v0.3.2

GenZ-ICP v0.3.2: PyPI Support and ROS 2 Stability Improvements

This release introduces official PyPI support for GenZ-ICP and major ROS 2 stability improvements.

🚀 PyPI Support (Major Update)

• Official Python package support: pip install genz-icp
• CLI tool: genz_icp_pipeline
• Updated the visualizer for GenZ-ICP's status representation
• Packaged pre-tuned configs for quick start
• Config parser support for both:
  • Python-style sectioned YAML
  • ROS-style flat YAML
• Improved dataset topic handling (/topic vs topic normalization)

🛠️ ROS 2 Stability and Build Fixes (Major Update)

• During real-time playback of recorded LiDAR bags in ROS 2, a QoS mismatch between the point cloud publisher and subscriber caused intermittent frame drops and timing jitter, leading to visible stuttering and occasional odometry drift.
• Fix: switched the point cloud subscriber to a RELIABLE QoS profile for stable frame delivery, improving consistency of scan integration and odometry tracking.
• Build robustness: added FetchContent/CMake compatibility handling for newer CMake environments (e.g., >= 3.31), reducing ROS 2 build failures across different systems.

Packaging and Build

• Added/updated Python packaging scaffold (pyproject.toml, build config, metadata)
• Fixed wheel-from-sdist packaging issues in the release flow
• Published PyPI package genz-icp==0.3.2

Environment Validation

Tested and validated on Ubuntu 20.04, 22.04 environments.

Documentation

• Refreshed root/Python README for:
  • installation
  • pipeline usage
  • config usage
  • pre-tuned config examples

Acknowledgement

• We gratefully acknowledge the KISS-ICP project and team.
• The PyPI packaging/release workflow for GenZ-ICP was developed with reference to KISS-ICP’s open-source structure and practices.

v0.2.0

What's Changed

• Update computing covariance, thus removing the unnecessary memory allocation memory and loop by @Seongjun-Kim00 in #7
• Set consistent voxel size to ROS1 version by @LimHyungTae in #10
• feat: Enhance parameter handling in ROS2 by @TannerGilbert in #16
• Remove redundant calculation by @ali-pahlevani in #13
• Remove redundant conditional checks by @Daehan2Lee in #18
• Preallocate memory for voxel point buffers to improve efficiency by @Daehan2Lee in #19

New Contributors

• @Seongjun-Kim00 made their first contribution in #7
• @LimHyungTae made their first contribution in #10
• @TannerGilbert made their first contribution in #16
• @ali-pahlevani made their first contribution in #13

Full Changelog: v0.1.0...v0.2.0

v0.1.0

What's Changed

• Resolve the RViz visualization issue (flickering problem when visualizing planar and non-planar points)
• Fix Geman-McClure weighting for the point-to-plane residual
• Update Adaptive voxelization strategy based on the desired_num_voxelized_points (using LOCUS 2.0's approach)
• Modify centroid calculation process to avoid unnecessary use of a for loop

v0.0.0

Version 0.0.0