From 5b10e29cbb09980b14d130851352021e06669a67 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sat, 18 May 2024 13:35:25 -0400
Subject: [PATCH 01/39] Add a method that returns a list of all available
 Descriptor's parameters

---
 pointmatcher/Registrar.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/pointmatcher/Registrar.h b/pointmatcher/Registrar.h
index 5bfa8654..e5761696 100644
--- a/pointmatcher/Registrar.h
+++ b/pointmatcher/Registrar.h
@@ -180,6 +180,12 @@ namespace PointMatcherSupport
 			return getDescriptor(name)->description();
 		}
 
+		//! Get all available parameters of a class
+		const Parametrizable::ParametersDoc getAvailableParameters(const std::string& name) const
+		{
+			return getDescriptor(name)->availableParameters();
+		}
+
 		//! Print the list of registered classes to stream
 		void dump(std::ostream &stream) const
 		{

From d5ce52a6ce4e3089489ebef6a972967b63d82d4a Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sat, 18 May 2024 13:57:28 -0400
Subject: [PATCH 02/39] Add python binding for the method that returns a list
 of all available Descriptor's parameters

---
 .../registrars/data_points_filter_registrar.cpp                  | 1 +
 1 file changed, 1 insertion(+)

diff --git a/python/pointmatchersupport/registrars/data_points_filter_registrar.cpp b/python/pointmatchersupport/registrars/data_points_filter_registrar.cpp
index 3ee03b28..aed0960a 100644
--- a/python/pointmatchersupport/registrars/data_points_filter_registrar.cpp
+++ b/python/pointmatchersupport/registrars/data_points_filter_registrar.cpp
@@ -12,6 +12,7 @@ namespace python
 					.def("getDescriptor", &DataPointsFilterRegistrar::getDescriptor, py::arg("name"), "Return a descriptor following a name, throw an exception if name is invalid")
 					.def("create", &DataPointsFilterRegistrar::create, py::arg("name"), py::arg("params") = Parameters(), "Create an instance")
 					.def("getDescription", &DataPointsFilterRegistrar::getDescription, py::arg("name"), "Get the description of a class")
+                    .def("getAvailableParameters", &DataPointsFilterRegistrar::getAvailableParameters, py::arg("name"), "Get all available parameters of a class")
 					.def("dump", [](const DataPointsFilterRegistrar& self)
 					{
 						std::ostringstream oss;

From 1dddcbebeffb85234dc2195c00ccd09b839404bf Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 5 Jun 2024 12:17:54 -0400
Subject: [PATCH 03/39] ci: fix build system standalone dependencies installer
 and run config mod

---
 .../.jetbrains_run_config/[LPM] run all bats tests.run.xml   | 2 +-
 ...atrix.bash \342\200\272  build _service_ _popup_.run.xml" | 2 +-
 ...build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" | 4 ++--
 ...ncies-general dependencies (BUILD MATRIX SUBSET).run.xml" | 4 ++--
 ... \342\200\272 build test_compilation__ (Release).run.xml" | 4 ++--
 ..._compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml" | 4 ++--
 ...ush dependencies-general dependencies (AS IN TC).run.xml" | 2 +-
 .../test_execute_compose_over_build_matrix.bash.run.xml      | 2 +-
 ..._execute_compose_over_build_matrix_with_flag.bash.run.xml | 2 +-
 .../tests_docker_interactive/Dockerfile.build_system_test    | 3 ++-
 .../ubuntu/lpm_install_dependencies_general_ubuntu.bash      | 5 ++++-
 build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash  | 4 ++++
 12 files changed, 23 insertions(+), 15 deletions(-)

diff --git a/build_system/.jetbrains_run_config/[LPM] run all bats tests.run.xml b/build_system/.jetbrains_run_config/[LPM] run all bats tests.run.xml
index c976ae38..a54069bd 100644
--- a/build_system/.jetbrains_run_config/[LPM] run all bats tests.run.xml	
+++ b/build_system/.jetbrains_run_config/[LPM] run all bats tests.run.xml	
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="true" />
     <envs>
       <env name="DOCKER_CONTEXT" value="desktop-linux" />
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"
index 35bfd93e..83b4f1c5 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"	
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"
index 6b7fc9c7..9e65fc21 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"	
@@ -9,11 +9,11 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
\ No newline at end of file
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"
index 9cc3dd81..d2e7dd3e 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"	
@@ -9,11 +9,11 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
\ No newline at end of file
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation__ (Release).run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation__ (Release).run.xml"
index c7fab276..ba38cc0d 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation__ (Release).run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation__ (Release).run.xml"	
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash › build test_compilation_* (compilation test)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override jammy -- build test_compilation_prefixed_path test_compilation_auto_path_resolution" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override focal -- build test_compilation_prefixed_path test_compilation_auto_path_resolution" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml"
index c23d7b5f..2f88eb98 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml"	
@@ -9,11 +9,11 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
\ No newline at end of file
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build&push dependencies-general dependencies (AS IN TC).run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build&push dependencies-general dependencies (AS IN TC).run.xml"
index bf5e3c73..4570df53 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build&push dependencies-general dependencies (AS IN TC).run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build&push dependencies-general dependencies (AS IN TC).run.xml"	
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs>
       <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
diff --git a/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix.bash.run.xml b/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix.bash.run.xml
index 33946fed..e72fd636 100644
--- a/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix.bash.run.xml
+++ b/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix.bash.run.xml
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs />
     <method v="2" />
diff --git a/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix_with_flag.bash.run.xml b/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix_with_flag.bash.run.xml
index 2c8ac9f7..3cf0ad4f 100644
--- a/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix_with_flag.bash.run.xml
+++ b/build_system/.jetbrains_run_config/test_execute_compose_over_build_matrix_with_flag.bash.run.xml
@@ -9,7 +9,7 @@
     <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
     <option name="INTERPRETER_PATH" value="/bin/zsh" />
     <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="false" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
     <option name="EXECUTE_SCRIPT_FILE" value="false" />
     <envs />
     <method v="2" />
diff --git a/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test b/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test
index 0d6318dc..a7315946 100644
--- a/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test
+++ b/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test
@@ -1,5 +1,6 @@
 ARG BASE_IMAGE=ubuntu
-ARG BASE_IMAGE_TAG=jammy
+#ARG BASE_IMAGE_TAG=jammy
+ARG BASE_IMAGE_TAG=bionic
 FROM ${BASE_IMAGE}:${BASE_IMAGE_TAG} AS base-image
 
 LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca"
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index 8a0f74cc..d857060d 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -20,6 +20,9 @@ TMP_CWD=$(pwd)
 LPM_PATH=$(git rev-parse --show-toplevel)
 cd "${LPM_PATH}/build_system" || cd "${LPM_PATH}" || exit 1
 
+NBS_PATH=${NBS_PATH:-"${LPM_PATH}/build_system/utilities/norlab-build-system"}
+N2ST_PATH=${N2ST_PATH:-"${LPM_PATH}/build_system/utilities/norlab-shell-script-tools"}
+
 # ....Load environment variables from file.........................................................
 set -o allexport
 source .env
@@ -27,9 +30,9 @@ set +o allexport
 
 # ....Helper function..............................................................................
 # import shell functions from utilities library
-N2ST_PATH=${N2ST_PATH:-"${LPM_PATH}/build_system/utilities/norlab-shell-script-tools"}
 source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 
+
 # Set environment variable IMAGE_ARCH_AND_OS
 cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash"
 
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index bfd5b710..ef5f61c3 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -218,6 +218,10 @@ if [[ $TEST_RUN  == true ]]; then
   BUILD_EXIT_CODE=0
   INSTALL_EXIT_CODE=0
 else
+  #  # Hack to prevent LPM cmake build failure in ubuntu bionic
+  #  BOOST_ROOT=$(whereis boost) && export BOOST_ROOT
+  #  CMAKE_FLAGS=( -D BOOST_ROOT="$BOOST_ROOT" "${CMAKE_FLAGS[@]}" )
+
   cmake "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 
   BUILD_EXIT_CODE=$?

From a1d344530b8ccf20a9bda615abe0b27186eba1ec Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Fri, 28 Jun 2024 13:04:58 -0400
Subject: [PATCH 04/39] Update CHANGELOG.rst

---
 CHANGELOG.rst | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 51c55417..e3ad4da2 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package libpointmatcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Class to generate point cloud primitives
+* Updated documentation
+* Github actions for code API
+* Function that lists all available Filter parameters
+
+
 1.4.2 (2024-03-23)
 ------------------
 * Add dockerhub release logic and improve main readme by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/550

From 4d3b1f80b2dc6df6e6167e889b889aac65c33cfd Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Fri, 28 Jun 2024 13:05:25 -0400
Subject: [PATCH 05/39] 1.4.3

---
 CHANGELOG.rst               | 4 ++--
 package.xml                 | 2 +-
 pointmatcher/PointMatcher.h | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index e3ad4da2..b8c762a6 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package libpointmatcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+1.4.3 (2024-06-28)
+------------------
 * Class to generate point cloud primitives
 * Updated documentation
 * Github actions for code API
diff --git a/package.xml b/package.xml
index 5e6ea3c6..5aa3c6ee 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
 	<name>libpointmatcher</name>
-	<version>1.4.2</version>
+	<version>1.4.3</version>
 	<description>
 		libpointmatcher is a modular ICP library, useful for robotics and computer vision.
 	</description>
diff --git a/pointmatcher/PointMatcher.h b/pointmatcher/PointMatcher.h
index a5256569..6bbeeef9 100644
--- a/pointmatcher/PointMatcher.h
+++ b/pointmatcher/PointMatcher.h
@@ -70,9 +70,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 //! version of the Pointmatcher library as string
-#define POINTMATCHER_VERSION "1.4.2"
+#define POINTMATCHER_VERSION "1.4.3"
 //! version of the Pointmatcher library as an int
-#define POINTMATCHER_VERSION_INT 10400
+#define POINTMATCHER_VERSION_INT 10403
 
 //! Functions and classes that are not dependant on scalar type are defined in this namespace
 namespace PointMatcherSupport

From 74435b8f434ffd36aab1c7f309facbe2911403df Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Mon, 1 Jul 2024 13:37:17 -0400
Subject: [PATCH 06/39] Fix failing build due to deprecated boost::filesystem
 functions

---
 pointmatcher/IO.cpp | 69 +++++++++++++++++++++++++++------------------
 1 file changed, 42 insertions(+), 27 deletions(-)

diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index ff10f5e8..60b3d9e5 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -360,7 +360,7 @@ void PointMatcherSupport::validateFile(const std::string& fileName)
 	if (!ifs.good() || !boost::filesystem::is_regular_file(fullPath))
 	#if BOOST_FILESYSTEM_VERSION >= 3
 		#if BOOST_VERSION >= 105000
-				throw runtime_error(string("Cannot open file ") + boost::filesystem::complete(fullPath).generic_string());
+				throw runtime_error(string("Cannot open file ") + boost::filesystem::absolute(fullPath).generic_string());
 		#else
 				throw runtime_error(string("Cannot open file ") + boost::filesystem3::complete(fullPath).generic_string());
 		#endif
@@ -375,17 +375,24 @@ template<typename T>
 typename PointMatcher<T>::DataPoints PointMatcher<T>::DataPoints::load(const std::string& fileName)
 {
 	const boost::filesystem::path path(fileName);
-	const string& ext(boost::filesystem::extension(path));
-	if (boost::iequals(ext, ".vtk"))
-		return PointMatcherIO<T>::loadVTK(fileName);
-	else if (boost::iequals(ext, ".csv"))
-		return PointMatcherIO<T>::loadCSV(fileName);
-	else if (boost::iequals(ext, ".ply"))
-		return PointMatcherIO<T>::loadPLY(fileName);
-	else if (boost::iequals(ext, ".pcd"))
-		return PointMatcherIO<T>::loadPCD(fileName);
-	else
-		throw runtime_error("loadAnyFormat(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\" or \".csv\"");
+    if (path.has_extension())
+    {
+        const string& ext(path.extension().string());
+        if(boost::iequals(ext, ".vtk"))
+            return PointMatcherIO<T>::loadVTK(fileName);
+        else if(boost::iequals(ext, ".csv"))
+            return PointMatcherIO<T>::loadCSV(fileName);
+        else if(boost::iequals(ext, ".ply"))
+            return PointMatcherIO<T>::loadPLY(fileName);
+        else if(boost::iequals(ext, ".pcd"))
+            return PointMatcherIO<T>::loadPCD(fileName);
+        else
+            throw runtime_error("loadAnyFormat(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
+    }
+    else
+    {
+        throw runtime_error("loadAnyFormat(): Missing extension for file \"" + fileName + "\", extension must be either \".vtk\" or \".csv\"");
+    }
 }
 
 template
@@ -809,21 +816,29 @@ template<typename T>
 void PointMatcher<T>::DataPoints::save(const std::string& fileName, bool binary, unsigned precision) const
 {
 	const boost::filesystem::path path(fileName);
-	const string& ext(boost::filesystem::extension(path));
-	if (boost::iequals(ext, ".vtk"))
-		return PointMatcherIO<T>::saveVTK(*this, fileName, binary, precision);
-
-	if (binary)
-		throw runtime_error("save(): Binary writing is not supported together with extension \"" + ext + "\". Currently binary writing is only supported with \".vtk\".");
-
-	if (boost::iequals(ext, ".csv"))
-		return PointMatcherIO<T>::saveCSV(*this, fileName, precision);
-	else if (boost::iequals(ext, ".ply"))
-		return PointMatcherIO<T>::savePLY(*this, fileName, precision);
-	else if (boost::iequals(ext, ".pcd"))
-		return PointMatcherIO<T>::savePCD(*this, fileName, precision);
-	else
-		throw runtime_error("save(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
+    if (path.has_extension())
+    {
+        const string& ext(path.extension().string());
+        if (boost::iequals(ext, ".vtk"))
+            return PointMatcherIO<T>::saveVTK(*this, fileName, binary, precision);
+
+        if (binary)
+            throw runtime_error("save(): Binary writing is not supported together with extension \"" + ext + "\". Currently binary writing is only supported with \".vtk\".");
+
+        if (boost::iequals(ext, ".csv"))
+            return PointMatcherIO<T>::saveCSV(*this, fileName, precision);
+        else if (boost::iequals(ext, ".ply"))
+            return PointMatcherIO<T>::savePLY(*this, fileName, precision);
+        else if (boost::iequals(ext, ".pcd"))
+            return PointMatcherIO<T>::savePCD(*this, fileName, precision);
+        else
+            throw runtime_error("save(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
+
+    }
+    else
+    {
+        throw runtime_error("save(): Missing extension for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
+    }
 }
 
 template

From e08df81606e3b8774858a6283d0df1563675fb6d Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sat, 13 Jul 2024 14:34:21 -0400
Subject: [PATCH 07/39] Replace ethz-asl by norlab-ulaval

---
 doc/ApplicationsAndPub.md | 16 ++++++++--------
 doc/Compilation.md        |  4 ++--
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/doc/ApplicationsAndPub.md b/doc/ApplicationsAndPub.md
index 9506b240..3ccb831e 100644
--- a/doc/ApplicationsAndPub.md
+++ b/doc/ApplicationsAndPub.md
@@ -21,7 +21,7 @@ Click on the image to play.
   + Sensor: Velodyne HDL-32E
   + Application: 3D mapping and localization
   <a href="https://www.youtube.com/watch?v=cMgLyLpnsoU" target="_blank">
-   <img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/cMgLyLpnsoU.jpg" width="240" height="180"/>
+   <img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/cMgLyLpnsoU.jpg" width="240" height="180"/>
   </a>
 
 -   __NIFTi: railyard mapping__
@@ -30,7 +30,7 @@ Click on the image to play.
 + Sensor: Sick LMS-151
 + Application: 3D mapping and localization
 <a href="https://www.youtube.com/watch?v=ygIvzWVfPYk" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/ygIvzWVfPYk.jpg"
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/ygIvzWVfPYk.jpg"
  width="240" height="180" border="10" />
 </a>
 
@@ -40,7 +40,7 @@ Click on the image to play.
 + Sensor: Sick LMS-151
 + Application: 3D mapping and localization
 <a href="https://www.youtube.com/watch?v=lP5Mj-TGaiw" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/lP5Mj-TGaiw.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/lP5Mj-TGaiw.jpg" 
  width="240" height="180" border="10" />
 </a>
 
@@ -52,7 +52,7 @@ Click on the image to play.
 - Sensor: Velodyne HDL-32E
 - Application: Navigation
 <a href="https://www.youtube.com/watch?v=UCCAUf64tD0" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/UCCAUf64tD0.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/UCCAUf64tD0.jpg" 
  width="240" height="180" border="10" />
 </a>
 
@@ -64,7 +64,7 @@ Click on the image to play.
 + Sensor: Velodyne HDL-32E
 + Application: 3D mapping and localization
 <a href="https://www.youtube.com/watch?v=M5Y99o7um88" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/M5Y99o7um88.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/M5Y99o7um88.jpg" 
  width="240" height="180" border="10" />
 </a>
 
@@ -74,7 +74,7 @@ Click on the image to play.
 + Sensor: Velodyne HDL-32E
 + Application: 3D mapping and localization
 <a href="https://www.youtube.com/watch?v=g8l-Xq4qYeE" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/g8l-Xq4qYeE.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/g8l-Xq4qYeE.jpg" 
  width="240" height="180" border="10" />
 </a>
 
@@ -84,7 +84,7 @@ Click on the image to play.
 + Sensor: Kinect
 + Application: 3D model reconstruction
 <a href="https://www.youtube.com/watch?v=rIZud3F5IJw" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/rIZud3F5IJw.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/rIZud3F5IJw.jpg" 
  width="240" height="180" border="10" />
 </a>
 
@@ -94,7 +94,7 @@ Click on the image to play.
 + Sensor: Kinect
 + Application: 3D mapping and localization
 <a href="https://www.youtube.com/watch?v=McxpJGOZTPs" target="_blank">
-<img src="https://raw.githubusercontent.com/ethz-asl/libpointmatcher/master/doc/images/youtubeCovers/McxpJGOZTPs.jpg" 
+<img src="https://raw.githubusercontent.com/norlab-ulaval/libpointmatcher/master/doc/images/youtubeCovers/McxpJGOZTPs.jpg" 
  width="240" height="180" border="10" />
 </a>
 </div>
diff --git a/doc/Compilation.md b/doc/Compilation.md
index 4849e650..04b5695c 100644
--- a/doc/Compilation.md
+++ b/doc/Compilation.md
@@ -316,13 +316,13 @@ First, you need to clone the source repository into a local directory. As an exa
 === "Ubuntu"
     ```bash
     cd ~/Libraries/
-    git clone git://github.com/ethz-asl/libpointmatcher.git
+    git clone git://github.com/norlab-ulaval/libpointmatcher.git
     cd libpointmatcher
     ```
 === "MacOS"
     ```bash
     cd ~/Libraries/
-    git clone git://github.com/ethz-asl/libpointmatcher.git
+    git clone git://github.com/norlab-ulaval/libpointmatcher.git
     cd libpointmatcher
     ```
 === "Windows"

From 0b1a191b83f33cc880ceb4b8c52a2ee30808e421 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sat, 13 Jul 2024 14:42:01 -0400
Subject: [PATCH 08/39] Fix Windows content tab in Compilation.md

---
 doc/Compilation.md | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/doc/Compilation.md b/doc/Compilation.md
index 04b5695c..ecce5225 100644
--- a/doc/Compilation.md
+++ b/doc/Compilation.md
@@ -390,7 +390,7 @@ You will also need LaTeX for the equations rendering :
 After you have installed Doxygen and LaTeX, you can enable the documentation by setting the CMake variable `GENERATE_API_DOC` to `TRUE`. This can be achieved through CMake-GUI or by the command line in your `build` directory:
 
 ```bash
-    cmake -D GENERATE_API_DOC=TRUE ${SRC_DIR}
+cmake -D GENERATE_API_DOC=TRUE ${SRC_DIR}
 ```
 
 Compiling libpointmatcher will generate the documentation, which you can simply open the `/usr/local/share/doc/libpointmatcher/api/html/index.html` file to view the API documentation in a browser.
@@ -407,9 +407,10 @@ If you want to verify that the version of libpointmatcher you have compiled is s
     ```bash
     cmake -D BUILD_TESTS=TRUE ${SRC_DIR}
     ```
-=== "Windows
+=== "Windows"
     Set the CMake variable `BUILD_TESTS` to `TRUE`
 
+
 Then, once the compilation process is completed, the unit tests can be run with the following command line:
 
 === "Ubuntu"
@@ -420,7 +421,7 @@ Then, once the compilation process is completed, the unit tests can be run with
     ```bash
     utest/utest --path ${SRC_DIR}/examples/data/
     ```
-=== "Windows
+=== "Windows"
     From build directory
     ```powershell
     utest/utest --path ../examples/data/
@@ -434,18 +435,18 @@ Now, to compile libpointmatcher into the `/build` directory, run the following c
     ```bash
     make -j N
     ```
-*Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
+    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
 
 === "MacOS"
     ```bash
     make -j N
     ```
-*Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
+    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
 
-=== "Windows
+=== "Windows"
     Following the previous configuration in CMake GUI:
-    1. Click on the button Configure, Generate and then Open Project  
-       Visual Studio will open up
+
+    1. Click on the button Configure, Generate and then Open Project. Visual Studio will open up
     2. Put your "Solution Configuration" in `Release` mode
     3. Build the `BUILD` project
 
@@ -461,8 +462,9 @@ Finally, to install libpointmatcher on your system, run the following command:
     ```bash
     sudo make install
     ```
-=== "Windows
+=== "Windows"
     Following the previous configuration in CMake GUI:
+    
     1. Build the `INSTALL` project
     >    We have to install the library and not only build it, because otherwise all CMake files won't be able to be found by programs using libpointmatcher
     2. Set `libpointmatcher_DIR` environment variable to `C:\dev\libpointmatcher\build\install\share\libpointmatcher\cmake`
@@ -484,9 +486,8 @@ Some dependencies changed, and we don't keep track of all combinations possible.
     chmod +x ./utest/listVersionsMacOS.sh
     ./utest/listVersionsMacOS.sh
     ```
-=== "Windows
-    ```TODO
-    chmod +x ./utest/listVersionsWindows.sh
-    ./utest/listVersionsWindows.sh
+=== "Windows"
+    ```
+    TODO
     ```
     
\ No newline at end of file

From a22a63dd13c07352e0aaff72ee116aff0ebbe404 Mon Sep 17 00:00:00 2001
From: Nicolas Lauzon <nicolas_lauzon@outlook.com>
Date: Wed, 24 Jul 2024 08:23:40 -0400
Subject: [PATCH 09/39] Silence compile error with clang

---
 pointmatcher/PointCloudGenerator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pointmatcher/PointCloudGenerator.cpp b/pointmatcher/PointCloudGenerator.cpp
index d084dd2b..75ff550c 100644
--- a/pointmatcher/PointCloudGenerator.cpp
+++ b/pointmatcher/PointCloudGenerator.cpp
@@ -170,7 +170,7 @@ typename PointMatcher<T>::DataPoints PointMatcher<T>::PointCloudGenerator::gener
     {
         // Sample random values of theta and phi.
         const ScalarType phi{ 2.0f * pi * uniformDistribution(randomNumberGenerator) };
-        const ScalarType radiusSample{ radius * sqrt(uniformDistribution(randomNumberGenerator)) };
+        const ScalarType radiusSample{ static_cast<ScalarType>(radius * sqrt(uniformDistribution(randomNumberGenerator))) };
 
         // Pre-compute values, such as sine and cosine of phi and theta.
         const ScalarType sinPhi{ std::sin(phi) };

From 2104a33574b379a744165fb1053c5b26d2a993f0 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Mon, 29 Jul 2024 14:29:30 -0400
Subject: [PATCH 10/39] Remove boost::filesystem from IO.cpp

---
 pointmatcher/IO.cpp | 241 ++++++++++++++++++++------------------------
 1 file changed, 108 insertions(+), 133 deletions(-)

diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index 60b3d9e5..4d5950e0 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -45,8 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdexcept>
 #include <ctype.h>
 #include "boost/algorithm/string.hpp"
-#include "boost/filesystem.hpp"
-#include "boost/filesystem/path.hpp"
 #include "boost/filesystem/operations.hpp"
 #include "boost/lexical_cast.hpp"
 #include "boost/foreach.hpp"
@@ -93,7 +91,7 @@ static std::vector<string> csvLineToVector(const char* line)
 CsvElements parseCsvWithHeader(const std::string& fileName)
 {
 	validateFile(fileName);
-	
+
 	ifstream is(fileName.c_str());
 
 	unsigned elementCount=0;
@@ -102,15 +100,15 @@ CsvElements parseCsvWithHeader(const std::string& fileName)
 
 	bool firstLine(true);
 	unsigned lineCount=0;
-	
-	string line; 
+
+	string line;
 	while (safeGetLine(is, line))
 	{
 
 		if(firstLine)
 		{
 			std::vector<string> header = csvLineToVector(line.c_str());
-				
+
 			elementCount = header.size();
 			for(unsigned int i = 0; i < elementCount; i++)
 			{
@@ -126,7 +124,7 @@ CsvElements parseCsvWithHeader(const std::string& fileName)
 			{
 				stringstream errorMsg;
 				errorMsg << "Error at line " << lineCount+1 << ": expecting " << elementCount << " columns but read " << parsedLine.size() << " elements.";
-				throw runtime_error(errorMsg.str());	
+				throw runtime_error(errorMsg.str());
 			}
 
 			for(unsigned int i = 0; i < parsedLine.size(); i++)
@@ -135,7 +133,7 @@ CsvElements parseCsvWithHeader(const std::string& fileName)
 				{
 					if(i == (*it).second)
 					{
-						data[(*it).first].push_back(parsedLine[i]);	
+						data[(*it).first].push_back(parsedLine[i]);
 					}
 				}
 			}
@@ -143,9 +141,9 @@ CsvElements parseCsvWithHeader(const std::string& fileName)
 
 		lineCount++;
 	}
-	
+
 	// Use for debug
-	
+
 	//for(BOOST_AUTO(it,data.begin()); it!=data.end(); it++)
 	//{
 	//	cout << "--------------------------" << endl;
@@ -155,7 +153,7 @@ CsvElements parseCsvWithHeader(const std::string& fileName)
 	//	//	cout << (*it).second[i] << endl;
 	//	//}
 	//}
-	
+
 
 	return data;
 }
@@ -186,7 +184,7 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector()
 	@param fileName name of the CSV file
 	@param dataPath path relative to which the point cloud CSV or VTK will be resolved
 	@param configPath path relative to which the yaml configuration files will be resolved
-	
+
 	The first line of the CSV file must contain a header. The supported tags are:
 	- reading: file name of the reading point cloud
 	- reference: file name of the reference point cloud
@@ -200,23 +198,15 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector(const std::string& fileName, s
 {
 	if (dataPath.empty())
 	{
-		#if BOOST_FILESYSTEM_VERSION >= 3
-		dataPath = boost::filesystem::path(fileName).parent_path().string();
-		#else
-		dataPath = boost::filesystem::path(fileName).parent_path().file_string();
-		#endif
+		dataPath = std::filesystem::path(fileName).parent_path().string();
 	}
 	if (configPath.empty())
 	{
-		#if BOOST_FILESYSTEM_VERSION >= 3
-		configPath = boost::filesystem::path(fileName).parent_path().string();
-		#else
-		configPath = boost::filesystem::path(fileName).parent_path().file_string();
-		#endif
+		configPath = std::filesystem::path(fileName).parent_path().string();
 	}
-	
+
 	const CsvElements data = parseCsvWithHeader(fileName);
-	
+
 	// Look for transformations
 	const bool found3dInitialTrans(findTransform(data, "iT", 3));
 	bool found2dInitialTrans(findTransform(data, "iT", 2));
@@ -226,7 +216,7 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector(const std::string& fileName, s
 		found2dInitialTrans = false;
 	if (found3dGroundTruthTrans)
 		found2dGroundTruthTrans = false;
-	
+
 	// Check for consistency
 	if (found3dInitialTrans && found2dGroundTruthTrans)
 		throw runtime_error("Initial transformation is in 3D but ground-truth is in 2D");
@@ -237,7 +227,7 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector(const std::string& fileName, s
 		throw runtime_error("Error transfering CSV to structure: The header should at least contain \"reading\".");
 	CsvElements::const_iterator referenceIt(data.find("reference"));
 	CsvElements::const_iterator configIt(data.find("config"));
-	
+
 	// Load reading
 	const std::vector<string>& readingFileNames = readingIt->second;
 	const unsigned lineCount = readingFileNames.size();
@@ -258,14 +248,14 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector(const std::string& fileName, s
 	for(unsigned line=0; line<lineCount; line++)
 	{
 		FileInfo info;
-		
+
 		// Files
 		info.readingFileName = localToGlobalFileName(dataPath, readingFileNames[line]);
 		if (referenceFileNames)
 			info.referenceFileName = localToGlobalFileName(dataPath, (*referenceFileNames)[line]);
 		if (configFileNames)
 			info.configFileName = localToGlobalFileName(configPath, (*configFileNames)[line]);
-		
+
 		// Load transformations
 		if(found3dInitialTrans)
 			info.initialTransformation = getTransform(data, "iT", 3, line);
@@ -275,11 +265,11 @@ PointMatcherIO<T>::FileInfoVector::FileInfoVector(const std::string& fileName, s
 			info.groundTruthTransformation = getTransform(data, "gT", 3, line);
 		if(found2dGroundTruthTrans)
 			info.groundTruthTransformation = getTransform(data, "gT", 2, line);
-		
+
 		// Build the list
 		this->push_back(info);
 	}
-	
+
 	// Debug: Print the list
 	/*for(unsigned i=0; i<list.size(); i++)
 	{
@@ -299,14 +289,10 @@ template<typename T>
 std::string PointMatcherIO<T>::FileInfoVector::localToGlobalFileName(const std::string& parentPath, const std::string& fileName)
 {
 	std::string globalFileName(fileName);
-	if (!boost::filesystem::exists(globalFileName))
+	if (!std::filesystem::exists(globalFileName))
 	{
-		const boost::filesystem::path globalFilePath(boost::filesystem::path(parentPath) /  boost::filesystem::path(fileName));
-		#if BOOST_FILESYSTEM_VERSION >= 3
+		const std::filesystem::path globalFilePath(std::filesystem::path(parentPath) /  std::filesystem::path(fileName));
 		globalFileName = globalFilePath.string();
-		#else
-		globalFileName = globalFilePath.file_string();
-		#endif
 	}
 	validateFile(globalFileName);
 	return globalFileName;
@@ -354,19 +340,11 @@ template struct PointMatcherIO<double>::FileInfoVector;
 //! Throw a runtime_error exception if fileName cannot be opened
 void PointMatcherSupport::validateFile(const std::string& fileName)
 {
-	boost::filesystem::path fullPath(fileName);
+	std::filesystem::path fullPath(fileName);
 
 	ifstream ifs(fileName.c_str());
-	if (!ifs.good() || !boost::filesystem::is_regular_file(fullPath))
-	#if BOOST_FILESYSTEM_VERSION >= 3
-		#if BOOST_VERSION >= 105000
-				throw runtime_error(string("Cannot open file ") + boost::filesystem::absolute(fullPath).generic_string());
-		#else
-				throw runtime_error(string("Cannot open file ") + boost::filesystem3::complete(fullPath).generic_string());
-		#endif
-	#else
-		throw runtime_error(string("Cannot open file ") + boost::filesystem::complete(fullPath).native_file_string());
-    #endif
+	if (!ifs.good() || !std::filesystem::is_regular_file(fullPath))
+        throw runtime_error(string("Cannot open file ") + std::filesystem::absolute(fullPath).generic_string());
 }
 
 
@@ -374,24 +352,24 @@ void PointMatcherSupport::validateFile(const std::string& fileName)
 template<typename T>
 typename PointMatcher<T>::DataPoints PointMatcher<T>::DataPoints::load(const std::string& fileName)
 {
-	const boost::filesystem::path path(fileName);
+	const std::filesystem::path path(fileName);
     if (path.has_extension())
     {
         const string& ext(path.extension().string());
-        if(boost::iequals(ext, ".vtk"))
+        if(ext == ".vtk")
             return PointMatcherIO<T>::loadVTK(fileName);
-        else if(boost::iequals(ext, ".csv"))
+        else if(ext  == ".csv")
             return PointMatcherIO<T>::loadCSV(fileName);
-        else if(boost::iequals(ext, ".ply"))
+        else if(ext == ".ply")
             return PointMatcherIO<T>::loadPLY(fileName);
-        else if(boost::iequals(ext, ".pcd"))
+        else if(ext == ".pcd")
             return PointMatcherIO<T>::loadPCD(fileName);
         else
             throw runtime_error("loadAnyFormat(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
     }
     else
     {
-        throw runtime_error("loadAnyFormat(): Missing extension for file \"" + fileName + "\", extension must be either \".vtk\" or \".csv\"");
+        throw runtime_error("loadAnyFormat(): Missing extension for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
     }
 }
 
@@ -403,19 +381,19 @@ PointMatcher<double>::DataPoints PointMatcher<double>::DataPoints::load(const st
 
 //! @brief Load comma separated values (csv) file
 //! @param fileName a string containing the path and the file name
-//! 
+//!
 //! This loader has 3 behaviors since there is no official standard for
 //! csv files. A 2D or 3D point cloud will be created automatically if:
 //!   - there is a header with columns named x, y and optionnaly z
 //!   - there are only 2 or 3 columns in the file
 //!
-//! Otherwise, the user is asked to enter column id manually which might 
+//! Otherwise, the user is asked to enter column id manually which might
 //! block automatic processing.
 template<typename T>
 typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(const std::string& fileName)
 {
 	ifstream ifs(fileName.c_str());
-	
+
 	validateFile(fileName);
 
 	return loadCSV(ifs);
@@ -443,7 +421,7 @@ void PointMatcherIO<T>::LabelGenerator::add(const std::string internalName)
 			findLabel = true;
 			break;
 		}
-		
+
 	}
 
 	if(!findLabel)
@@ -550,13 +528,13 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 	unsigned int csvRow = 0;
 	bool hasHeader(false);
 	bool firstLine(true);
-	
+
 
 	//count lines in the file
 	is.unsetf(std::ios_base::skipws);
 	unsigned int line_count = std::count(
 	        std::istream_iterator<char>(is),
-			std::istream_iterator<char>(), 
+			std::istream_iterator<char>(),
 			'\n');
 	//reset the stream
 	is.clear();
@@ -567,11 +545,11 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 	string line;
 	while (safeGetLine(is, line))
 	{
-		
+
 		// Skip empty lines
 		if(line.empty())
 			break;
-	
+
 		// Look for text header
 		unsigned int len = strspn(line.c_str(), " ,+-.1234567890Ee");
 		if(len != line.length())
@@ -604,7 +582,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 				dim++;
 				token = strtok_r(NULL, delimiters, &brkt);
 			}
-			
+
 			if (!hasHeader)
 			{
 				// Check if it is a simple file with only coordinates
@@ -628,7 +606,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 
 						csvHeader.push_back(GenericInputHeader(os.str()));
 					}
-					
+
 					// Overwrite with user inputs
 					csvHeader[idX] = GenericInputHeader("x");
 					csvHeader[idY] = GenericInputHeader("y");
@@ -654,7 +632,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 			int rowIdDescriptors = 0;
 			int rowIdTime = 0;
 
-			
+
 			// Loop through all known external names (ordered list)
 			for(size_t i=0; i<externalLabels.size(); i++)
 			{
@@ -687,7 +665,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 								throw runtime_error(string("CSV parse error: encounter a type different from FEATURE, DESCRIPTOR and TIME. Implementation not supported. See the definition of 'enum PMPropTypes'"));
 								break;
 						}
-						
+
 						// we stop searching once we have a match
 						break;
 					}
@@ -705,7 +683,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 					rowIdDescriptors++;
 				}
 			}
-		
+
 
 			//3- RESERVE MEMORY
 			if(hasHeader && line_count > 0)
@@ -727,7 +705,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 		char line_c[1024];//FIXME: this might be a problem for large files
 		strcpy(line_c,line.c_str());
 		token = strtok_r(line_c, delimiters, &brkt);
-		
+
 		if(!(hasHeader && firstLine))
 		{
 			// Parse a line
@@ -740,11 +718,11 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 					throw runtime_error(
 					(boost::format("CSV parse error: at line %1%, too many elements to parse compare to the header number of columns (col=%2%).") % csvRow % csvHeader.size()).str());
 				}
-				
+
 				// Alias
 				const int matrixRow = csvHeader[csvCol].matrixRowId;
 				const int matrixCol = csvRow;
-				
+
 				switch (csvHeader[csvCol].matrixType)
 				{
 					case FEATURE:
@@ -766,8 +744,8 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 				token = strtok_r(NULL, delimiters, &brkt);
 				csvCol++;
 			}
-		
-		
+
+
 			// Error check (not enough data)
 			if(csvCol != (csvHeader.size()))
 			{
@@ -779,7 +757,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 		}
 
 		firstLine = false;
-		
+
 	}
 
 	// 5- ASSEMBLE FINAL DATAPOINTS
@@ -794,7 +772,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadCSV(std::istream& is
 	if(times.rows() > 0)
 	{
 		loadedPoints.times = times;
-		loadedPoints.timeLabels = timeLabelGen.getLabels();	
+		loadedPoints.timeLabels = timeLabelGen.getLabels();
 	}
 
 	// Ensure homogeous coordinates
@@ -815,7 +793,7 @@ PointMatcher<double>::DataPoints PointMatcherIO<double>::loadCSV(const std::stri
 template<typename T>
 void PointMatcher<T>::DataPoints::save(const std::string& fileName, bool binary, unsigned precision) const
 {
-	const boost::filesystem::path path(fileName);
+	const std::filesystem::path path(fileName);
     if (path.has_extension())
     {
         const string& ext(path.extension().string());
@@ -864,13 +842,13 @@ void PointMatcherIO<T>::saveCSV(const DataPoints& data, std::ostream& os)
 	const int pointCount(data.features.cols());
 	const int dimCount(data.features.rows());
 	const int descDimCount(data.descriptors.rows());
-	
+
 	if (pointCount == 0)
 	{
 		LOG_WARNING_STREAM( "Warning, no points, doing nothing");
 		return;
 	}
-	
+
 	// write header
 	for (int i = 0; i < dimCount - 1; i++)
 	{
@@ -913,7 +891,7 @@ void PointMatcherIO<T>::saveCSV(const DataPoints& data, std::ostream& os)
 		}
 		os << "\n";
 	}
-	
+
 }
 
 template
@@ -965,7 +943,7 @@ template<typename T>
 typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is)
 {
 	std::map<std::string, SplitTime> labelledSplitTime;
-	
+
 	DataPoints loadedPoints;
 
 	// parse header
@@ -999,7 +977,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 	int dim = 0;
 	int pointCount = 0;
 	string type;
-	
+
 	while (is >> fieldName)
 	{
 		// load features
@@ -1093,7 +1071,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 				}
 				else if(!(type == "float" || type == "double"))
 						throw runtime_error(string("Field " + fieldName + " is " + type + " but can only be of type double or float"));
-						 
+
 
 				Matrix descriptor(dim, pointCount);
 				readVtkData(type, isBinary, descriptor.transpose(), is);
@@ -1114,7 +1092,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 
 			// label name
 			is >> name;
-			
+
 			bool isTimeSec = false;
 			bool isTimeNsec = false;
 
@@ -1124,14 +1102,14 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 				isTimeSec = true;
 				boost::algorithm::erase_last(name, "_splitTime_high32");
 			}
-			
+
 			if(boost::algorithm::ends_with(name, "_splitTime_low32"))
 			{
 				isTimeNsec = true;
 				boost::algorithm::erase_last(name, "_splitTime_low32");
 			}
 
-			
+
 			bool skipLookupTable = false;
 			bool isColorScalars = false;
 			if(fieldName == "SCALARS")
@@ -1164,10 +1142,10 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 			else
 				throw runtime_error(string("Unknown field name " + fieldName + ", expecting SCALARS, VECTORS, TENSORS, NORMALS or COLOR_SCALARS."));
 
-			
+
 			safeGetLine(is, line); // remove rest of the parameter line including its line end;
 
-			
+
 			// Load time data
 			if(isTimeSec || isTimeNsec)
 			{
@@ -1176,7 +1154,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 				{
 					safeGetLine(is, line);
 				}
-				
+
 				typename std::map<std::string, SplitTime>::iterator it;
 
 				it = labelledSplitTime.find(name);
@@ -1196,7 +1174,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 					readVtkData(type, isBinary, labelledSplitTime[name].high32.transpose(), is);
 					labelledSplitTime[name].isHigh32Found = true;
 				}
-				
+
 				// Load nano seconds
 				if(isTimeNsec)
 				{
@@ -1207,10 +1185,10 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 			}
 			else
 			{
-				
+
 				Matrix descriptorData(dim, pointCount);
-				
-				if(isColorScalars && isBinary) 
+
+				if(isColorScalars && isBinary)
 				{
 					std::vector<unsigned char> buffer(dim);
 					for (int i = 0; i < pointCount; ++i){
@@ -1219,8 +1197,8 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 							descriptorData(r, i) = buffer[r] / static_cast<T>(255.0);
 						}
 					}
-				} 
-				else 
+				}
+				else
 				{
 					if(!(type == "float" || type == "double"))
 						throw runtime_error(string("Field " + fieldName + " is " + type + " but can only be of type double or float."));
@@ -1246,7 +1224,7 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 		{
 			throw runtime_error(string("Missing time field representing the higher 32 bits. Expecting SCALARS with name " + it->first + "_splitTime_high32 in the VTK file."));
 		}
-		
+
 		if(it->second.isLow32Found == false)
 		{
 			throw runtime_error(string("Missing time field representing the lower 32 bits. Expecting SCALARS with name " + it->first + "_splitTime_low32 in the VTK file."));
@@ -1256,13 +1234,13 @@ typename PointMatcher<T>::DataPoints PointMatcherIO<T>::loadVTK(std::istream& is
 		Int64Matrix timeData(1,pointCount);
 		for(int i=0; i<it->second.high32.cols(); i++)
 		{
-		
+
 			timeData(0,i) = (((std::int64_t) it->second.high32(0,i)) << 32) | ((std::int64_t) it->second.low32(0,i));
 		}
 
 		loadedPoints.addTime(it->first, timeData);
 	}
-	
+
 	return loadedPoints;
 }
 
@@ -1277,7 +1255,7 @@ template<typename T>
 void PointMatcherIO<T>::saveVTK(const DataPoints& data, const std::string& fileName, bool binary, unsigned precision)
 {
 	typedef typename InspectorsImpl<T>::VTKFileInspector VTKInspector;
-	
+
 	Parametrizable::Parameters param;
 	boost::assign::insert(param) ("baseFileName", "");
 	boost::assign::insert(param) ("writeBinary", toParam(binary));
@@ -1504,22 +1482,22 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 	
 	// Fetch vertex
 	PLYElement* vertex = elements[0];
-	
+
 	if(vertex->name != "vertex")
 	{
 		throw runtime_error(string("PLY parse error: vertex should be the first element defined."));
 	}
-		
+
 	// Fetch known features and descriptors
 	const SupportedLabels & externalLabels = getSupportedExternalLabels();
-	
+
 	int rowIdFeatures = 0;
 	int rowIdDescriptors = 0;
 	int rowIdTime= 0;
-	
+
 	LabelGenerator featLabelGen, descLabelGen, timeLabelGen;
 
-	
+
 	// Loop through all known external names (ordered list)
 	for(size_t i=0; i<externalLabels.size(); i++)
 	{
@@ -1560,7 +1538,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 			}
 		}
 	}
-	
+
 	// loop through the remaining UNSUPPORTED labels and assigned them to a single descriptor row
 	for(it_PLYProp it=vertex->properties.begin(); it!=vertex->properties.end(); ++it)
 	{
@@ -1641,7 +1619,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 
 	///////////////////////////
 	// 5- ASSEMBLE FINAL DATAPOINTS
-	
+
 	DataPoints loadedPoints(features, featLabelGen.getLabels());
 
 	if (descriptors.rows() > 0)
@@ -1653,10 +1631,10 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 	if(times.rows() > 0)
 	{
 		loadedPoints.times = times;
-		loadedPoints.timeLabels = timeLabelGen.getLabels();	
+		loadedPoints.timeLabels = timeLabelGen.getLabels();
 	}
 
-	// Ensure homogeous coordinates
+	// Ensure homogeneous coordinates
 	if(!loadedPoints.featureExists("pad"))
 	{
 		loadedPoints.addFeature("pad", Matrix::Ones(1,features.cols()));
@@ -1745,9 +1723,9 @@ void PointMatcherIO<double>::savePLY(const DataPoints& data, const std::string&
 template<typename T>
 PointMatcherIO<T>::PLYProperty::PLYProperty(const std::string& type,
 		const std::string& name, const unsigned pos) :
-		name(name), 
-		type(type), 
-		pos(pos) 
+		name(name),
+		type(type),
+		pos(pos)
 {
 	if (plyPropTypeValid(type))
 	{
@@ -1770,15 +1748,15 @@ PointMatcherIO<T>::PLYProperty::PLYProperty(const std::string& type,
 template<typename T>
 PointMatcherIO<T>::PLYProperty::PLYProperty(const std::string& idx_type,
 		const std::string& type, const std::string& name, const unsigned pos) :
-		name(name), 
-		type(type), 
-		idx_type(idx_type), 
+		name(name),
+		type(type),
+		idx_type(idx_type),
 		pos(pos)
 {
-	if (plyPropTypeValid(idx_type) && plyPropTypeValid(type)) 
+	if (plyPropTypeValid(idx_type) && plyPropTypeValid(type))
 	{
 		is_list = true;
-	} 
+	}
 	else
 	{
 		throw std::runtime_error(
@@ -1887,7 +1865,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 	1- PARSE PCD HEADER
 	2- ASSIGN PCD PROPERTIES TO DATAPOINTS ROWS
 	3- Reserve memory for a DataPoints
-	4- Parse PCD XXX to appropriate DataPoints cols and rows 
+	4- Parse PCD XXX to appropriate DataPoints cols and rows
 	5- Assemble final DataPoints
 
 	PCD organisation:
@@ -1945,19 +1923,19 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 		else if (tokens[0] == "FIELDS")
 		{
 			header.properties.resize(tokens.size() - 1);
-			
+
 			for (size_t i = 1; i < tokens.size(); i++)
 			{
 				header.properties[i-1].field = tokens[i];
 			}
-			
+
 		}
 
 		else if (tokens[0] == "SIZE")
 		{
 			if((tokens.size() - 1) != header.properties.size())
 				throw runtime_error("PCD Parse Error: number of elements for SIZE must be the same as FIELDS");
-			
+
 			for (size_t i = 1; i < tokens.size(); i++)
 			{
 				const unsigned int size = boost::lexical_cast<unsigned int >(tokens[i]);
@@ -1978,7 +1956,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 				if (type != 'I' && type != 'U' && type != 'F')
 					throw runtime_error("PCD Parse Error: invalid TYPE, it must be 'I', 'U', or 'F'");
 			}
-			
+
 		}
 
 		else if (tokens[0] == "COUNT")
@@ -1986,13 +1964,13 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 
 			if((tokens.size() - 1) != header.properties.size())
 				throw runtime_error("PCD Parse Error: number of elements for COUNT must be the same as FIELDS");
-			
+
 			for (size_t i = 1; i < tokens.size(); i++)
 			{
 				const unsigned int count = boost::lexical_cast<unsigned int >(tokens[i]);
 				header.properties[i-1].count = count;
 			}
-			
+
 		}
 
 		else if (tokens[0] == "WIDTH")
@@ -2000,12 +1978,12 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 			try
 			{
 				header.width = boost::lexical_cast<unsigned int >(tokens[1]);
-			} 
+			}
 			catch (boost::bad_lexical_cast&)
 			{
 				throw runtime_error("PCD Parse Error: invalid WIDTH");
 			}
-			
+
 		}
 
 		else if (tokens[0] == "HEIGHT")
@@ -2013,12 +1991,12 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 			try
 			{
 				header.height= boost::lexical_cast<unsigned int >(tokens[1]);
-			} 
+			}
 			catch (boost::bad_lexical_cast&)
 			{
 				throw runtime_error("PCD Parse Error: invalid HEIGHT");
 			}
-		
+
 		}
 
 		else if (tokens[0] == "VIEWPOINT")
@@ -2059,7 +2037,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 		else if (tokens[0] == "DATA")
 		{
 			header.dataType= tokens[1];
-			
+
 			if (header.dataType == "ascii")
 			{
 				// DATA is the last element of the header, we exit the loop
@@ -2094,11 +2072,11 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 
 	// Fetch known features and descriptors
 	const SupportedLabels & externalLabels = getSupportedExternalLabels();
-	
+
 	int rowIdFeatures = 0;
 	int rowIdDescriptors = 0;
 	int rowIdTime= 0;
-	
+
 	LabelGenerator featLabelGen, descLabelGen, timeLabelGen;
 
 	// Loop through all known external names (ordered list)
@@ -2150,7 +2128,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 			}
 		}
 	}
-	
+
 	// loop through the remaining UNSUPPORTED labels and assigned them to a single descriptor row
 	for(size_t i=0; i < header.properties.size(); i++)
 	{
@@ -2247,7 +2225,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 
 	///////////////////////////
 	// 5- ASSEMBLE FINAL DATAPOINTS
-	
+
 	DataPoints loadedPoints(features, featLabelGen.getLabels());
 
 	if (descriptors.rows() > 0)
@@ -2259,7 +2237,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPCD(std::istream&
 	if(times.rows() > 0)
 	{
 		loadedPoints.times = times;
-		loadedPoints.timeLabels = timeLabelGen.getLabels();	
+		loadedPoints.timeLabels = timeLabelGen.getLabels();
 	}
 
 	// Ensure homogeous coordinates
@@ -2366,6 +2344,3 @@ template
 void PointMatcherIO<float>::savePCD(const DataPoints& data, const std::string& fileName, unsigned precision);
 template
 void PointMatcherIO<double>::savePCD(const DataPoints& data, const std::string& fileName, unsigned precision);
-
-
-

From 30257dd79a190db8d29d3a254d2a8f7c938e4977 Mon Sep 17 00:00:00 2001
From: Nicolas Lauzon <nicolas_lauzon@outlook.com>
Date: Tue, 6 Aug 2024 13:31:40 -0400
Subject: [PATCH 11/39] Fixes needed for compilation

---
 pointmatcher/IO.cpp                  | 1 +
 pointmatcher/PointCloudGenerator.cpp | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index 4d5950e0..f93fb5ae 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -46,6 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <ctype.h>
 #include "boost/algorithm/string.hpp"
 #include "boost/filesystem/operations.hpp"
+#include <filesystem>
 #include "boost/lexical_cast.hpp"
 #include "boost/foreach.hpp"
 
diff --git a/pointmatcher/PointCloudGenerator.cpp b/pointmatcher/PointCloudGenerator.cpp
index d084dd2b..75ff550c 100644
--- a/pointmatcher/PointCloudGenerator.cpp
+++ b/pointmatcher/PointCloudGenerator.cpp
@@ -170,7 +170,7 @@ typename PointMatcher<T>::DataPoints PointMatcher<T>::PointCloudGenerator::gener
     {
         // Sample random values of theta and phi.
         const ScalarType phi{ 2.0f * pi * uniformDistribution(randomNumberGenerator) };
-        const ScalarType radiusSample{ radius * sqrt(uniformDistribution(randomNumberGenerator)) };
+        const ScalarType radiusSample{ static_cast<ScalarType>(radius * sqrt(uniformDistribution(randomNumberGenerator))) };
 
         // Pre-compute values, such as sine and cosine of phi and theta.
         const ScalarType sinPhi{ std::sin(phi) };

From 59c84b06f6051d3b793d8748f49feb9446ba8fb1 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sun, 11 Aug 2024 09:37:04 -0400
Subject: [PATCH 12/39] Remove boost::filesystem from build_map.cpp

---
 examples/build_map.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/examples/build_map.cpp b/examples/build_map.cpp
index 9df2a2b3..532b35f6 100644
--- a/examples/build_map.cpp
+++ b/examples/build_map.cpp
@@ -37,10 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/IO.h"
 #include <cassert>
 #include <iostream>
-#include <fstream>
-#include <boost/format.hpp>
-#include <boost/filesystem/path.hpp>
-#include <boost/filesystem/operations.hpp>
+#include <filesystem>
 #include <boost/lexical_cast.hpp>
 
 using namespace std;
@@ -210,7 +207,7 @@ int main(int argc, char *argv[])
 		}
 
 		stringstream outputFileNameIter;
-		outputFileNameIter << boost::filesystem::path(outputFileName).stem().c_str() << "_" << i << ".vtk";
+		outputFileNameIter << std::filesystem::path(outputFileName).stem().c_str() << "_" << i << ".vtk";
 		
 		mapCloud.save(outputFileNameIter.str());
 	}

From ac881af04fd26f83bbef6d7b0c4850c3af1fa144 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Sun, 11 Aug 2024 09:46:43 -0400
Subject: [PATCH 13/39] Remove boost::filesystem from utest files

---
 utest/ui/IO.cpp               |  2 +-
 utest/ui/Loggers.cpp          |  8 ++++----
 utest/ui/icp/GeneralTests.cpp | 10 +++++-----
 utest/utest.h                 |  4 +---
 4 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/utest/ui/IO.cpp b/utest/ui/IO.cpp
index f640a011..a76d986e 100644
--- a/utest/ui/IO.cpp
+++ b/utest/ui/IO.cpp
@@ -418,7 +418,7 @@ class IOLoadSaveTest : public testing::Test
 
 	virtual void TearDown()
 	{
-		EXPECT_TRUE(boost::filesystem::remove(boost::filesystem::path(testFileName)));
+		EXPECT_TRUE(std::filesystem::remove(std::filesystem::path(testFileName)));
 	}
 
 
diff --git a/utest/ui/Loggers.cpp b/utest/ui/Loggers.cpp
index bb93c605..d2da3799 100644
--- a/utest/ui/Loggers.cpp
+++ b/utest/ui/Loggers.cpp
@@ -23,8 +23,8 @@ TEST(Loggers, FileLogger)
 
 	fileLog.reset(); // The logger needs to release the files to allow them to be removed
 
-	EXPECT_TRUE(boost::filesystem::remove(boost::filesystem::path(infoFileName)));
-	EXPECT_TRUE(boost::filesystem::remove(boost::filesystem::path(warningFileName)));
+	EXPECT_TRUE(std::filesystem::remove(std::filesystem::path(infoFileName)));
+	EXPECT_TRUE(std::filesystem::remove(std::filesystem::path(warningFileName)));
 }
 
 TEST(Loggers, FileLoggerInfoToConsole)
@@ -65,7 +65,7 @@ TEST(Loggers, FileLoggerInfoToFile)
 
 	fileLog.reset(); // The logger needs to release the file to allow it to be removed
 
-	EXPECT_TRUE(boost::filesystem::remove(boost::filesystem::path(infoFileName)));
+	EXPECT_TRUE(std::filesystem::remove(std::filesystem::path(infoFileName)));
 }
 
 TEST(Loggers, FileLoggerWarningToFile)
@@ -84,5 +84,5 @@ TEST(Loggers, FileLoggerWarningToFile)
 
 	fileLog.reset(); // The logger needs to release the file to allow it to be removed
 
-	EXPECT_TRUE(boost::filesystem::remove(boost::filesystem::path(warningFileName)));
+	EXPECT_TRUE(std::filesystem::remove(std::filesystem::path(warningFileName)));
 }
diff --git a/utest/ui/icp/GeneralTests.cpp b/utest/ui/icp/GeneralTests.cpp
index fa332bae..538480f2 100644
--- a/utest/ui/icp/GeneralTests.cpp
+++ b/utest/ui/icp/GeneralTests.cpp
@@ -72,7 +72,7 @@ TEST(icpTest, icpTest)
 	DP ref  = DP::load(dataPath + "cloud.00000.vtk");
 	DP data = DP::load(dataPath + "cloud.00001.vtk");
 
-	namespace fs = boost::filesystem;
+	namespace fs = std::filesystem;
 	fs::path config_dir(dataPath + "icp_data");
 	EXPECT_TRUE( fs::exists(config_dir) && fs::is_directory(config_dir) );
 
@@ -85,7 +85,7 @@ TEST(icpTest, icpTest)
 		// Load config file, and form ICP object
 		PM::ICP icp;
 		std::string config_file = d->path().string();
-		if (fs::extension(config_file) != ".yaml") continue;
+		if (d->path().extension().string() != ".yaml") continue;
 		std::ifstream ifs(config_file.c_str());
 		EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << "   " << config_file;
 
@@ -174,7 +174,7 @@ TEST(icpTest, icpSingular)
 
 	PM::ICP icp;
 	std::string config_file = dataPath + "default-identity.yaml";
-	EXPECT_TRUE(boost::filesystem::exists(config_file));
+	EXPECT_TRUE(std::filesystem::exists(config_file));
 
 	std::ifstream ifs(config_file.c_str());
 	EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << "   " << config_file;
@@ -198,7 +198,7 @@ TEST(icpTest, icpIdentity)
 
 	PM::ICP icp;
 	std::string config_file = dataPath + "default-identity.yaml";
-	EXPECT_TRUE(boost::filesystem::exists(config_file));
+	EXPECT_TRUE(std::filesystem::exists(config_file));
 
 	std::ifstream ifs(config_file.c_str());
 	EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << "   " << config_file;
@@ -218,7 +218,7 @@ TEST(icpTest, similarityTransform)
 
 	PM::ICP icp;
 	std::string config_file = dataPath + "icp_data/defaultSimilarityPointToPointMinDistDataPointsFilter.yaml";
-	EXPECT_TRUE(boost::filesystem::exists(config_file));
+	EXPECT_TRUE(std::filesystem::exists(config_file));
 
 	std::ifstream ifs(config_file.c_str());
 	EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << "   " << config_file;
diff --git a/utest/utest.h b/utest/utest.h
index 8a011335..c20a88b9 100644
--- a/utest/utest.h
+++ b/utest/utest.h
@@ -8,9 +8,7 @@
 #include <string>
 #include <fstream>
 
-#include "boost/filesystem.hpp"
-#include "boost/filesystem/path.hpp"
-#include "boost/filesystem/operations.hpp"
+#include <filesystem>
 
 typedef double NumericType;
 typedef PointMatcher<NumericType> PM;

From be78596a92caa28c88f32934fd8934d230c25ac4 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Tue, 13 Aug 2024 19:52:32 -0400
Subject: [PATCH 14/39] build: add bionic specific install step and add
 TeamCity build script

- Add logic to install GCC 9 for Ubuntu 18.04 in dependency script.
- Replace "ci_PR_arm64v8" with "ci_PR_arm64" in multiple scripts.
- Add TeamCity-specific script to manage build flags and dry-run options.
- Update contributing documentation to reflect architecture label changes.
---
 ...\200\272  build _service_ _popup_.run.xml" |  4 +--
 ...ies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" |  6 ++--
 ...libpointmatcher_build_matrix.teamcity.bash | 35 +++++++++++++++++++
 ...pm_crawl_libpointmatcher_build_matrix.bash |  2 +-
 ...libpointmatcher_build_matrix.bleeding.bash |  2 +-
 ...m_install_dependencies_general_ubuntu.bash | 10 ++++++
 doc/contributing/contributing_instructions.md |  6 ++--
 7 files changed, 55 insertions(+), 10 deletions(-)
 create mode 100644 build_system/lpm_crawl_libpointmatcher_build_matrix.teamcity.bash

diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"
index 83b4f1c5..e595df70 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build _service_ _popup_.run.xml"	
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build &lt;service&gt; &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --fail-fast -- build ci_PR_arm64v8" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --fail-fast -- build ci_PR_arm64" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -16,4 +16,4 @@
     </envs>
     <method v="2" />
   </configuration>
-</component>
\ No newline at end of file
+</component>
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"
index 9e65fc21..5393105d 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"	
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override jammy --fail-fast -- build ci_PR_arm64v8" />
+  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override jammy --fail-fast -- build ci_PR_arm64" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -16,4 +16,4 @@
     </envs>
     <method v="2" />
   </configuration>
-</component>
\ No newline at end of file
+</component>
diff --git a/build_system/lpm_crawl_libpointmatcher_build_matrix.teamcity.bash b/build_system/lpm_crawl_libpointmatcher_build_matrix.teamcity.bash
new file mode 100644
index 00000000..53d1a1f8
--- /dev/null
+++ b/build_system/lpm_crawl_libpointmatcher_build_matrix.teamcity.bash
@@ -0,0 +1,35 @@
+#!/bin/bash
+
+# ....Architecture..............................................
+TC_LPM_BUILD_ARCH=%TC_LPM_BUILD_ARCH%
+if [[ -z ${TC_LPM_BUILD_ARCH} ]]; then
+  TC_LPM_BUILD_ARCH=ci_PR_multiarch
+fi
+echo "Build architecture: ${TC_LPM_BUILD_ARCH}"
+
+# ....Setup flags for dn_build_all.bash.........................
+LPM_CRAWL_BUILD_MATRIX_FLAGS=()
+# Add flag from TeamCity custom parameters
+LPM_CRAWL_BUILD_MATRIX_FLAGS+=($(echo %LPM_CRAWL_BUILD_MATRIX_FLAGS% | tr " " "\n"))
+if [[ -n "${LPM_CRAWL_BUILD_MATRIX_FLAGS}" ]]; then
+  echo "LPM_CRAWL_BUILD_MATRIX_FLAGS=("
+  for each in "${LPM_CRAWL_BUILD_MATRIX_FLAGS[@]}" ; do
+      echo "  ${each}"
+  done
+  echo ")"
+fi
+
+LPM_CRAWL_BUILD_MATRIX_FLAGS+=("--repository-version-build-matrix-override" "latest")
+LPM_CRAWL_BUILD_MATRIX_FLAGS+=("--fail-fast")
+LPM_CRAWL_BUILD_MATRIX_FLAGS+=("--" "build" "${TC_LPM_BUILD_ARCH:?err}")
+
+# ....Dry-run..............................................
+TC_DRY_RUN=%TC_DRY_RUN%
+if [[ ${TC_DRY_RUN} == true ]]; then
+  echo "Run in dry-run mode"
+  LPM_CRAWL_BUILD_MATRIX_FLAGS+=("--dry-run")
+fi
+
+# ....Final.....................................................
+echo -e "execute: bash lpm_crawl_libpointmatcher_build_matrix.bash ${LPM_CRAWL_BUILD_MATRIX_FLAGS[*]}"
+bash lpm_crawl_libpointmatcher_build_matrix.bash "${LPM_CRAWL_BUILD_MATRIX_FLAGS[@]}"
diff --git a/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bash b/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bash
index 17487906..9aa98b14 100644
--- a/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bash
+++ b/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bash
@@ -6,5 +6,5 @@ LPM_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")"
 cd "${LPM_ROOT_DIR}/../../"
 
 # ====begin========================================================================================
-#bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64v8
+#bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64
 bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build --dry-run
diff --git a/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bleeding.bash b/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bleeding.bash
index 94f38b9b..8be5b384 100644
--- a/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bleeding.bash
+++ b/build_system/tests/tests_docker_dryrun_and_config/dryrun_lpm_crawl_libpointmatcher_build_matrix.bleeding.bash
@@ -6,5 +6,5 @@ LPM_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")"
 cd "${LPM_ROOT_DIR}/../../"
 
 # ====begin========================================================================================
-#bash lpm_crawl_libpointmatcher_build_matrix.bleeding.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64v8
+#bash lpm_crawl_libpointmatcher_build_matrix.bleeding.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64
 bash lpm_crawl_libpointmatcher_build_matrix.bleeding.bash --fail-fast -- build --dry-run
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index d857060d..3ab1c525 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -87,6 +87,16 @@ sudo apt-get update &&
 
 ##cmake --version
 
+# Retrieve ubuntu version number: DISTRIB_RELEASE
+source /etc/lsb-release
+print_msg "Ubuntu version is ${DISTRIB_RELEASE}"
+if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
+  sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+  sudo apt update
+  sudo apt install gcc-9 g++-9
+fi
+
+
 teamcity_service_msg_blockClosed
 # .................................................................................................
 
diff --git a/doc/contributing/contributing_instructions.md b/doc/contributing/contributing_instructions.md
index 9b6d1375..363c81fd 100644
--- a/doc/contributing/contributing_instructions.md
+++ b/doc/contributing/contributing_instructions.md
@@ -68,14 +68,14 @@ cd <path/to/libpointmatcher>/build_system
 bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build ci_PR
 
 # Run a specific case using build flags with multi-architecture 
-# virtualization using "ci_PR_amd64" and "ci_PR_arm64v8" services 
+# virtualization using "ci_PR_amd64" and "ci_PR_arm64" services 
 bash lpm_crawl_libpointmatcher_build_matrix.bash \
             --repository-version-build-matrix-override latest \
             --os-name-build-matrix-override ubuntu \
             --cmake-build-type-build-matrix-override RelWithDebInfo \
             --ubuntu-version-build-matrix-override jammy \
             --fail-fast \
-            -- build ci_PR_amd64 ci_PR_arm64v8
+            -- build ci_PR_amd64 ci_PR_arm64
 
 # Read the help for details
 bash lpm_crawl_libpointmatcher_build_matrix.bash --help
@@ -135,4 +135,4 @@ See [Commit Message References](commit_msg_reference.md) for details.
   - (in-progress) and it triggers the _semantic release automation_
 
 ## Writing Documentation
-The documentation is located in the /doc folder and uses the [Material for MkDocs](https://squidfunk.github.io/mkdocs-material/) Markdown framework. 
\ No newline at end of file
+The documentation is located in the /doc folder and uses the [Material for MkDocs](https://squidfunk.github.io/mkdocs-material/) Markdown framework. 

From 7b81dd26013cedbbac60111366e8a1e44d2d5523 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Tue, 13 Aug 2024 21:20:42 -0400
Subject: [PATCH 15/39] feat(ubuntu): enhance dependency installation for
 Ubuntu 18.04

- Add `sudo apt update` and `software-properties-common` package install before adding PPA.
- Ensure non-interactive package installation with `--assume-yes` flag for `gcc-9` and `g++-9`.

[skip release]
---
 .../ubuntu/lpm_install_dependencies_general_ubuntu.bash       | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index 3ab1c525..350ad1ce 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -91,9 +91,11 @@ sudo apt-get update &&
 source /etc/lsb-release
 print_msg "Ubuntu version is ${DISTRIB_RELEASE}"
 if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
+  sudo apt update
+  sudo apt install --assume-yes software-properties-common
   sudo add-apt-repository ppa:ubuntu-toolchain-r/test
   sudo apt update
-  sudo apt install gcc-9 g++-9
+  sudo apt install --assume-yes gcc-9 g++-9
 fi
 
 

From 912814a71c8eab84cbb5b81ee017061371f64c63 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Tue, 13 Aug 2024 23:07:35 -0400
Subject: [PATCH 16/39] chore: add cache invalidation logic and clean up
 configs

- Added INVALIDATE_CACHE ARG to Dockerfiles and .env for cache invalidation.
- Deleted obsolete JetBrains run configuration.
- Enabled verbose flag for sudo update-ca-certificates for more detailed output.

Issue NMO-585
---
 build_system/.env                             |  3 +++
 ...ependencies (BUILD MATRIX SUBSET).run.xml" | 19 -------------------
 build_system/docker-compose.dependencies.yaml |  1 +
 .../docker-compose.libpointmatcher.yaml       |  1 +
 build_system/ubuntu/Dockerfile.dependencies   |  2 ++
 ...ockerfile.libpointmatcher.compilation_test |  2 ++
 6 files changed, 9 insertions(+), 19 deletions(-)
 delete mode 100644 "build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"

diff --git a/build_system/.env b/build_system/.env
index bd79b2a9..75fcc95f 100644
--- a/build_system/.env
+++ b/build_system/.env
@@ -41,3 +41,6 @@ COMPOSE_PROJECT_NAME=libpointmatcher
 ## For debuging docker build localy, use `docker build --progress=plain --no-cache` flags instead
 #BUILDKIT_PROGRESS=plain
 
+# Trick for invalidating cache periodicaly
+#INVALIDATE_CACHE=$(date +%Y-%m-%d:%H:%M:%S)
+INVALIDATE_CACHE=$(date +%Y-%m-%d)
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml" "b/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"
deleted file mode 100644
index d2e7dd3e..00000000
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272 build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml"	
+++ /dev/null
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_dependencies_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_dependencies_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override None --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override jammy -- build dependencies-general dependencies dependencies-doc" />
-    <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
-    <option name="SCRIPT_PATH" value="" />
-    <option name="SCRIPT_OPTIONS" value="" />
-    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
-    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
-    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
-    <option name="INTERPRETER_PATH" value="/bin/zsh" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="EXECUTE_IN_TERMINAL" value="true" />
-    <option name="EXECUTE_SCRIPT_FILE" value="false" />
-    <envs>
-      <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
-    </envs>
-    <method v="2" />
-  </configuration>
-</component>
\ No newline at end of file
diff --git a/build_system/docker-compose.dependencies.yaml b/build_system/docker-compose.dependencies.yaml
index e671ed10..d2ff6c6f 100644
--- a/build_system/docker-compose.dependencies.yaml
+++ b/build_system/docker-compose.dependencies.yaml
@@ -17,6 +17,7 @@ services:
         IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN}
         NBS_LIB_INSTALL_PATH: ${NBS_LIB_INSTALL_PATH:?err}
         NBS_REPOSITORY_NAME: ${NBS_REPOSITORY_NAME:?err}
+        INVALIDATE_CACHE: ${INVALIDATE_CACHE:?err}
     tty: true
     stdin_open: true
     init: true  # Propagate exit code (See remark in task NMO-266)
diff --git a/build_system/docker-compose.libpointmatcher.yaml b/build_system/docker-compose.libpointmatcher.yaml
index 66986776..bedf4784 100644
--- a/build_system/docker-compose.libpointmatcher.yaml
+++ b/build_system/docker-compose.libpointmatcher.yaml
@@ -24,6 +24,7 @@ services:
         REPOSITORY_VERSION: 'latest'
         CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE:?err}
         INSTALL_SCRIPT_FLAG: '--build-system-CI-install'
+        INVALIDATE_CACHE: ${INVALIDATE_CACHE:?err}
     tty: true
     stdin_open: true
     init: true  # Propagate exit code (See remark in task NMO-266)
diff --git a/build_system/ubuntu/Dockerfile.dependencies b/build_system/ubuntu/Dockerfile.dependencies
index bee478fe..b9bb10a3 100644
--- a/build_system/ubuntu/Dockerfile.dependencies
+++ b/build_system/ubuntu/Dockerfile.dependencies
@@ -25,6 +25,8 @@ ENV TZ=Etc/UTC
 
 ENV TERM=${TERM:-"xterm-256color"}
 
+ARG INVALIDATE_CACHE
+
 # ....Setup timezone and localization..............................................................
 # change the locale from POSIX to UTF-8
 RUN apt-get update && \
diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test b/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
index 7e9ab11a..2684ee2f 100644
--- a/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
+++ b/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
@@ -29,6 +29,8 @@ ARG DEBIAN_FRONTEND=noninteractive
 # ToDo: validate
 ENV TERM=${TERM:-"xterm-256color"}
 
+ARG INVALIDATE_CACHE
+
 # ====Checkout libpointmatcher repository==========================================================
 WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 

From f91ebeb8f457b93f0013dcbeffb21baf15c1d1e5 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Tue, 13 Aug 2024 23:27:20 -0400
Subject: [PATCH 17/39] feat(build): enable no-cache for dependencies and
 integration test builds

- Set `no_cache: true` in docker-compose files for consistent builds
- Remove `INVALIDATE_CACHE` environment variable and related arguments from Dockerfiles
---
 build_system/.env                                             | 4 ----
 build_system/docker-compose.dependencies.yaml                 | 2 +-
 build_system/docker-compose.libpointmatcher.yaml              | 3 +--
 build_system/ubuntu/Dockerfile.dependencies                   | 2 --
 .../ubuntu/Dockerfile.libpointmatcher.compilation_test        | 2 --
 5 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/build_system/.env b/build_system/.env
index 75fcc95f..660be331 100644
--- a/build_system/.env
+++ b/build_system/.env
@@ -40,7 +40,3 @@ COMPOSE_PROJECT_NAME=libpointmatcher
 ## Unmute BUILDKIT_PROGRESS to set globaly for debugging dockerfile
 ## For debuging docker build localy, use `docker build --progress=plain --no-cache` flags instead
 #BUILDKIT_PROGRESS=plain
-
-# Trick for invalidating cache periodicaly
-#INVALIDATE_CACHE=$(date +%Y-%m-%d:%H:%M:%S)
-INVALIDATE_CACHE=$(date +%Y-%m-%d)
diff --git a/build_system/docker-compose.dependencies.yaml b/build_system/docker-compose.dependencies.yaml
index d2ff6c6f..9fcf3340 100644
--- a/build_system/docker-compose.dependencies.yaml
+++ b/build_system/docker-compose.dependencies.yaml
@@ -7,6 +7,7 @@ services:
       target: libpointmatcher-dependencies-general
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies
+      no_cache: true
       platforms:
         - "linux/amd64"
         - "linux/arm64/v8"
@@ -17,7 +18,6 @@ services:
         IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN}
         NBS_LIB_INSTALL_PATH: ${NBS_LIB_INSTALL_PATH:?err}
         NBS_REPOSITORY_NAME: ${NBS_REPOSITORY_NAME:?err}
-        INVALIDATE_CACHE: ${INVALIDATE_CACHE:?err}
     tty: true
     stdin_open: true
     init: true  # Propagate exit code (See remark in task NMO-266)
diff --git a/build_system/docker-compose.libpointmatcher.yaml b/build_system/docker-compose.libpointmatcher.yaml
index bedf4784..be08fd70 100644
--- a/build_system/docker-compose.libpointmatcher.yaml
+++ b/build_system/docker-compose.libpointmatcher.yaml
@@ -11,7 +11,7 @@ services:
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.libpointmatcher.compilation_test
-      no_cache: false
+      no_cache: true
       target: test-compilation-auto-path-resolution
       platforms:
         - "linux/amd64"
@@ -24,7 +24,6 @@ services:
         REPOSITORY_VERSION: 'latest'
         CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE:?err}
         INSTALL_SCRIPT_FLAG: '--build-system-CI-install'
-        INVALIDATE_CACHE: ${INVALIDATE_CACHE:?err}
     tty: true
     stdin_open: true
     init: true  # Propagate exit code (See remark in task NMO-266)
diff --git a/build_system/ubuntu/Dockerfile.dependencies b/build_system/ubuntu/Dockerfile.dependencies
index b9bb10a3..bee478fe 100644
--- a/build_system/ubuntu/Dockerfile.dependencies
+++ b/build_system/ubuntu/Dockerfile.dependencies
@@ -25,8 +25,6 @@ ENV TZ=Etc/UTC
 
 ENV TERM=${TERM:-"xterm-256color"}
 
-ARG INVALIDATE_CACHE
-
 # ....Setup timezone and localization..............................................................
 # change the locale from POSIX to UTF-8
 RUN apt-get update && \
diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test b/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
index 2684ee2f..7e9ab11a 100644
--- a/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
+++ b/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
@@ -29,8 +29,6 @@ ARG DEBIAN_FRONTEND=noninteractive
 # ToDo: validate
 ENV TERM=${TERM:-"xterm-256color"}
 
-ARG INVALIDATE_CACHE
-
 # ====Checkout libpointmatcher repository==========================================================
 WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 

From d370759aafc4040e9803477c91b2843daa77747f Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 14 Aug 2024 09:00:08 -0400
Subject: [PATCH 18/39] feat(dependencies): update Ubuntu dependencies
 installation process

- Add `software-properties-common` to the general dependency list
- Consolidate commands to remove outdated packages
- Use conditional logic for installing compilers based on Ubuntu version

[skip release]
---
 ...m_install_dependencies_general_ubuntu.bash | 20 +++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index 350ad1ce..687caa6e 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -76,9 +76,8 @@ sudo apt-get update &&
     curl \
     wget \
     git \
+    software-properties-common \
   && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
-    g++ \
-    gcc \
     catch \
     make \
     cmake \
@@ -91,11 +90,20 @@ sudo apt-get update &&
 source /etc/lsb-release
 print_msg "Ubuntu version is ${DISTRIB_RELEASE}"
 if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
-  sudo apt update
-  sudo apt install --assume-yes software-properties-common
+  # Update Bionic outdated compiler
+  # Ref https://github.com/norlab-ulaval/libpointmatcher/pull/581#issuecomment-2284415233
   sudo add-apt-repository ppa:ubuntu-toolchain-r/test
-  sudo apt update
-  sudo apt install --assume-yes gcc-9 g++-9
+  sudo apt-get update &&
+    sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
+      gcc-9 \
+      g++-9 &&
+  sudo rm -rf /var/lib/apt/lists/*
+else
+  sudo apt-get update &&
+    sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
+      g++ \
+      gcc &&
+  sudo rm -rf /var/lib/apt/lists/*
 fi
 
 

From f92d7104f942e630b3676cef8d352f336a3785f3 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 14 Aug 2024 09:37:41 -0400
Subject: [PATCH 19/39] revert: add gcc and g++ to general Ubuntu dependencies

- Re-added gcc and g++ installation to the base dependencies script.
- Removed redundant installation commands for gcc and g++ in
non-version-specific branch.

Issue NMO-585

[skip release]
---
 .../ubuntu/lpm_install_dependencies_general_ubuntu.bash  | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index 687caa6e..f8f2abca 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -78,6 +78,8 @@ sudo apt-get update &&
     git \
     software-properties-common \
   && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
+    gcc \
+    g++ \
     catch \
     make \
     cmake \
@@ -98,15 +100,8 @@ if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
       gcc-9 \
       g++-9 &&
   sudo rm -rf /var/lib/apt/lists/*
-else
-  sudo apt-get update &&
-    sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
-      g++ \
-      gcc &&
-  sudo rm -rf /var/lib/apt/lists/*
 fi
 
-
 teamcity_service_msg_blockClosed
 # .................................................................................................
 

From b38ebf95425c86f321abda66f8bfb7d89f32b319 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 14 Aug 2024 10:13:49 -0400
Subject: [PATCH 20/39] build: update N2ST and NBS submodule to latest

---
 build_system/utilities/norlab-build-system       | 2 +-
 build_system/utilities/norlab-shell-script-tools | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
index 54bab512..ddd22afa 160000
--- a/build_system/utilities/norlab-build-system
+++ b/build_system/utilities/norlab-build-system
@@ -1 +1 @@
-Subproject commit 54bab5126598a5f92104eb6b30b278d8e89629f4
+Subproject commit ddd22afa66674adb309251992548260e1455a9ca
diff --git a/build_system/utilities/norlab-shell-script-tools b/build_system/utilities/norlab-shell-script-tools
index f6de2392..975e5b7d 160000
--- a/build_system/utilities/norlab-shell-script-tools
+++ b/build_system/utilities/norlab-shell-script-tools
@@ -1 +1 @@
-Subproject commit f6de2392d221474eb21c739b23ab55ee1f706cce
+Subproject commit 975e5b7d88b48b55f7458121b46f933547414495

From e9aae7a4b48818dddcc472adae37a0f109901676 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 14 Aug 2024 10:18:25 -0400
Subject: [PATCH 21/39] refactor: prefix functions with n2st namespace

- Renamed functions to include the n2st namespace for consistency
- Updated script header and footer printing functions
- Aligned warning and error message functions for uniformity
- Ensured splash screen functions reflect new naming convention
---
 .../lpm_utility_script/lpm_bashrc_config.bash |  8 ++--
 .../build_and_run_IamBuildSystemTester.bash   | 14 +++----
 ...nt_execute_lpm_unittest_conditionally.bash |  2 +-
 .../lpm_execute_libpointmatcher_unittest.bash | 10 ++---
 ...m_install_dependencies_general_ubuntu.bash | 26 ++++++------
 ...m_install_dependencies_libnabo_ubuntu.bash | 22 +++++-----
 .../lpm_install_doc_dependencies_ubuntu.bash  | 12 +++---
 .../lpm_install_libpointmatcher_ubuntu.bash   | 40 +++++++++----------
 libpointmatcher_dependencies_installer.bash   |  8 ++--
 libpointmatcher_installer.bash                |  4 +-
 10 files changed, 73 insertions(+), 73 deletions(-)

diff --git a/build_system/lpm_utility_script/lpm_bashrc_config.bash b/build_system/lpm_utility_script/lpm_bashrc_config.bash
index 2bca16c0..5fdbf3c8 100644
--- a/build_system/lpm_utility_script/lpm_bashrc_config.bash
+++ b/build_system/lpm_utility_script/lpm_bashrc_config.bash
@@ -25,11 +25,11 @@ function lpm::configure_bashrc() {
   source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 
   # ====Begin======================================================================================
-  print_formated_script_header 'lpm_bashrc_config.bash' "${MSG_LINE_CHAR_UTIL}"
+  n2st::print_formated_script_header 'lpm_bashrc_config.bash' "${MSG_LINE_CHAR_UTIL}"
 
 
   if [[ "$(basename ${LPM_PATH})" != "${NBS_REPOSITORY_NAME}" ]]; then
-    print_msg_error_and_exit "Can't find directory ${MSG_DIMMED_FORMAT}${NBS_REPOSITORY_NAME}${MSG_END_FORMAT}"
+    n2st::print_msg_error_and_exit "Can't find directory ${MSG_DIMMED_FORMAT}${NBS_REPOSITORY_NAME}${MSG_END_FORMAT}"
   fi
 
 
@@ -47,9 +47,9 @@ function lpm::configure_bashrc() {
     #  echo "alias lpm_attach='cd $DN_PATH && bash dn_attach.bash'"
   fi
 
-  print_msg_done "New aliases with prefix 'lpm' added to .bashrc"
+  n2st::print_msg_done "New aliases with prefix 'lpm' added to .bashrc"
 
-  print_formated_script_footer 'lpm_bashrc_config.bash' "${MSG_LINE_CHAR_UTIL}"
+  n2st::print_formated_script_footer 'lpm_bashrc_config.bash' "${MSG_LINE_CHAR_UTIL}"
 
   # ====Teardown===================================================================================
   cd "${TMP_CWD}"
diff --git a/build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash b/build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash
index 5f2c5582..c3293560 100644
--- a/build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash
+++ b/build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash
@@ -34,28 +34,28 @@ set -o allexport && source ./build_system/.env && set +o allexport
 source "./build_system/utilities/norlab-shell-script-tools/import_norlab_shell_script_tools_lib.bash"
 
 # ====Begin========================================================================================
-print_formated_script_header 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}"
+n2st::print_formated_script_header 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}"
 
 # ....Build image..................................................................................
 echo
-print_msg "Building 'lpm.ubuntu20.buildsystem.test'"
+n2st::print_msg "Building 'lpm.ubuntu20.buildsystem.test'"
 # Note: Build context must be at repository root
 
 pwd
 tree -L 1 -a
 
-show_and_execute_docker "build -f build_system/tests/tests_docker_interactive/Dockerfile.build_system_test -t lpm.ubuntu20.buildsystem.test ."
+n2st::show_and_execute_docker "build -f build_system/tests/tests_docker_interactive/Dockerfile.build_system_test -t lpm.ubuntu20.buildsystem.test ."
 #--no-cache
 
 # ....Run container................................................................................
-print_msg "Starting 'IamBuildSystemTester'"
+n2st::print_msg "Starting 'IamBuildSystemTester'"
 
 if [[ -n ${DOCKER_CMD_ARGS} ]]; then
-  print_msg "Passing command ${MSG_DIMMED_FORMAT}\"${DOCKER_CMD_ARGS}\"${MSG_END_FORMAT} to docker run"
+  n2st::print_msg "Passing command ${MSG_DIMMED_FORMAT}\"${DOCKER_CMD_ARGS}\"${MSG_END_FORMAT} to docker run"
 fi
 
-show_and_execute_docker "run --name IamBuildSystemTester -it --rm lpm.ubuntu20.buildsystem.test ${DOCKER_CMD_ARGS}"
+n2st::show_and_execute_docker "run --name IamBuildSystemTester -it --rm lpm.ubuntu20.buildsystem.test ${DOCKER_CMD_ARGS}"
 
-print_formated_script_footer 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}"
+n2st::print_formated_script_footer 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}"
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
diff --git a/build_system/ubuntu/entrypoint_special_cases/entrypoint_execute_lpm_unittest_conditionally.bash b/build_system/ubuntu/entrypoint_special_cases/entrypoint_execute_lpm_unittest_conditionally.bash
index 039fa218..7899a880 100644
--- a/build_system/ubuntu/entrypoint_special_cases/entrypoint_execute_lpm_unittest_conditionally.bash
+++ b/build_system/ubuntu/entrypoint_special_cases/entrypoint_execute_lpm_unittest_conditionally.bash
@@ -34,7 +34,7 @@ cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build"
 if [[ -d ./utest ]]; then
   source "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash"
 else
-  print_msg_warning "Directory ${MSG_DIMMED_FORMAT}utest/${MSG_END_FORMAT} was not created during compilation.
+  n2st::print_msg_warning "Directory ${MSG_DIMMED_FORMAT}utest/${MSG_END_FORMAT} was not created during compilation.
   Skipping Libpointmatcher unit-test."
 fi
 
diff --git a/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash b/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
index 601c8fba..b4ec00ac 100644
--- a/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
+++ b/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
@@ -25,7 +25,7 @@ N2ST_PATH=${N2ST_PATH:-"${LPM_PATH}/build_system/utilities/norlab-shell-script-t
 source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 
 # ====Begin========================================================================================
-print_formated_script_header 'lpm_execute_libpointmatcher_unittest.bash' ':'
+n2st::print_formated_script_header 'lpm_execute_libpointmatcher_unittest.bash' ':'
 
 cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build"
 
@@ -33,7 +33,7 @@ if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then
   echo -e "##teamcity[testSuiteStarted name='gtest']"
   echo -e "##teamcity[testStarted name='gtest' captureStandardOutput='true']"
 else
-  print_msg "Starting Libpointmatcher GoogleTest unit-test"
+  n2st::print_msg "Starting Libpointmatcher GoogleTest unit-test"
 fi
 
 # .................................................................................................
@@ -59,14 +59,14 @@ if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then
 else
 
   if [[ ${UTEST_EXIT_CODE} == 0 ]]; then
-    print_msg_done "${SUCCESS_MSG}"
+    n2st::print_msg_done "${SUCCESS_MSG}"
   else
-    print_msg_error "${FAILURE_MSG}"
+    n2st::print_msg_error "${FAILURE_MSG}"
   fi
 
 fi
 
-print_formated_script_footer 'lpm_execute_libpointmatcher_unittest.bash' ':'
+n2st::print_formated_script_footer 'lpm_execute_libpointmatcher_unittest.bash' ':'
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
 exit $UTEST_EXIT_CODE
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index d857060d..44226057 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -40,10 +40,10 @@ cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash
 SHOW_SPLASH_IDU="${SHOW_SPLASH_IDU:-true}"
 
 if [[ "${SHOW_SPLASH_IDU}" == 'true' ]]; then
-  norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
 fi
 
-print_formated_script_header "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_header "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ....Script command line flags....................................................................
 while [ $# -gt 0 ]; do
@@ -66,7 +66,7 @@ done
 
 
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install development utilities"
+n2st::teamcity_service_msg_blockOpened "Install development utilities"
 
 sudo apt-get update &&
   sudo apt-get install --assume-yes \
@@ -87,20 +87,20 @@ sudo apt-get update &&
 
 ##cmake --version
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 # .................................................................................................
 
 # (Priority) ToDo: add check to see if executed in a docker container. Current check does not do what its intended
 if [[ ${IS_TEAMCITY_RUN} == true ]]; then
-  print_msg "The install script is run in teamCity >> the python install step was executed earlier in the Dockerfile.dependencies"
+  n2st::print_msg "The install script is run in teamCity >> the python install step was executed earlier in the Dockerfile.dependencies"
 else
-  print_msg "The install script is executed in stand alone mode"
+  n2st::print_msg "The install script is executed in stand alone mode"
   cd "${NBS_PATH:?err}/src/utility_scripts" || exit 1
   bash "./nbs_install_python_dev_tools.bash"
 fi
 
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Boost"
+n2st::teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Boost"
 # https://www.boost.org/doc/libs/1_79_0/more/getting_started/unix-variants.html
 
 sudo apt-get update &&
@@ -108,9 +108,9 @@ sudo apt-get update &&
     libboost-all-dev &&
   sudo rm -rf /var/lib/apt/lists/*
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Eigen"
+n2st::teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Eigen"
 # https://eigen.tuxfamily.org/index.php
 
 sudo apt-get update &&
@@ -118,18 +118,18 @@ sudo apt-get update &&
     libeigen3-dev &&
   sudo rm -rf /var/lib/apt/lists/*
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install Libpointmatcher dev tools"
+n2st::teamcity_service_msg_blockOpened "Install Libpointmatcher dev tools"
 
 sudo apt-get update &&
   sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
     libyaml-cpp-dev &&
   sudo rm -rf /var/lib/apt/lists/*
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 
 
-print_formated_script_footer "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_footer "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
diff --git a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
index 3c3f2922..b240141a 100644
--- a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
@@ -46,10 +46,10 @@ cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash
 SHOW_SPLASH_IDU="${SHOW_SPLASH_IDU:-true}"
 
 if [[ "${SHOW_SPLASH_IDU}" == 'true' ]]; then
-  norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
 fi
 
-print_formated_script_header "lpm_install_dependencies_libnabo_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_header "lpm_install_dependencies_libnabo_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
 
 
 # ....Script command line flags....................................................................
@@ -77,7 +77,7 @@ done
 CMAKE_FLAGS=( -D CMAKE_BUILD_TYPE=RelWithDebInfo "${APPEND_TO_CMAKE_FLAG[@]}" )
 
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Libnabo"
+n2st::teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Libnabo"
 # https://github.com/norlab-ulaval/libnabo
 
 ## Note:
@@ -108,7 +108,7 @@ teamcity_service_msg_blockOpened "Install Libpointmatcher dependencies › Libna
 #    && sudo rm -rf /var/lib/apt/lists/*
 
 # ....Repository cloning step......................................................................
-print_msg "Create required dir structure"
+n2st::print_msg "Create required dir structure"
 mkdir -p "${NBS_LIB_INSTALL_PATH}"
 
 cd "${NBS_LIB_INSTALL_PATH}"
@@ -119,14 +119,14 @@ git clone https://github.com/norlab-ulaval/libnabo.git &&
 # git checkout 1.0.7
 
 # ....Cmake install step...........................................................................
-teamcity_service_msg_compilationStarted "cmake"
+n2st::teamcity_service_msg_compilationStarted "cmake"
 
-print_msg "Execute ${MSG_DIMMED_FORMAT}
+n2st::print_msg "Execute ${MSG_DIMMED_FORMAT}
 cmake ${CMAKE_FLAGS[*]} ${NBS_LIB_INSTALL_PATH}/libnabo
 ${MSG_END_FORMAT}"
 
 if [[ $TEST_RUN  == true ]]; then
-  print_msg "Test-run mode: Skipping cmake"
+  n2st::print_msg "Test-run mode: Skipping cmake"
   BUILD_EXIT_CODE=0
   INSTALL_EXIT_CODE=0
 else
@@ -140,12 +140,12 @@ else
   #  make -j $(nproc) && make test && sudo make install
 fi
 
-teamcity_service_msg_compilationFinished
+n2st::teamcity_service_msg_compilationFinished
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 
-echo " " && print_msg_done "Libpointmatcher dependencies installed"
-print_formated_script_footer "lpm_install_dependencies_libnabo_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+echo " " && n2st::print_msg_done "Libpointmatcher dependencies installed"
+n2st::print_formated_script_footer "lpm_install_dependencies_libnabo_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
diff --git a/build_system/ubuntu/lpm_install_doc_dependencies_ubuntu.bash b/build_system/ubuntu/lpm_install_doc_dependencies_ubuntu.bash
index 2997b097..e9d39724 100644
--- a/build_system/ubuntu/lpm_install_doc_dependencies_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_doc_dependencies_ubuntu.bash
@@ -48,10 +48,10 @@ cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash
 SHOW_SPLASH_IDDU="${SHOW_SPLASH_IDDU:-true}"
 
 if [[ "${SHOW_SPLASH_IDDU}" == 'true' ]]; then
-  norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
 fi
 
-print_formated_script_header "lpm_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_header "lpm_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ....Script command line flags....................................................................
 while [ $# -gt 0 ]; do
@@ -74,7 +74,7 @@ done
 
 
 # .................................................................................................
-teamcity_service_msg_blockOpened "Install libpointmatcher documentation related dependencies"
+n2st::teamcity_service_msg_blockOpened "Install libpointmatcher documentation related dependencies"
 
 ## Package required when GENERATE_API_DOC flag is set to true
 ## Note: 'texlive-full' is ~6GB. 'doxygen-latex' is a slim version tailor made for doxygen code documentation task
@@ -84,10 +84,10 @@ sudo apt-get update \
       doxygen-latex \
  && sudo rm -rf /var/lib/apt/lists/*
 
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_blockClosed
 
-echo " " && print_msg_done "Libpointmatcher documentation related dependencies installed"
-print_formated_script_footer "lpm_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+echo " " && n2st::print_msg_done "Libpointmatcher documentation related dependencies installed"
+n2st::print_formated_script_footer "lpm_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
 
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index ef5f61c3..63f92425 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -68,7 +68,7 @@ source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 # Set environment variable IMAGE_ARCH_AND_OS
 cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash"
 
-function print_help_in_terminal() {
+function lpm::print_help_in_terminal() {
   echo -e "\$ ${0} [<optional argument>]
 
   \033[1m<optional argument>:\033[0m
@@ -99,10 +99,10 @@ function print_help_in_terminal() {
 SHOW_SPLASH_ILU="${SHOW_SPLASH_ILU:-true}"
 
 if [[ "${SHOW_SPLASH_ILU}" == 'true' ]]; then
-  norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
 fi
 
-print_formated_script_header "${CALLER_NAME} (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_header "${CALLER_NAME} (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}"
 
 
 # ....Script command line flags....................................................................
@@ -142,7 +142,7 @@ while [ $# -gt 0 ]; do
     shift
     ;;
   -h | --help)
-    print_help_in_terminal
+    lpm::print_help_in_terminal
     exit
     ;;
   --) # no more option
@@ -172,17 +172,17 @@ CMAKE_FLAGS=( -D CMAKE_BUILD_TYPE="${CMAKE_BUILD_TYPE}" -D BUILD_TESTS="${BUILD_
 #  -D LIBNABO_INSTALL_DIR="${NBS_LIB_INSTALL_PATH}/libnabo" \
 
 # ----Install steps--------------------------------------------------------------------------------
-teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}"
+n2st::teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}"
 
 mkdir -p "${NBS_LIB_INSTALL_PATH}"
-print_msg "Directories (pre libpointmatcher install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")"
+n2st::print_msg "Directories (pre libpointmatcher install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")"
 cd "${NBS_LIB_INSTALL_PATH}"
 
 # ....Repository cloning step......................................................................
 if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
 
   if [[ -d ${NBS_REPOSITORY_NAME}/.git ]]; then
-    print_msg_error_and_exit "${MSG_DIMMED_FORMAT}${NBS_REPOSITORY_NAME}${MSG_END_FORMAT} source code was already checkout in the specified install directory ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${MSG_END_FORMAT}, specify an other one using ${MSG_DIMMED_FORMAT}--install-path </install/dir/path/>${MSG_END_FORMAT}."
+    n2st::print_msg_error_and_exit "${MSG_DIMMED_FORMAT}${NBS_REPOSITORY_NAME}${MSG_END_FORMAT} source code was already checkout in the specified install directory ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${MSG_END_FORMAT}, specify an other one using ${MSG_DIMMED_FORMAT}--install-path </install/dir/path/>${MSG_END_FORMAT}."
   fi
 
   git clone https://github.com/"${NBS_REPOSITORY_DOMAIN}"/"${NBS_REPOSITORY_NAME}".git
@@ -199,7 +199,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
 
     git checkout tags/"${GITHUB_TAG}"
 
-    print_msg "Repository checkout at tag $(git symbolic-ref -q --short HEAD || git describe --tags --exact-match)"
+    n2st::print_msg "Repository checkout at tag $(git symbolic-ref -q --short HEAD || git describe --tags --exact-match)"
   fi
 fi
 
@@ -207,14 +207,14 @@ cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 mkdir -p build && cd build
 
 # ....Cmake install step...........................................................................
-teamcity_service_msg_compilationStarted "cmake"
+n2st::teamcity_service_msg_compilationStarted "cmake"
 
-print_msg "Execute ${MSG_DIMMED_FORMAT}
+n2st::print_msg "Execute ${MSG_DIMMED_FORMAT}
 cmake ${CMAKE_FLAGS[*]} ${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}
 ${MSG_END_FORMAT}"
 
 if [[ $TEST_RUN  == true ]]; then
-  print_msg "Test-run mode: Skipping cmake"
+  n2st::print_msg "Test-run mode: Skipping cmake"
   BUILD_EXIT_CODE=0
   INSTALL_EXIT_CODE=0
 else
@@ -240,10 +240,10 @@ else
   #cmake -LAH
 fi
 
-print_msg "Directories (post ${NBS_REPOSITORY_NAME} install)$(tree -L 2 ${NBS_LIB_INSTALL_PATH})"
+n2st::print_msg "Directories (post ${NBS_REPOSITORY_NAME} install)$(tree -L 2 ${NBS_LIB_INSTALL_PATH})"
 
-teamcity_service_msg_compilationFinished
-teamcity_service_msg_blockClosed
+n2st::teamcity_service_msg_compilationFinished
+n2st::teamcity_service_msg_blockClosed
 
 # ....Install/build feedback.......................................................................
 SUCCESS_MSG="${NBS_REPOSITORY_NAME} installed successfully at ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}${MSG_END_FORMAT}"
@@ -256,20 +256,20 @@ if [[ ${IS_TEAMCITY_RUN} == true ]]; then
   else
     if [[ ${BUILD_EXIT_CODE} != 0 ]]; then
       echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${FAILURE_MSG}' errorDetails='$BUILD_EXIT_CODE' status='ERROR']"
-      print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+      n2st::print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
       exit $BUILD_EXIT_CODE
     else
       echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${FAILURE_MSG}' errorDetails='$INSTALL_EXIT_CODE' status='ERROR']"
-      print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+      n2st::print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
       exit $INSTALL_EXIT_CODE
     fi
   fi
 else
   if [[ ${BUILD_EXIT_CODE} == 0 ]] && [[ ${INSTALL_EXIT_CODE} == 0 ]]; then
-    echo " " && print_msg_done "${SUCCESS_MSG}"
+    echo " " && n2st::print_msg_done "${SUCCESS_MSG}"
   else
-    print_msg_error "${FAILURE_MSG}"
-    print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+    n2st::print_msg_error "${FAILURE_MSG}"
+    n2st::print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
     if [[ ${BUILD_EXIT_CODE} != 0 ]]; then
       exit $BUILD_EXIT_CODE
     else
@@ -278,7 +278,7 @@ else
   fi
 fi
 
-print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
+n2st::print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ====Teardown=====================================================================================
 cd "${TMP_CWD}"
diff --git a/libpointmatcher_dependencies_installer.bash b/libpointmatcher_dependencies_installer.bash
index fe3d6052..4061fa17 100644
--- a/libpointmatcher_dependencies_installer.bash
+++ b/libpointmatcher_dependencies_installer.bash
@@ -15,7 +15,7 @@ MSG_DIMMED_FORMAT="\033[1;2m"
 MSG_ERROR_FORMAT="\033[1;31m"
 MSG_END_FORMAT="\033[0m"
 
-function lpm::install_libpointmatcher_dependencise(){
+function lpm::install_libpointmatcher_dependencies(){
 
   # ....path resolution logic......................................................................
   LPM_ROOT="$(dirname "$(realpath "$0")")"
@@ -46,7 +46,7 @@ function lpm::install_libpointmatcher_dependencise(){
 
 
   # ====Begin======================================================================================
-  norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
   export SHOW_SPLASH_IDU=false
   export SHOW_SPLASH_IDDU=false
 
@@ -66,13 +66,13 @@ function lpm::install_libpointmatcher_dependencise(){
   # shellcheck disable=SC2086
   source lpm_install_doc_dependencies_ubuntu.bash ${PARAMS[@]}
 
-  print_msg_done "All Libpointmatcher dependencies installed"
+  n2st::print_msg_done "All Libpointmatcher dependencies installed"
 }
 
 # ::::Main:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
 if [[ "${BASH_SOURCE[0]}" = "$0" ]]; then
   # This script is being run, ie: __name__="__main__"
-  lpm::install_libpointmatcher_dependencise
+  lpm::install_libpointmatcher_dependencies
 else
   # This script is being sourced, ie: __name__="__source__"
   echo -e "${MSG_ERROR_FORMAT}[LPM ERROR]${MSG_END_FORMAT} Execute this script in a subshell i.e.: $ bash libpointmatcher_dependencies_installer.bash" 1>&2
diff --git a/libpointmatcher_installer.bash b/libpointmatcher_installer.bash
index c229f31b..2abdfcc5 100644
--- a/libpointmatcher_installer.bash
+++ b/libpointmatcher_installer.bash
@@ -62,7 +62,7 @@ function lpm::install_libpointmatcher(){
   fi
 
   # ====Begin======================================================================================
-  norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
+  n2st::norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}"
   export SHOW_SPLASH_ILU=false
 
   # ....Install general dependencies...............................................................
@@ -71,7 +71,7 @@ function lpm::install_libpointmatcher(){
   # shellcheck disable=SC2068
   source lpm_install_libpointmatcher_ubuntu.bash ${PARAMS[@]}
 
-  print_msg_done "Libpointmatcher install script completed. Have fun"
+  n2st::print_msg_done "Libpointmatcher install script completed. Have fun"
 }
 
 # ::::Main:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::

From 8dc5ff7cf1ffe3520cac398a9dd5b0a560f9b0a9 Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Thu, 15 Aug 2024 11:48:24 +0200
Subject: [PATCH 22/39] Remove remaining boost::filesystem imports

---
 .github/workflows/build-python.yaml |  3 +--
 CMakeLists.txt                      |  4 ++--
 doc/LinkingProjects.md              | 11 +++++------
 evaluations/eval_solution.cpp       |  4 ++--
 examples/align_sequence.cpp         |  3 ---
 examples/compute_overlap.cpp        |  4 ----
 examples/demo_Qt/demo.pro           |  1 -
 examples/demo_cmake/CMakeLists.txt  |  2 +-
 examples/icp.cpp                    |  2 --
 examples/icp_advance_api.cpp        |  2 --
 examples/icp_customized.cpp         |  1 -
 examples/icp_simple.cpp             |  1 -
 libpointmatcherConfig.cmake.in      |  4 ++--
 pointmatcher/IO.cpp                 |  1 -
 14 files changed, 13 insertions(+), 30 deletions(-)

diff --git a/.github/workflows/build-python.yaml b/.github/workflows/build-python.yaml
index b12c5d27..d5870fca 100644
--- a/.github/workflows/build-python.yaml
+++ b/.github/workflows/build-python.yaml
@@ -163,7 +163,6 @@ jobs:
                 libopenmpt:x64-windows `
                 boost-mpi:x64-windows-static `
                 boost-thread:x64-windows-static `
-                boost-filesystem:x64-windows-static `
                 boost-system:x64-windows-static `
                 boost-program-options:x64-windows-static `
                 boost-date-time:x64-windows-static `
@@ -185,7 +184,7 @@ jobs:
         if: ${{ steps.cache-boost.outputs.cache-hit != 'true' && runner.os == 'Linux' }}
         working-directory: ${{ env.BOOST_SRC_DIR }}/${{ env.BOOST_DIR }}
         run: |
-          ./bootstrap.sh --with-libraries=thread,filesystem,system,program_options,date_time,chrono --with-icu --prefix=${{ env.BOOST_INSTALL_PATH }}
+          ./bootstrap.sh --with-libraries=thread,system,program_options,date_time,chrono --with-icu --prefix=${{ env.BOOST_INSTALL_PATH }}
           ./b2 cxxflags=-fPIC cflags=-fPIC link=static install
 
       - name: Download source code libnabo ${{ env.LIBNABO_VERSION }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0acebe37..5d93062b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,9 +126,9 @@ endif()
 #--------------------
 # DEPENDENCY:  boost
 #--------------------
-find_package(Boost REQUIRED COMPONENTS thread filesystem system program_options date_time)
+find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
 if (Boost_MINOR_VERSION GREATER 47)
-	find_package(Boost REQUIRED COMPONENTS thread filesystem system program_options date_time chrono)
+	find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
 endif ()
 
 #--------------------
diff --git a/doc/LinkingProjects.md b/doc/LinkingProjects.md
index f206490a..caafafcd 100644
--- a/doc/LinkingProjects.md
+++ b/doc/LinkingProjects.md
@@ -23,18 +23,18 @@ A working example of how to link to an external project can be found in [./examp
 
 ## Option 2: Using Eclipse
 
-We will demonstrate how to create an Eclipse project containing a simple executable which depends on libpointmatcher.  You must have [Eclipse CDT](http://www.eclipse.org/cdt/) installed to develop with libpointmatcher in Eclipse.  
+We will demonstrate how to create an Eclipse project containing a simple executable which depends on libpointmatcher.  You must have [Eclipse CDT](http://www.eclipse.org/cdt/) installed to develop with libpointmatcher in Eclipse.
 
-Create a new C++ project by clicking `File > New > C++ Project`.  You can name your project "PointmatcherEclipseDemo" and in toolchains select the default toolchain for your system (most likely Linux GCC).  Click `Finish` to add your project to your Eclipse workspace.  
+Create a new C++ project by clicking `File > New > C++ Project`.  You can name your project "PointmatcherEclipseDemo" and in toolchains select the default toolchain for your system (most likely Linux GCC).  Click `Finish` to add your project to your Eclipse workspace.
 
-You must then configure the project by going to `Project > Properties > C/C++Build > Settings`.  Navigate to `C++ Compiler > Includes` and add the libpointmatcher (e.g. ~/Libraries/libpointmatcher) and eigen (e.g. /usr/include/eigen3) include path to the `Include paths (-I)` list.  Next, go to `C++ Linker/Libraries` and add the the following three dependencies to the "Libraries (-l)" list: 
+You must then configure the project by going to `Project > Properties > C/C++Build > Settings`.  Navigate to `C++ Compiler > Includes` and add the libpointmatcher (e.g. ~/Libraries/libpointmatcher) and eigen (e.g. /usr/include/eigen3) include path to the `Include paths (-I)` list.  Next, go to `C++ Linker/Libraries` and add the the following three dependencies to the "Libraries (-l)" list:
 
 * pointmatcher
 * boost_system
 * nabo
 
 Click `Ok` to save the configuration.  Create a new source file by clicking `File > New > Source File` and name it "Demo.cpp".  In this file you can type the following:
- 
+
 ```cpp
 #include <pointmatcher/PointMatcher.h>
 #include <iostream>
@@ -74,7 +74,6 @@ CONFIG          += c++11
 #QMAKE_LFLAGS   += -mmacosx-version-min=10.7
 
 LIBS     	+= 	/usr/local/lib/libboost_thread-mt.dylib \
-                	/usr/local/lib/libboost_filesystem-mt.dylib \
                         /usr/local/lib/libboost_system-mt.dylib \
                         /usr/local/lib/libboost_program_options-mt.dylib \
                         /usr/local/lib/libboost_date_time-mt.dylib \
@@ -97,7 +96,7 @@ g++ -I/usr/local/include/pointmatcher -o myProgram.o -c myProgram.cpp
 You can then link to the pointmatcher library using:
 
 ```bash
-g++ myProgram.o -o myProgram -lpointmatcher -lnabo -lboost_system -lyaml-cpp -lboost_filesystem -lrt
+g++ myProgram.o -o myProgram -lpointmatcher -lnabo -lboost_system -lyaml-cpp -lrt
 ```
 
 Nevertheless, it is always more convenient to use a builder such as CMake.
diff --git a/evaluations/eval_solution.cpp b/evaluations/eval_solution.cpp
index a4328ab1..1aa75210 100644
--- a/evaluations/eval_solution.cpp
+++ b/evaluations/eval_solution.cpp
@@ -44,8 +44,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <ncurses.h>
 
+#include <filesystem>
 #include <boost/program_options.hpp>
-#include <boost/filesystem.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/date_time/posix_time/posix_time_io.hpp>
 #include <boost/thread/thread.hpp>
@@ -55,7 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 using namespace std;
 using namespace PointMatcherSupport;
 namespace po = boost::program_options;
-namespace fs = boost::filesystem;
+namespace fs = std::filesystem;
 namespace pt = boost::posix_time;
 
 typedef PointMatcher<float> PM;
diff --git a/examples/align_sequence.cpp b/examples/align_sequence.cpp
index 9ea020fe..c7a6f4a7 100644
--- a/examples/align_sequence.cpp
+++ b/examples/align_sequence.cpp
@@ -38,9 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <cassert>
 #include <iostream>
 #include <fstream>
-#include <boost/format.hpp>
-#include <boost/filesystem/path.hpp>
-#include <boost/filesystem/operations.hpp>
 
 
 using namespace std;
diff --git a/examples/compute_overlap.cpp b/examples/compute_overlap.cpp
index a7fe923e..0a0c1a39 100644
--- a/examples/compute_overlap.cpp
+++ b/examples/compute_overlap.cpp
@@ -37,11 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/IO.h"
 #include <cassert>
 #include <iostream>
-#include <iomanip>
 #include <fstream>
-#include <boost/format.hpp>
-#include <boost/filesystem/path.hpp>
-#include <boost/filesystem/operations.hpp>
 #include <boost/lexical_cast.hpp>
 
 using namespace std;
diff --git a/examples/demo_Qt/demo.pro b/examples/demo_Qt/demo.pro
index 1a3a9987..f067c73d 100644
--- a/examples/demo_Qt/demo.pro
+++ b/examples/demo_Qt/demo.pro
@@ -18,7 +18,6 @@ CONFIG          += c++11
 #QMAKE_LFLAGS   += -mmacosx-version-min=10.7
 
 LIBS     	+= 	/usr/local/lib/libboost_thread-mt.dylib \
-                	/usr/local/lib/libboost_filesystem-mt.dylib \
                         /usr/local/lib/libboost_system-mt.dylib \
                         /usr/local/lib/libboost_program_options-mt.dylib \
                         /usr/local/lib/libboost_date_time-mt.dylib \
diff --git a/examples/demo_cmake/CMakeLists.txt b/examples/demo_cmake/CMakeLists.txt
index 70526ee8..5603532b 100644
--- a/examples/demo_cmake/CMakeLists.txt
+++ b/examples/demo_cmake/CMakeLists.txt
@@ -7,7 +7,7 @@ project(convert)
 set(CMAKE_CXX_STANDARD 17)
 
 find_package(libpointmatcher REQUIRED)
-find_package(Boost REQUIRED COMPONENTS filesystem)
+find_package(Boost REQUIRED)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR} ${libpointmatcher_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
 
diff --git a/examples/icp.cpp b/examples/icp.cpp
index ab3f143d..8a30daba 100644
--- a/examples/icp.cpp
+++ b/examples/icp.cpp
@@ -36,8 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/PointMatcher.h"
 #include "pointmatcher/Bibliography.h"
 
-#include "boost/filesystem.hpp"
-
 #include <cassert>
 #include <fstream>
 #include <iostream>
diff --git a/examples/icp_advance_api.cpp b/examples/icp_advance_api.cpp
index bcb8cf2f..21925e68 100644
--- a/examples/icp_advance_api.cpp
+++ b/examples/icp_advance_api.cpp
@@ -36,8 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/PointMatcher.h"
 #include "pointmatcher/Bibliography.h"
 
-#include "boost/filesystem.hpp"
-
 #include <cassert>
 #include <fstream>
 #include <iostream>
diff --git a/examples/icp_customized.cpp b/examples/icp_customized.cpp
index c5f4d131..0b246efe 100644
--- a/examples/icp_customized.cpp
+++ b/examples/icp_customized.cpp
@@ -36,7 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/PointMatcher.h"
 #include <cassert>
 #include <iostream>
-#include "boost/filesystem.hpp"
 
 using namespace std;
 
diff --git a/examples/icp_simple.cpp b/examples/icp_simple.cpp
index 895773de..ed2371f8 100644
--- a/examples/icp_simple.cpp
+++ b/examples/icp_simple.cpp
@@ -36,7 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pointmatcher/PointMatcher.h"
 #include <cassert>
 #include <iostream>
-#include "boost/filesystem.hpp"
 
 using namespace std;
 
diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
index 04061666..6de2c85f 100644
--- a/libpointmatcherConfig.cmake.in
+++ b/libpointmatcherConfig.cmake.in
@@ -7,9 +7,9 @@
 include(CMakeFindDependencyMacro)
 find_dependency(libnabo REQUIRED)
 find_dependency(yaml-cpp REQUIRED)
-find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
+find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
 if (Boost_MINOR_VERSION GREATER 47)
-  find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono REQUIRED)
+  find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
 endif ()
 include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
 
diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index f93fb5ae..b9d3c455 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -45,7 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdexcept>
 #include <ctype.h>
 #include "boost/algorithm/string.hpp"
-#include "boost/filesystem/operations.hpp"
 #include <filesystem>
 #include "boost/lexical_cast.hpp"
 #include "boost/foreach.hpp"

From 809bf6cfa937edf08a766f402c4f39006dd5d163 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Thu, 15 Aug 2024 09:55:00 -0400
Subject: [PATCH 23/39] build: update GCC and G++ alternatives

- Add command to set GCC and G++ 9 as bionic alternatives

Issue NMO-585 and PR #581
---
 build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash | 1 +
 1 file changed, 1 insertion(+)

diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index 6a37916c..82b8b2d4 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -100,6 +100,7 @@ if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
       gcc-9 \
       g++-9 &&
   sudo rm -rf /var/lib/apt/lists/*
+  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
 fi
 
 n2st::teamcity_service_msg_blockClosed

From fb2360e7082a4121c2f83bfa616bead4071117ba Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Thu, 15 Aug 2024 22:48:20 +0200
Subject: [PATCH 24/39] Update docs

---
 doc/Compilation.md | 21 +++++++++++++++++----
 mkdocs.yml         |  1 +
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/doc/Compilation.md b/doc/Compilation.md
index ecce5225..39ec7ba6 100644
--- a/doc/Compilation.md
+++ b/doc/Compilation.md
@@ -41,9 +41,9 @@ This tutorial will guide you through the different steps to install libpointmatc
 ### Dependencies
 Libpointmatcher relies on a number of standard libraries, most of which can be installed with standard package managers. The following table lists the minimum requirements necessary to instal libpointmatcher.
 
-| Library name | cmake  | boost  |  eigen  | yaml-cpp | libnabo | doxygen (opt.) |
-|:-------------|:------:|:------:|:-------:|:--------:|:-------:|:--------------:|
-| **Version**  | 3.10.2 | 1.65.1 | 3.3.4-4 |   0.5    |  1.1.1  |   1.8.13-10    |
+| Library name | g++   | cmake  | boost  |  eigen  | yaml-cpp | libnabo | doxygen (opt.) |
+|:-------------|-------|:------:|:------:|:-------:|:--------:|:-------:|:--------------:|
+| **Version**  | 9.4.0 | 3.10.2 | 1.65.1 | 3.3.4-4 |   0.5    |  1.1.1  |   1.8.13-10    |
 
 ## Detailed Installation Instructions
 The rest of this tutorial will guide you through the different requirements step by step.
@@ -52,11 +52,24 @@ The rest of this tutorial will guide you through the different requirements step
 Some installation steps are platform-dependent and need to be done beforehand.
 
 === "Ubuntu"
-    You will need to install the GNU Compiler Collection, also known as GCC. The minimum supported version is 7.5.0.
+    You will need to install the GNU Compiler Collection, also known as GCC. The minimum supported version is 9.4.0.
     ```bash
     sudo apt update
     sudo apt install build-essential
     ```
+    
+    ??? warning "Ubuntu 18 Bionic"
+
+        While newer versions of Ubuntu come with gcc and g++ on newer versions than 9.4.0 and support all modern C++17 standard library features, it is not the case for Ubuntu Bionic.
+        You will therefore need to install it manually.
+        Run
+        ```shell
+        sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+        sudo apt-get update &&
+        sudo apt-get install gcc-9 g++-9
+        sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
+        ```
+
 === "MacOS"
     ###### Installing Xcode via the App Store (OS X 10.10.2 and later)
     
diff --git a/mkdocs.yml b/mkdocs.yml
index 53aa1d87..2409dfcf 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -46,6 +46,7 @@ markdown_extensions:
   - pymdownx.superfences
   - pymdownx.tabbed:
       alternate_style: true
+  - pymdownx.details
   - attr_list
   - md_in_html
 nav:

From f3ede287e270688c26c6acdb5fe56ef56e58bacb Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Mon, 9 Sep 2024 17:16:12 -0400
Subject: [PATCH 25/39] fix: solve master and dev scheduled build instability

- Modify Docker compose files to enforce full rebuild for all builds
- Adjust Docker image architectures and add cache control
- Update version in .env build matrix files from 1.4.2 to 1.4.3
- Update LinkingProjects documentation to reflect new version

Issue NMO-589
---
 build_system/.env.build_matrix.dependencies       |  2 +-
 build_system/.env.build_matrix.libpointmatcher    |  2 +-
 .../.env.build_matrix.libpointmatcher.bleeding    |  2 +-
 .../.env.build_matrix.libpointmatcher.release     |  2 +-
 build_system/docker-compose.dependencies.yaml     | 11 +++++++----
 build_system/docker-compose.libpointmatcher.yaml  | 15 ++++++++-------
 build_system/utilities/norlab-build-system        |  2 +-
 build_system/utilities/norlab-shell-script-tools  |  2 +-
 doc/LinkingProjects.md                            |  2 +-
 9 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/build_system/.env.build_matrix.dependencies b/build_system/.env.build_matrix.dependencies
index f06b22cb..a6a36596 100644
--- a/build_system/.env.build_matrix.dependencies
+++ b/build_system/.env.build_matrix.dependencies
@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.dependencies.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
 # Libpointmatcher dependencies CMAKE_BUILD_TYPE
diff --git a/build_system/.env.build_matrix.libpointmatcher b/build_system/.env.build_matrix.libpointmatcher
index 0aabd817..3f0cda55 100644
--- a/build_system/.env.build_matrix.libpointmatcher
+++ b/build_system/.env.build_matrix.libpointmatcher
@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
diff --git a/build_system/.env.build_matrix.libpointmatcher.bleeding b/build_system/.env.build_matrix.libpointmatcher.bleeding
index 661de48f..3c95cf35 100644
--- a/build_system/.env.build_matrix.libpointmatcher.bleeding
+++ b/build_system/.env.build_matrix.libpointmatcher.bleeding
@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
diff --git a/build_system/.env.build_matrix.libpointmatcher.release b/build_system/.env.build_matrix.libpointmatcher.release
index 0bf2693b..04663e9f 100644
--- a/build_system/.env.build_matrix.libpointmatcher.release
+++ b/build_system/.env.build_matrix.libpointmatcher.release
@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
 # Libpointmatcher CMAKE_BUILD_TYPE
diff --git a/build_system/docker-compose.dependencies.yaml b/build_system/docker-compose.dependencies.yaml
index e671ed10..f6fdba7f 100644
--- a/build_system/docker-compose.dependencies.yaml
+++ b/build_system/docker-compose.dependencies.yaml
@@ -3,13 +3,15 @@ services:
   # ====Dependency related services================================================================
   dependencies-general:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-dependencies-general:${NBS_IMAGE_TAG:?err}
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       target: libpointmatcher-dependencies-general
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies
+      no_cache: true  # Enforce full rebuild
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
+        - "linux/arm64"
       args:
         BASE_IMAGE: ${DEPENDENCIES_BASE_IMAGE:?err}
         BASE_IMAGE_TAG: ${DEPENDENCIES_BASE_IMAGE_TAG:?err}
@@ -34,14 +36,15 @@ services:
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies.doxygen
-      platforms:
-        - "linux/amd64"
-        - "linux/arm64/v8"
+      pull: false # Use the local image store to execute the FROM directive
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies
         BASE_IMAGE_TAG: ${NBS_IMAGE_TAG}
         IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN}
+      platforms:
+        - "linux/amd64"
+        - "linux/arm64"
     depends_on:
       - dependencies
     tty: true
diff --git a/build_system/docker-compose.libpointmatcher.yaml b/build_system/docker-compose.libpointmatcher.yaml
index 66986776..576e987d 100644
--- a/build_system/docker-compose.libpointmatcher.yaml
+++ b/build_system/docker-compose.libpointmatcher.yaml
@@ -7,15 +7,15 @@ services:
   # ....Test logic related to libpointmatcher install casses.......................................
   _test_compilation:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-compilation-test:${NBS_IMAGE_TAG:?err}
-    pull_policy: build
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.libpointmatcher.compilation_test
-      no_cache: false
+      no_cache: true  # Enforce full rebuild
       target: test-compilation-auto-path-resolution
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
+        - "linux/arm64"
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies-general
@@ -45,11 +45,11 @@ services:
   # ....Test logic related to libpointmatcher codebase unit-test...................................
   ci_PR:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-ci-pr:${NBS_IMAGE_TAG:?err}
-    pull_policy: build
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libpointmatcher.ci_PR
-      no_cache: false
+      no_cache: true  # Enforce full rebuild
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies
@@ -90,13 +90,14 @@ services:
   release:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher:${NBS_IMAGE_TAG:?err}
     container_name: libpointmatcher
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libpointmatcher.hub_release
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
-      no_cache: false
+        - "linux/arm64"
+      no_cache: true  # Enforce full rebuild
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies-doc
diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
index 54bab512..c1c85665 160000
--- a/build_system/utilities/norlab-build-system
+++ b/build_system/utilities/norlab-build-system
@@ -1 +1 @@
-Subproject commit 54bab5126598a5f92104eb6b30b278d8e89629f4
+Subproject commit c1c8566567b77b77cfb24ee6f68460b942d4464e
diff --git a/build_system/utilities/norlab-shell-script-tools b/build_system/utilities/norlab-shell-script-tools
index f6de2392..975e5b7d 160000
--- a/build_system/utilities/norlab-shell-script-tools
+++ b/build_system/utilities/norlab-shell-script-tools
@@ -1 +1 @@
-Subproject commit f6de2392d221474eb21c739b23ab55ee1f706cce
+Subproject commit 975e5b7d88b48b55f7458121b46f933547414495
diff --git a/doc/LinkingProjects.md b/doc/LinkingProjects.md
index f206490a..a4343ce0 100644
--- a/doc/LinkingProjects.md
+++ b/doc/LinkingProjects.md
@@ -12,7 +12,7 @@ In this following example, we build a very simple CMake project containing one e
 cmake_minimum_required (VERSION 3.10.12)
 project (myProject)
 
-find_package(libpointmatcher 1.4.2 REQUIRED)
+find_package(libpointmatcher 1.4.3 REQUIRED)
 include_directories("${libpointmatcher_INCLUDE_DIRS}")
 message(STATUS "Using libpointmatcher version ${libpointmatcher_VERSION}")
 

From df3e53692f893c913e15f6e31ccde3448cb34885 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Mon, 9 Sep 2024 17:36:02 -0400
Subject: [PATCH 26/39] build: update norlab-build-system version

- Upgraded norlab-build-system to the latest version.
- Improved compatibility with new dependency requirements.
---
 build_system/utilities/norlab-build-system | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
index c1c85665..ddd22afa 160000
--- a/build_system/utilities/norlab-build-system
+++ b/build_system/utilities/norlab-build-system
@@ -1 +1 @@
-Subproject commit c1c8566567b77b77cfb24ee6f68460b942d4464e
+Subproject commit ddd22afa66674adb309251992548260e1455a9ca

From addba7120e7057352e5b537755929061058c654e Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Tue, 10 Sep 2024 09:00:59 -0400
Subject: [PATCH 27/39] build: add bionic specific dependencies install step
 (quick-hack)

- copy mod commited in be78596a92caa28c88f32934fd8934d230c25ac4 that are not merged in the master branch so that the CI built dependencies push the fix
---
 ...lpm_install_dependencies_general_ubuntu.bash | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index d857060d..a75281f4 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -76,6 +76,7 @@ sudo apt-get update &&
     curl \
     wget \
     git \
+    software-properties-common \
   && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
     g++ \
     gcc \
@@ -87,6 +88,22 @@ sudo apt-get update &&
 
 ##cmake --version
 
+# Retrieve ubuntu version number: DISTRIB_RELEASE
+source /etc/lsb-release
+print_msg "Ubuntu version is ${DISTRIB_RELEASE}"
+if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
+  # Update Bionic outdated compiler
+  # Ref https://github.com/norlab-ulaval/libpointmatcher/pull/581#issuecomment-2284415233
+  sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+  sudo apt-get update &&
+    sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \
+      gcc-9 \
+      g++-9 &&
+  sudo rm -rf /var/lib/apt/lists/*
+  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
+fi
+
+
 teamcity_service_msg_blockClosed
 # .................................................................................................
 

From ef84a0be05be336b4a2fa2244c2ba7dea68d7809 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Wed, 11 Sep 2024 11:49:41 -0400
Subject: [PATCH 28/39] ci: consolidate build and test steps in Dockerfile

- Merge the LPM build and test instructions on the same RUN layer to mitigate the cached vs compiled version missmatch related problem that causes build instability intermittently
---
 build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
index 14839ffa..d3a0ffa4 100644
--- a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
+++ b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
@@ -40,21 +40,21 @@ WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 RUN chmod +x ./utest/listVersionsUbuntu.sh
 RUN utest/listVersionsUbuntu.sh
 
-# ==== Build libpointmatcher checkout branch ======================================================
+# ==== Build/test libpointmatcher checkout branch =================================================
 WORKDIR ./build_system/ubuntu
 
 RUN chmod +x lpm_install_libpointmatcher_ubuntu.bash
 RUN chmod +x lpm_execute_libpointmatcher_unittest.bash
 RUN chmod +x entrypoint.bash
 
-
+# Note: keep build and test instructions on the same RUN layer to mitigate the cached vs compiled
+# version missmatch related problem that causes build instability
 RUN bash lpm_install_libpointmatcher_ubuntu.bash \
     --repository-version ${REPOSITORY_VERSION} \
     --cmake-build-type ${CMAKE_BUILD_TYPE} \
-    ${INSTALL_SCRIPT_FLAG}
-
-# ==== Execute libpointmatcher unit-test===========================================================
-RUN source lpm_execute_libpointmatcher_unittest.bash
+    ${INSTALL_SCRIPT_FLAG} \
+    && echo "Execute libpointmatcher unit-test" \
+    && bash lpm_execute_libpointmatcher_unittest.bash
 
 # .................................................................................................
 ## Alternate version

From 862e454c9595d5808c16de99741a577114ee2d6e Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Thu, 12 Sep 2024 15:19:18 -0400
Subject: [PATCH 29/39] feat: improve build efficiency and platform
 compatibility

- Modify make to ignore two cores to mitigate the memory leak issue
- Print number of available cores before the make command
- Add Dockerfile support for multi-platform builds by introducing TARGETPLATFORM and TARGETARCH arguments

Issue NMO-589
---
 build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR           | 2 ++
 .../ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash        | 3 ++-
 build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash    | 3 ++-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
index d3a0ffa4..89297e77 100644
--- a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
+++ b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
@@ -2,6 +2,8 @@ ARG PROJECT_HUB=norlabulaval
 ARG BASE_IMAGE=libpointmatcher-dependencies
 ARG BASE_IMAGE_TAG
 FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libpointmatcher-dependencies
+ARG TARGETPLATFORM
+ARG TARGETARCH
 
 LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca"
 
diff --git a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
index 3c3f2922..63632104 100644
--- a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
@@ -133,7 +133,8 @@ else
 
   cmake  "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/libnabo"
 
-  make -j $(nproc)
+  print_msg "Nb of available core in the current process $(nproc)"
+  make -j $(nproc --ignore=2)
   sudo make install
 
   # (NICE TO HAVE) ToDo: refactor (ref task NMO-428 refactor: drop libnabo `make test` step after libnabo-build-system deployment)
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index ef5f61c3..7ed38886 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -226,7 +226,8 @@ else
 
   BUILD_EXIT_CODE=$?
 
-  make -j $(nproc)
+  print_msg "Nb of available core in the current process $(nproc)"
+  make -j $(nproc --ignore=2)
   sudo make install
 
   INSTALL_EXIT_CODE=$?

From b55eb171cbd9d8cf83c68a72f8f28580de6e37f3 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Sat, 14 Sep 2024 10:32:20 -0400
Subject: [PATCH 30/39] revert: undo fixes from NMO-589 which did not have
 effect

- revert fix 3: merge lpm install and lpm test lines in one RUN to mitigate cache missmatch
- revert fix 6: limit the nb of processor available for make instruction using nproc --ignore=2

Issue NMO-589
---
 build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR     | 9 ++++-----
 .../ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash  | 3 +--
 .../ubuntu/lpm_install_libpointmatcher_ubuntu.bash       | 5 +----
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
index 89297e77..9f437670 100644
--- a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
+++ b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
@@ -49,14 +49,13 @@ RUN chmod +x lpm_install_libpointmatcher_ubuntu.bash
 RUN chmod +x lpm_execute_libpointmatcher_unittest.bash
 RUN chmod +x entrypoint.bash
 
-# Note: keep build and test instructions on the same RUN layer to mitigate the cached vs compiled
-# version missmatch related problem that causes build instability
 RUN bash lpm_install_libpointmatcher_ubuntu.bash \
     --repository-version ${REPOSITORY_VERSION} \
     --cmake-build-type ${CMAKE_BUILD_TYPE} \
-    ${INSTALL_SCRIPT_FLAG} \
-    && echo "Execute libpointmatcher unit-test" \
-    && bash lpm_execute_libpointmatcher_unittest.bash
+    ${INSTALL_SCRIPT_FLAG}
+
+# ==== Execute libpointmatcher unit-test===========================================================
+RUN source lpm_execute_libpointmatcher_unittest.bash
 
 # .................................................................................................
 ## Alternate version
diff --git a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
index 63632104..3c3f2922 100644
--- a/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_libnabo_ubuntu.bash
@@ -133,8 +133,7 @@ else
 
   cmake  "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/libnabo"
 
-  print_msg "Nb of available core in the current process $(nproc)"
-  make -j $(nproc --ignore=2)
+  make -j $(nproc)
   sudo make install
 
   # (NICE TO HAVE) ToDo: refactor (ref task NMO-428 refactor: drop libnabo `make test` step after libnabo-build-system deployment)
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index 7ed38886..5f1c5b76 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -223,13 +223,10 @@ else
   #  CMAKE_FLAGS=( -D BOOST_ROOT="$BOOST_ROOT" "${CMAKE_FLAGS[@]}" )
 
   cmake "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
-
   BUILD_EXIT_CODE=$?
 
-  print_msg "Nb of available core in the current process $(nproc)"
-  make -j $(nproc --ignore=2)
+  make -j $(nproc)
   sudo make install
-
   INSTALL_EXIT_CODE=$?
 
   if [[ ${GENERATE_API_DOC_FLAG} = TRUE ]]; then

From 3ca234d8912880936fc6a8e024217f73e6a7dc7c Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Sat, 14 Sep 2024 10:42:10 -0400
Subject: [PATCH 31/39] fix: add error handling for directory changes in
 scripts

- Added '|| exit' to 'cd' commands to handle errors if directory changes fail.
- Improved robustness by preventing potential script failures due to unsuccessful navigation.
---
 .../ubuntu/lpm_execute_libpointmatcher_unittest.bash      | 4 ++--
 .../ubuntu/lpm_install_dependencies_general_ubuntu.bash   | 2 +-
 .../ubuntu/lpm_install_libpointmatcher_ubuntu.bash        | 8 ++++----
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash b/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
index 601c8fba..0bd6db0e 100644
--- a/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
+++ b/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
@@ -27,7 +27,7 @@ source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 # ====Begin========================================================================================
 print_formated_script_header 'lpm_execute_libpointmatcher_unittest.bash' ':'
 
-cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build"
+cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build" || exit 1
 
 if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then
   echo -e "##teamcity[testSuiteStarted name='gtest']"
@@ -68,5 +68,5 @@ fi
 
 print_formated_script_footer 'lpm_execute_libpointmatcher_unittest.bash' ':'
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit 1
 exit $UTEST_EXIT_CODE
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index a75281f4..66d95b4c 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -149,4 +149,4 @@ teamcity_service_msg_blockClosed
 
 print_formated_script_footer "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index 5f1c5b76..cacff7fe 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -176,7 +176,7 @@ teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}"
 
 mkdir -p "${NBS_LIB_INSTALL_PATH}"
 print_msg "Directories (pre libpointmatcher install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")"
-cd "${NBS_LIB_INSTALL_PATH}"
+cd "${NBS_LIB_INSTALL_PATH}" || exit
 
 # ....Repository cloning step......................................................................
 if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
@@ -188,7 +188,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   git clone https://github.com/"${NBS_REPOSITORY_DOMAIN}"/"${NBS_REPOSITORY_NAME}".git
 
   if [[ "${REPOSITORY_VERSION}" != 'latest' ]]; then
-    cd "${NBS_REPOSITORY_NAME}"
+    cd "${NBS_REPOSITORY_NAME}" || exit
 
     git fetch --tags
     git tag --list
@@ -203,7 +203,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   fi
 fi
 
-cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
+cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" || exit
 mkdir -p build && cd build
 
 # ....Cmake install step...........................................................................
@@ -279,4 +279,4 @@ fi
 print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit

From 08779c9afdc3b711fd40290fefe1756f2f49c52d Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Sat, 14 Sep 2024 11:19:06 -0400
Subject: [PATCH 32/39] fix: update build matrix and configuration files

- Rearrange Ubuntu distro build order
- Update 'latest' description to current checkout branch
- Rename Jetbrains run configuration file for libpointmatcher build matrix

Issue NMO-589
---
 build_system/.env.build_matrix.dependencies                  | 4 ++--
 build_system/.env.build_matrix.libpointmatcher               | 5 ++---
 build_system/.env.build_matrix.libpointmatcher.bleeding      | 5 ++---
 build_system/.env.build_matrix.libpointmatcher.release       | 4 ++--
 ...rix.bash \342\200\272  build ci_PR_arm64 _popup_.run.xml" | 4 ++--
 build_system/docker-compose.libpointmatcher.yaml             | 2 +-
 build_system/utilities/norlab-build-system                   | 2 +-
 7 files changed, 12 insertions(+), 14 deletions(-)
 rename "build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" => "build_system/.jetbrains_run_config/bash lpm_crawl_libpointmatcher_build_matrix.bash \342\200\272  build ci_PR_arm64 _popup_.run.xml" (83%)

diff --git a/build_system/.env.build_matrix.dependencies b/build_system/.env.build_matrix.dependencies
index a6a36596..72696fd2 100644
--- a/build_system/.env.build_matrix.dependencies
+++ b/build_system/.env.build_matrix.dependencies
@@ -10,7 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.dependencies.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
@@ -32,7 +32,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
 # Part of the build matrix used for PR
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
diff --git a/build_system/.env.build_matrix.libpointmatcher b/build_system/.env.build_matrix.libpointmatcher
index 3f0cda55..3055ef0c 100644
--- a/build_system/.env.build_matrix.libpointmatcher
+++ b/build_system/.env.build_matrix.libpointmatcher
@@ -10,8 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
@@ -32,7 +31,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
diff --git a/build_system/.env.build_matrix.libpointmatcher.bleeding b/build_system/.env.build_matrix.libpointmatcher.bleeding
index 3c95cf35..fa4b2c16 100644
--- a/build_system/.env.build_matrix.libpointmatcher.bleeding
+++ b/build_system/.env.build_matrix.libpointmatcher.bleeding
@@ -10,8 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
@@ -33,7 +32,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
diff --git a/build_system/.env.build_matrix.libpointmatcher.release b/build_system/.env.build_matrix.libpointmatcher.release
index 04663e9f..48ec46a6 100644
--- a/build_system/.env.build_matrix.libpointmatcher.release
+++ b/build_system/.env.build_matrix.libpointmatcher.release
@@ -10,7 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
@@ -30,7 +30,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
diff --git "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml" "b/build_system/.jetbrains_run_config/bash lpm_crawl_libpointmatcher_build_matrix.bash \342\200\272  build ci_PR_arm64 _popup_.run.xml"
similarity index 83%
rename from "build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"
rename to "build_system/.jetbrains_run_config/bash lpm_crawl_libpointmatcher_build_matrix.bash \342\200\272  build ci_PR_arm64 _popup_.run.xml"
index 9e65fc21..99f11e4b 100644
--- "a/build_system/.jetbrains_run_config/bash lpm_execute_compose_over_build_matrix.bash \342\200\272  build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml"	
+++ "b/build_system/.jetbrains_run_config/bash lpm_crawl_libpointmatcher_build_matrix.bash \342\200\272  build ci_PR_arm64 _popup_.run.xml"	
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override jammy --fail-fast -- build ci_PR_arm64v8" />
+  <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override jammy --fail-fast -- build ci_PR_arm64" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
diff --git a/build_system/docker-compose.libpointmatcher.yaml b/build_system/docker-compose.libpointmatcher.yaml
index 576e987d..d950fade 100644
--- a/build_system/docker-compose.libpointmatcher.yaml
+++ b/build_system/docker-compose.libpointmatcher.yaml
@@ -4,7 +4,7 @@ include:
 services:
 
   # ====Pull-request related services==============================================================
-  # ....Test logic related to libpointmatcher install casses.......................................
+  # ....Test logic related to libpointmatcher install cases........................................
   _test_compilation:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-compilation-test:${NBS_IMAGE_TAG:?err}
     pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
index ddd22afa..2c805373 160000
--- a/build_system/utilities/norlab-build-system
+++ b/build_system/utilities/norlab-build-system
@@ -1 +1 @@
-Subproject commit ddd22afa66674adb309251992548260e1455a9ca
+Subproject commit 2c80537365c24fb180e214e2df8811e523dd6a13

From 248da94a947f8466b3cd92d7d584d4e71fcb7b17 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Sat, 14 Sep 2024 11:26:08 -0400
Subject: [PATCH 33/39] ci: update norlab-build-system to latest

---
 build_system/utilities/norlab-build-system | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
index 2c805373..ddd22afa 160000
--- a/build_system/utilities/norlab-build-system
+++ b/build_system/utilities/norlab-build-system
@@ -1 +1 @@
-Subproject commit 2c80537365c24fb180e214e2df8811e523dd6a13
+Subproject commit ddd22afa66674adb309251992548260e1455a9ca

From 08729a2e8e9121deb90c77b34027d03211662bc2 Mon Sep 17 00:00:00 2001
From: RedLeaderOne <luc.coupal.1@ulaval.ca>
Date: Sat, 14 Sep 2024 12:57:19 -0400
Subject: [PATCH 34/39] fix(build): ensure script exits on directory change
 failure

- Added 'exit 1' to all directory change (cd) commands to ensure the script exits if they fail.
- This prevents the script from continuing in an incorrect directory and potentially causing errors.
---
 .../ubuntu/lpm_install_libpointmatcher_ubuntu.bash     | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
index cacff7fe..7adceff9 100644
--- a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -53,7 +53,7 @@ export DEBIAN_FRONTEND=noninteractive
 TMP_CWD=$(pwd)
 
 LPM_PATH=$(git rev-parse --show-toplevel)
-cd "${LPM_PATH}/build_system" || exit
+cd "${LPM_PATH}/build_system" || exit 1
 
 # ....Load environment variables from file.........................................................
 set -o allexport
@@ -176,7 +176,7 @@ teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}"
 
 mkdir -p "${NBS_LIB_INSTALL_PATH}"
 print_msg "Directories (pre libpointmatcher install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")"
-cd "${NBS_LIB_INSTALL_PATH}" || exit
+cd "${NBS_LIB_INSTALL_PATH}" || exit 1
 
 # ....Repository cloning step......................................................................
 if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
@@ -188,7 +188,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   git clone https://github.com/"${NBS_REPOSITORY_DOMAIN}"/"${NBS_REPOSITORY_NAME}".git
 
   if [[ "${REPOSITORY_VERSION}" != 'latest' ]]; then
-    cd "${NBS_REPOSITORY_NAME}" || exit
+    cd "${NBS_REPOSITORY_NAME}" || exit 1
 
     git fetch --tags
     git tag --list
@@ -203,7 +203,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   fi
 fi
 
-cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" || exit
+cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" || exit 1
 mkdir -p build && cd build
 
 # ....Cmake install step...........................................................................
@@ -279,4 +279,4 @@ fi
 print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}" || exit
+cd "${TMP_CWD}" || exit 1

From ff0d2e1e643e860cf1e4eee1d3dc93b31edf53bf Mon Sep 17 00:00:00 2001
From: boxanm <47394922+boxanm@users.noreply.github.com>
Date: Mon, 9 Dec 2024 13:03:44 -0500
Subject: [PATCH 35/39] Add the DREAM lab to list of libpoitnmatcher
 applications (#592)

---
 README.md | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index d879a3de..4901ed71 100644
--- a/README.md
+++ b/README.md
@@ -30,7 +30,7 @@ The library is written in C++ for efficiency with [bindings in Python](doc/index
 &nbsp; &nbsp; &nbsp;
 [![Mentioned in Awesome Robotics](https://awesome.re/mentioned-badge.svg)](https://github.com/ahundt/awesome-robotics#point-clouds)
 <br>
-<sup> 
+<sup>
 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
 <a href="https://github.com/szenergy/awesome-lidar#basic-matching-algorithms">LIDAR</a>
 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
@@ -48,9 +48,9 @@ The library is written in C++ for efficiency with [bindings in Python](doc/index
 
 ### Supported OS And Architecture
 _libpointmatcher_ is tested on our build system under the following architecture and OS:
-- Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)  
+- Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)
 - x86 and arm64/v8
-  
+
 Note:
 - _libpointmatcher_ reportedly works on MacOs OsX (latest) and Windows (latest)
 
@@ -66,7 +66,7 @@ Execute the following to clone the repository with its submodule:
 ```shell
 git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git
 ```
-If _libpointmatcher_ was previously cloned, execute the following to fetch its new submodule 
+If _libpointmatcher_ was previously cloned, execute the following to fetch its new submodule
 ```shell
 git submodule update --remote --recursive --init
 ```
@@ -79,12 +79,12 @@ on your workstation to speed up your local development workflow.
 
 [//]: # (====Body=================================================================================)
 # Documentation and Tutorials
- 
+
 **Quick link for the tutorial pages: [Tutorials](http://libpointmatcher.readthedocs.org/).
 
-Those tutorials are written using Markdown syntax and stored in the project's `/doc` folder.  Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library's codebase. 
+Those tutorials are written using Markdown syntax and stored in the project's `/doc` folder.  Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library's codebase.
 
-Libpointmatcher's source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found [here](https://norlab.ulaval.ca/libpointmatcher-doc/), but it is suggested to use the one build for your version in `doc/html`. 
+Libpointmatcher's source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found [here](https://norlab.ulaval.ca/libpointmatcher-doc/), but it is suggested to use the one build for your version in `doc/html`.
 
 libpointmatcher was orginaly developed by [François Pomerleau](mailto:f.pomerleau@gmail.com) and [Stéphane Magnenat](http://stephane.magnenat.net) as part of our work at [ASL-ETH](http://www.asl.ethz.ch).
 It is now maintained by the Northern Robotics Laboratory ([Norlab](https://norlab.ulaval.ca/)), led by François Pomerleau.
@@ -102,7 +102,7 @@ The library has a light dependency list:
  * [Eigen] version 3, a modern C++ matrix and linear-algebra library,
  * [boost] version 1.48 and up, portable C++ source libraries,
  * [libnabo] version 1.0.7, a fast K Nearest Neighbour library for low-dimensional spaces,
- 
+
 and was compiled on:
   * Ubuntu ([see how](/doc/CompilationUbuntu.md))
   * Mac OS X ([see how](/doc/CompilationMac.md))
@@ -131,9 +131,9 @@ bash lpm_install_docker_tools.bash
 ```
 
 
-### Compilation & Installation 
+### Compilation & Installation
 
-For beginner users unfamiliar with compiling and installing a library in Linux, go [here](doc/CompilationUbuntu.md) for detailed instructions on compiling libpointmatcher from the source code.  
+For beginner users unfamiliar with compiling and installing a library in Linux, go [here](doc/CompilationUbuntu.md) for detailed instructions on compiling libpointmatcher from the source code.
 
 For conveniences, you can use the provided installer script for ubuntu
 ```shell
@@ -214,7 +214,7 @@ and/or
 
 If you are interested in learning more about different registration algorithms, we recently put together a literature review surveying multiple solutions. The review is organized in the same way as the library and many examples are provided based on real deployments.
 
-F. Pomerleau, F. Colas and R. Siegwart (2015), "_A Review of Point Cloud Registration Algorithms for Mobile Robotics_", __Foundations and Trends® in Robotics__: Vol. 4: No. 1, pp 1-104.  https://doi.org/10.1561/2300000035 
+F. Pomerleau, F. Colas and R. Siegwart (2015), "_A Review of Point Cloud Registration Algorithms for Mobile Robotics_", __Foundations and Trends® in Robotics__: Vol. 4: No. 1, pp 1-104.  https://doi.org/10.1561/2300000035
 
 If you don't have access to the journal, you can download it from [here](https://www.researchgate.net/publication/277558596_A_Review_of_Point_Cloud_Registration_Algorithms_for_Mobile_Robotics).
 
@@ -226,7 +226,7 @@ We also produced those freely available data sets to test different registration
 
 ![alt tag](http://projects.asl.ethz.ch/datasets/lib/exe/fetch.php?cache=&media=laserregistration:asldataset_weblarge.jpg)
 
-You can download the files in CSV or VTK formats, which are directly supported by the library I/O module. 
+You can download the files in CSV or VTK formats, which are directly supported by the library I/O module.
 
 
 # Projects and Partners
@@ -241,7 +241,8 @@ If you are using libpointmatcher in your project and you would like to have it l
  * [Norlab](https://norlab.ulaval.ca/) is maintaining and using the library for its research on autonomous navigation in harsh environments.
  * [ANYbotics AG](https://www.anybotics.com) is investigating autonomous navigation algorithms using this library.
  * [Point Laz Mining LiDAR Expert](https://www.pointlaz.com/) is scanning mine shafts to ensure infrastructure safety.
-
+ * [Point Laz Mining LiDAR Expert](https://www.pointlaz.com/) is scanning mine shafts to ensure infrastructure safety.
+ * [DREAM lab](https://dream.georgiatech-metz.fr/research/woodseer/) use libpointmatcher to reconstruct wood logs in 3D.
 For a larger list of work realized with libpointmatcher, please see the page [Applications And Publications](/doc/ApplicationsAndPub.md).
 
 

From 8e180b2d9f8a44591d544a7f83f799cee09f3010 Mon Sep 17 00:00:00 2001
From: boxanm <47394922+boxanm@users.noreply.github.com>
Date: Tue, 10 Dec 2024 09:23:14 -0500
Subject: [PATCH 36/39] Add support for binary PLY files (#588)

* Add support for binary-PLY file handling
* Add a utest for binary PLY files
* Basic float data type loading
* Adjust whitespace in build-python.yaml
* Update docs
---
 .github/workflows/build-python.yaml |  28 ++---
 doc/ImportExport.md                 |  12 +-
 pointmatcher/IO.cpp                 | 187 ++++++++++++++++++++++------
 pointmatcher/IO.h                   |  45 +++++--
 python/pointmatcher/io.cpp          | 100 +++++++--------
 utest/ui/IO.cpp                     |   5 +
 6 files changed, 256 insertions(+), 121 deletions(-)

diff --git a/.github/workflows/build-python.yaml b/.github/workflows/build-python.yaml
index d5870fca..1e8cdfdd 100644
--- a/.github/workflows/build-python.yaml
+++ b/.github/workflows/build-python.yaml
@@ -32,15 +32,15 @@ jobs:
       fail-fast: false
       matrix:
         python_version: ['3.8', '3.9', '3.10', '3.11']
-        os: 
+        os:
           # - windows-2019 cannot compile on Windows
           # (!) TODO: The workflow contains code for Windows building, but we cannot compile it with MS MPI. Changes in the source code are needed.
 
           - ubuntu-20.04
-      
+
     permissions:
       contents: write
-    
+
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -54,10 +54,10 @@ jobs:
         run: |
           echo "BOOST_DIR=boost_${{ env.BOOST_MAJOR_VERSION }}_${{ env.BOOST_MINOR_VERSION }}_${{ env.BOOST_PATCH_VERSION }}" >> $GITHUB_ENV
           echo "BOOST_VERSION=${{ env.BOOST_MAJOR_VERSION }}.${{ env.BOOST_MINOR_VERSION }}.${{ env.BOOST_PATCH_VERSION }}" >> $GITHUB_ENV
- 
+
       - name: Init env variable on Linux
         if: ${{ runner.os == 'Linux' }}
-        run: | 
+        run: |
           echo "BOOST_ARCHIVE_NAME=${{ env.BOOST_DIR }}.7z" >> $GITHUB_ENV
 
       - name: Init base env variable on Windows
@@ -65,12 +65,12 @@ jobs:
         run: |
           echo "BOOST_DIR=boost_${{ env.BOOST_MAJOR_VERSION }}_${{ env.BOOST_MINOR_VERSION }}_${{ env.BOOST_PATCH_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Append
           echo "BOOST_VERSION=${{ env.BOOST_MAJOR_VERSION }}.${{ env.BOOST_MINOR_VERSION }}.${{ env.BOOST_PATCH_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Append
- 
+
       - name: Init env variable on Windows
         if: ${{ runner.os == 'Windows' }}
-        run: | 
+        run: |
           echo "BOOST_ARCHIVE_NAME=${{ env.BOOST_DIR }}.zip" | Out-File -FilePath $env:GITHUB_ENV -Append
-      
+
       - name: Cache boost
         id: cache-boost
         if: ${{ runner.os  == 'Linux' }}
@@ -100,7 +100,7 @@ jobs:
         with:
           path: ${{ env.PYBIND11_INSTALL_PATH }}
           key: ${{ runner.os }}-pybind11-cache--${{ env.PYBIND11_VERSION }}-python-${{ matrix.python_version }}
-      
+
       - name: Make dirs on Linux
         if: ${{ runner.os  == 'Linux' }}
         run: |
@@ -155,7 +155,7 @@ jobs:
         run: |
           python -m pip install -U 'pip>=23.0'
           pip install 'numpy>=1.20' wheel 'setuptools>=61.0' 'build~=0.10'
-      
+
       - name: Install dependencies on Windows
         if: ${{ runner.os == 'Windows' }}
         run: |
@@ -229,7 +229,7 @@ jobs:
         run: |
           git clone -b ${{ env.PYBIND11_VERSION }} --single-branch https://github.com/pybind/pybind11.git
 
-      
+
       - name: Install pybind11 ${{ env.PYBIND11_VERSION }} on Linux
         working-directory:  ${{ env.PYBIND11_SRC_DIR }}
         if: ${{ steps.cache-pybind11.outputs.cache-hit != 'true' && runner.os == 'Linux' }}
@@ -242,7 +242,7 @@ jobs:
             -S . -B ./build
           cmake --build ./build --target install
           rm -r ./build
-      
+
       - name: Install pybind11 ${{ env.PYBIND11_VERSION }} on Windows
         working-directory:  ${{ env.PYBIND11_SRC_DIR }}
         if: ${{ steps.cache-pybind11.outputs.cache-hit != 'true' && runner.os == 'Windows' }}
@@ -288,7 +288,7 @@ jobs:
             -DCMAKE_BUILD_TYPE="RelWithDebInfo" `
             -S . -B ${{ env.BUILD_DIR }}
           cmake --build ${{ env.BUILD_DIR }} --target install
-      
+
       - name: Build python wheel
         working-directory: ./python
         run: |
@@ -298,7 +298,7 @@ jobs:
         working-directory: ./python
         run: |
           pip install ${{ env.PYTHON_WHEEL_DIR }}/*.whl
-      
+
       - name: Test import
         working-directory: ${{ runner.temp }}
         run: python -c "from pypointmatcher import *"
diff --git a/doc/ImportExport.md b/doc/ImportExport.md
index 309e64c0..0e56e132 100644
--- a/doc/ImportExport.md
+++ b/doc/ImportExport.md
@@ -6,12 +6,12 @@ There exists a myriad of [graphics file formats](http://en.wikipedia.org/wiki/Ca
 
 ## Table of Supported File Formats
 
-| File Type | Extension | Versions Supported | Descriptors Supported | Additional Information |
-| --------- |:---------:|:------------------:|:---------------------:|---------|
-| Comma Separated Values | .csv | NA | yes (see [table of descriptor labels](#descmaptable)) | |
-| Visualization Toolkit Files | .vtk | Legacy format versions 3.0 and lower (ASCII only) | yes | Only polydata and unstructured grid VTK Datatypes supported.  More information can be found  [here](http://www.vtk.org/VTK/img/file-formats.pdf).|
-| Polygon File Format | .ply | 1.0 (ASCII only) | yes (see [table of descriptor labels](#descmaptable)) | | 
-| Point Cloud Library Format | .pcd | 0.7 (ASCII only) | yes (see [table of descriptor labels](#descmaptable)) | |
+| File Type | Extension |                Versions Supported                 | Descriptors Supported | Additional Information                                                                                                                            |
+| --------- |:---------:|:-------------------------------------------------:|:---------------------:|---------------------------------------------------------------------------------------------------------------------------------------------------|
+| Comma Separated Values | .csv |                        NA                         | yes (see [table of descriptor labels](#descmaptable)) |                                                                                                                                                   |
+| Visualization Toolkit Files | .vtk | Legacy format versions 3.0 and lower (ASCII only) | yes | Only polydata and unstructured grid VTK Datatypes supported.  More information can be found  [here](http://www.vtk.org/VTK/img/file-formats.pdf). |
+| Polygon File Format | .ply |              1.0 (ASCII and binary)               | yes (see [table of descriptor labels](#descmaptable)) | Users are encouraged to execute `libpointmatcher` using `double` as the floating precision format to prevent overflows.                           | 
+| Point Cloud Library Format | .pcd |                 0.7 (ASCII only)                  | yes (see [table of descriptor labels](#descmaptable)) |                                                                                                                                                   |
 
 ## Comma Separated Values (CSV) Files
 
diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index b9d3c455..3108275e 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -799,14 +799,14 @@ void PointMatcher<T>::DataPoints::save(const std::string& fileName, bool binary,
         const string& ext(path.extension().string());
         if (boost::iequals(ext, ".vtk"))
             return PointMatcherIO<T>::saveVTK(*this, fileName, binary, precision);
+        else if (boost::iequals(ext, ".ply"))
+            return PointMatcherIO<T>::savePLY(*this, fileName, binary, precision);
 
         if (binary)
-            throw runtime_error("save(): Binary writing is not supported together with extension \"" + ext + "\". Currently binary writing is only supported with \".vtk\".");
+            throw runtime_error("save(): Binary writing is not supported together with extension \"" + ext + "\". Currently binary writing is only supported with \".vtk\" and \".ply\".");
 
         if (boost::iequals(ext, ".csv"))
             return PointMatcherIO<T>::saveCSV(*this, fileName, precision);
-        else if (boost::iequals(ext, ".ply"))
-            return PointMatcherIO<T>::savePLY(*this, fileName, precision);
         else if (boost::iequals(ext, ".pcd"))
             return PointMatcherIO<T>::savePCD(*this, fileName, precision);
         else
@@ -1337,6 +1337,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 	PLYElement* current_element = NULL;
 	bool skip_props = false; // flag to skip properties if element is not supported
 	unsigned elem_offset = 0; // keep track of line position of elements that are supported
+    bool is_binary = false;
 	string line;
 	safeGetLine(is, line);
 
@@ -1374,8 +1375,10 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 			if (format_str != "ascii" && format_str != "binary_little_endian" && format_str != "binary_big_endian")
 				throw runtime_error(string("PLY parse error: format <") + format_str + string("> is not supported"));
 
-			if (format_str == "binary_little_endian" || format_str == "binary_big_endian")
-				throw runtime_error(string("PLY parse error: binary PLY files are not supported"));
+			if (format_str == "binary_little_endian")
+                is_binary = true;
+            if (format_str == "binary_big_endian")
+				throw runtime_error(string("PLY parse error: only little endian binary PLY files are currently supported"));
 			if (version_str != "1.0")
 			{
 				throw runtime_error(string("PLY parse error: version <") + version_str + string("> of ply is not supported"));
@@ -1386,8 +1389,6 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 		}
 		else if (keyword == "element")
 		{
-			
-
 			string elem_name, elem_num_s;
 			stringstream >> elem_name >> elem_num_s;
 
@@ -1528,9 +1529,9 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 						it->pmRowID = rowIdTime;
 						timeLabelGen.add(supLabel.internalName);
 						rowIdTime++;
+                        break;
 					default:
 						throw runtime_error(string("PLY Implementation Error: encounter a type different from FEATURE, DESCRIPTOR and TIME. Implementation not supported. See the definition of 'enum PMPropTypes'"));
-						break;
 				}
 
 				// we stop searching once we have a match
@@ -1573,21 +1574,94 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 	for(int i=0; i<nbValues; i++)
 	{
 		T value;
-		if(!(is >> value))
-		{
-			throw runtime_error(
-			(boost::format("PLY parse error: expected %1% values (%2% points with %3% properties) but only found %4% values.") % nbValues % nbPoints % nbProp % i).str());
-		}
-		else
-		{
-			const int row = vertex->properties[propID].pmRowID;
-			const PMPropTypes type = vertex->properties[propID].pmType;
-			
-			// rescale color from [0,254] to [0, 1[
-			// FIXME: do we need that?
-			if (vertex->properties[propID].name == "red" || vertex->properties[propID].name == "green" || vertex->properties[propID].name == "blue" || vertex->properties[propID].name == "alpha") {
-				value /= 255.0;
-			}
+        if (is_binary)
+        {
+            switch(vertex->properties[propID].type)
+            {
+                case PLYProperty::PLYPropertyType::INT8:
+                {
+                    int8_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(int8_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::UINT8:
+                {
+                    uint8_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(uint8_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::INT16:
+                {
+                    int16_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(int16_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::UINT16:
+                {
+                    uint16_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(uint16_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::INT32:
+                {
+                    // TODO what happens if T is float and we overflow?
+                    int32_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(int32_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::UINT32:
+                {
+                    // TODO what happens if T is float and we overflow?
+                    uint32_t temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(uint32_t));
+                    value = static_cast<T>(temp);
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::FLOAT32:
+                {
+                    float temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(float));
+                    value = static_cast<T>(temp); // Directly assign if T is float, or cast if T is double
+                    break;
+                }
+                case PLYProperty::PLYPropertyType::FLOAT64:
+                {
+                    // TODO what happens if T is float and we read a double?
+                    double temp;
+                    is.read(reinterpret_cast<char*>(&temp), sizeof(double));
+                    value = static_cast<T>(temp); // Directly assign if T is double, or cast if T is float
+                    break;
+                }
+                default:
+                {
+                    throw runtime_error(
+                        (boost::format("Unsupported data type in binary mode %1%.") % static_cast<int>(vertex->properties[propID].type)).str());
+                }
+            }
+        }
+        if ((is_binary && !is) || (!is_binary && !(is >> value)))
+        {
+            throw runtime_error(
+                    (boost::format("PLY parse error: expected %1% values (%2% points with %3% properties) but only found %4% values.") % nbValues % nbPoints % nbProp %
+                     i).str());
+        }
+        else
+        {
+            const int row = vertex->properties[propID].pmRowID;
+            const PMPropTypes type = vertex->properties[propID].pmType;
+
+            // rescale color from [0,255] to [0, 1[
+            // FIXME: do we need that?
+            if(vertex->properties[propID].name == "red" || vertex->properties[propID].name == "green" || vertex->properties[propID].name == "blue" ||
+               vertex->properties[propID].name == "alpha")
+            {
+                value /= 255.0;
+            }
 
 			switch (type)
 			{
@@ -1615,8 +1689,6 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 		}
 	}
 
-
-
 	///////////////////////////
 	// 5- ASSEMBLE FINAL DATAPOINTS
 
@@ -1646,7 +1718,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 
 template<typename T>
 void PointMatcherIO<T>::savePLY(const DataPoints& data,
-		const std::string& fileName, unsigned precision)
+		const std::string& fileName, bool binary, unsigned precision)
 {
 	//typedef typename DataPoints::Labels Labels;
 
@@ -1666,20 +1738,36 @@ void PointMatcherIO<T>::savePLY(const DataPoints& data,
 		return;
 	}
 
-	ofs << "ply\n" <<"format ascii 1.0\n";
+    if (binary)
+        ofs << "ply\n" <<"format binary_little_endian 1.0\n";
+    else
+	    ofs << "ply\n" <<"format ascii 1.0\n";
+
+    ofs << "comment File created with libpointmatcher\n";
 	ofs << "element vertex " << pointCount << "\n";
+    std::string dataType;
+
+    using ValueType = typename std::conditional<std::is_same<T, float>::value, float, double>::type;
+    if (std::is_same<ValueType, float>::value)
+        dataType = "float";
+    else
+        dataType = "double";
+
 	for (int f=0; f <(featCount-1); f++)
 	{
-		ofs << "property float " << data.featureLabels[f].text << "\n";
+		ofs << "property " << dataType << " " << data.featureLabels[f].text << "\n";
 	}
 
 	for (size_t i = 0; i < data.descriptorLabels.size(); i++)
 	{
 		Label lab = data.descriptorLabels[i];
 		for (size_t s = 0; s < lab.span; s++)
-
 		{
-			ofs << "property float " << getColLabel(lab,s) << "\n";
+            std::string label = getColLabel(lab,s);
+            if (label == "red" || label == "green" || label == "blue" || label == "alpha")
+			    ofs << "property uchar " << label << "\n";
+            else
+			    ofs << "property " << dataType << " " << label << "\n";
 		}
 	}
 
@@ -1690,9 +1778,16 @@ void PointMatcherIO<T>::savePLY(const DataPoints& data,
 	{
 		for (int f = 0; f < featCount - 1; ++f)
 		{
-			ofs << data.features(f, p);
-			if(!(f == featCount-2 && descRows == 0))
-				ofs << " ";
+            if (binary)
+            {
+                ofs.write(reinterpret_cast<const char*>(&data.features(f, p)), sizeof(T));
+            }
+            else
+            {
+                ofs << data.features(f, p);
+                if(!(f == featCount - 2 && descRows == 0))
+                    ofs << " ";
+            }
 		}
 
 		bool datawithColor = data.descriptorExists("color");
@@ -1701,34 +1796,44 @@ void PointMatcherIO<T>::savePLY(const DataPoints& data,
 		for (int d = 0; d < descRows; ++d)
 		{
 			if (datawithColor && d >= colorStartingRow && d < colorEndRow) {
-				ofs << static_cast<unsigned>(data.descriptors(d, p) * 255.0);
+                if (binary)
+                {
+                    char value = static_cast<char>(data.descriptors(d, p) * 255.0);
+                    ofs.write(reinterpret_cast<const char*>(&value), sizeof(char));
+                }
+                else
+				    ofs << static_cast<unsigned>(data.descriptors(d, p) * 255.0);
 			} else {
-				ofs << data.descriptors(d, p);
+                if (binary)
+				    ofs.write(reinterpret_cast<const char*>(&data.descriptors(d, p)), sizeof(T));
+                else
+				    ofs << data.descriptors(d, p);
 			}
-			if(d != descRows-1)
+			if(d != descRows-1 && !binary)
 				ofs << " ";
 		}
-		ofs << "\n";
+        if(!binary)
+		    ofs << "\n";
 	}
 
 	ofs.close();
 }
 
 template
-void PointMatcherIO<float>::savePLY(const DataPoints& data, const std::string& fileName, unsigned precision);
+void PointMatcherIO<float>::savePLY(const DataPoints& data, const std::string& fileName, bool binary, unsigned precision);
 template
-void PointMatcherIO<double>::savePLY(const DataPoints& data, const std::string& fileName, unsigned precision);
+void PointMatcherIO<double>::savePLY(const DataPoints& data, const std::string& fileName, bool binary, unsigned precision);
 
 //! @(brief) Regular PLY property constructor
 template<typename T>
 PointMatcherIO<T>::PLYProperty::PLYProperty(const std::string& type,
 		const std::string& name, const unsigned pos) :
 		name(name),
-		type(type),
 		pos(pos)
 {
 	if (plyPropTypeValid(type))
 	{
+        this->type = get_type_from_string(type);
 		is_list = false;
 	}
 	else
@@ -1749,12 +1854,12 @@ template<typename T>
 PointMatcherIO<T>::PLYProperty::PLYProperty(const std::string& idx_type,
 		const std::string& type, const std::string& name, const unsigned pos) :
 		name(name),
-		type(type),
 		idx_type(idx_type),
 		pos(pos)
 {
 	if (plyPropTypeValid(idx_type) && plyPropTypeValid(type))
 	{
+        this->type = get_type_from_string(type);
 		is_list = true;
 	}
 	else
diff --git a/pointmatcher/IO.h b/pointmatcher/IO.h
index 1089f1b0..0aaae940 100644
--- a/pointmatcher/IO.h
+++ b/pointmatcher/IO.h
@@ -57,9 +57,9 @@ struct PointMatcherIO
 	//! Map to associate common descriptor sublabels to PM descriptor matrix row and labels
 	//! ex: nx, ny, nz are associated with (0,normals) (1,normals) (2,normals) respectively
 	typedef std::map<std::string, LabelAssociationPair > SublabelAssociationMap;
-	
+
 	static std::string getColLabel(const Label& label, const int row); //!< convert a descriptor label to an appropriate sub-label
-	
+
 	//! Type of information in a DataPoints. Each type is stored in its own dense matrix.
 	enum PMPropTypes
 		{
@@ -112,7 +112,7 @@ struct PointMatcherIO
 	};
 
 	//! Vector containing the mapping of all external names to PointMatcher representation.
-	//! The order is important (i.e., nx before ny). This can also be used to remap 
+	//! The order is important (i.e., nx before ny). This can also be used to remap
 	//! 1D descriptor name to a better one.
 	static const SupportedLabels & getSupportedExternalLabels()
 	{
@@ -218,7 +218,7 @@ struct PointMatcherIO
 	static DataPoints loadPLY(const std::string& fileName);
 	static DataPoints loadPLY(std::istream& is);
 
-	static void savePLY(const DataPoints& data, const std::string& fileName, unsigned precision); //!< save datapoints to PLY point cloud format
+	static void savePLY(const DataPoints& data, const std::string& fileName, bool binary, unsigned precision); //!< save datapoints to PLY point cloud format
 
 	// PCD
 	static DataPoints loadPCD(const std::string& fileName);
@@ -266,16 +266,29 @@ struct PointMatcherIO
 	//! Interface for PLY property
 	struct PLYProperty
 	{
+        enum class PLYPropertyType : uint8_t
+        {
+            INVALID,
+            INT8,
+            UINT8,
+            INT16,
+            UINT16,
+            INT32,
+            UINT32,
+            FLOAT32,
+            FLOAT64
+        };
+
 		//PLY information:
 		std::string name; //!< name of PLY property
-		std::string type; //!< type of PLY property
+		PLYPropertyType type; //!< type of PLY property
 		std::string idx_type; //!< for list properties, type of number of elements
 		unsigned pos; //!< index of the property in element
 		bool is_list; //!< member is true of property is a list
-		
+
 		//PointMatcher information:
 		PMPropTypes pmType; //!< type of information in PointMatcher
-		int pmRowID; //!< row id used in a DataPoints 
+		int pmRowID; //!< row id used in a DataPoints
 
 		PLYProperty() { } //!< Default constructor. If used member values must be filled later.
 
@@ -286,19 +299,31 @@ struct PointMatcherIO
 		PLYProperty(const std::string& idx_type, const std::string& type, const std::string& name, const unsigned pos); //! list prop ctor
 
 		bool operator==(const PLYProperty& other) const; //! compare with other property
+		inline PLYPropertyType get_type_from_string(const std::string &s)
+        {
+            if (s == "int8" || s == "char")           return PLYPropertyType::INT8;
+            else if (s == "uint8" || s == "uchar")    return PLYPropertyType::UINT8;
+            else if (s == "int16" || s == "short")    return PLYPropertyType::INT16;
+            else if (s == "uint16" || s == "ushort")  return PLYPropertyType::UINT16;
+            else if (s == "int32" || s == "int")      return PLYPropertyType::INT32;
+            else if (s == "uint32" || s == "uint")    return PLYPropertyType::UINT32;
+            else if (s == "float32" || s == "float")  return PLYPropertyType::FLOAT32;
+            else if (s == "float64" || s == "double") return PLYPropertyType::FLOAT64;
+            return PLYPropertyType::INVALID;
+        }
 	};
 
 	//! Map from a descriptor name to a list PLY property
 	//! ex: "normals" -> nx, ny ,nz
 	typedef std::map<std::string, std::vector<PLYProperty> > PLYDescPropMap;
-	
+
 	//! Vector of properties specific to PLY files
 	typedef std::vector<PLYProperty> PLYProperties;
 
 	//! Iterator for a vector of PLY properties
 	typedef typename PLYProperties::iterator it_PLYProp;
 
-	//! Interface for all PLY elements. 
+	//! Interface for all PLY elements.
 	class PLYElement
 	{
 	public:
@@ -367,7 +392,7 @@ struct PointMatcherIO
 		unsigned int size; //!< Size of the property in bytes
 		char type; //!< Type: I: signed, U: unsigned, F: float
 		unsigned int count; //!< number of dimension
-		
+
 		//PointMatcher information:
 		PMPropTypes pmType; //!< type of information in PointMatcher
 		int pmRowID; //!< row id used in a DataPoints
diff --git a/python/pointmatcher/io.cpp b/python/pointmatcher/io.cpp
index 37cbc327..d04ee010 100644
--- a/python/pointmatcher/io.cpp
+++ b/python/pointmatcher/io.cpp
@@ -74,7 +74,7 @@ The order is important (i.e., nx before ny). This can also be used to remap 1D d
 				.def_static("saveVTK", (void (*)(const DataPoints&, const std::string&, bool, unsigned precision)) &PMIO::saveVTK, py::arg("data"), py::arg("fileName"), py::arg("binary") = false, py::arg("precision") = 7)
 
 				.def_static("loadPLY", (DataPoints (*)(const std::string&)) &PMIO::loadPLY, py::arg("fileName"))
-				.def_static("savePLY", (void (*)(const DataPoints&, const std::string&, unsigned precision)) &PMIO::savePLY, py::arg("data"), py::arg("fileName"), py::arg("precision"), "save datapoints to PLY point cloud format")
+				.def_static("savePLY", (void (*)(const DataPoints&, const std::string&, bool binary, unsigned precision)) &PMIO::savePLY, py::arg("data"), py::arg("fileName"), py::arg("binary"), py::arg("precision"), "save datapoints to PLY point cloud format")
 
 				.def_static("loadPCD", (DataPoints (*)(const std::string&)) &PMIO::loadPCD, py::arg("fileName"))
 				.def_static("savePCD", (void (*)(const DataPoints&, const std::string&, unsigned precision)) &PMIO::savePCD, py::arg("data"), py::arg("fileName"), py::arg("precision"), "save datapoints to PCD point cloud format");
@@ -119,59 +119,59 @@ Note that the header must at least contain "reading".
 			pyPointMatcherIO
 				.def_static("plyPropTypeValid", &PMIO::plyPropTypeValid, "Check that property defined by type is a valid PLY type note: type must be lowercase");
 
-			using PLYProperty = PMIO::PLYProperty;
-			py::class_<PLYProperty>(pyPointMatcherIO, "PLYProperty", "Interface for PLY property")
-				.def_readwrite("name", &PLYProperty::name, "name of PLY property")
-				.def_readwrite("type", &PLYProperty::type, "type of PLY property")
-				.def_readwrite("idx_type", &PLYProperty::idx_type, "for list properties, type of number of elements")
-				.def_readwrite("pos", &PLYProperty::pos, "index of the property in element")
-				.def_readwrite("is_list", &PLYProperty::is_list, "member is true of property is a list")
-				.def_readwrite("pmType", &PLYProperty::pmType, "type of information in PointMatcher")
-				.def_readwrite("pmRowID", &PLYProperty::pmRowID, "row id used in a DataPoints")
-
-				.def(py::init<>(), "Default constructor. If used member values must be filled later.")
-				.def(py::init<const std::string&, const std::string&, const unsigned>(), py::arg("type"), py::arg("name"), py::arg("pos"), "regular property")
-				.def(py::init<const std::string&, const std::string&, const std::string&, const unsigned>(), py::arg("idx_type"), py::arg("type"), py::arg("name"), py::arg("pos"), "list property")
-
-				.def("__eq__", &PLYProperty::operator==, "compare with other property");
-
-			using PLYProperties = PMIO::PLYProperties;
-			py::bind_vector<PLYProperties>(pyPointMatcherIO, "PLYProperties", "Vector of properties specific to PLY files");
+//			using PLYProperty = PMIO::PLYProperty;
+//			py::class_<PLYProperty>(pyPointMatcherIO, "PLYProperty", "Interface for PLY property")
+//				.def_readwrite("name", &PLYProperty::name, "name of PLY property")
+//				.def_readwrite("type", &PLYProperty::type, "type of PLY property")
+//				.def_readwrite("idx_type", &PLYProperty::idx_type, "for list properties, type of number of elements")
+//				.def_readwrite("pos", &PLYProperty::pos, "index of the property in element")
+//				.def_readwrite("is_list", &PLYProperty::is_list, "member is true of property is a list")
+//				.def_readwrite("pmType", &PLYProperty::pmType, "type of information in PointMatcher")
+//				.def_readwrite("pmRowID", &PLYProperty::pmRowID, "row id used in a DataPoints")
+//
+//				.def(py::init<>(), "Default constructor. If used member values must be filled later.")
+//				.def(py::init<const std::string&, const std::string&, const unsigned>(), py::arg("type"), py::arg("name"), py::arg("pos"), "regular property")
+//				.def(py::init<const std::string&, const std::string&, const std::string&, const unsigned>(), py::arg("idx_type"), py::arg("type"), py::arg("name"), py::arg("pos"), "list property")
+//
+//				.def("__eq__", &PLYProperty::operator==, "compare with other property");
+//
+//			using PLYProperties = PMIO::PLYProperties;
+//			py::bind_vector<PLYProperties>(pyPointMatcherIO, "PLYProperties", "Vector of properties specific to PLY files");
 
 			using PLYDescPropMap = PMIO::PLYDescPropMap;
 			py::bind_map<PLYDescPropMap>(pyPointMatcherIO, "PLYDescPropMap", "Map from a descriptor name to a list PLY property\nex: \"normals\" -> nx, ny ,nz");
 
-			using PLYElement = PMIO::PLYElement;
-			py::class_<PLYElement>(pyPointMatcherIO, "PLYElement", "Interface for all PLY elements.")
-				.def_readwrite("name", &PLYElement::name, "name identifying the PLY element")
-				.def_readwrite("num", &PLYElement::num, "number of occurences of the element")
-				.def_readwrite("total_props", &PLYElement::total_props, "total number of properties in PLY element")
-				.def_readwrite("offset", &PLYElement::offset, "line at which data starts")
-				.def_readwrite("properties", &PLYElement::properties, "all properties found in the header")
-				.def_readwrite("nbFeatures", &PLYElement::nbFeatures, "number of valid features found in the header")
-				.def_readwrite("nbDescriptors", &PLYElement::nbDescriptors, "number of valid descriptors found in the header")
-
-				.def(py::init<const std::string&, const unsigned, const unsigned>(), py::arg("name"), py::arg("num"), py::arg("offset"), R"pbdoc(
-PLY Element constructor
-
-@param name name of the ply element (case-sensitive)
-@param num number of times the element appears in the file
-@param offset if there are several elements, the line offset at which this element begins.  Note that, as of writing, only one (vertex) element is supported.
-
-This object holds information about a PLY element contained in the file.
-It is filled out when reading the header and used when parsing the data.
-)pbdoc").def("__eq__", &PLYElement::operator==, "comparison operator for elements");
-
-			using PLYVertex = PMIO::PLYVertex;
-			py::class_<PLYVertex, PLYElement>(pyPointMatcherIO, "PLYVertex", "Implementation of PLY vertex element")
-				.def(py::init<const unsigned, const unsigned>(), py::arg("num"), py::arg("offset"), R"pbdoc(
-Constructor
-
-@param num number of times the element appears in the file
-@param offset if there are several elements, the line offset at which this element begins.  Note that, as of writing, only one (vertex) element is supported.
-
-Implementation of PLY element interface for the vertex element
-)pbdoc");
+//			using PLYElement = PMIO::PLYElement;
+//			py::class_<PLYElement>(pyPointMatcherIO, "PLYElement", "Interface for all PLY elements.")
+//				.def_readwrite("name", &PLYElement::name, "name identifying the PLY element")
+//				.def_readwrite("num", &PLYElement::num, "number of occurences of the element")
+//				.def_readwrite("total_props", &PLYElement::total_props, "total number of properties in PLY element")
+//				.def_readwrite("offset", &PLYElement::offset, "line at which data starts")
+//				.def_readwrite("properties", &PLYElement::properties, "all properties found in the header")
+//				.def_readwrite("nbFeatures", &PLYElement::nbFeatures, "number of valid features found in the header")
+//				.def_readwrite("nbDescriptors", &PLYElement::nbDescriptors, "number of valid descriptors found in the header")
+//
+//				.def(py::init<const std::string&, const unsigned, const unsigned>(), py::arg("name"), py::arg("num"), py::arg("offset"), R"pbdoc(
+//PLY Element constructor
+//
+//@param name name of the ply element (case-sensitive)
+//@param num number of times the element appears in the file
+//@param offset if there are several elements, the line offset at which this element begins.  Note that, as of writing, only one (vertex) element is supported.
+//
+//This object holds information about a PLY element contained in the file.
+//It is filled out when reading the header and used when parsing the data.
+//)pbdoc").def("__eq__", &PLYElement::operator==, "comparison operator for elements");
+//
+//			using PLYVertex = PMIO::PLYVertex;
+//			py::class_<PLYVertex, PLYElement>(pyPointMatcherIO, "PLYVertex", "Implementation of PLY vertex element")
+//				.def(py::init<const unsigned, const unsigned>(), py::arg("num"), py::arg("offset"), R"pbdoc(
+//Constructor
+//
+//@param num number of times the element appears in the file
+//@param offset if there are several elements, the line offset at which this element begins.  Note that, as of writing, only one (vertex) element is supported.
+//
+//Implementation of PLY element interface for the vertex element
+//)pbdoc");
 
 //		FIXME : Generate undefined symbol error for "elementSupported" or "createElement" method when importing the module
 //		using PLYElementF = PMIO::PLYElementF;
diff --git a/utest/ui/IO.cpp b/utest/ui/IO.cpp
index a76d986e..a4fcea8c 100644
--- a/utest/ui/IO.cpp
+++ b/utest/ui/IO.cpp
@@ -463,6 +463,11 @@ TEST_F(IOLoadSaveTest, PLY)
 	loadSaveTest(dataPath + "unit_test.ply", true);
 }
 
+TEST_F(IOLoadSaveTest, PLYBinary)
+{
+	loadSaveTest(dataPath + "unit_test.bin.ply", true, 1, true);
+}
+
 TEST_F(IOLoadSaveTest, PCD)
 {
 	loadSaveTest(dataPath + "unit_test.pcd");

From 164b07fa28162a34715cb56079e4f0f943a0ba0e Mon Sep 17 00:00:00 2001
From: boxanm <47394922+boxanm@users.noreply.github.com>
Date: Tue, 10 Dec 2024 14:00:01 -0500
Subject: [PATCH 37/39] Remove a note mentioning that yaml-cpp is optional from
 documentation

---
 pointmatcher/Documentation.dox | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pointmatcher/Documentation.dox b/pointmatcher/Documentation.dox
index 1fbbb3ae..1b85ce96 100644
--- a/pointmatcher/Documentation.dox
+++ b/pointmatcher/Documentation.dox
@@ -62,7 +62,7 @@ You can list the available modules with:
 pmicp -l
 \endcode
 
-If you have compiled libpointmatcher with \ref yaml-cpp enabled, you can configure the ICP chain without any recompilation by passing a configuration file to the \c pmicp command using the \c --config switch. An example file is available in \c examples/data/default.yaml.
+Thanks to \ref yaml-cpp , you can configure the ICP chain without any recompilation by passing a configuration file to the \c pmicp command using the \c --config switch. An example file is available in \c examples/data/default.yaml.
 
 \section Understanding Understanding libpointmatcher
 
@@ -75,7 +75,7 @@ In libpointmatcher, every module is a class that can describe its own possible p
 This text-based configuration aids to explicit parameters used and eases the sharing of working setups with others, which ultimately allows for reproducibility and reusability of the solutions.
 
 The ICP chain takes as input two point clouds, in 2D or 3D, and estimates the translation and the rotation parameters that minimize the alignment error.
-We called the first point cloud the \e reference and the second the \e reading. 
+We called the first point cloud the \e reference and the second the \e reading.
 The ICP algorithm tries to align the reading onto the reference.
 To do so, it first applies filtering (PointMatcher::DataPointsFilters) to the point clouds, and then it iterates through a sequence of processing blocks.
 For each iteration, it associates points in reading to points in reference (PointMatcher::Matcher), rejects outliers (PointMatcher::OutlierFilters) and finds a transformation (PointMatcher::TransformationParameters) of reading that minimizes the alignment error (PointMatcher::ErrorMinimizer).
@@ -126,7 +126,7 @@ You have to modify 3 files to add a new \ref PointMatcher::DataPointsFilter "Dat
 	- The types of the parameters are used to properly cast the string value and can be:  \c &P::Comp<T>, \c &P::Comp<int>, \c &P::Comp<unsigned>, etc. See \c DataPointsFiltersImpl.h for examples.
 	- Uncomment and rename the constructor.
 
-- In \c DataPointsFiltersImpl.cpp, copy the implementation of \c IdentityDataPointsFilter at the end of the file including the explicit instantiation (i.e. \c template \c struct \c DataPointsFiltersImpl<float>::YourFilter; and \c template \c struct 
+- In \c DataPointsFiltersImpl.cpp, copy the implementation of \c IdentityDataPointsFilter at the end of the file including the explicit instantiation (i.e. \c template \c struct \c DataPointsFiltersImpl<float>::YourFilter; and \c template \c struct
 \c DataPointsFiltersImpl<double>::YourFilter;).
 - Add the constructor if needed.
 - At this stage, you should let the implementation of the filter function to hold only the statement that returns the input.

From 12895403f66ae642f8f93dbf1e240ed1137e803e Mon Sep 17 00:00:00 2001
From: boxanm <47394922+boxanm@users.noreply.github.com>
Date: Mon, 16 Dec 2024 09:49:41 -0500
Subject: [PATCH 38/39] Angle limit filter - a DataPoints filter that filters
 out a Sphere wedge

Add a new DataPointsFilter that filters points based on whether they lie inside / outside of a given spherical wedge.
The spherical wedge is defined by the lower and upper bounds of two angles in spherical coordinates.
The angles follow the spherical physics convention, as described on Wikipedia: https://en.wikipedia.org/wiki/Spherical_coordinate_system
Other changes:

* Also improves Python bindings installation by enabling newer pybind11 versions and supporting pybind11 installed with pip
* Pumps the minimal required Cmake version to 3.15
* Adds MacOS-specific files to .gitignore
* Fix data_points_filters.h MACRO
* Update build-python workflow
---
 .github/workflows/build-python.yaml           |  91 ++---
 .gitignore                                    |  33 ++
 CMakeLists.txt                                |   5 +-
 ...m_install_dependencies_general_ubuntu.bash |  24 +-
 doc/DataFilters.md                            | 282 ++++++++-------
 pointmatcher/DataPointsFilters/AngleLimit.cpp | 106 ++++++
 pointmatcher/DataPointsFilters/AngleLimit.h   |  80 +++++
 pointmatcher/DataPointsFiltersImpl.h          |   2 +
 pointmatcher/Functions.h                      |   5 +
 pointmatcher/IO.cpp                           |  23 +-
 pointmatcher/Registry.cpp                     |   1 +
 python/CMakeLists.txt                         |  19 +-
 python/datapointsfilters/angle_limit.cpp      |  28 ++
 python/datapointsfilters/angle_limit.h        |  14 +
 python/pointmatcher/data_points_filters.h     |   2 +-
 python/pointmatcher/io.cpp                    |   9 +-
 utest/ui/DataFilters.cpp                      | 320 ++++++++++++------
 17 files changed, 716 insertions(+), 328 deletions(-)
 create mode 100644 pointmatcher/DataPointsFilters/AngleLimit.cpp
 create mode 100644 pointmatcher/DataPointsFilters/AngleLimit.h
 create mode 100644 python/datapointsfilters/angle_limit.cpp
 create mode 100644 python/datapointsfilters/angle_limit.h

diff --git a/.github/workflows/build-python.yaml b/.github/workflows/build-python.yaml
index 1e8cdfdd..60f52eef 100644
--- a/.github/workflows/build-python.yaml
+++ b/.github/workflows/build-python.yaml
@@ -13,17 +13,14 @@ env:
   BOOST_MAJOR_VERSION: '1'
   BOOST_MINOR_VERSION: '80'
   BOOST_PATCH_VERSION: '0'
-  LIBNABO_VERSION: '1.0.7'
-  PYBIND11_VERSION: 'v2.10.2'
+  PYBIND11_VERSION: '2.13.6'
+  LIBNABO_VERSION: '1.1.2'
   BOOST_INSTALL_PATH: ${{ github.workspace }}/.tmp/boost/install
   BOOST_SRC_DIR: ${{ github.workspace }}/.tmp/boost
   LIBNABO_INSTALL_PATH: ${{ github.workspace }}/.tmp/libnabo-build/install
   LIBNABO_SRC_DIR: ${{ github.workspace }}/.tmp/libnabo
-  PYBIND11_INSTALL_PATH: ${{ github.workspace }}/.tmp/pybind11-build/install
-  PYBIND11_SRC_DIR: ${{ github.workspace }}/.tmp/pybind11
   PYTHON_WHEEL_DIR: ${{ github.workspace }}/.tmp/python-wheel
   VCPKG_DEFAULT_BINARY_CACHE: '${{ github.workspace }}/.tmp/bin-cache'
-  CMAKE_BUILD_PARALLEL_LEVEL: 2
   BUILD_DIR: ${{ github.workspace }}/build
 
 jobs:
@@ -31,12 +28,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.8', '3.9', '3.10', '3.11']
+        python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         os:
           # - windows-2019 cannot compile on Windows
           # (!) TODO: The workflow contains code for Windows building, but we cannot compile it with MS MPI. Changes in the source code are needed.
 
-          - ubuntu-20.04
+          - ubuntu-22.04 # test on Ubuntu 22.04 since other versions should behave similarly
 
     permissions:
       contents: write
@@ -44,7 +41,7 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Make temp dir
         run: mkdir ${{ github.workspace }}/.tmp
@@ -79,12 +76,12 @@ jobs:
           path: ${{ env.BOOST_INSTALL_PATH }}
           key: ${{ runner.os }}-boost-cache-${{ env.BOOST_VERSION }}-python-${{ matrix.python_version }}
 
-      - name: Cache libnabo
-        id: cache-libnabo
-        uses: actions/cache@v3
-        with:
-          path: ${{ env.LIBNABO_INSTALL_PATH }}
-          key: ${{ runner.os }}-libnabo-cache-${{ env.LIBNABO_VERSION }}
+      # - name: Cache libnabo
+      #   id: cache-libnabo
+      #   uses: actions/cache@v3
+      #   with:
+      #     path: ${{ env.LIBNABO_INSTALL_PATH }}
+      #     key: ${{ runner.os }}-libnabo-cache-${{ env.LIBNABO_VERSION }}
 
       - name: Cache binary vcpkg
         if: ${{ runner.os  == 'Windows' }}
@@ -94,21 +91,12 @@ jobs:
           path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
           key: ${{ runner.os }}-vcpkg-cache-${{ matrix.python_version }}
 
-      - name: Cache pybind11
-        id: cache-pybind11
-        uses: actions/cache@v3
-        with:
-          path: ${{ env.PYBIND11_INSTALL_PATH }}
-          key: ${{ runner.os }}-pybind11-cache--${{ env.PYBIND11_VERSION }}-python-${{ matrix.python_version }}
-
       - name: Make dirs on Linux
         if: ${{ runner.os  == 'Linux' }}
         run: |
           mkdir -p ${{ env.BOOST_SRC_DIR }}
           mkdir -p ${{ env.LIBNABO_SRC_DIR }}
-          mkdir -p ${{ env.PYBIND11_SRC_DIR }}
           mkdir -p ${{ env.BOOST_INSTALL_PATH }}
-          mkdir -p ${{ env.PYBIND11_INSTALL_PATH }}
           mkdir -p ${{ env.LIBNABO_INSTALL_PATH }}
           mkdir -p ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
 
@@ -117,9 +105,7 @@ jobs:
         run: |
           mkdir -Force ${{ env.BOOST_SRC_DIR }}
           mkdir -Force ${{ env.LIBNABO_SRC_DIR }}
-          mkdir -Force ${{ env.PYBIND11_SRC_DIR }}
           mkdir -Force ${{ env.BOOST_INSTALL_PATH }}
-          mkdir -Force ${{ env.PYBIND11_INSTALL_PATH }}
           mkdir -Force ${{ env.LIBNABO_INSTALL_PATH }}
           mkdir -Force ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
 
@@ -135,7 +121,10 @@ jobs:
             ninja-build \
             catch \
             libomp-dev \
-            wget
+            wget \
+            p7zip-full \
+            sudo \
+            cmake
 
       - name: Install MS MPI
         if: ${{ runner.os == 'Windows' }}
@@ -153,8 +142,8 @@ jobs:
 
       - name: Install required dependencies for Python
         run: |
-          python -m pip install -U 'pip>=23.0'
-          pip install 'numpy>=1.20' wheel 'setuptools>=61.0' 'build~=0.10'
+          python -m pip install -U pip
+          pip install 'numpy>=1.20' 'wheel' 'setuptools>=61.0' 'build~=0.10' 'cmake' 'pybind11==${{ env.PYBIND11_VERSION }}'
 
       - name: Install dependencies on Windows
         if: ${{ runner.os == 'Windows' }}
@@ -215,61 +204,24 @@ jobs:
           cd libnabo
           cmake -GNinja \
             -DBOOST_ROOT=${{ env.BOOST_INSTALL_PATH }} \
-            -DCMAKE_INSTALL_PREFIX=${{ env.LIBNABO_INSTALL_PATH }} \
             -DCMAKE_BUILD_TYPE=RelWithDebInfo \
             -DUSE_OPEN_MP:BOOL=ON \
             -S . -B ./build
-          cmake --build ./build --target install
+          sudo cmake --build ./build --target install --parallel 4
           cd -
           rm -r ./libnabo/build
 
-      - name: Download source code pybind11 ${{ env.PYBIND11_VERSION }}
-        if: steps.cache-pybind11.outputs.cache-hit != 'true'
-        working-directory: ${{ env.PYBIND11_SRC_DIR }}
-        run: |
-          git clone -b ${{ env.PYBIND11_VERSION }} --single-branch https://github.com/pybind/pybind11.git
-
-
-      - name: Install pybind11 ${{ env.PYBIND11_VERSION }} on Linux
-        working-directory:  ${{ env.PYBIND11_SRC_DIR }}
-        if: ${{ steps.cache-pybind11.outputs.cache-hit != 'true' && runner.os == 'Linux' }}
-        run: |
-          cd pybind11
-          cmake -GNinja \
-            -DCMAKE_INSTALL_PREFIX=${{ env.PYBIND11_INSTALL_PATH }} \
-            -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-            -DPYBIND11_TEST:BOOL=OFF \
-            -S . -B ./build
-          cmake --build ./build --target install
-          rm -r ./build
-
-      - name: Install pybind11 ${{ env.PYBIND11_VERSION }} on Windows
-        working-directory:  ${{ env.PYBIND11_SRC_DIR }}
-        if: ${{ steps.cache-pybind11.outputs.cache-hit != 'true' && runner.os == 'Windows' }}
-        run: |
-          cd pybind11
-          cmake -A x64 `
-            -DCMAKE_TOOLCHAIN_FILE="$env:VCPKG_INSTALLATION_ROOT/scripts/buildsystems/vcpkg.cmake" `
-            -DCMAKE_INSTALL_PREFIX=${{ env.PYBIND11_INSTALL_PATH }} `
-            -DCMAKE_BUILD_TYPE=RelWithDebInfo `
-            -DPYBIND11_TEST:BOOL=OFF `
-            -S . -B ./build
-          cmake --build ./build --target install
-          rm -r ./build
-
       - name: Compile libpointmatcher on Linux
         if: runner.os == 'Linux'
         run: |
           cmake \
             -DBOOST_ROOT:PATH=${{ env.BOOST_INSTALL_PATH }} \
-            -DLIBNABO_INSTALL_DIR=${{ env.LIBNABO_INSTALL_PATH }} \
-            -Dpybind11_DIR=${{ env.PYBIND11_INSTALL_PATH }}/share/cmake/pybind11 \
             -DBUILD_PYTHON_MODULE:BOOL=ON \
             -DUSE_OPEN_MP:BOOL=ON \
             -DBoost_USE_STATIC_LIBS:BOOL=ON \
             -DCMAKE_BUILD_TYPE=RelWithDebInfo \
             -S . -B ${{ env.BUILD_DIR }}
-          sudo cmake --build ${{ env.BUILD_DIR }} --target install
+          sudo cmake --build ${{ env.BUILD_DIR }} --target install --parallel 4
 
       - name: Compile libpointmatcher on Windows
         if: runner.os == 'Windows'
@@ -278,8 +230,7 @@ jobs:
         run: |
           cmake -A x64 `
             -DCMAKE_TOOLCHAIN_FILE:FILEPATH="$env:VCPKG_INSTALLATION_ROOT/scripts/buildsystems/vcpkg.cmake" `
-            -DLIBNABO_INSTALL_DIR:PATH="${{ env.LIBNABO_INSTALL_PATH }}" `
-            -Dpybind11_DIR:PATH="${{ env.PYBIND11_INSTALL_PATH }}/share/cmake/pybind11" `
+            -DLIBNABO_INSTALL_DIR:PATH="${{ env.LIBNABO_INSTALL_PATH }}" ``
             -DBUILD_PYTHON_MODULE:BOOL=ON `
             -DBoost_USE_STATIC_LIBS:BOOL=ON `
             -DPYTHON_INSTALL_TARGET:PATH="./python/${{ env.PYTHON_PACKAGE_NAME }}" `
@@ -287,7 +238,7 @@ jobs:
             -DUSE_OPEN_MP:BOOL=ON `
             -DCMAKE_BUILD_TYPE="RelWithDebInfo" `
             -S . -B ${{ env.BUILD_DIR }}
-          cmake --build ${{ env.BUILD_DIR }} --target install
+          cmake --build ${{ env.BUILD_DIR }} --target install --parallel 4
 
       - name: Build python wheel
         working-directory: ./python
diff --git a/.gitignore b/.gitignore
index 646bf396..c9b07475 100644
--- a/.gitignore
+++ b/.gitignore
@@ -346,4 +346,37 @@ pyrightconfig.json
 .history
 .ionide
 
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
 # End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,clion,c++,python
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5d93062b..99210896 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.15)
 
 include(GNUInstallDirs) # populate CMAKE_INSTALL_{LIB,BIN}DIR
 include(CheckSymbolExists)
@@ -313,6 +313,7 @@ set(POINTMATCHER_SRC
 	pointmatcher/ErrorMinimizers/Identity.cpp
 #DataPointsFilters
 	pointmatcher/DataPointsFilters/AddDescriptor.cpp
+	pointmatcher/DataPointsFilters/AngleLimit.cpp
 	pointmatcher/DataPointsFilters/Identity.cpp
 	pointmatcher/DataPointsFilters/RemoveNaN.cpp
 	pointmatcher/DataPointsFilters/MaxDist.cpp
@@ -340,7 +341,7 @@ set(POINTMATCHER_SRC
 	pointmatcher/DataPointsFilters/DistanceLimit.cpp
 	pointmatcher/DataPointsFilters/RemoveSensorBias.cpp
 	pointmatcher/DataPointsFilters/Sphericality.cpp
-	pointmatcher/DataPointsFilters/Saliency.cpp	
+	pointmatcher/DataPointsFilters/Saliency.cpp
 	pointmatcher/DataPointsFilters/SpectralDecomposition.cpp
 #PointCloudGenerators
 	pointmatcher/PointCloudGenerator.cpp
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
index aea9a11f..dcd25f68 100644
--- a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
+++ b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -82,10 +82,8 @@ sudo apt-get update &&
     g++ \
     catch \
     make \
-    cmake \
-    cmake-gui &&
+    python3-pip
   sudo rm -rf /var/lib/apt/lists/*
-
 ##cmake --version
 
 # Retrieve ubuntu version number: DISTRIB_RELEASE
@@ -106,6 +104,26 @@ fi
 n2st::teamcity_service_msg_blockClosed
 # .................................................................................................
 
+n2st::teamcity_service_msg_blockOpened "Install a newer CMake version"
+dpkg -l | grep -q "^ii  cmake" && sudo apt remove --purge --auto-remove cmake
+if [[ ${DISTRIB_RELEASE} == '18.04' ]]; then
+    sudo apt update && \
+    sudo apt install -y software-properties-common lsb-release && \
+    sudo apt clean all
+    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
+    sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
+    sudo apt update
+    sudo apt install -y cmake
+else
+    wget https://bootstrap.pypa.io/get-pip.py
+    PIP_BREAK_SYSTEM_PACKAGES=1 python3 get-pip.py
+    PIP_BREAK_SYSTEM_PACKAGES=1 python3 -m pip install --upgrade pip
+    PIP_BREAK_SYSTEM_PACKAGES=1 python3 -m pip install cmake
+fi
+print_msg "Cmake version is $(cmake --version)"
+n2st::teamcity_service_msg_blockClosed
+# .................................................................................................
+
 # (Priority) ToDo: add check to see if executed in a docker container. Current check does not do what its intended
 if [[ ${IS_TEAMCITY_RUN} == true ]]; then
   n2st::print_msg "The install script is run in teamCity >> the python install step was executed earlier in the Dockerfile.dependencies"
diff --git a/doc/DataFilters.md b/doc/DataFilters.md
index cd0bb923..d082dd04 100644
--- a/doc/DataFilters.md
+++ b/doc/DataFilters.md
@@ -5,7 +5,7 @@ In this section, the various filters which can be applied to the reading and ref
 As a reminder, *datapoint filters* can have several purposes:
 
 * Removing noisy points which render the alignment of point clouds difficult.
-* Removing redundant points so as to speed up alignment 
+* Removing redundant points so as to speed up alignment
 * Adding descriptive information to the points such as a surface normal vector, or the direction from the point to the sensor.
 
 Note that *datapoint filters* differ from *outlier filters* which appear further down the ICP chain and have a different purpose.
@@ -46,6 +46,8 @@ Note that *datapoint filters* differ from *outlier filters* which appear further
 
 15. [Spectral Decomposition Filter (SpDF)](#spdfhead)
 
+16. [Angle Limit Filter](#anglelimit)
+
 ### Descriptor Augmenting
 
 1. [Add Descriptor Filter](#adddescriptorhead)
@@ -79,11 +81,11 @@ The following examples are drawn from the apartment dataset available for [downl
 
 Adds a new descriptor to an existing point cloud or overwrites existing descriptor with the same name.
 
-__Required descriptors:__ none   
-__Output descriptor:__ User defined.  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ none   
-__Altered descriptors:__  Existing descriptor with name equal to `descriptorName`.  
+__Required descriptors:__ none
+__Output descriptor:__ User defined.
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ none
+__Altered descriptors:__  Existing descriptor with name equal to `descriptorName`.
 __Altered features:__     none.;
 
 | Parameter           | Description                                                                                                                                          | Default value | Allowable range |
@@ -92,16 +94,38 @@ __Altered features:__     none.;
 | descriptorDimension | Length of the descriptor to be added.                                                                                                                | 1             | 1 to 4294967295 |
 | descriptorValues    | Values of the descriptor to be added. List of 'descriptorDimension' numbers of type T, separated by commas, closed in brackets, e.g. [2.2, 3.0, 6.1] |               |                 |
 
+## Angle Limit Filter <a name="anglelimit"></a>
+### Description
+
+Filter points if they lie inside / outside of a given spherical wedge.
+The spherical wedge is defined by the lower and upper bounds of two angles in spherical coordinates.
+The angles follow the spherical physics convention, as described on [Wikipedia](https://en.wikipedia.org/wiki/Spherical_coordinate_system).
+
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
+
+
+|Parameter  |Description  |Default value    |Allowable range|
+|---------  |:---------|:----------------|:--------------|
+|phiMin       |Minimum value on the x-axis defining one side of the box | -inf | -inf to inf|
+|phiMax       |Maximum value on the x-axis defining one side of the box | inf | -inf to inf|
+|thetaMin       |Minimum value on the y-axis defining one side of the box | -inf | -inf to inf|
+|thetaMax       |Maximum value on the y-axis defining one side of the box | inf | -inf to inf|
+|removeInside   |if set to 1, points contained within the sphere wedge are removed, else points outside are removed  |1   | 0 or 1|
+
+
 ## Bounding Box Filter <a name="boundingboxhead"></a>
 
 ### Description
 
-Points can be excluded from a rectangular bounding region by using this filter.  The box dimensions are specified by defining the maximum and minimum coordinate values in the x,y,z directions. 
+Points can be excluded from a rectangular bounding region by using this filter.  The box dimensions are specified by defining the maximum and minimum coordinate values in the x,y,z directions.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 
 |Parameter  |Description  |Default value    |Allowable range|
@@ -134,23 +158,23 @@ Note that only points **outside** the bounding box are removed by the filter by
 
 A number of filters are used to reduce the number of points in a cloud by randomly sub-sampling or randomly rejecting a set of points.  Points in regions of high density often contain redundant information, and the ICP algorithm could be performed more efficiently with a smaller number of points.  This filter is thus used to homogenize the density of a point cloud by rejecting a sub-sample of points in high-density regions.
 
-Points are only considered for rejection if they exceed a density threshold, otherwise they are preserved.  The single parameter of this filter sets the maximum density that should be obtained in the output point cloud.  Points are randomly rejected such that this maximum density is obtained as closely as possible.  
+Points are only considered for rejection if they exceed a density threshold, otherwise they are preserved.  The single parameter of this filter sets the maximum density that should be obtained in the output point cloud.  Points are randomly rejected such that this maximum density is obtained as closely as possible.
 
-__Required descriptors:__ `densities` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead) and [SamplingSurfaceNormalDataPointsFilter](#samplingnormhead))  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ `densities` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead) and [SamplingSurfaceNormalDataPointsFilter](#samplingnormhead))
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
-|maxDensity |The desired maximum density of points in *points/m³ (for 3D), points/m² (for 2D)* | 10 | min: 0.0000001, max: inf|   
+|maxDensity |The desired maximum density of points in *points/m³ (for 3D), points/m² (for 2D)* | 10 | min: 0.0000001, max: inf|
 
 ### Example
 
 In the following example we observe the effect of the maximum density filter on the apartment point cloud.  Sub-sampling occurs mostly in high density regions, which colored in red in the image below.  The result is an image with lower density overall with the low density regions in blue being preserved.
 
 |Figure: Max density filter applied to subsection of the apartment dataset.  On the <br>original data, low density regions are blue and high density regions are red.  The <br>sampled points are overlaid in white.   | Parameters used |
-|---|:---| 
+|---|:---|
 |![max density before](images/appt_0_maxdens.png "Max density filter applied to subsection of the apartment dataset.  On the original data, low density regions are blue and high density regions are red.  The sampled points are overlaid in white.") | maxDensity: 50000 |
 
 ## Maximum Distance Filter (**deprecated**) <a name="maxdistancehead"></a>
@@ -161,10 +185,10 @@ In the following example we observe the effect of the maximum density filter on
 
 These filters remove points which lie beyond a threshold distance from the coordinate center.  Points are kept if their distance from the center is **smaller than** the threshold.  The distance threshold can be defined on the x,y, and z axes or can be a radial distance from the center.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -173,7 +197,7 @@ __Impact on the number of points:__ reduces number of points
 
 ### Example
 
-In the following example, a maximum distance threshold of 1m is applied radially by setting the dimension parameter to -1.  As shown on the image below, points which lie within a sphere of radius 1m centered at the origin are selected by the filter and are displayed in white.  All other points are rejected by the filter.  Were a maximum distance filter to be replaced by an equivalent minimum distance filter, only points outside the sphere would be selected. 
+In the following example, a maximum distance threshold of 1m is applied radially by setting the dimension parameter to -1.  As shown on the image below, points which lie within a sphere of radius 1m centered at the origin are selected by the filter and are displayed in white.  All other points are rejected by the filter.  Were a maximum distance filter to be replaced by an equivalent minimum distance filter, only points outside the sphere would be selected.
 
 |Figure: Max density filter applied to subsection of the apartment dataset.  On the <br>original data, low density regions are blue and high density regions are red.  The <br>sampled points are overlaid in white.   | Parameters used |
 |---|:---|
@@ -187,10 +211,10 @@ In the following example, a maximum distance threshold of 1m is applied radially
 
 These filters remove points which lie beyond a threshold distance from the coordinate center.  Points are kept if their distance from the center is **greater than** the threshold.  The distance threshold can be defined on the x,y, and z axes or can be a radial distance from the center.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -203,10 +227,10 @@ __Impact on the number of points:__ reduces number of points
 
 These filters remove points which lie before or beyond a threshold distance from the coordinate center. The distance threshold can be defined on the x,y, and z axes or can be a radial distance from the center.
 
-__Required descriptors:__ none  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter   |Description  |Default value    |Allowable range|
 |---------   |:---------|:----------------|:--------------|
@@ -216,7 +240,7 @@ __Impact on the number of points:__ reduces number of points
 
 ### Example
 
-In the following example, a distance threshold of 1m is applied radially by setting the dimension parameter to -1. Also, the removeInside parameter is set to 0 in order to remove points beyond the distance limit. As shown on the image below, points which lie within a sphere of radius 1m centered at the origin are selected by the filter and are displayed in white.  All other points are rejected by the filter.  Were the removeInside parameter value to be replaced by 1, only points outside the sphere would be selected. 
+In the following example, a distance threshold of 1m is applied radially by setting the dimension parameter to -1. Also, the removeInside parameter is set to 0 in order to remove points beyond the distance limit. As shown on the image below, points which lie within a sphere of radius 1m centered at the origin are selected by the filter and are displayed in white.  All other points are rejected by the filter.  Were the removeInside parameter value to be replaced by 1, only points outside the sphere would be selected.
 
 |Figure: Distance limit filter applied to subsection of the apartment dataset. On the <br>original data, low density regions are blue and high density regions are red. The <br>sampled points are overlaid in white.   | Parameters used |
 |---|:---|
@@ -229,10 +253,10 @@ In the following example, a distance threshold of 1m is applied radially by sett
 Conditional subsampling. This filter reduces the size of the point cloud by randomly dropping points if their number is above `maxCount`. The resulting point cloud while have `maxCount` number of point. the Based on:  Registration and integration of multiple range images for 3-D model construction. Masuda, T. and Sakaue, K. and Yokoya, N. In Pattern Recognition, 1996., Proceedings of the 13th International Conference on. 879--883. 1996.
 
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -250,22 +274,22 @@ No example available.
 
 Points are filtered according to where they lie on a distribution of their positions along a given axis.  The entire distance range is divided into quantiles which lie between 0 and 1.  One can specify the distance quantile above or beneath which points are rejected by the filter.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
 |dim        | Dimension over which the distance (from the center) is thresholded | 0 | x:0 y:1 z:2 |
-|ratio |Quantile threshold.  The threshold at which the points are rejected by the filter | 0.5 | min: 0.0000001, max: 0.9999999 | 
-|removeBeyond |If 1 the points beyond the quantile threshold are rejected, else (0) the points under the quantile threshold are rejected | 1 | 1 or 0 | 
+|ratio |Quantile threshold.  The threshold at which the points are rejected by the filter | 0.5 | min: 0.0000001, max: 0.9999999 |
+|removeBeyond |If 1 the points beyond the quantile threshold are rejected, else (0) the points under the quantile threshold are rejected | 1 | 1 or 0 |
 ### Example
 
 In the following example, maximum quantile filtering is performed over the x-axis with a quantile threshold of 0.5 and with the option to removeBeyond set to 1.  Therefore, points which have an x-value which exceeds the 50% quantile are removed.  The output of the filter is displayed in white and overlaid with the input point cloud in the image below.  A sampling region centered at the origin and extending in both directions of the x-axis is clearly visible.
 
 |Figure: Maximum quantile on axis filter in the x-direction with a maximum quantile <br>of 0.5 and removeBeyond set to 1.   | Parameters used |
-|---|:---|  
+|---|:---|
 |![max quant after](images/max_quant.png "After applying maximum quantile on axis filter in the x-direction with a maximum quantile of 0.5 and removeByond set to 1") | dim : 0 <br> ratio : 0.5 <br> removeBeyond : 1 |
 
 ## Random Sampling Filter <a name="randomsamplinghead"></a>
@@ -274,10 +298,10 @@ In the following example, maximum quantile filtering is performed over the x-axi
 
 This filter behaves similarly to the [Maximum Point Count Filter](#maxpointcounthead) but does not enforce a maximum point constraint.  Instead points are kept by the filter with a fixed probability.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 | Parameter            | Description                                                                              | Default value | Allowable range          |
 |----------------------|:-----------------------------------------------------------------------------------------|:--------------|:-------------------------|
@@ -290,7 +314,7 @@ __Impact on the number of points:__ reduces number of points
 In the following sample, points are kept with a probability of 0.1.  Therefore the total number of points in the output point cloud is approximately 10 times less than the number of points in the input point cloud and the density is decreased overall.
 
 |Figure:  After applying the random sampling filter with a probability of 0.1. <br> The original data is shown in black and the sampled points in white.   | Parameters used |
-|---|:---|  
+|---|:---|
 |![rand after](images/appt_0_rand.png "After applying the random sampling filter with a probability of 0.1") | prob : 0.1 |
 
 ## Remove NaN Filter <a name="removenanhead"></a>
@@ -299,10 +323,10 @@ In the following sample, points are kept with a probability of 0.1.  Therefore t
 
 Due to errors in the capture process point clouds may contain points with invalid coordinates.  This filter can be applied to remove points which contain a NaN coordinate, thus producing a "clean" dataset.
 
-__Required descriptors:__ none   
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 ## Shadow Point Filter <a name="shadowpointhead"></a>
 
@@ -310,10 +334,10 @@ __Impact on the number of points:__ reduces number of points
 
 Shadow points are noisy points usually located at point cloud edge discontinuities.
 
-__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 ***IMPORTANT :*** The surface normal descriptors are required in the input point cloud.
 
@@ -331,10 +355,10 @@ There are two options as to how to represent the distribution of points in a vox
 
 This filter also provides two methods for sub-sampling descriptors.  In the first, all descriptors within a voxel are averaged while in the second, only the first descriptor from a voxel is kept.
 
-__Required descriptors:__  none  
-__Output descriptor:__ outputs average or single descriptor per voxel if the input cloud contains descriptors  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__  none
+__Output descriptor:__ outputs average or single descriptor per voxel if the input cloud contains descriptors
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -351,7 +375,7 @@ For more information on the implementation of this filter, refer to [this tutori
 In this example, we apply the voxel grid filter using centroid down-sampling to the appartment point cloud.  The output points are shown in yellow.  You can observe a regular grid distribution of points corresponding to each voxel.  A finer degree of sub-sampling can be obtained by using smaller voxels.  This comes naturally with an increased computational cost and a larger output point cloud.
 
 |Figure:  Applying the voxel grid filter filter to the appartment point cloud. | Parameters used |
-|---|:---|  
+|---|:---|
 |![dir after](images/appt_voxel.png "Applying the voxel grid filter filter to a local point cloud") | vSizeX : 0.2 <br> vSizeY : 0.2 <br> vSizeZ : 0,2 <br> useCentroid : 1 |
 
 ## Octree Grid Filter <a name="octreegridhead"></a>
@@ -382,10 +406,10 @@ Four sampling methods are available:
 
 **Remark 2:** Theoretically, any process can be applied to the point cloud (sampling, feature enhancement, filtering, etc.) since the octree give an efficient spatial representation of the point cloud (_ex: we could estimate the normal of each leaf_).
 
-__Required descriptors:__  none  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
+__Required descriptors:__  none
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -399,7 +423,7 @@ __Impact on the number of points:__ reduces number of points
 The following example uses a structured point cloud from the apartment dataset. As the pointcloud is structured we use the size criterion set to 20 cm to decompose the point cloud. In each leaf, we took the _centroid_ (bottom) or the _medoid_ (top) colored in green (output points), where the color of the pointcloud represents the indexes in the octree.
 
 |Figure:  Applying the Octree Grid Filter on a structured point cloud  | Parameters used |
-|---|:---|  
+|---|:---|
 |![octree centroid medoid](https://user-images.githubusercontent.com/38259866/41250974-80e6bee2-6d86-11e8-872f-c5687d7535d5.png "Applying the Octree Grid Filter on a structured point cloud") | maxSizeByNode : 0.2 <br> _at the top_, samplingMethod : 3 (_medoid_) <br> _at the bottom_, samplingMethod : 2 (_centroid_)|
 
 **Remark 3:** using centroid can lead to false results in the ICP registration. In deed, the centroid is not guaranteed to be a point of the cloud, which induce a new spatial representation and so an offset in the registration, whereas the medoid is by construction a point of the cloud. Both produce a similar sampled point cloud, but looking closer we can see that:
@@ -410,14 +434,14 @@ The following example uses a structured point cloud from the apartment dataset.
 
 ### Description
 
-Sub-sampling filter based on Normal Space Sampling (NSS) from _S. Rusinkiewicz and M. Levoy, “Efficient Variants of the ICP Algorithm,” in Proceedings Third International Conference on 3-D Digital Imaging and Modeling, 2001, pp. 145–152_. 
+Sub-sampling filter based on Normal Space Sampling (NSS) from _S. Rusinkiewicz and M. Levoy, “Efficient Variants of the ICP Algorithm,” in Proceedings Third International Conference on 3-D Digital Imaging and Modeling, 2001, pp. 145–152_.
 
 The algorithm works as follow:
-1. Construct a set of buckets in the normal-space (stocked in a `std::vector`) 
-1. Then put all points of the data into buckets based on their normal direction; 
+1. Construct a set of buckets in the normal-space (stocked in a `std::vector`)
+1. Then put all points of the data into buckets based on their normal direction;
 1. Finally, uniformly pick points from all the buckets until the desired number of points is selected.
 
-**Remark:** a point is randomly picked in a bucket that contains multiple points.  
+**Remark:** a point is randomly picked in a bucket that contains multiple points.
 **Remark:** the uniform sampling is based on a standard Mersenne twister engine
 
 As the normals are supposed normed, the _n_-space can be represented by polar coordinates, with:
@@ -427,13 +451,13 @@ As the normals are supposed normed, the _n_-space can be represented by polar co
 
 Resources to better understand uniform sampling in normal-space can be found [here](http://corysimon.github.io/articles/uniformdistn-on-sphere/).
 
-**Remark:** the current implementation only supports 3D point cloud  
+**Remark:** the current implementation only supports 3D point cloud
+
+__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
 
-__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
-	
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
 |nbSample	| number of point to select | 5000 | min: 1, max: 4294967295|
@@ -442,10 +466,10 @@ __Impact on the number of points:__ reduces number of points
 
 ### Example
 
-The following example uses a structured point cloud from the apartment dataset. The following gives the normal representation (on a sphere) of the original point cloud (we can clearly see that some areas are more populated) and the normal representation of the uniform sampled pointcloud (output). 
+The following example uses a structured point cloud from the apartment dataset. The following gives the normal representation (on a sphere) of the original point cloud (we can clearly see that some areas are more populated) and the normal representation of the uniform sampled pointcloud (output).
 
 |Figure: Applying the NSS Filter on a structured point cloud | Parameters used |
-|---|:---|  
+|---|:---|
 |![nss](https://image.ibb.co/gosJk8/nss.png "Applying the NSS Filter on a structured point cloud") | nbSample : 5000 <br> seed : 1 <br> epsilon : PI/32 |
 
 where the left-white point cloud is the normal distribution of the original point cloud,
@@ -455,7 +479,7 @@ where the right-red point cloud is the normal distribution of the sampled point
 
 ### Description
 
-Sub-sampling filter based on Covariance Sampling (CovS) from _N. Gelfand, L. Ikemoto, S. Rusinkiewicz, and M. Levoy, “Geometrically stable sampling for the ICP algorithm,” in Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings., 2003, pp. 260–267._ 
+Sub-sampling filter based on Covariance Sampling (CovS) from _N. Gelfand, L. Ikemoto, S. Rusinkiewicz, and M. Levoy, “Geometrically stable sampling for the ICP algorithm,” in Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings., 2003, pp. 260–267._
 
 The filter analyses the force (_t-normals_: **n**) and the torque (_r-normals_: **n x p**) to select geometrically stable points that can bind the rotational components as well as the translational. Unlike the original article, we match the point-cloud with itself (considering then an overlap of 100%).
 
@@ -464,11 +488,11 @@ Three methods can be used to balance rotation and translation through torque nor
 - L=Lavg (average distance to centroid) : same contribution for _t-normals_ and _r-normals_ as torque is scale-independent
 - L=Lmax (in unit ball): more _r-normals_
 
-__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))  
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ reduces number of points  
-	
+__Required descriptors:__ `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead))
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ reduces number of points
+
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
 |nbSample	| number of point to select | 5000 | min: 1, max: 4294967295|
@@ -479,7 +503,7 @@ __Impact on the number of points:__ reduces number of points
 The following example uses a structured point cloud from the apartment dataset. The following gives the selected points (output) considering the three proposed normalization methods (L=1 in blue, L=Lavg in yellow and L=Lmax in red).
 
 |Figure: Applying the CovS Filter on a structured point cloud | Parameters used |
-|---|:---|  
+|---|:---|
 |![covs](https://user-images.githubusercontent.com/38259866/41663461-7e1954bc-7471-11e8-886e-dcf7439d7f0f.png "Applying the CovS Filter on a structured point cloud") | nbSample : 25000 <br> torqueNorm : <br> 0 (blue) <br> 1 (yellow) <br> 2 (red) |
 
 **Remark:** the filter is not very well suited for large scan with uneven density, it is preferably to use it for computer vision applications, or small scan.
@@ -490,14 +514,14 @@ The following example uses a structured point cloud from the apartment dataset.
 
 Spectral Decomposition Filter (SpDF) is a sampling algorithm based on spectral decomposition analysis to derive local density measures for each geometric primitive. It is based on the reference _Labussière, M., Laconte, J., & Pomerleau, F. (2020). Geometry Preserving Sampling Method Based on Spectral Decomposition for Large-Scale Environments. Frontiers in Robotics and AI, 7(September), 1–15. [https://doi.org/10.3389/frobt.2020.572054](https://doi.org/10.3389/frobt.2020.572054)_
 
-- First, we identify the geometric primitives along with their saliencies using the tensor voting framework. 
+- First, we identify the geometric primitives along with their saliencies using the tensor voting framework.
 - Then, we derive density measures from saliencies: if the density for each geometric primitive is less than the desired density, we stop; else we sub-sample each over-represented geometric primitive, and re-iterate.
 - As output, we have a uniform sampled point cloud enhanced with geometric information.
 
-__Required descriptors:__ none  
-__Output descriptor:__ `normals`, `tangents`, `surfaceness`, `curveness`, `pointness`, `lambda1`, `lambda2`, `lambda3`, `sticks`, `plate`, `balls` and `labels` (see [SaliencyDataPointsFilter](#saliencyhead))  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ make the density uniform, remove outliers, reduces number of points  
+__Required descriptors:__ none
+__Output descriptor:__ `normals`, `tangents`, `surfaceness`, `curveness`, `pointness`, `lambda1`, `lambda2`, `lambda3`, `sticks`, `plate`, `balls` and `labels` (see [SaliencyDataPointsFilter](#saliencyhead))
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ make the density uniform, remove outliers, reduces number of points
 
 
 |Parameter  |Description  |Default value    |Allowable range|
@@ -516,14 +540,14 @@ __Impact on the number of points:__ make the density uniform, remove outliers, r
 The figure bellow illustrates that **SpDF** is able to make the density uniform while preserving each geometric primitive, from an original point cloud of 370k points where most points are concentrated  in a small area, to a uniform point cloud of 40k points, i.e., a compression ratio of 89%.
 Edges and corners have been preserved, while dense surfaces have been made uniform.
 
-**(A)** shows the convergence of the saliencies below their expected values, represented by the vertical dashed lines, implying a uniform density on each geometric primitive. 
+**(A)** shows the convergence of the saliencies below their expected values, represented by the vertical dashed lines, implying a uniform density on each geometric primitive.
 The top-histogram represents the initial saliencies distribution obtained from the tensor voting framework.
 The bottom-histogram shows the resulting distribution after making the density uniform.
 
 **(B)** illustrates the process of reducing and making uniform a structured point cloud from 370k **(B1)** to 40k points **(B2)**, i.e., a compression ratio of 89%.	The resulting point cloud have uniform density, and geometric primitives, such as corners, edges and surfaces, are preserved.
 
 |Figure: Applying the SpDF Filter on a structured point cloud | Parameters used |
-|---|:---|  
+|---|:---|
 |![spdf after](images/spdf-method.jpg "Applying the SpDF Filter on a structured point cloud") | k : 50 <br> sigma : 0.2 <br> radius : 0.2 |
 
 
@@ -535,10 +559,10 @@ As opposed to the previous filters, the following does not yield a sub-sample of
 
 The returned direction vector is a vector connecting the point and the sensor, whose positions can be specified in the filter parameters.
 
-__Required descriptors:__ none  
-__Output descriptor:__ `observationDirections`  
-__Sensor assumed to be at the origin:__ yes  
-__Impact on the number of points:__ none  
+__Required descriptors:__ none
+__Output descriptor:__ `observationDirections`
+__Sensor assumed to be at the origin:__ yes
+__Impact on the number of points:__ none
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -551,7 +575,7 @@ __Impact on the number of points:__ none
 **Remark:** The following example uses a local point cloud 10 from the apartment dataset.  The filter is used to extract direction informations and a small subset of these directions is shown in the following image.  The arrows point towards the position of the sensor.  The input point cloud is color coded according to the z-elevation of the points (red represents the ceiling and blue the floor).
 
 |Figure:  Applying the observation direction filter to a local point cloud.  A small <br>subset of point observation directions are displayed   | Parameters used |
-|---|:---|  
+|---|:---|
 |![dir after](images/appt_obs_dir.png "Applying the observation direction filter to a local point cloud") | x : 0 <br> y : 0 <br> z : 0 |
 
 ## Surface Normal Filter <a name="surfacenormalhead"></a>
@@ -562,14 +586,14 @@ The surface normal to each point is estimated by finding a number of neighboring
 
 Remark that that given a surface, the normal vector can point in two possible directions.  Following the apartment example used herein throughout, the normal vector of a wall can point inside towards the room, or outside the apartment.  To align all normal vectors in the same direction, the [orient normals filter](#orientnormalshead) can be used.
 
-__Required descriptors:__ none   
-__Output descriptor:__  
-`normals`  
-`densities`  
-`eigValues`  
-`eigVectors`  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ none  
+__Required descriptors:__ none
+__Output descriptor:__
+`normals`
+`densities`
+`eigValues`
+`eigVectors`
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ none
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -586,7 +610,7 @@ __Impact on the number of points:__ none
 In this example, we again use a local point cloud of the apartment. You may recognize the input point cloud as a small portion of the local cloud used in the observation direction filter.  The surface normals are extracted using 20 neighboring points and epsilon=0.  In this example, for clarity, we only view a wall section of one of the apartment dataset.  A random set of normal vectors is shown in the figure with arrows.  When looking at the arrow directions on the wall, one may see normal vectors either pointing downwards into the apartment or outside the apartment.
 
 |Figure:  Applying the observation direction filter to a local point cloud.  A small <br>subset of point observation directions are displayed   | Parameters used |
-|---|:---|  
+|---|:---|
 |![norm after](images/appt_norm.png "Extracting surface normals of a portion of the apartment point cloud") | knn : 20 <br> epsilon : 0 <br> keepNormals : 1 <br> keepDensities : 1|
 
 ## Orient Normals Filter <a name="orientnormalshead"></a>
@@ -595,13 +619,13 @@ In this example, we again use a local point cloud of the apartment. You may reco
 
 As explained previously, neighboring surface normal vectors obtained from the surface normals filter, do not have the same orientation.  This filter enforces this constraint and reorients vectors from the same surface in a consistent direction.  Vectors are reoriented to either point towards the center (inwards), or away from the center (outwards).
 
-__Required descriptors:__  
-`observationDirections` (see [ObservationDirectionDataPointsFilter](#obsdirectionhead))   
+__Required descriptors:__
+`observationDirections` (see [ObservationDirectionDataPointsFilter](#obsdirectionhead))
 `normals` (see [SurfaceNormalDataPointsFilter](#surfacenormalhead
-) and [SamplingSurfaceNormalDataPointsFilter](#samplingnormhead))      
-__Output descriptor:__ none  
-__Sensor assumed to be at the origin:__ yes  
-__Impact on the number of points:__ none 
+) and [SamplingSurfaceNormalDataPointsFilter](#samplingnormhead))
+__Output descriptor:__ none
+__Sensor assumed to be at the origin:__ yes
+__Impact on the number of points:__ none
 
 
 |Parameter  |Description  |Default value    |Allowable range|
@@ -626,13 +650,13 @@ The same input section is used as for extracting the surface normals in the prev
 
 The above filters extract surface normals at every point in the point cloud.  In point clouds representing planar surfaces however, a significant redundant information is contained in adjacent normal vectors.  This filter attempts to both reduce the number of points within a point cloud and the number of different normal vectors.  The first is achieved by performing either random sub-sampling as seen previously, or by using one point per box (bin sub-sampling).  The latter is achieved by recursively decomposing the point-cloud space into boxes until each box contains at most knn points.  A single normal vector is computed from the knn points in each box.
 
-__Required descriptors:__ none  
-__Output descriptor:__  
-`normals`  
-`densities`  
-`eigValues`  
-`eigVectors`  
-__Sensor assumed to be at the origin:__ yes  
+__Required descriptors:__ none
+__Output descriptor:__
+`normals`
+`densities`
+`eigValues`
+`eigVectors`
+__Sensor assumed to be at the origin:__ yes
 __Impact on the number of points:__ reduces number of points
 
 |Parameter  |Description  |Default value    |Allowable range|
@@ -669,10 +693,10 @@ We reuse the same apartment section to illustrate the sampling of normal vectors
 This filter is used to augment points with an estimation of position uncertainty based on sensor
  specifications.  So far the [SICK LMS](https://www.sick.com/us/en/detection-and-ranging-solutions/2d-lidar-sensors/lms1xx/lms100-10000/p/p109841), Hokuyo [URG-04LX](https://www.hokuyo-aut.jp/search/single.php?serial=165) and [UTM-30LX](https://www.hokuyo-aut.jp/search/single.php?serial=169), as well as the Microsoft [Kinect](https://developer.microsoft.com/en-us/windows/kinect/) and Asus [Xtion](https://www.asus.com/3D-Sensor/Xtion_PRO_LIVE/) sensors are supported.  The uncertainty or noise radius is represented in meters, and can be adjusted by varying a gain parameter which amplifies predefined uncertainty levels.
 
-__Required descriptors:__  none  
-__Output descriptor:__ `simpleSensorNoise`  
-__Sensor assumed to be at the origin:__ yes  
-__Impact on the number of points:__ none  
+__Required descriptors:__  none
+__Output descriptor:__ `simpleSensorNoise`
+__Sensor assumed to be at the origin:__ yes
+__Impact on the number of points:__ none
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -694,13 +718,13 @@ In the following image we show a side view of local point cloud 3 in the dataset
 
 ### Description
 
-This filter enhances the point cloud by computing geometric features saliencies throught the tensor voting framework. 
+This filter enhances the point cloud by computing geometric features saliencies throught the tensor voting framework.
 The implementation of the tensor voting is based on the closed-form solution of _Wu, T.-P., Yeung, S.-K., Jia, J., Tang, C.-K., & Medioni, G. (2012). A Closed-Form Solution to Tensor Voting: Theory and Applications. IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(8), 1482–1495. [https://doi.org/10.1109/TPAMI.2011.250](https://doi.org/10.1109/TPAMI.2011.250)_.
 
-__Required descriptors:__ none  
-__Output descriptor:__ `normals`, `tangents`, `surfaceness`, `curveness`, `pointness`, `sticks`, `plate`, `balls` and `labels`  
-__Sensor assumed to be at the origin:__ no  
-__Impact on the number of points:__ none  
+__Required descriptors:__ none
+__Output descriptor:__ `normals`, `tangents`, `surfaceness`, `curveness`, `pointness`, `sticks`, `plate`, `balls` and `labels`
+__Sensor assumed to be at the origin:__ no
+__Impact on the number of points:__ none
 
 |Parameter  |Description  |Default value    |Allowable range|
 |---------  |:---------|:----------------|:--------------|
@@ -717,4 +741,4 @@ The number of points in a point cloud can be reduced by taking random point subs
 
 ## Where To Go From Here
 
-This concludes the overview of data point filters.  For a tutorial on writing a simple application for applying data point filters to an input point cloud, go [here](ApplyingDataFilters.md).  To learn more about the general configuration of the ICP chain go [here](DefaultICPConfig.md).  
+This concludes the overview of data point filters.  For a tutorial on writing a simple application for applying data point filters to an input point cloud, go [here](ApplyingDataFilters.md).  To learn more about the general configuration of the ICP chain go [here](DefaultICPConfig.md).
diff --git a/pointmatcher/DataPointsFilters/AngleLimit.cpp b/pointmatcher/DataPointsFilters/AngleLimit.cpp
new file mode 100644
index 00000000..e8ed5dec
--- /dev/null
+++ b/pointmatcher/DataPointsFilters/AngleLimit.cpp
@@ -0,0 +1,106 @@
+// kate: replace-tabs off; indent-width 4; indent-mode normal
+// vim: ts=4:sw=4:noexpandtab
+/*
+
+Copyright (c) 2010--2024,
+François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
+Matej Boxan, Norlab, Université Laval, Canada
+You can contact the authors at <f dot pomerleau at gmail dot com> and
+<stephane at magnenat dot net> and <matej dot boxan at gmail dot com>
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the <organization> nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+*/
+#include "AngleLimit.h"
+#include "pointmatcher/Functions.h"
+
+// AngleLimitDataPointsFilter
+// Constructor
+template<typename T>
+AngleLimitDataPointsFilter<T>::AngleLimitDataPointsFilter(const Parameters& params) :
+		PointMatcher<T>::DataPointsFilter("AngleLimitDataPointsFilter",
+										  AngleLimitDataPointsFilter::availableParameters(), params),
+		phiMin(Parametrizable::get<T>("phiMin")),
+		phiMax(Parametrizable::get<T>("phiMax")),
+		thetaMin(Parametrizable::get<T>("thetaMin")),
+		thetaMax(Parametrizable::get<T>("thetaMax")),
+		removeInside(Parametrizable::get<bool>("removeInside"))
+{
+}
+
+template<typename T>
+typename PointMatcher<T>::DataPoints AngleLimitDataPointsFilter<T>::filter(
+	const DataPoints& input)
+{
+	DataPoints output(input);
+	inPlaceFilter(output);
+	return output;
+}
+
+// In-place filter
+template<typename T>
+void AngleLimitDataPointsFilter<T>::inPlaceFilter(
+	DataPoints& cloud)
+{
+	using namespace PointMatcherSupport;
+
+
+	const int nbPoints = cloud.getNbPoints();
+	const int nbRows = cloud.features.rows();
+
+	int j = 0;
+    for(int i = 0; i < nbPoints; ++i)
+    {
+        auto point = cloud.features.col(i).head(nbRows-1);
+        T r = point.norm();
+        T r_plane = point.head(nbRows-2).norm();
+        T thetaPoint = PointMatcherSupport::radToDeg(acos(point(nbRows-2) / r));
+        T phiPoint = PointMatcherSupport::radToDeg(acos(point(0) / r_plane));
+
+        if (point(1) < 0)
+            phiPoint = -phiPoint;
+
+        if(removeInside)
+        {
+            if((phiPoint < phiMin || phiMax < phiPoint) || (thetaPoint < thetaMin || thetaMax < thetaPoint)) // point is outside range, keep it
+            {
+                cloud.setColFrom(j, cloud, i);
+                ++j;
+            }
+        }
+        else
+        {
+            if (phiMin < phiPoint && phiPoint < phiMax && thetaMin < thetaPoint && thetaPoint < thetaMax) // point is inside range, keep it
+            {
+                cloud.setColFrom(j, cloud, i);
+                ++j;
+            }
+        }
+    }
+	cloud.conservativeResize(j);
+}
+
+template struct AngleLimitDataPointsFilter<float>;
+template struct AngleLimitDataPointsFilter<double>;
diff --git a/pointmatcher/DataPointsFilters/AngleLimit.h b/pointmatcher/DataPointsFilters/AngleLimit.h
new file mode 100644
index 00000000..55bb1d09
--- /dev/null
+++ b/pointmatcher/DataPointsFilters/AngleLimit.h
@@ -0,0 +1,80 @@
+// kate: replace-tabs off; indent-width 4; indent-mode normal
+// vim: ts=4:sw=4:noexpandtab
+/*
+
+Copyright (c) 2010--2024,
+François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
+Matej Boxan, Norlab, Université Laval, Canada
+You can contact the authors at <f dot pomerleau at gmail dot com> and
+<stephane at magnenat dot net> and <matej dot boxan at gmail dot com>
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the <organization> nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+*/
+#pragma once
+
+#include "PointMatcher.h"
+
+//! Subsampling. Filter points if they lie inside / outside of a given spherical wedge.
+//! The spherical wedge is defined by the lower and upper bounds of two angles in spherical coordinates.
+//! The angles follow the spherical physics convention, as described on Wikipedia https://en.wikipedia.org/wiki/Spherical_coordinate_system
+template< typename T>
+struct AngleLimitDataPointsFilter: public PointMatcher<T>::DataPointsFilter
+{
+	typedef PointMatcherSupport::Parametrizable Parametrizable;
+	typedef PointMatcherSupport::Parametrizable P;
+	typedef Parametrizable::Parameters Parameters;
+	typedef Parametrizable::ParameterDoc ParameterDoc;
+	typedef Parametrizable::ParametersDoc ParametersDoc;
+	typedef Parametrizable::InvalidParameter InvalidParameter;
+
+	typedef typename PointMatcher<T>::DataPoints DataPoints;
+
+	inline static const std::string description()
+	{
+		return "Filter points based on a given angle range in spherical coordinates. Assumes the angles in degrees.";
+	}
+	inline static const ParametersDoc availableParameters()
+	{
+		return {
+				{"phiMin", "Lower bound of the azimuthal angle", "-inf", "-inf", "inf", &P::Comp<T>},
+				{"phiMax", "Upper bound of the azimuthal angle", "-inf", "-inf", "inf", &P::Comp<T>},
+				{"thetaMin", "Lower bound of the polar angle", "-inf", "-inf", "inf", &P::Comp<T>},
+				{"thetaMax", "Upper bound of the polar angle", "-inf", "-inf", "inf", &P::Comp<T>},
+				{"removeInside", "If set to true (1), remove points inside the spherical wedge; else (0), remove points outside the wedge", "1", "0", "1", P::Comp<bool>}
+		};
+	}
+
+	const T phiMin;
+	const T phiMax;
+	const T thetaMin;
+	const T thetaMax;
+	const bool removeInside;
+
+	//! Constructor, uses parameter interface
+	AngleLimitDataPointsFilter(const Parameters& params = Parameters());
+	virtual DataPoints filter(const DataPoints& input);
+	virtual void inPlaceFilter(DataPoints& cloud);
+};
diff --git a/pointmatcher/DataPointsFiltersImpl.h b/pointmatcher/DataPointsFiltersImpl.h
index a24d71d0..ead5b84e 100644
--- a/pointmatcher/DataPointsFiltersImpl.h
+++ b/pointmatcher/DataPointsFiltersImpl.h
@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define __POINTMATCHER_DATAPOINTSFILTERS_H
 
 #include "DataPointsFilters/AddDescriptor.h"
+#include "DataPointsFilters/AngleLimit.h"
 #include "DataPointsFilters/Identity.h"
 #include "DataPointsFilters/RemoveNaN.h"
 #include "DataPointsFilters/MaxDist.h"
@@ -72,6 +73,7 @@ struct DataPointsFiltersImpl
 {
 	typedef ::IdentityDataPointsFilter<T>   IdentityDataPointsFilter;
 	typedef ::AddDescriptorDataPointsFilter<T>   AddDescriptorDataPointsFilter;
+	typedef ::AngleLimitDataPointsFilter<T>   AngleLimitDataPointsFilter;
 	typedef ::RemoveNaNDataPointsFilter<T>  RemoveNaNDataPointsFilter;
 	typedef ::MaxDistDataPointsFilter<T>	MaxDistDataPointsFilter;
 	typedef ::MinDistDataPointsFilter<T>	MinDistDataPointsFilter;
diff --git a/pointmatcher/Functions.h b/pointmatcher/Functions.h
index d54a706f..1b11c281 100644
--- a/pointmatcher/Functions.h
+++ b/pointmatcher/Functions.h
@@ -59,6 +59,11 @@ namespace PointMatcherSupport
 		return v;
 	}
 
+    template<typename T>
+    T radToDeg(T rad)
+    {
+        return rad * (180.0 / M_PI);
+    }
 
 
 } // PointMatcherSupport
diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
index 3108275e..776ce4eb 100644
--- a/pointmatcher/IO.cpp
+++ b/pointmatcher/IO.cpp
@@ -1312,7 +1312,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 	1- PARSE PLY HEADER
 	2- ASSIGN PLY PROPERTIES TO DATAPOINTS ROWS
 	3- Reserve memory for a DataPoints
-	4- Parse PLY vertex to appropriate DataPoints cols and rows 
+	4- Parse PLY vertex to appropriate DataPoints cols and rows
 	5- Assemble final DataPoints
 
 	PLY organisation:
@@ -1389,6 +1389,8 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 		}
 		else if (keyword == "element")
 		{
+
+
 			string elem_name, elem_num_s;
 			stringstream >> elem_name >> elem_num_s;
 
@@ -1480,7 +1482,7 @@ typename PointMatcherIO<T>::DataPoints PointMatcherIO<T>::loadPLY(std::istream&
 
 	///////////////////////////
 	// 2- ASSIGN PLY PROPERTIES TO DATAPOINTS ROWS
-	
+
 	// Fetch vertex
 	PLYElement* vertex = elements[0];
 
@@ -1928,6 +1930,23 @@ bool PointMatcherIO<T>::plyPropTypeValid(const std::string& type) {
 }
 
 
+// Explicitly instatiating the template for PLYElement, PLYProperty and PLYElementF
+// class functions to fix Python bindings import, which otherwise complains about a missing
+// symbol on pypointmatcher import
+template bool PointMatcherIO<float>::PLYElement::operator==(const PointMatcherIO<float>::PLYElement&) const;
+template bool PointMatcherIO<double>::PLYElement::operator==(const PointMatcherIO<double>::PLYElement&) const;
+
+template bool PointMatcherIO<float>::PLYProperty::operator==(const PointMatcherIO<float>::PLYProperty&) const;
+template bool PointMatcherIO<double>::PLYProperty::operator==(const PointMatcherIO<double>::PLYProperty&) const;
+
+template PointMatcherIO<float>::PLYElement* PointMatcherIO<float>::PLYElementF::createElement(
+		const std::string& elem_name, const int elem_num, const unsigned offset);
+template PointMatcherIO<double>::PLYElement* PointMatcherIO<double>::PLYElementF::createElement(
+		const std::string& elem_name, const int elem_num, const unsigned offset);
+
+template bool PointMatcherIO<float>::PLYElementF::elementSupported(const std::string& elem_name);
+template bool PointMatcherIO<double>::PLYElementF::elementSupported(const std::string& elem_name);
+
 template <typename T>
 bool PointMatcherIO<T>::PLYElement::operator==(const PLYElement& rhs) const
 {
diff --git a/pointmatcher/Registry.cpp b/pointmatcher/Registry.cpp
index 584e56c4..ea35e8d4 100644
--- a/pointmatcher/Registry.cpp
+++ b/pointmatcher/Registry.cpp
@@ -65,6 +65,7 @@ PointMatcher<T>::PointMatcher()
 	ADD_TO_REGISTRAR_NO_PARAM(Transformation, SimilarityTransformation, typename TransformationsImpl<T>::SimilarityTransformation)	
 	
 	ADD_TO_REGISTRAR(DataPointsFilter, AddDescriptorDataPointsFilter, typename DataPointsFiltersImpl<T>::AddDescriptorDataPointsFilter)
+	ADD_TO_REGISTRAR(DataPointsFilter, AngleLimitDataPointsFilter, typename DataPointsFiltersImpl<T>::AngleLimitDataPointsFilter)
 	ADD_TO_REGISTRAR_NO_PARAM(DataPointsFilter, IdentityDataPointsFilter, typename DataPointsFiltersImpl<T>::IdentityDataPointsFilter)
 	ADD_TO_REGISTRAR_NO_PARAM(DataPointsFilter, RemoveNaNDataPointsFilter, typename DataPointsFiltersImpl<T>::RemoveNaNDataPointsFilter)
 	ADD_TO_REGISTRAR(DataPointsFilter, MaxDistDataPointsFilter, typename DataPointsFiltersImpl<T>::MaxDistDataPointsFilter)
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 64e88fd3..b6fe36f6 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -51,6 +51,7 @@ set(PYBIND11_SOURCES
 
     #datapointfilters module
     datapointsfilters/add_descriptor.cpp
+    datapointsfilters/angle_limit.cpp
     datapointsfilters/bounding_box.cpp
     datapointsfilters/covariance_sampling.cpp
     datapointsfilters/cut_at_descriptor_threshold.cpp
@@ -90,15 +91,22 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}
                     ${CMAKE_SOURCE_DIR}/pointmatcher/DataPointsFilters/utils
                     ${CMAKE_SOURCE_DIR}/pointmatcher/ErrorMinimizers)
 
-if(USE_SYSTEM_PYBIND11)
-	find_package(pybind11 2.5.0 REQUIRED)
-	message(STATUS "pybind11 v${pybind11_VERSION}")
+# Requires CMake 3.15
+find_package(Python COMPONENTS Interpreter Development REQUIRED)
+if (Python_FOUND)
+    message(STATUS "Python found: ${Python_VERSION}")
 else()
-	add_subdirectory(pybind11)
-	set(pybind11_FOUND TRUE)
+    message(FATAL_ERROR "Python not found")
 endif()
 
+# Use Python to locate pybind11 installed via pip
+execute_process(COMMAND ${Python_EXECUTABLE} -c "import pybind11; print(pybind11.get_cmake_dir())"
+                OUTPUT_VARIABLE pybind11_DIR
+                OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+find_package(pybind11 CONFIG REQUIRED)
 if(pybind11_FOUND)
+    message(STATUS "Found pybind11 v${pybind11_VERSION} at ${PYBIND11_CMAKE_DIR}")
 	pybind11_add_module(pypointmatcher_native ${PYBIND11_SOURCES})
 
 	target_link_libraries(pypointmatcher_native
@@ -113,4 +121,3 @@ else()
 	message(FATAL_ERROR "pybind11 is required! Please follow the \"Compiling \
 libpointmatcher's with Python\" instructions from the official libpointmatcher's documentation.")
 endif()
-
diff --git a/python/datapointsfilters/angle_limit.cpp b/python/datapointsfilters/angle_limit.cpp
new file mode 100644
index 00000000..2000d532
--- /dev/null
+++ b/python/datapointsfilters/angle_limit.cpp
@@ -0,0 +1,28 @@
+#include "angle_limit.h"
+
+#include "DataPointsFilters/AngleLimit.h"
+
+namespace python
+{
+	namespace datapointsfilters
+	{
+		void pybindAngleLimit(py::module& p_module)
+		{
+			using AngleLimitDataPointsFilter = AngleLimitDataPointsFilter<ScalarType>;
+			py::class_<AngleLimitDataPointsFilter, std::shared_ptr<AngleLimitDataPointsFilter>, DataPointsFilter>(p_module, "AngleLimitDataPointsFilter")
+				.def_static("description", &AngleLimitDataPointsFilter::description)
+				.def_static("availableParameters", &AngleLimitDataPointsFilter::availableParameters)
+
+				.def_readonly("phiMin", &AngleLimitDataPointsFilter::phiMin)
+				.def_readonly("phiMax", &AngleLimitDataPointsFilter::phiMax)
+				.def_readonly("thetaMin", &AngleLimitDataPointsFilter::thetaMin)
+				.def_readonly("thetaMax", &AngleLimitDataPointsFilter::thetaMax)
+				.def_readonly("removeInside", &AngleLimitDataPointsFilter::removeInside)
+
+				.def(py::init<const Parameters&>(), py::arg("params") = Parameters(), "Constructor, uses parameter interface")
+
+				.def("filter", &AngleLimitDataPointsFilter::filter, py::arg("input"))
+				.def("inPlaceFilter", &AngleLimitDataPointsFilter::inPlaceFilter, py::arg("cloud"));
+		}
+	}
+}
diff --git a/python/datapointsfilters/angle_limit.h b/python/datapointsfilters/angle_limit.h
new file mode 100644
index 00000000..5ed44074
--- /dev/null
+++ b/python/datapointsfilters/angle_limit.h
@@ -0,0 +1,14 @@
+#ifndef PYTHON_DATAPOINTSFILTERS_ANGLE_LIMIT_H
+#define PYTHON_DATAPOINTSFILTERS_ANGLE_LIMIT_H
+
+#include "pypoint_matcher_helper.h"
+
+namespace python
+{
+	namespace datapointsfilters
+	{
+		void pybindAngleLimit(py::module& p_module);
+	}
+}
+
+#endif //PYTHON_DATAPOINTSFILTERS_ANGLE_LIMIT_H
diff --git a/python/pointmatcher/data_points_filters.h b/python/pointmatcher/data_points_filters.h
index 12e72e58..8d11f798 100644
--- a/python/pointmatcher/data_points_filters.h
+++ b/python/pointmatcher/data_points_filters.h
@@ -1,5 +1,5 @@
 #ifndef PYTHON_MODULES_DATA_POINTS_FILTERS_MODULE_H
-#define PYTHON_MODULES_DATAPOINTSFILTERS_MODULE_H
+#define PYTHON_MODULES_DATA_POINTS_FILTERS_MODULE_H
 
 #include "pypoint_matcher_helper.h"
 
diff --git a/python/pointmatcher/io.cpp b/python/pointmatcher/io.cpp
index d04ee010..dbc7ef88 100644
--- a/python/pointmatcher/io.cpp
+++ b/python/pointmatcher/io.cpp
@@ -173,11 +173,10 @@ Note that the header must at least contain "reading".
 //Implementation of PLY element interface for the vertex element
 //)pbdoc");
 
-//		FIXME : Generate undefined symbol error for "elementSupported" or "createElement" method when importing the module
-//		using PLYElementF = PMIO::PLYElementF;
-//		py::class_<PLYElementF>(pyPointMatcherIO, "PLYElementF", "Factory for PLY elements")
-//			.def("elementSupported", &PLYElementF::elementSupported, py::arg("elem_name"), "returns true if element named elem_name is supported by this parser")
-//			.def_static("createElement", &PLYElementF::createElement, py::arg("elem_name"), py::arg("elem_num"), py::arg("offset"), "factory function, build element defined by name with elem_num elements");
+		using PLYElementF = PMIO::PLYElementF;
+		py::class_<PLYElementF>(pyPointMatcherIO, "PLYElementF", "Factory for PLY elements")
+			.def("elementSupported", &PLYElementF::elementSupported, py::arg("elem_name"), "returns true if element named elem_name is supported by this parser")
+			.def_static("createElement", &PLYElementF::createElement, py::arg("elem_name"), py::arg("elem_num"), py::arg("offset"), "factory function, build element defined by name with elem_num elements");
 
 			using PCDproperty = PMIO::PCDproperty;
 			py::class_<PCDproperty>(pyPointMatcherIO, "PCDproperty", "Information for a PCD property")
diff --git a/utest/ui/DataFilters.cpp b/utest/ui/DataFilters.cpp
index f476f6d2..f19fa9c8 100644
--- a/utest/ui/DataFilters.cpp
+++ b/utest/ui/DataFilters.cpp
@@ -1,6 +1,8 @@
 #include "../utest.h"
 #include <ciso646>
 #include <cmath>
+#include <cstdint>
+#include "pointmatcher/Functions.h"
 
 using namespace std;
 using namespace PointMatcherSupport;
@@ -19,7 +21,7 @@ class DataFilterTest: public IcpHelper
 		icp.setDefault();
 		// Uncomment for console outputs
 		//setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
-		
+
 		// We'll test the filters on reading point cloud
 		icp.readingDataPointsFilters.clear();
 	}
@@ -31,15 +33,15 @@ class DataFilterTest: public IcpHelper
 	{
 		std::shared_ptr<PM::DataPointsFilter> testedDataPointFilter =
 			PM::get().DataPointsFilterRegistrar.create(name, params);
-	
+
 		icp.readingDataPointsFilters.push_back(testedDataPointFilter);
 	}
-	
+
 	void addFilter(string name)
 	{
 		std::shared_ptr<PM::DataPointsFilter> testedDataPointFilter =
 			PM::get().DataPointsFilterRegistrar.create(name);
-		
+
 		icp.readingDataPointsFilters.push_back(testedDataPointFilter);
 	}
 
@@ -69,13 +71,55 @@ class DataFilterTest: public IcpHelper
 
 		return pointCloud;
 	}
+
+	DP validateAngleLimitFilter(const DP& cloud, double thetaMin, double thetaMax, double phiMin, double phiMax, bool removeInside)
+    {
+        const int nbRows = cloud.features.rows();
+    	params = PM::Parameters();
+    	params["thetaMin"] = toParam(thetaMin);
+    	params["thetaMax"] = toParam(thetaMax);
+    	params["phiMin"] = toParam(phiMin);
+    	params["phiMax"] = toParam(phiMax);
+    	params["removeInside"] = toParam(removeInside);
+
+    	std::shared_ptr<PM::DataPointsFilter> angleLimitFilter = PM::get().DataPointsFilterRegistrar.create("AngleLimitDataPointsFilter", params);
+    	const DP filteredCloud = angleLimitFilter->filter(cloud);
+
+    	EXPECT_GE(cloud.getNbPoints(), filteredCloud.getNbPoints());
+    	EXPECT_EQ(cloud.getDescriptorDim(), filteredCloud.getDescriptorDim());
+    	EXPECT_EQ(cloud.getTimeDim(), filteredCloud.getTimeDim());
+
+        for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+        {
+            const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+            NumericType r = point.norm();
+            NumericType r_plane = point.head(nbRows-2).norm();
+            NumericType theta = PointMatcherSupport::radToDeg(acos(point(nbRows-2) / r));
+            NumericType phi = PointMatcherSupport::radToDeg(acos(point(0) / r_plane));
+
+            if (point(1) < 0)
+                phi = -phi;
+            if (removeInside)
+            {
+                EXPECT_TRUE(theta < thetaMin || theta > thetaMax || phi < phiMin || phi > phiMax);
+            }
+            else
+            {
+                EXPECT_GE(theta, thetaMin);
+                EXPECT_LE(theta, thetaMax);
+                EXPECT_GE(phi, phiMin);
+                EXPECT_LE(phi, phiMax);
+            }
+        }
+        return filteredCloud;
+    }
 };
 
 TEST_F(DataFilterTest, IdentityDataPointsFilter)
 {
 	// build test cloud
 	DP ref2DCopy(ref2D);
-	
+
 	// apply and checked
 	addFilter("IdentityDataPointsFilter");
 	icp.readingDataPointsFilters.apply(ref2DCopy);
@@ -97,7 +141,7 @@ TEST_F(DataFilterTest, RemoveNaNDataPointsFilter)
 		else
 			++goodCount;
 	}
-	
+
 	// apply and checked
 	addFilter("RemoveNaNDataPointsFilter");
 	icp.readingDataPointsFilters.apply(ref2DCopy);
@@ -110,40 +154,40 @@ TEST_F(DataFilterTest, MaxDistDataPointsFilter)
 	params = PM::Parameters();
 	params["dim"] = "0";
 	params["maxDist"] = toParam(6.0);
-	
+
 	// Filter on x axis
 	params["dim"] = "0";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Filter on y axis
 	params["dim"] = "1";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Filter on z axis (not existing)
 	params["dim"] = "2";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxDistDataPointsFilter", params);
 	EXPECT_ANY_THROW(validate2dTransformation());
 	validate3dTransformation();
-	
+
 	// Filter on a radius
 	params["dim"] = "-1";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Parameter outside valid range
 	params["dim"] = "3";
 	//TODO: specify the exception, move that to GenericTest
 	EXPECT_ANY_THROW(addFilter("MaxDistDataPointsFilter", params));
-	
+
 }
 
 TEST_F(DataFilterTest, MinDistDataPointsFilter)
@@ -152,21 +196,21 @@ TEST_F(DataFilterTest, MinDistDataPointsFilter)
 	params = PM::Parameters();
 	params["dim"] = "0";
 	params["minDist"] = toParam(0.05);
-	
+
 	// Filter on x axis
 	params["dim"] = "0";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MinDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Filter on y axis
 	params["dim"] = "1";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MinDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	//TODO: move that to specific 2D test
 	// Filter on z axis (not existing)
 	params["dim"] = "2";
@@ -174,14 +218,14 @@ TEST_F(DataFilterTest, MinDistDataPointsFilter)
 	addFilter("MinDistDataPointsFilter", params);
 	EXPECT_ANY_THROW(validate2dTransformation());
 	validate3dTransformation();
-	
+
 	// Filter on a radius
 	params["dim"] = "-1";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MinDistDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-		
+
 }
 
 TEST_F(DataFilterTest, MaxQuantileOnAxisDataPointsFilter)
@@ -191,21 +235,21 @@ TEST_F(DataFilterTest, MaxQuantileOnAxisDataPointsFilter)
 	params = PM::Parameters();
 	params["dim"] = "0";
 	params["ratio"] = ratio;
-	
+
 	// Filter on x axis
 	params["dim"] = "0";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxQuantileOnAxisDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Filter on y axis
 	params["dim"] = "1";
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxQuantileOnAxisDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
-	
+
 	// Filter on z axis (not existing)
 	params["dim"] = "2";
 	icp.readingDataPointsFilters.clear();
@@ -220,8 +264,8 @@ TEST_F(DataFilterTest, SurfaceNormalDataPointsFilter)
 {
 	// This filter create descriptor, so parameters should'nt impact results
 	params = PM::Parameters();
-	params["knn"] =  "5"; 
-	params["epsilon"] =  "0.1"; 
+	params["knn"] =  "5";
+	params["epsilon"] =  "0.1";
 	params["keepNormals"] =  "1";
 	params["keepDensities"] =  "1";
 	params["keepEigenValues"] =  "1";
@@ -230,7 +274,7 @@ TEST_F(DataFilterTest, SurfaceNormalDataPointsFilter)
 	// FIXME: the parameter keepMatchedIds seems to do nothing...
 
 	addFilter("SurfaceNormalDataPointsFilter", params);
-	validate2dTransformation();	
+	validate2dTransformation();
 	validate3dTransformation();
 
 	// TODO: standardize how filter are tested:
@@ -243,13 +287,13 @@ TEST_F(DataFilterTest, MaxDensityDataPointsFilter)
 {
 	// Ratio has been selected to not affect the points too much
  	vector<double> ratio = {100, 1000, 5000};
- 
+
  	for(unsigned i=0; i < ratio.size(); i++)
  	{
  		icp.readingDataPointsFilters.clear();
 		params = PM::Parameters();
-		params["knn"] = "5"; 
-		params["epsilon"] = "0.1"; 
+		params["knn"] = "5";
+		params["epsilon"] = "0.1";
 		params["keepNormals"] = "0";
 		params["keepDensities"] = "1";
 		params["keepEigenValues"] = "0";
@@ -262,14 +306,14 @@ TEST_F(DataFilterTest, MaxDensityDataPointsFilter)
 		params["maxDensity"] = toParam(ratio[i]);
 
  		addFilter("MaxDensityDataPointsFilter", params);
- 		
+
 		// FIXME BUG: the density in 2D is not well computed
-		//validate2dTransformation();	
- 
+		//validate2dTransformation();
+
  		//double nbInitPts = data2D.features.cols();
  		//double nbRemainingPts = icp.getPrefilteredReadingPtsCount();
  		//EXPECT_TRUE(nbRemainingPts < nbInitPts);
- 		
+
  		validate3dTransformation();
 
 		double nbInitPts = data3D.features.cols();
@@ -288,7 +332,7 @@ TEST_F(DataFilterTest, SamplingSurfaceNormalDataPointsFilter)
 	params["keepDensities"] = "1";
 	params["keepEigenValues"] = "1";
 	params["keepEigenVectors"] = "1";
-	
+
 	addFilter("SamplingSurfaceNormalDataPointsFilter", params);
 	validate2dTransformation();
 	validate3dTransformation();
@@ -397,48 +441,48 @@ TEST_F(DataFilterTest, FixStepSamplingDataPointsFilter)
 TEST_F(DataFilterTest, MaxPointCountDataPointsFilter)
 {
 	DP cloud = ref3D;
-	
+
 	const size_t maxCount = 1000;
-		
-	params = PM::Parameters(); 
+
+	params = PM::Parameters();
 	params["seed"] = "42";
 	params["maxCount"] = toParam(maxCount);
-	
+
 	std::shared_ptr<PM::DataPointsFilter> maxPtsFilter =
 			PM::get().DataPointsFilterRegistrar.create("MaxPointCountDataPointsFilter", params);
 
 	DP filteredCloud = maxPtsFilter->filter(cloud);
-	
+
 	//Check number of points
 	EXPECT_GT(cloud.getNbPoints(), filteredCloud.getNbPoints());
 	EXPECT_EQ(cloud.getDescriptorDim(), filteredCloud.getDescriptorDim());
 	EXPECT_EQ(cloud.getTimeDim(), filteredCloud.getTimeDim());
-	
+
 	EXPECT_EQ(filteredCloud.getNbPoints(), maxCount);
-	
+
 	//Same seed should result same filtered cloud
 	DP filteredCloud2 = maxPtsFilter->filter(cloud);
-	
+
 	EXPECT_TRUE(filteredCloud == filteredCloud2);
-	
+
 	//Different seeds should not result same filtered cloud but same number
 	params.clear();
 	params["seed"] = "1";
 	params["maxCount"] = toParam(maxCount);
-	
+
 	std::shared_ptr<PM::DataPointsFilter> maxPtsFilter2 =
 			PM::get().DataPointsFilterRegistrar.create("MaxPointCountDataPointsFilter", params);
-			
+
 	DP filteredCloud3 = maxPtsFilter2->filter(cloud);
-	
+
 	EXPECT_FALSE(filteredCloud3 == filteredCloud2);
-	
+
 	EXPECT_EQ(filteredCloud3.getNbPoints(), maxCount);
-	
+
 	EXPECT_EQ(filteredCloud3.getNbPoints(), filteredCloud2.getNbPoints());
 	EXPECT_EQ(filteredCloud3.getDescriptorDim(), filteredCloud2.getDescriptorDim());
 	EXPECT_EQ(filteredCloud3.getTimeDim(), filteredCloud2.getTimeDim());
-	
+
 	//Validate transformation
 	icp.readingDataPointsFilters.clear();
 	addFilter("MaxPointCountDataPointsFilter", params);
@@ -449,11 +493,11 @@ TEST_F(DataFilterTest, MaxPointCountDataPointsFilter)
 TEST_F(DataFilterTest, OctreeGridDataPointsFilter)
 {
 	const unsigned int nbPts = 60000;
-	const DP cloud = generateRandomDataPoints(nbPts);	
-	params = PM::Parameters(); 
+	const DP cloud = generateRandomDataPoints(nbPts);
+	params = PM::Parameters();
 
 	std::shared_ptr<PM::DataPointsFilter> octreeFilter;
-	
+
 	for(const int meth : {0,1,2,3})
 		for(const size_t maxData : {1,5})
 			for(const NumericType maxSize : {0.,0.05})
@@ -463,11 +507,11 @@ TEST_F(DataFilterTest, OctreeGridDataPointsFilter)
 				params["maxSizeByNode"] = toParam(maxSize);
 				params["samplingMethod"] = toParam(meth);
 				params["buildParallel"] = "1";
-	
+
 				octreeFilter = PM::get().DataPointsFilterRegistrar.create("OctreeGridDataPointsFilter", params);
 
 				const DP filteredCloud = octreeFilter->filter(cloud);
-			
+
 				if(maxData==1 and maxSize==0.)
 				{
 					// 1/pts by octants + validate parallel build
@@ -477,11 +521,11 @@ TEST_F(DataFilterTest, OctreeGridDataPointsFilter)
 					EXPECT_EQ(cloud.getNbPoints(), filteredCloud.getNbPoints());
 					EXPECT_EQ(cloud.getDescriptorDim(), filteredCloud.getDescriptorDim());
 					EXPECT_EQ(cloud.getTimeDim(), filteredCloud.getTimeDim());
-	
+
 					EXPECT_EQ(filteredCloud.getNbPoints(), nbPts);
 				}
 				else
-				{	
+				{
 					//Check number of points
 					EXPECT_GT(cloud.getNbPoints(), filteredCloud.getNbPoints());
 				}
@@ -496,30 +540,30 @@ TEST_F(DataFilterTest, OctreeGridDataPointsFilter)
 TEST_F(DataFilterTest, NormalSpaceDataPointsFilter)
 {
 	const size_t nbPts = 60000;
-	DP cloud = generateRandomDataPoints(nbPts);	
-	params = PM::Parameters(); 
-	
+	DP cloud = generateRandomDataPoints(nbPts);
+	params = PM::Parameters();
+
 	//const size_t nbPts2D = ref2D.getNbPoints();
 	const size_t nbPts3D = ref3D.getNbPoints();
-	
+
 	std::shared_ptr<PM::DataPointsFilter> nssFilter;
-	
+
 	//Compute normals
 	auto paramsNorm = PM::Parameters();
-			paramsNorm["knn"] = "5"; 
-			paramsNorm["epsilon"] = "0.1"; 
+			paramsNorm["knn"] = "5";
+			paramsNorm["epsilon"] = "0.1";
 			paramsNorm["keepNormals"] = "1";
 	std::shared_ptr<PM::DataPointsFilter> normalFilter = PM::get().DataPointsFilterRegistrar.create("SurfaceNormalDataPointsFilter", paramsNorm);
 
 	normalFilter->inPlaceFilter(cloud);
-	
+
 	//Evaluate filter
 	std::vector<size_t> samples = {/* 2*nbPts2D/3, nbPts2D,*/ 1500, 5000, nbPts, nbPts3D};
 	for(const NumericType epsilon : {M_PI/6., M_PI/32., M_PI/64.})
 		for(const size_t nbSample : samples)
 		{
 			icp.readingDataPointsFilters.clear();
-			
+
 			params.clear();
 			params["epsilon"] = toParam(epsilon);
 			params["nbSample"] = toParam(nbSample);
@@ -528,9 +572,9 @@ TEST_F(DataFilterTest, NormalSpaceDataPointsFilter)
 
 			addFilter("SurfaceNormalDataPointsFilter", paramsNorm);
 			addFilter("NormalSpaceDataPointsFilter", params);
-			
+
 			const DP filteredCloud = nssFilter->filter(cloud);
-					
+
 			/*
 			if(nbSample <= nbPts2D)
 			{
@@ -542,7 +586,7 @@ TEST_F(DataFilterTest, NormalSpaceDataPointsFilter)
 			{
 				EXPECT_EQ(filteredCloud.getNbPoints(), nbPts3D);
 			}
-			else */ 
+			else */
 			if (nbSample == nbPts)
 			{
 				//Check number of points
@@ -552,8 +596,8 @@ TEST_F(DataFilterTest, NormalSpaceDataPointsFilter)
 
 				EXPECT_EQ(filteredCloud.getNbPoints(), nbPts);
 			}
-			
-			validate3dTransformation();			
+
+			validate3dTransformation();
 			EXPECT_GE(cloud.getNbPoints(), filteredCloud.getNbPoints());
 		}
 }
@@ -561,28 +605,28 @@ TEST_F(DataFilterTest, NormalSpaceDataPointsFilter)
 TEST_F(DataFilterTest, CovarianceSamplingDataPointsFilter)
 {
 	const size_t nbPts = 60000;
-	DP cloud = generateRandomDataPoints(nbPts);	
-	params = PM::Parameters(); 
-	
+	DP cloud = generateRandomDataPoints(nbPts);
+	params = PM::Parameters();
+
 	const size_t nbPts3D = ref3D.getNbPoints();
-	
+
 	std::shared_ptr<PM::DataPointsFilter> covsFilter;
-	
+
 	//Compute normals
 	auto paramsNorm = PM::Parameters();
-			paramsNorm["knn"] = "5"; 
-			paramsNorm["epsilon"] = "0.1"; 
+			paramsNorm["knn"] = "5";
+			paramsNorm["epsilon"] = "0.1";
 			paramsNorm["keepNormals"] = "1";
 	std::shared_ptr<PM::DataPointsFilter> normalFilter = PM::get().DataPointsFilterRegistrar.create("SurfaceNormalDataPointsFilter", paramsNorm);
 
 	normalFilter->inPlaceFilter(cloud);
-	
+
 	//Evaluate filter
 	std::vector<size_t> samples = {500, 1500, 5000, nbPts, nbPts3D};
 	for(const size_t nbSample : samples)
 	{
 		icp.readingDataPointsFilters.clear();
-		
+
 		params.clear();
 		params["nbSample"] = toParam(nbSample);
 
@@ -590,9 +634,9 @@ TEST_F(DataFilterTest, CovarianceSamplingDataPointsFilter)
 
 		addFilter("SurfaceNormalDataPointsFilter", paramsNorm);
 		addFilter("CovarianceSamplingDataPointsFilter", params);
-		
+
 		const DP filteredCloud = covsFilter->filter(cloud);
-				
+
 		if (nbSample == nbPts3D)
 		{
 			EXPECT_EQ(filteredCloud.getNbPoints(), nbPts3D);
@@ -606,8 +650,8 @@ TEST_F(DataFilterTest, CovarianceSamplingDataPointsFilter)
 
 			EXPECT_EQ(filteredCloud.getNbPoints(), nbPts);
 		}
-		
-		validate3dTransformation();			
+
+		validate3dTransformation();
 		EXPECT_GE(cloud.getNbPoints(), filteredCloud.getNbPoints());
 	}
 }
@@ -617,7 +661,7 @@ TEST_F(DataFilterTest, VoxelGridDataPointsFilter)
 	// Test with point cloud
 	DP cloud = generateRandomDataPoints();
 
-	params = PM::Parameters(); 
+	params = PM::Parameters();
 	params["vSizeX"] = "0.5";
 	params["vSizeY"] = "0.5";
 	params["vSizeZ"] = "0.5";
@@ -636,17 +680,17 @@ TEST_F(DataFilterTest, VoxelGridDataPointsFilter)
 	// Test with ICP
 	vector<bool> useCentroid = {false, true};
 	vector<bool> averageExistingDescriptors = {false, true};
-	for (unsigned i = 0 ; i < useCentroid.size() ; i++) 
+	for (unsigned i = 0 ; i < useCentroid.size() ; i++)
 	{
-		for (unsigned j = 0; j < averageExistingDescriptors.size(); j++) 
+		for (unsigned j = 0; j < averageExistingDescriptors.size(); j++)
 		{
-			params = PM::Parameters(); 
+			params = PM::Parameters();
 			params["vSizeX"] = "0.02";
 			params["vSizeY"] = "0.02";
 			params["vSizeZ"] = "0.02";
 			params["useCentroid"] = toParam(true);
 			params["averageExistingDescriptors"] = toParam(true);
-			
+
 			icp.readingDataPointsFilters.clear();
 			addFilter("VoxelGridDataPointsFilter", params);
 			validate2dTransformation();
@@ -663,7 +707,7 @@ TEST_F(DataFilterTest, VoxelGridDataPointsFilter)
 			params["vSizeZ"] = "1";
 			params["useCentroid"] = toParam(true);
 			params["averageExistingDescriptors"] = toParam(true);
-			
+
 			icp.readingDataPointsFilters.clear();
 			addFilter("VoxelGridDataPointsFilter", params);
 			validate3dTransformation();
@@ -680,14 +724,14 @@ TEST_F(DataFilterTest, CutAtDescriptorThresholdDataPointsFilter)
 	// Adding descriptor "densities"
 	icp.readingDataPointsFilters.clear();
 	params = PM::Parameters();
-	params["knn"] = "5"; 
-	params["epsilon"] = "0.1"; 
+	params["knn"] = "5";
+	params["epsilon"] = "0.1";
 	params["keepNormals"] = "0";
 	params["keepDensities"] = "1";
 	params["keepEigenValues"] = "0";
 	params["keepEigenVectors"] = "0";
 	params["keepMatchedIds"] = "0";
-	
+
 
 	addFilter("SurfaceNormalDataPointsFilter", params);
 	icp.readingDataPointsFilters.apply(ref3Ddensities);
@@ -716,11 +760,11 @@ TEST_F(DataFilterTest, CutAtDescriptorThresholdDataPointsFilter)
 			DP ref3DCopy = ref3Ddensities;
 
 			icp.readingDataPointsFilters.clear();
-			params = PM::Parameters(); 
+			params = PM::Parameters();
 			params["descName"] = toParam("densities");
 			params["useLargerThan"] = toParam(useLargerThan);
 			params["threshold"] = toParam(thresholds[i]);
-			
+
 
 			addFilter("CutAtDescriptorThresholdDataPointsFilter", params);
 			icp.readingDataPointsFilters.apply(ref3DCopy);
@@ -815,9 +859,9 @@ TEST_F(DataFilterTest, DistanceLimitDataPointsFilter)
 TEST_F(DataFilterTest, SameFilterInstanceTwice)
 {
 	params = PM::Parameters();
-	
+
 	std::shared_ptr<PM::DataPointsFilter> df = PM::get().DataPointsFilterRegistrar.create("MaxPointCountDataPointsFilter", params);
-	
+
 	icp.referenceDataPointsFilters.push_back(df);
 	icp.readingDataPointsFilters.push_back(df);
 }
@@ -829,7 +873,7 @@ TEST_F(DataFilterTest, RemoveSensorBiasDataPointsFilter)
 						 0., -0.002311, -0.163689};
 	const double expectedErrors_HDL32E[6]  = {0., -0.002945, -0.075866,
 						  0., -0.002998,-0.082777 };
-	
+
 	PM::Matrix points = (PM::Matrix(3,6) << 1, 1, 1, 5, 5, 5,
 		0, 0, 0, 0, 0, 0,
 		0, 0, 0, 0, 0, 0).finished();
@@ -838,12 +882,12 @@ TEST_F(DataFilterTest, RemoveSensorBiasDataPointsFilter)
 	pointsLabels.push_back(DP::Label("y", 1));
 	pointsLabels.push_back(DP::Label("z", 1));
 	pointsLabels.push_back(DP::Label("pad", 1));
-	
+
 	PM::Matrix desc = (PM::Matrix(4,6) << 0., 0.7854, 1.4835, 0., 0.7854, 1.4835, //0,45,85 degrees
 		-1, -1, -1, -5, -5, -5,
 		0,  0,  0,  0,  0,  0, // observation : point to sensor
 		0,  0,  0,  0,  0,  0).finished();
-	
+
 	PM::Matrix desc2 = (PM::Matrix(4,6) << 0., 0.7854, std::nanf(""), 0., 0.7854, M_PI_2, //0,45,90 degrees
 		-1, -1, -1, -5, -5, -5,
 		0,  0,  0,  0,  0,  0, // observation : point to sensor
@@ -851,31 +895,31 @@ TEST_F(DataFilterTest, RemoveSensorBiasDataPointsFilter)
 	DP::Labels descLabels;
 	descLabels.push_back(DP::Label("incidenceAngles", 1));
 	descLabels.push_back(DP::Label("observationDirections", 3));
-	
+
 	PM::Int64Matrix randTimes = PM::Int64Matrix::Random(2, nbPts);
 	DP::Labels timeLabels;
 	timeLabels.push_back(DP::Label("dummyTime", 2));
-	
+
 	// Construct the point cloud from the generated matrices
 	DP pointCloud = DP(points, pointsLabels, desc, descLabels, randTimes, timeLabels);
-	
-	
+
+
 	PM::Parameters parameters;
 	parameters["sensorType"] = toParam(0); //LMS_1xx
 	std::shared_ptr<PM::DataPointsFilter> removeSensorBiasFilter = PM::get().DataPointsFilterRegistrar.create("RemoveSensorBiasDataPointsFilter", parameters);
 	DP resultCloud = removeSensorBiasFilter->filter(pointCloud);
 	EXPECT_EQ(pointCloud.getNbPoints(), resultCloud.getNbPoints());
-	
+
 	for(std::size_t i = 0; i< nbPts; ++i)
 	{
 		const double error = pointCloud.features.col(i).norm() - resultCloud.features.col(i).norm();
 		EXPECT_NEAR(expectedErrors_LMS1xx[i], error, 1e-3); // below mm
 	}
-	
+
 	parameters["sensorType"] = toParam(1); //HDL32E
 	removeSensorBiasFilter = PM::get().DataPointsFilterRegistrar.create("RemoveSensorBiasDataPointsFilter", parameters);
 	resultCloud = removeSensorBiasFilter->filter(pointCloud);
-	
+
 	for(std::size_t i = 0; i< nbPts; ++i)
 	{
 		const double error = pointCloud.features.col(i).norm() - resultCloud.features.col(i).norm();
@@ -889,7 +933,7 @@ TEST_F(DataFilterTest, RemoveSensorBiasDataPointsFilter)
 	parameters["sensorType"] = toParam(0); //LMS_1xx
 	parameters["angleThreshold"] = toParam(30.);
 	removeSensorBiasFilter = PM::get().DataPointsFilterRegistrar.create("RemoveSensorBiasDataPointsFilter", parameters);
-	resultCloud = removeSensorBiasFilter->filter(pointCloud);	
+	resultCloud = removeSensorBiasFilter->filter(pointCloud);
 
 	//four points should have been rejected
 	EXPECT_EQ(pointCloud.getNbPoints()-4, resultCloud.getNbPoints());
@@ -912,10 +956,10 @@ TEST_F(DataFilterTest, SaliencyDataPointsFilter)
 TEST_F(DataFilterTest, SpectralDecompositionDataPointsFilter)
 {
 	using DPFiltersPtr = std::shared_ptr<PM::DataPointsFilter>;
-	
+
 	// Test with point cloud
 	DP cloud = generateRandomDataPoints(300000);
-	
+
 	// This filter creates descriptors
 	params = PM::Parameters();
 		params["k"] = "50";
@@ -926,7 +970,7 @@ TEST_F(DataFilterTest, SpectralDecompositionDataPointsFilter)
 		params["keepLabels"] = "1";
 		params["keepLambdas"] = "1";
 		params["keepTensors"] = "1";
-		
+
 	DPFiltersPtr spdf = PM::get().DataPointsFilterRegistrar.create(
 		"SpectralDecompositionDataPointsFilter", params
 	);
@@ -936,7 +980,7 @@ TEST_F(DataFilterTest, SpectralDecompositionDataPointsFilter)
 	EXPECT_GT(cloud.getNbPoints(), filteredCloud.getNbPoints());
 	EXPECT_EQ(cloud.getDescriptorDim()+(3+3+1+3+1+4+7+3), filteredCloud.getDescriptorDim());
 	EXPECT_EQ(cloud.getTimeDim(), filteredCloud.getTimeDim());
-	
+
 	params = PM::Parameters();
 		params["k"] = "50";
 		params["sigma"] = "1.";
@@ -946,7 +990,7 @@ TEST_F(DataFilterTest, SpectralDecompositionDataPointsFilter)
 		params["keepLabels"] = "1";
 		params["keepLambdas"] = "1";
 		params["keepTensors"] = "1";
-		
+
 	addFilter("SpectralDecompositionDataPointsFilter", params);
 	validate3dTransformation();
 }
@@ -1017,4 +1061,60 @@ TEST_F(DataFilterTest, AddDescriptorDataPointsFilter)
 
 	addFilter("AddDescriptorDataPointsFilter", params);
 	validate3dTransformation();
-}
\ No newline at end of file
+}
+
+
+TEST_F(DataFilterTest, AngleLimitDataPointsFilter)
+{
+    const unsigned int nbPts = 10000;
+	const DP cloud = generateRandomDataPoints(nbPts);
+
+	// Remove negative x-axis: thetaMin = -180, thetaMax = 180, phiMin = -180/2, phiMax = 180/2, removeInside = 0
+	DP filteredCloud = validateAngleLimitFilter(cloud, -180, 180, -90, 90, false);
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_GT(point(0), 0.0);
+    }
+
+	// Remove positive x-axis: thetaMin = -180, thetaMax = 180, phiMin = -180/2, phiMax = 180/2, removeInside = 1
+	filteredCloud = validateAngleLimitFilter(cloud, -180, 180, -90, 90, true);
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_LT(point(0), 0.0);
+    }
+
+	// Remove negative y-axis: thetaMin = -180, thetaMax = 180, phiMin = 0, phiMax = 180, removeInside = 0
+	filteredCloud = validateAngleLimitFilter(cloud, -180, 180, 0, 180, false);
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_GT(point(1), 0.0);
+    }
+
+	// Remove positive y-axis: thetaMin = -180, thetaMax = 180, phiMin = 0, phiMax = 180, removeInside = 1
+	filteredCloud = validateAngleLimitFilter(cloud, -180, 180, 0, 180, true);
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_LT(point(1), 0.0);
+    }
+
+	// // Remove negative z-axis: thetaMin = -90, thetaMax = 90, phiMin = -180, phiMax = 180, removeInside = 0
+	filteredCloud = validateAngleLimitFilter(cloud, -90, 90, -180, 180, false);
+
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_GT(point(2), 0.0);
+    }
+
+	// // Remove positive z-axis: thetaMin = -90, thetaMax = 90, phiMin = -180, phiMax = 180, removeInside = 1
+	filteredCloud = validateAngleLimitFilter(cloud, -90, 90, -180, 180, true);
+	for (unsigned i = 0; i < filteredCloud.getNbPoints(); ++i)
+    {
+        const Eigen::Vector3d point = filteredCloud.features.col(i).head(3);
+        EXPECT_LT(point(2), 0.0);
+    }
+}

From 13577a2f8e71684a44d965094320426b8f97e87e Mon Sep 17 00:00:00 2001
From: boxanm <matej.boxan@gmail.com>
Date: Mon, 16 Dec 2024 09:56:09 -0500
Subject: [PATCH 39/39] Update CMake installation documentation

---
 doc/Compilation.md | 82 ++++++++++++++++++++++++----------------------
 1 file changed, 43 insertions(+), 39 deletions(-)

diff --git a/doc/Compilation.md b/doc/Compilation.md
index 39ec7ba6..38f52ff6 100644
--- a/doc/Compilation.md
+++ b/doc/Compilation.md
@@ -1,14 +1,14 @@
 # Compiling and installing libpointmatcher
 This tutorial will guide you through the different steps to install libpointmatcher and its dependencies.
 ### Supported platforms
-=== "Ubuntu"    
+=== "Ubuntu"
     | Name           |     Version  <br> (Tested on our CI/CD server)     |       Version  <br> (Tested on our CI/CD server)        | Version  <br> (Tested on our CI/CD server) |
     |:---------------|:--------------------------------------------------:|:-------------------------------------------------------:|:------------------------------------------:|
     | Ubuntu         |            bionic 18.04.1 LTS (64 bit)             |                focal 20.04 LTS (64 bit)                 |          jammy 22.04 LTS (64 bit)          |
     | Architecture   |                  x86 and arm64/v8                  |                     x86 and arm64/v8                    |              x86 and arm64/v8              |
-   
+
     __Note:__ we only support 64-bit systems because of some issues with Eigen. Other versions will most probably work but you'll have to try yourself to know for sure.
-    
+
 === "MacOS"
     | Name         | Version  <br> (Tested in Summer 2024) |
     |--------------|---------------------------------------|
@@ -22,28 +22,28 @@ This tutorial will guide you through the different steps to install libpointmatc
     | ------          | -------------  |
     | Windows         | 10 v1909 64bit |
 
-    Windows is currently not officially supported, but we can confirm that you can install `libpointmatcher` in [WSL](https://learn.microsoft.com/en-us/windows/wsl/about). 
-    
+    Windows is currently not officially supported, but we can confirm that you can install `libpointmatcher` in [WSL](https://learn.microsoft.com/en-us/windows/wsl/about).
+
     If you want to contribute to this documentation, your help is more than welcome.
-    
+
     Before reporting new building issues, have a look in the current/past list of issues. Add as many details as you can since you will most probably receive answers from developers that cannot reproduce the problem on their side. Here are some of them:
-    
+
     - Your directory structure need to be well organized as mentioned in [Issue #136](https://github.com/norlab-ulaval/libpointmatcher/issues/136).
     - There might be some problems related to libnabo as mentioned in [Issue #118](https://github.com/norlab-ulaval/libpointmatcher/issues/118).
-    
+
     Special thanks to the following users in helping us with the Windows support:
-    
+
     - [kwill](https://github.com/kwill) for keeping the documentation up-to-date and investing the time to get libpointmatcher compiling on Windows.
     - [braddodson](https://github.com/braddodson) for porting a version of libpointmatcher to `C#` with a limited set of features. The code can be found here: https://github.com/braddodson/pointmatcher.net
 
-    
+
 
 ### Dependencies
 Libpointmatcher relies on a number of standard libraries, most of which can be installed with standard package managers. The following table lists the minimum requirements necessary to instal libpointmatcher.
 
 | Library name | g++   | cmake  | boost  |  eigen  | yaml-cpp | libnabo | doxygen (opt.) |
 |:-------------|-------|:------:|:------:|:-------:|:--------:|:-------:|:--------------:|
-| **Version**  | 9.4.0 | 3.10.2 | 1.65.1 | 3.3.4-4 |   0.5    |  1.1.1  |   1.8.13-10    |
+| **Version**  | 9.4.0 | 3.15 | 1.65.1 | 3.3.4-4 |   0.5    |  1.1.1  |   1.8.13-10    |
 
 ## Detailed Installation Instructions
 The rest of this tutorial will guide you through the different requirements step by step.
@@ -57,7 +57,7 @@ Some installation steps are platform-dependent and need to be done beforehand.
     sudo apt update
     sudo apt install build-essential
     ```
-    
+
     ??? warning "Ubuntu 18 Bionic"
 
         While newer versions of Ubuntu come with gcc and g++ on newer versions than 9.4.0 and support all modern C++17 standard library features, it is not the case for Ubuntu Bionic.
@@ -72,37 +72,37 @@ Some installation steps are platform-dependent and need to be done beforehand.
 
 === "MacOS"
     ###### Installing Xcode via the App Store (OS X 10.10.2 and later)
-    
+
     Mac OS X does not come with a built-in C++ command-line compiler.  You must therefore install XCode by visiting the App Store.
 
     Once Xcode is installed on your machine, launch it.  Navigate to preferences, to the downloads tab.  In the components list, install the Command Line Tools component.
-    
+
     You should now have a working version of gcc. You can check by running the following command in your terminal:
-    
+
     ```bash
     gcc --version | grep gcc
     ```
-    
+
     A message similar to the following should appear
-    
+
     ```text
     gcc (Homebrew GCC 13.2.0) 13.2.0
     ```
-    
+
     ###### Installing Homebrew
-    
+
     Because Mac OS X does not come with a built-in package manager like in Ubuntu, you need to install one on your own.  A package manager is handy because it allows you to install, uninstall, update and maintain software packages with ease.  There are several possibilities including [Macports](http://www.macports.org/) and [Homebrew](http://brew.sh/).  While both are good options, we have a slight preference for homebrew which is easier to use.
-    
+
     You do not need a package manager to install libpointmatcher, but it simplifies things.  The following instructions will make use of homebrew and will thus assume that it is installed on your system.
-    
+
     Installing Homebrew is extremely easy and can be done by entering the following single command in your terminal
-    
+
     ```bash
     ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
     ```
     Once the scripts finishes installing, you are good to go!
 === "Windows"
-    
+
     | Name            | Download Link                                           | Version <br> (Tested February 11, 2021) |
     | ------          | ----                                                    | -------------  |
     | Visual Studio   | <https://visualstudio.microsoft.com/>                   | 2019 16.8.5    |
@@ -112,10 +112,10 @@ Some installation steps are platform-dependent and need to be done beforehand.
     | Boost           | <https://www.boost.org/users/download/>                 | 1.75.0         |
     | Eigen3          | <http://eigen.tuxfamily.org/index.php>                  | 3.3.9          |
     | grep            | <http://gnuwin32.sourceforge.net/packages/grep.htm>     | 2.5.4          |
-  
-    
+
+
     - It's recommended to use **Windows PowerShell** with administrator privileges as your CLI
-    - All necessary environment variables will be configured so that **CMake automatically finds all libraries** and you don't have to specify the libraries' paths to CMake each time you use it  
+    - All necessary environment variables will be configured so that **CMake automatically finds all libraries** and you don't have to specify the libraries' paths to CMake each time you use it
     - When adding any environment variable, add for All users (system variables)
     - Environment variables are case-insensitive (PATH = Path)
     - Add new environment variables in PATH on top of the list (to avoid conflicts)
@@ -146,16 +146,23 @@ Instructions for downloading and installing boost to Unix systems can be found [
        .\b2.exe
        ```
 
-    4. Set the following three environment variables:  
-        `BOOST_LIBRARYDIR = C:\dev\boost_<version>\stage\lib`  
-        `BOOST_INCLUDEDIR = C:\dev\boost_<version>`  
-        `BOOST_DIR = C:\dev\boost_<version>\stage\lib\cmake\Boost-<version>`  
+    4. Set the following three environment variables:
+        `BOOST_LIBRARYDIR = C:\dev\boost_<version>\stage\lib`
+        `BOOST_INCLUDEDIR = C:\dev\boost_<version>`
+        `BOOST_DIR = C:\dev\boost_<version>\stage\lib\cmake\Boost-<version>`
     5. Add `C:\dev\boost_<version>\stage\lib` to `Path` environment variable
 
 
 #### Installing CMake
 
 [CMake](http://www.cmake.org/) is a cross-platform build system and is used for building the libpointmatcher library.  Refer to the homepage for installation instructions, or you can once again use the package manager
+The easist and prefered way to install CMake is with pip:
+```bash
+pip install cmake
+```
+Alternatively, you can install CMake using your package manager (apt, brew, etc.).
+However, note that some older Ubuntu versions (Ubuntu 18 and lower) don't come with the required version of CMake (3.15+).
+In this case, you will need to install CMake from the official website.
 
 === "Ubuntu"
     ```bash
@@ -170,8 +177,6 @@ Instructions for downloading and installing boost to Unix systems can be found [
 
 *NOTE:* CMake has a GUI called cmake-gui which can be useful for configuring builds.  We recommend you install this as well since it will be referred to in this tutorial.
 
-*NOTE 2:* Some functionalities like find_package() (only useful if you intent to link with your own project) will only work if you have CMake 2.8.11 or over. On Ubuntu 12.04, only 2.8.7 is available using apt-get. If you intent to use such functionality, you will have to compile CMake from sources.
-
 #### Installing Eigen
 
 The Eigen linear algebra library is required before installing libpointmatcher and can be found [here](http://eigen.tuxfamily.org/).  Either download and compile Eigen following instructions from the package website or simply install package via apt by running:
@@ -198,7 +203,7 @@ The yaml-cpp library allows to load libpointmatcher configurations from convenie
     sudo apt-get install libyaml-cpp-dev
     ```
 === "MacOS"
-    The straightforward way to install yaml-cpp library through brew was, as for the end of 2023, not functional  
+    The straightforward way to install yaml-cpp library through brew was, as for the end of 2023, not functional
     ```bash
     brew install yaml-cpp
     ```
@@ -210,7 +215,7 @@ The yaml-cpp library allows to load libpointmatcher configurations from convenie
     cd yaml-cpp
     ```
     Now you can compile and install yaml-cpp by entering the following commands
-    
+
     ```bash
     SRC_DIR=$PWD
     BUILD_DIR=${SRC_DIR}/build
@@ -287,7 +292,7 @@ Now you can compile libnabo by entering the following commands
     Following the previous steps,
     1. Put your "Solution Configuration" in `Release` mode
     2. Build the `ALL_BUILD` project
-    3. Rebuild for each configuration mode you will use, i.e. Release/Debug/RelWithDebInfo/MinSizeRel  
+    3. Rebuild for each configuration mode you will use, i.e. Release/Debug/RelWithDebInfo/MinSizeRel
        (Libnabo build a different .lib for each configuration mode)
 
 To make sure that everything is working properly, you can run the unit tests:
@@ -448,13 +453,13 @@ Now, to compile libpointmatcher into the `/build` directory, run the following c
     ```bash
     make -j N
     ```
-    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
+    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time.
 
 === "MacOS"
     ```bash
     make -j N
     ```
-    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time. 
+    *Note:* It is highly recommended to add the `-j N` optional argument to the `make` command in order to speed up the compilation process. Replace `N` by the number of parallel jobs you want to compile at the same time.
 
 === "Windows"
     Following the previous configuration in CMake GUI:
@@ -477,7 +482,7 @@ Finally, to install libpointmatcher on your system, run the following command:
     ```
 === "Windows"
     Following the previous configuration in CMake GUI:
-    
+
     1. Build the `INSTALL` project
     >    We have to install the library and not only build it, because otherwise all CMake files won't be able to be found by programs using libpointmatcher
     2. Set `libpointmatcher_DIR` environment variable to `C:\dev\libpointmatcher\build\install\share\libpointmatcher\cmake`
@@ -503,4 +508,3 @@ Some dependencies changed, and we don't keep track of all combinations possible.
     ```
     TODO
     ```
-    
\ No newline at end of file