
   std::vector<std::string_view> getPointFieldNames_uint16() const override;
 
   float getPointField_float(size_t index, const std::string_view& fieldName) const override;
+  double getPointField_double(size_t index, const std::string_view& fieldName) const override;
   uint16_t getPointField_uint16(size_t index, const std::string_view& fieldName) const override;
 
   void setPointField_float(size_t index, const std::string_view& fieldName, float value) override;
+  void setPointField_double(size_t index, const std::string_view& fieldName, double value) override;
   void setPointField_uint16(
       size_t index, const std::string_view& fieldName, uint16_t value) override;
 
@@ -123,6 +129,12 @@ class CGenericPointsMap : public CPointsMap
    * (i.e. you just called `insertPointFast()`).
    */
   void insertPointField_float(const std::string_view& fieldName, float value) override;
+  /** Appends a value to the given field.
+   * The field must be registered.
+   * Asserts that the field vector's size is exactly `this->size() - 1`
+   * (i.e. you just called `insertPointFast()`).
+   */
+  void insertPointField_double(const std::string_view& fieldName, double value) override;
   /** Appends a value to the given field.
    * The field must be registered.
    * Asserts that the field vector's size is exactly `this->size() - 1`
@@ -131,8 +143,11 @@ class CGenericPointsMap : public CPointsMap
   void insertPointField_uint16(const std::string_view& fieldName, uint16_t value) override;
 
   void reserveField_float(const std::string_view& fieldName, size_t n) override;
+  void reserveField_double(const std::string_view& fieldName, size_t n) override;
   void reserveField_uint16(const std::string_view& fieldName, size_t n) override;
+
   void resizeField_float(const std::string_view& fieldName, size_t n) override;
+  void resizeField_double(const std::string_view& fieldName, size_t n) override;
   void resizeField_uint16(const std::string_view& fieldName, size_t n) override;
 
   auto getPointsBufferRef_float_field(const std::string_view& fieldName) const
@@ -148,6 +163,15 @@ class CGenericPointsMap : public CPointsMap
     }
     return nullptr;
   }
+  auto getPointsBufferRef_double_field(const std::string_view& fieldName) const
+      -> const mrpt::aligned_std_vector<double>* override
+  {
+    if (auto it = m_double_fields.find(fieldName); it != m_double_fields.end())
+    {
+      return &it->second;
+    }
+    return nullptr;
+  }
   auto getPointsBufferRef_uint_field(const std::string_view& fieldName) const
       -> const mrpt::aligned_std_vector<uint16_t>* override
   {
@@ -171,6 +195,15 @@ class CGenericPointsMap : public CPointsMap
     }
     return nullptr;
   }
+  auto getPointsBufferRef_double_field(const std::string_view& fieldName)
+      -> mrpt::aligned_std_vector<double>* override
+  {
+    if (auto it = m_double_fields.find(fieldName); it != m_double_fields.end())
+    {
+      return &it->second;
+    }
+    return nullptr;
+  }
   auto getPointsBufferRef_uint_field(const std::string_view& fieldName)
       -> mrpt::aligned_std_vector<uint16_t>* override
   {
@@ -187,6 +220,8 @@ class CGenericPointsMap : public CPointsMap
   /** Map from field name to data vector */
   std::unordered_map<std::string_view, mrpt::aligned_std_vector<float>> m_float_fields;
   /** Map from field name to data vector */
+  std::unordered_map<std::string_view, mrpt::aligned_std_vector<double>> m_double_fields;
+  /** Map from field name to data vector */
   std::unordered_map<std::string_view, mrpt::aligned_std_vector<uint16_t>> m_uint16_fields;
 
   /** Clear the map, erasing all the points and all fields */

libs/maps/include/mrpt/maps/CPointsMap.h

@@ -386,6 +386,14 @@ class CPointsMap :
    */
   virtual bool registerField_uint16(const std::string_view& fieldName) { return false; }
 
+  /** Registers a new data channel of type `double`.
+   * If the map is not empty, the new channel is filled with default values (0)
+   * to match the current point count.
+   * \return true if the field could effectively be added to the underlying point map class.
+   * \sa hasPointField(), getPointFieldNames_double()
+   */
+  virtual bool registerField_double(const std::string_view& fieldName) { return false; }
+
   /** @} */
 
   // --------------------------------------------------
@@ -586,7 +594,7 @@ class CPointsMap :
    * @{ */
 
   /** Returns true if the map has a data channel with the given name.
-   * \sa getPointField_float, getPointField_uint16
+   * \sa getPointField_float, getPointField_double, getPointField_uint16
    */
   virtual bool hasPointField(const std::string_view& fieldName) const
   {
@@ -595,6 +603,8 @@ class CPointsMap :
 
   /** Get list of all float channel names */
   virtual std::vector<std::string_view> getPointFieldNames_float() const { return {"x", "y", "z"}; }
+  /** Get list of all double channel names */
+  virtual std::vector<std::string_view> getPointFieldNames_double() const { return {}; }
   /** Get list of all uint16_t channel names */
   virtual std::vector<std::string_view> getPointFieldNames_uint16() const { return {}; }
 
@@ -614,6 +624,16 @@ class CPointsMap :
     return 0;
   }
 
+  /** Read the value of a double channel for a given point.
+   * Returns 0 if field does not exist.
+   * \exception std::exception on index out of bounds or if field exists but
+   * is not double.
+   */
+  virtual double getPointField_double(size_t index, const std::string_view& fieldName) const
+  {
+    return 0;
+  }
+
   /** Read the value of a uint16_t channel for a given point.
    * Returns 0 if field does not exist.
    * \exception std::exception on index out of bounds or if field exists but
@@ -637,6 +657,14 @@ class CPointsMap :
     else if (fieldName == "z")
       m_z.at(index) = value;
   }
+  /** Sets the value of a double channel for a given point.
+   * \exception std::exception on index out of bounds or if field does not
+   * exist or is not double.
+   */
+  virtual void setPointField_double(size_t index, const std::string_view& fieldName, double value)
+  {
+  }
+
   /** Sets the value of a uint16_t channel for a given point.
    * \exception std::exception on index out of bounds or if field does not
    * exist or is not uint16_t.
@@ -647,12 +675,16 @@ class CPointsMap :
 
   /** Appends a value to a float channel (for use after insertPointFast()) */
   virtual void insertPointField_float(const std::string_view& fieldName, float value) {}
+  /** Appends a value to a double channel (for use after insertPointFast()) */
+  virtual void insertPointField_double(const std::string_view& fieldName, double value) {}
   /** Appends a value to a uint16_t channel (for use after insertPointFast()) */
   virtual void insertPointField_uint16(const std::string_view& fieldName, uint16_t value) {}
 
   virtual void reserveField_float(const std::string_view& fieldName, size_t n) {}
+  virtual void reserveField_double(const std::string_view& fieldName, size_t n) {}
   virtual void reserveField_uint16(const std::string_view& fieldName, size_t n) {}
   virtual void resizeField_float(const std::string_view& fieldName, size_t n) {}
+  virtual void resizeField_double(const std::string_view& fieldName, size_t n) {}
   virtual void resizeField_uint16(const std::string_view& fieldName, size_t n) {}
 
   virtual auto getPointsBufferRef_float_field(const std::string_view& fieldName) const
@@ -663,6 +695,11 @@ class CPointsMap :
     if (fieldName == "z") return &m_z;
     return nullptr;
   }
+  virtual auto getPointsBufferRef_double_field([[maybe_unused]] const std::string_view& fieldName)
+      const -> const mrpt::aligned_std_vector<double>*
+  {
+    return nullptr;
+  }
   virtual auto getPointsBufferRef_uint_field([[maybe_unused]] const std::string_view& fieldName)
       const -> const mrpt::aligned_std_vector<uint16_t>*
   {
@@ -677,6 +714,11 @@ class CPointsMap :
     if (fieldName == "z") return &m_z;
     return nullptr;
   }
+  virtual auto getPointsBufferRef_double_field([[maybe_unused]] const std::string_view& fieldName)
+      -> mrpt::aligned_std_vector<double>*
+  {
+    return nullptr;
+  }
   virtual auto getPointsBufferRef_uint_field([[maybe_unused]] const std::string_view& fieldName)
       -> mrpt::aligned_std_vector<uint16_t>*
   {
@@ -824,6 +866,13 @@ class CPointsMap :
     };
     std::vector<FloatFieldMapping> float_fields;
 
+    struct DoubleFieldMapping
+    {
+      const mrpt::aligned_std_vector<double>* src_buf = nullptr;
+      mrpt::aligned_std_vector<double>* dst_buf = nullptr;
+    };
+    std::vector<DoubleFieldMapping> double_fields;
+
     struct UInt16FieldMapping
     {
       const mrpt::aligned_std_vector<uint16_t>* src_buf = nullptr;
@@ -850,7 +899,10 @@ class CPointsMap :
     {
       f.dst_buf->push_back((*f.src_buf)[i]);
     }
-
+    for (auto& f : ctx.double_fields)
+    {
+      f.dst_buf->push_back((*f.src_buf)[i]);
+    }
     for (auto& f : ctx.uint16_fields)
     {
       f.dst_buf->push_back((*f.src_buf)[i]);