From 0a41263fbaf941f4f5ecf77ad03072f7c6a410fe Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 16 Jul 2026 15:10:57 -0700 Subject: [PATCH 1/3] CI: macos pin opencv4 till #1732 is merged (#1740) --- .github/workflows/cmake-macos.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cmake-macos.yml b/.github/workflows/cmake-macos.yml index a22e3152..b8e8d92a 100644 --- a/.github/workflows/cmake-macos.yml +++ b/.github/workflows/cmake-macos.yml @@ -38,7 +38,7 @@ jobs: - name: Install Brew Dependencies run: | # Update brew and install from Brewfile if present, or specific packages - brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver + brew install pcl opencv@4 octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver - name: Install Source Dependencies # Build (and per-dependency cache) the source-only deps not available from From f569393de132c7047f32b1036e34e0e547a3e9cf Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 16 Jul 2026 15:32:57 -0700 Subject: [PATCH 2/3] Update README.md --- README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 427c7322..4fd0ec1a 100644 --- a/README.md +++ b/README.md @@ -58,7 +58,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated Build Status - ROS 2 + ROS 2 Humble Build Status @@ -68,6 +68,10 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated Kilted + Build Status + + + Lyrical Build Status From 5fad2d29c347e21f5ececb1701148c72d0c4dbb8 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 17 Jul 2026 15:05:12 -0700 Subject: [PATCH 3/3] Flann index serialization: deprecate rebalancing factor (#1739) * Flann index serialization: deprecate balancing factor * updated log msg --- corelib/src/FlannIndex.cpp | 25 +++++++++---------------- 1 file changed, 9 insertions(+), 16 deletions(-) diff --git a/corelib/src/FlannIndex.cpp b/corelib/src/FlannIndex.cpp index b6b09a4c..57cd1217 100644 --- a/corelib/src/FlannIndex.cpp +++ b/corelib/src/FlannIndex.cpp @@ -31,9 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include #include -#ifdef WIN32 #include -#endif #include "rtflann/flann.hpp" #include @@ -179,8 +177,8 @@ std::vector FlannIndex::serializeIndex(bool computeChecksum) cons indexData.resize(bytes_written+headerSizeBytes); indexData.shrink_to_fit(); - int rebalancingFactorAsInt; - memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_)); + int rebalancingFactorAsInt; // Deprecated + memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_)); // Deprecated int crcValueAsInt; memcpy(&crcValueAsInt, &crcValue, sizeof(crcValue)); int header[FLANN_INDEX_HEADER_SIZE] = { @@ -188,7 +186,7 @@ std::vector FlannIndex::serializeIndex(bool computeChecksum) cons algorithm_, // 3, featuresDim_, // 4, useDistanceL1_?1:0, // 5, - rebalancingFactorAsInt, // 6, + rebalancingFactorAsInt, // 6, Deprecated dataRows, // 7, dataCols, // 8, dataType, // 9, @@ -199,7 +197,7 @@ std::vector FlannIndex::serializeIndex(bool computeChecksum) cons header[3], header[4], header[5], - rebalancingFactor_, + rebalancingFactor_, // Deprecated header[7], header[8], header[9], crcValueAsInt, header[11]); memcpy(indexData.data(), header, headerSizeBytes); @@ -405,8 +403,8 @@ bool FlannIndex::loadIndex( int savedAlgorithm = header[3]; int savedDim = header[4]; bool savedDistanceL1 = header[5]==1; - float savedRebalancingFactor; - memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6])); + float savedRebalancingFactor; // Deprecated + memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6])); // Deprecated int savedRows = header[7]; int savedCols = header[8]; int savedType = header[9]; @@ -414,12 +412,13 @@ bool FlannIndex::loadIndex( memcpy(&savedCrc, &header[10], sizeof(header[10])); int savedIndexSize = header[11]; - UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f data(%dx%d type=%d, crc=%X) %d", + UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f (deprecated, using %f instead) data(%dx%d type=%d, crc=%X) index size = %d bytes", header[0],header[1],header[2], header[3], header[4], header[5], - savedRebalancingFactor, + savedRebalancingFactor, // Deprecated + rebalancingFactor, header[7], header[8], header[9], savedCrc, header[11]); @@ -441,12 +440,6 @@ bool FlannIndex::loadIndex( } return false; } - if(savedRebalancingFactor != rebalancingFactor) { - if(error) { - *error = uFormat("Serialized \"rebalancing factor\" (%f) doesn't match the expected one (%f).", savedRebalancingFactor, rebalancingFactor); - } - return false; - } if(savedRows != features.rows) { if(error) { *error = uFormat("Serialized feature count (%d) doesn't match the expected one (%d).", savedRows, features.rows);