From d5cc8df89df8874f70d3edf72d23e7c070bd6710 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Wed, 20 Jul 2022 07:23:26 +0200
Subject: [PATCH 01/13] patch version bump

---
 appveyor.yml                         | 2 +-
 doc/source/doxygen-docs/changelog.md | 3 +++
 package.xml                          | 2 +-
 version_prefix.txt                   | 2 +-
 4 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/appveyor.yml b/appveyor.yml
index 6f2fae1376..ece8439f8e 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.5.0-{branch}-build{build}
+version: 2.5.1-{branch}-build{build}
 
 os: Visual Studio 2019
 
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 143a876165..94e191807a 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,8 @@
 \page changelog Change Log
 
+# Version 2.5.1: UNRELEASED
+- (none yet)
+
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
   - RawLogViewer:
diff --git a/package.xml b/package.xml
index eac505f2c1..0261e75faa 100644
--- a/package.xml
+++ b/package.xml
@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.5.0</version>
+  <version>2.5.1</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>
diff --git a/version_prefix.txt b/version_prefix.txt
index 4123fc27e5..e3a2158dd5 100644
--- a/version_prefix.txt
+++ b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.5.0
+2.5.1
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically

From e4746ac467a8dc11ea46950a0492cb22dc0dbcac Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Wed, 20 Jul 2022 10:33:55 +0200
Subject: [PATCH 02/13] FIX: assimp texture relative paths

---
 doc/source/doxygen-docs/changelog.md |  3 ++-
 libs/opengl/src/CAssimpModel.cpp     | 15 ++++-----------
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 94e191807a..ce109f02f1 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,7 +1,8 @@
 \page changelog Change Log
 
 # Version 2.5.1: UNRELEASED
-- (none yet)
+- BUG FIXES:
+  - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
 
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
diff --git a/libs/opengl/src/CAssimpModel.cpp b/libs/opengl/src/CAssimpModel.cpp
index c5fe208851..dc525ff9ac 100644
--- a/libs/opengl/src/CAssimpModel.cpp
+++ b/libs/opengl/src/CAssimpModel.cpp
@@ -84,10 +84,7 @@ class TexturesCache
 			entry.load_ok = mrpt::img::CImage::loadTGA(
 				texturePath, entry.img_rgb, *entry.img_alpha);
 		}
-		else
-		{
-			entry.load_ok = entry.img_rgb.loadFromFile(texturePath);
-		}
+		else { entry.load_ok = entry.img_rgb.loadFromFile(texturePath); }
 
 		if (entry.load_ok)
 		{
@@ -429,10 +426,7 @@ static mrpt::img::TColor apply_material(
 	{  //
 		return color4_to_TColor(diffuse);
 	}
-	else
-	{
-		return defaultColor;
-	}
+	else { return defaultColor; }
 }
 
 static mrpt::math::CMatrixDouble44 aiMatrix_to_mrpt(const aiMatrix4x4& m)
@@ -655,8 +649,7 @@ void CAssimpModel::process_textures(const aiScene* scene)
 		}
 	}
 
-	const auto basepath = mrpt::system::filePathSeparatorsToNative(
-		mrpt::system::extractFileDirectory(m_modelPath));
+	const auto basepath = mrpt::system::extractFileDirectory(m_modelPath);
 
 	for (auto& kv : m_textureIdMap)
 	{
@@ -671,7 +664,7 @@ void CAssimpModel::process_textures(const aiScene* scene)
 			m_texturedObjects.emplace_back(CSetOfTexturedTriangles::Create());
 
 		const std::string fileloc =
-			mrpt::system::filePathSeparatorsToNative(basepath + filename);
+			mrpt::system::pathJoin({basepath, filename});
 
 		// Query textureCache:
 		auto& cache = internal::TexturesCache::Instance();

From edb68489d6f86e8919e7b485cb6e27e421568dd2 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Wed, 20 Jul 2022 11:23:32 +0200
Subject: [PATCH 03/13] FIX: CMesh reversed texture coordinates

---
 doc/source/doxygen-docs/changelog.md | 1 +
 libs/opengl/src/CMesh.cpp            | 4 ++--
 samples/opengl_objects_demo/test.cpp | 1 -
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index ce109f02f1..6701e96a2a 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -3,6 +3,7 @@
 # Version 2.5.1: UNRELEASED
 - BUG FIXES:
   - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
+  - mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.
 
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
diff --git a/libs/opengl/src/CMesh.cpp b/libs/opengl/src/CMesh.cpp
index 3089e172aa..3f603cf44a 100644
--- a/libs/opengl/src/CMesh.cpp
+++ b/libs/opengl/src/CMesh.cpp
@@ -364,9 +364,9 @@ void CMesh::onUpdateBuffers_TexturedTriangles()
 
 		for (int k = 0; k < 3; k++)
 		{
-			tri.vertices[k].uv.x =
-				(tri.vertices[k].xyzrgba.pt.x - m_xMin) / (m_xMax - m_xMin);
 			tri.vertices[k].uv.y =
+				(tri.vertices[k].xyzrgba.pt.x - m_xMin) / (m_xMax - m_xMin);
+			tri.vertices[k].uv.x =
 				(tri.vertices[k].xyzrgba.pt.y - m_yMin) / (m_yMax - m_yMin);
 		}
 
diff --git a/samples/opengl_objects_demo/test.cpp b/samples/opengl_objects_demo/test.cpp
index 17b6228b65..f4851a6b1c 100644
--- a/samples/opengl_objects_demo/test.cpp
+++ b/samples/opengl_objects_demo/test.cpp
@@ -500,7 +500,6 @@ void TestOpenGLObjects()
 		if (im2.loadFromFile(texture_file2))
 		{
 			im2.getAsMatrix(Z2);
-			Z2 = Z2.transpose().eval();	 // mesh assumes z(x,y) vs z(y,x)!
 
 			opengl::CMesh::Ptr obj = opengl::CMesh::Create(
 				false /*transparency*/,	 //

From dd793076cdabce92170dbd504999f521489b4877 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 06:35:45 +0200
Subject: [PATCH 04/13] format

---
 libs/opengl/src/CAssimpModel.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/libs/opengl/src/CAssimpModel.cpp b/libs/opengl/src/CAssimpModel.cpp
index dc525ff9ac..acd91fed72 100644
--- a/libs/opengl/src/CAssimpModel.cpp
+++ b/libs/opengl/src/CAssimpModel.cpp
@@ -84,7 +84,10 @@ class TexturesCache
 			entry.load_ok = mrpt::img::CImage::loadTGA(
 				texturePath, entry.img_rgb, *entry.img_alpha);
 		}
-		else { entry.load_ok = entry.img_rgb.loadFromFile(texturePath); }
+		else
+		{
+			entry.load_ok = entry.img_rgb.loadFromFile(texturePath);
+		}
 
 		if (entry.load_ok)
 		{
@@ -426,7 +429,10 @@ static mrpt::img::TColor apply_material(
 	{  //
 		return color4_to_TColor(diffuse);
 	}
-	else { return defaultColor; }
+	else
+	{
+		return defaultColor;
+	}
 }
 
 static mrpt::math::CMatrixDouble44 aiMatrix_to_mrpt(const aiMatrix4x4& m)

From 541352065550597a644e1aac212ea865e6722b63 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 09:28:23 +0200
Subject: [PATCH 05/13] FIX: build with emscc

---
 doc/source/doxygen-docs/changelog.md      | 1 +
 libs/system/include/mrpt/system/CTicTac.h | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 6701e96a2a..db48e0aa51 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -4,6 +4,7 @@
 - BUG FIXES:
   - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
   - mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.
+  - Fix `static_assert()` failure in CTicTac when building with latest emscripten clang compiler.
 
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
diff --git a/libs/system/include/mrpt/system/CTicTac.h b/libs/system/include/mrpt/system/CTicTac.h
index fdeedb4b6e..4ecf27e78e 100644
--- a/libs/system/include/mrpt/system/CTicTac.h
+++ b/libs/system/include/mrpt/system/CTicTac.h
@@ -30,7 +30,7 @@ class CTicTac
 	double Tac() const noexcept;
 
    private:
-	alignas(16) unsigned long largeInts[2]{0, 0};
+	alignas(16) unsigned long largeInts[4]{0, 0};
 };	// End of class def.
 
 }  // namespace mrpt::system

From 0c9ea81745f4e305c184c3abf86299feb3017724 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 09:39:34 +0200
Subject: [PATCH 06/13] update ref to nanoflann

---
 3rdparty/nanoflann                   | 2 +-
 doc/source/doxygen-docs/changelog.md | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/3rdparty/nanoflann b/3rdparty/nanoflann
index 3adbc464f3..2f54b8eb07 160000
--- a/3rdparty/nanoflann
+++ b/3rdparty/nanoflann
@@ -1 +1 @@
-Subproject commit 3adbc464f34a4a0f1194898ae669d841ae401e58
+Subproject commit 2f54b8eb07c719bc605445e4ec44d61240f5a2ce
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index db48e0aa51..770904367b 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,6 +1,8 @@
 \page changelog Change Log
 
 # Version 2.5.1: UNRELEASED
+- Changes in libraries:
+  - Embedded nanoflann version upgraded to v1.4.3
 - BUG FIXES:
   - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
   - mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.

From 5449209e4afcbf7804a30d34b6c4abc03824c107 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 14:18:15 +0200
Subject: [PATCH 07/13] sync nanoflann: avoid X11.h conflicts

---
 3rdparty/nanoflann | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/3rdparty/nanoflann b/3rdparty/nanoflann
index 2f54b8eb07..b62267612b 160000
--- a/3rdparty/nanoflann
+++ b/3rdparty/nanoflann
@@ -1 +1 @@
-Subproject commit 2f54b8eb07c719bc605445e4ec44d61240f5a2ce
+Subproject commit b62267612bd9e0480e81ba03471300d25a28c22c

From e165072c21f24ac9f2b1859eed1da46e1c0cbde9 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 14:30:18 +0200
Subject: [PATCH 08/13] bold points when selecting sensor in timeline UI

---
 apps/RawLogViewer/main_timeline.cpp   | 33 +++++++++++++++++++++------
 apps/RawLogViewer/xRawLogViewerMain.h |  3 ++-
 doc/source/doxygen-docs/changelog.md  |  3 +++
 3 files changed, 31 insertions(+), 8 deletions(-)

diff --git a/apps/RawLogViewer/main_timeline.cpp b/apps/RawLogViewer/main_timeline.cpp
index 1d198ad7d4..030e2604b4 100644
--- a/apps/RawLogViewer/main_timeline.cpp
+++ b/apps/RawLogViewer/main_timeline.cpp
@@ -115,7 +115,7 @@ void xRawLogViewerFrame::createTimeLineObjects(wxFlexGridSizer* fgzMain)
 		m_timeline.ySensorLabels = mrpt::opengl::CSetOfObjects::Create();
 		scene->insert(m_timeline.ySensorLabels);
 
-		m_timeline.allSensorDots = mrpt::opengl::CPointCloud::Create();
+		m_timeline.allSensorDots = mrpt::opengl::CSetOfObjects::Create();
 		scene->insert(m_timeline.allSensorDots);
 
 		m_timeline.cursor = mrpt::opengl::CBox::Create();
@@ -248,10 +248,6 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 
 	// Main per-sensor points:
 	tl.allSensorDots->clear();
-	tl.allSensorDots->setColor_u8(0x00, 0x00, 0xff, 0xff);
-	tl.allSensorDots->setPointSize(1.0f);
-	tl.allSensorDots->enableVariablePointSize(false);
-
 	tl.yCoordToSensorLabel.clear();
 	tl.ySensorLabels->clear();
 
@@ -265,6 +261,14 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 		{
 			if (e.second.timOccurs.empty()) continue;
 
+			auto glDots = mrpt::opengl::CPointCloud::Create();
+			tl.allSensorDots->insert(glDots);
+
+			glDots->setColor_u8(0x00, 0x00, 0xff, 0xff);
+			glDots->setPointSize(1.0f);
+			glDots->enableVariablePointSize(false);
+			glDots->setName(e.first);
+
 			double lastX = -2;	// actual coords go in [-1,1]
 			for (const auto& tim : e.second.timOccurs)
 			{
@@ -279,7 +283,7 @@ void xRawLogViewerFrame::rebuildBottomTimeLine()
 					continue;  // no worth adding so many points
 
 				lastX = x;
-				tl.allSensorDots->insertPoint(x, y0, 0);
+				glDots->insertPoint(x, y0, 0);
 			}
 
 			// Keep a map between vertical coords and sensor labels:
@@ -656,9 +660,24 @@ std::optional<std::pair<double, size_t>>
 
 		if (trackedSensorLabel.has_value() &&
 			glLb->getString() == *trackedSensorLabel)
-			glLb->setColor_u8(0xff, 0x00, 0x00, 0xff);
+		{ glLb->setColor_u8(0xff, 0x00, 0x00, 0xff); }
 		else
+		{
 			glLb->setColor_u8(0x00, 0x00, 0x00, 0xff);
+		}
+	}
+
+	// bold dots in selected line:
+	for (size_t i = 0;; i++)
+	{
+		auto glPts = tl.allSensorDots->getByClass<mrpt::opengl::CPointCloud>(i);
+		if (!glPts) break;
+
+		glPts->setPointSize(
+			(trackedSensorLabel.has_value() &&
+			 glPts->getName() == *trackedSensorLabel)
+				? 4.0f
+				: 1.0f);
 	}
 
 	m_timeline.horizontalCursor->setVisibility(false);
diff --git a/apps/RawLogViewer/xRawLogViewerMain.h b/apps/RawLogViewer/xRawLogViewerMain.h
index 639f0229e6..72052d8b14 100644
--- a/apps/RawLogViewer/xRawLogViewerMain.h
+++ b/apps/RawLogViewer/xRawLogViewerMain.h
@@ -463,7 +463,8 @@ class xRawLogViewerFrame : public wxFrame
 
 		mrpt::opengl::CBox::Ptr borderBox;
 		mrpt::opengl::CSetOfObjects::Ptr xTicks;
-		mrpt::opengl::CPointCloud::Ptr allSensorDots;
+		/// one pointcloud per sensorLabel
+		mrpt::opengl::CSetOfObjects::Ptr allSensorDots;
 		mrpt::opengl::CBox::Ptr cursor;
 		mrpt::opengl::CBox::Ptr visiblePage;
 		mrpt::opengl::CSetOfObjects::Ptr ySensorLabels;
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 770904367b..69e8ea4605 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,6 +1,9 @@
 \page changelog Change Log
 
 # Version 2.5.1: UNRELEASED
+- Changes in applications:
+  - RawLogViewer:
+    - Bold points when selecting a sensor in the timeline UI.
 - Changes in libraries:
   - Embedded nanoflann version upgraded to v1.4.3
 - BUG FIXES:

From 464f07187eb80a8ce0698ed337dd0bf41dabf59c Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 14:38:19 +0200
Subject: [PATCH 09/13] fix typos

---
 apps/benchmarking-image-features/src/mainwindow.cpp       | 5 +++--
 .../benchmarking-image-features/src/place_recognition.cpp | 2 +-
 apps/ptg-configurator/ptgConfiguratorMain.cpp             | 3 +--
 libs/comms/src/CSerialPort.cpp                            | 8 ++++----
 libs/config/include/mrpt/config/CConfigFile.h             | 2 +-
 libs/gui/include/mrpt/gui/CDisplayWindowPlots.h           | 2 +-
 6 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/apps/benchmarking-image-features/src/mainwindow.cpp b/apps/benchmarking-image-features/src/mainwindow.cpp
index 70185f4559..e79cd93e28 100644
--- a/apps/benchmarking-image-features/src/mainwindow.cpp
+++ b/apps/benchmarking-image-features/src/mainwindow.cpp
@@ -776,7 +776,7 @@ void MainWindow::on_detector_choose(int choice)
 	{
 		param1->setText("Threshold: ");
 		param2->setText("MinimumDistance: ");
-		// param3->setText("Enable non maximal supression (true/false): ");
+		// param3->setText("Enable non maximal suppression (true/false): ");
 		// param4->setText("Enable use KLT response (true/false): ");
 		param1_edit->setText("20");
 		param2_edit->setText("5");
@@ -784,7 +784,8 @@ void MainWindow::on_detector_choose(int choice)
 		// param4_edit->setText("true");
 
 		param1_boolean->setChecked(true);
-		param1_boolean->setText("Enable non maximal supression (true/false): ");
+		param1_boolean->setText(
+			"Enable non maximal suppression (true/false): ");
 		param1_boolean->setVisible(true);
 		param2_boolean->setChecked(true);
 		param2_boolean->setText("Enable use KLT response (true/false):  ");
diff --git a/apps/benchmarking-image-features/src/place_recognition.cpp b/apps/benchmarking-image-features/src/place_recognition.cpp
index 7098cff8dd..df88c490e8 100644
--- a/apps/benchmarking-image-features/src/place_recognition.cpp
+++ b/apps/benchmarking-image-features/src/place_recognition.cpp
@@ -413,7 +413,7 @@ string PlaceRecognition::startPlaceRecognition(CFeatureExtraction fext)
 
 		this->total_vocab_size_org = len_train_words;
 		this->training_file_written_flag = true;
-	}  // end of writting training features to a file
+	}  // end of writing training features to a file
 
 	CTicTac testing_time;
 	testing_time.Tic();
diff --git a/apps/ptg-configurator/ptgConfiguratorMain.cpp b/apps/ptg-configurator/ptgConfiguratorMain.cpp
index 233f0f26a6..38966a4956 100644
--- a/apps/ptg-configurator/ptgConfiguratorMain.cpp
+++ b/apps/ptg-configurator/ptgConfiguratorMain.cpp
@@ -1473,8 +1473,7 @@ void ptgConfiguratorframe::OnExportSelectedPath(wxCommandEvent&)
 
 	std::ofstream f(sFil.c_str());
 	if (!f.is_open())
-		THROW_EXCEPTION_FMT(
-			"Cannot open file for writting: '%s'", sFil.c_str());
+		THROW_EXCEPTION_FMT("Cannot open file for writing: '%s'", sFil.c_str());
 
 	f << "%\n";
 	f << "% File generated automatically by ptg-configurator, MRPT project.\n";
diff --git a/libs/comms/src/CSerialPort.cpp b/libs/comms/src/CSerialPort.cpp
index 6ad854a6ff..413f68e6f1 100644
--- a/libs/comms/src/CSerialPort.cpp
+++ b/libs/comms/src/CSerialPort.cpp
@@ -358,7 +358,7 @@ void CSerialPort::setConfig(
 	else
 	{
 		// Normal baudrate: Just in case, undo possible custom divisors:
-		//#ifdef HAVE_LINUX_SERIAL_H
+		// #ifdef HAVE_LINUX_SERIAL_H
 		//		struct serial_struct serial;
 		//		if (ioctl(hCOM, TIOCGSERIAL, &serial) < 0)
 		//            THROW_EXCEPTION("error on TIOCGSERIAL ioctl");
@@ -367,7 +367,7 @@ void CSerialPort::setConfig(
 		//
 		//		if (ioctl(hCOM, TIOCSSERIAL, &serial) < 0)
 		//            THROW_EXCEPTION("error on TIOCSSERIAL ioctl");
-		//#endif
+		// #endif
 	}
 
 	termios port_settings;
@@ -777,8 +777,8 @@ size_t CSerialPort::Write(const void* Buffer, size_t Count)
 				usecs = (end.tv_sec - start.tv_sec) * 1000000 +
 					(end.tv_usec - start.tv_usec);
 			} while (usecs < 60);
-			// std::this_thread::sleep_for(1ms); // we'll continue writting is a
-			// ms.
+			// std::this_thread::sleep_for(1ms);
+			// we'll continue writing in 1 ms.
 		}
 	} while ((total_bytes_written < Count) && (!errno || EAGAIN == errno));
 	//
diff --git a/libs/config/include/mrpt/config/CConfigFile.h b/libs/config/include/mrpt/config/CConfigFile.h
index 33389a4bd6..270138356b 100644
--- a/libs/config/include/mrpt/config/CConfigFile.h
+++ b/libs/config/include/mrpt/config/CConfigFile.h
@@ -62,7 +62,7 @@ class CConfigFile : public CConfigFileBase
 	CConfigFile(const std::string& fileName);
 
 	/** Constructor, does not open any file. You should call "setFileName"
-	 * before reading or writting or otherwise nothing will be read and write
+	 * before reading or writing or otherwise nothing will be read and write
 	 * operations will be eventually lost.
 	 * However, it's perfectly right to use this object without an associated
 	 * file, in which case it will behave as an "in-memory" file.
diff --git a/libs/gui/include/mrpt/gui/CDisplayWindowPlots.h b/libs/gui/include/mrpt/gui/CDisplayWindowPlots.h
index 2026795d4b..13c0dfa29e 100644
--- a/libs/gui/include/mrpt/gui/CDisplayWindowPlots.h
+++ b/libs/gui/include/mrpt/gui/CDisplayWindowPlots.h
@@ -253,7 +253,7 @@ class CDisplayWindowPlots : public mrpt::gui::CBaseGUIWindow
 	 * \sa plot, hold_on, hold_off
 	 */
 	inline void clf() { clear(); }
-	/** Enables keeping all the graphs, instead of overwritting them.
+	/** Enables keeping all the graphs, instead of overwriting them.
 	 * \sa hold_off, plot
 	 */
 	void hold_on();

From c666128824b1c4011d79bb31f97367ba14a3c32c Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 14:43:33 +0200
Subject: [PATCH 10/13] fix inconsistent app naming

---
 .../CMakeLists.txt                            |  2 +-
 doc/man-pages/CMakeLists.txt                  |  1 -
 .../pod/benchmarking-image-features.pod       |  9 ++---
 .../pod/benchmarkingImageFeatures_GUI.pod     | 37 -------------------
 4 files changed, 4 insertions(+), 45 deletions(-)
 delete mode 100644 doc/man-pages/pod/benchmarkingImageFeatures_GUI.pod

diff --git a/apps/benchmarking-image-features/CMakeLists.txt b/apps/benchmarking-image-features/CMakeLists.txt
index 6893bcf895..c4c6d4552a 100644
--- a/apps/benchmarking-image-features/CMakeLists.txt
+++ b/apps/benchmarking-image-features/CMakeLists.txt
@@ -1,6 +1,6 @@
 include(../../cmakemodules/AssureCMakeRootFile.cmake)
 
-project(benchmarkingImageFeatures_GUI)
+project(benchmarking-image-features)
 
 if(CMAKE_MRPT_HAS_Qt5 AND CMAKE_MRPT_HAS_OPENCV AND NOT "${MRPT_OPENCV_VERSION}" VERSION_LESS "3.2"
 	AND NOT WIN32 # added JLBC (may 2019): the app uses gcc-only headers dirent.h (!)
diff --git a/doc/man-pages/CMakeLists.txt b/doc/man-pages/CMakeLists.txt
index 9ad139c6be..d6644ee78c 100644
--- a/doc/man-pages/CMakeLists.txt
+++ b/doc/man-pages/CMakeLists.txt
@@ -77,7 +77,6 @@ if (PROG_GZIP AND PROG_POD2MAN)
 	CREATE_MANPAGE_PROJECT(DifOdometry-Camera)
 	CREATE_MANPAGE_PROJECT(robot-map-gui)
 	CREATE_MANPAGE_PROJECT(benchmarking-image-features)
-	CREATE_MANPAGE_PROJECT(benchmarkingImageFeatures_GUI)
 	CREATE_MANPAGE_PROJECT(yaml2ini)
 	CREATE_MANPAGE_PROJECT(ini2yaml)
 	CREATE_MANPAGE_PROJECT(rosbag2rawlog)
diff --git a/doc/man-pages/pod/benchmarking-image-features.pod b/doc/man-pages/pod/benchmarking-image-features.pod
index c3fa7bd60c..37cbbda13f 100644
--- a/doc/man-pages/pod/benchmarking-image-features.pod
+++ b/doc/man-pages/pod/benchmarking-image-features.pod
@@ -4,11 +4,11 @@ benchmarking-image-features - GUI app for different detector/descriptors
 
 =head1 SYNOPSIS
 
-benchmarking-image-features [I<dataset.rawlog>]
+benchmarking-image-features
 
 =head1 DESCRIPTION
 
-A complete GUI viewer and editor of robotic datasets.
+GUI app for different detector/descriptors.
 
 =head1 BUGS
 
@@ -20,7 +20,6 @@ The application list and their documentation: https://docs.mrpt.org/reference/la
 
 =head1 AUTHORS
 
-
 B<benchmarking-image-features> is part of the Mobile Robot Programming Toolkit (MRPT), It
 under development by Raghavender Sahdev during the Google Summer of Code (GSOC)
 2017 program.
@@ -32,9 +31,7 @@ This manual page was written by Raghavender Sahdev <raghavendersahdev@gmail.com>
 This program is free software; you can redistribute it and/or modify it
 under the terms of the BSD License.
 
-On Debian GNU/Linux systems, the complete text of the BSD License can be 
+On Debian GNU/Linux systems, the complete text of the BSD License can be
 found in `/usr/share/common-licenses/BSD'.
 
 =cut
-
-
diff --git a/doc/man-pages/pod/benchmarkingImageFeatures_GUI.pod b/doc/man-pages/pod/benchmarkingImageFeatures_GUI.pod
deleted file mode 100644
index b3dac3b878..0000000000
--- a/doc/man-pages/pod/benchmarkingImageFeatures_GUI.pod
+++ /dev/null
@@ -1,37 +0,0 @@
-=head1 NAME
-
-benchmarkingImageFeatures_GUI - GUI app for different detector/descriptors
-
-=head1 SYNOPSIS
-
-benchmarkingImageFeatures_GUI
-
-=head1 DESCRIPTION
-
-GUI app for different detector/descriptors.
-
-=head1 BUGS
-
-Please report bugs at https://github.com/MRPT/mrpt/issues
-
-=head1 SEE ALSO
-
-The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html
-
-=head1 AUTHORS
-
-B<benchmarkingImageFeatures_GUI> is part of the Mobile Robot Programming Toolkit (MRPT), It
-under development by Raghavender Sahdev during the Google Summer of Code (GSOC)
-2017 program.
-
-This manual page was written by Raghavender Sahdev <raghavendersahdev@gmail.com>.
-
-=head1 COPYRIGHT
-
-This program is free software; you can redistribute it and/or modify it
-under the terms of the BSD License.
-
-On Debian GNU/Linux systems, the complete text of the BSD License can be
-found in `/usr/share/common-licenses/BSD'.
-
-=cut

From cf63a7051b5fe0c557ff33bb6b294028416a61eb Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Sun, 24 Jul 2022 14:44:36 +0200
Subject: [PATCH 11/13] Remove spare manual page

---
 doc/man-pages/CMakeLists.txt              |  1 -
 doc/man-pages/pod/prrt-navigator-demo.pod | 42 -----------------------
 2 files changed, 43 deletions(-)
 delete mode 100644 doc/man-pages/pod/prrt-navigator-demo.pod

diff --git a/doc/man-pages/CMakeLists.txt b/doc/man-pages/CMakeLists.txt
index d6644ee78c..ea9071da04 100644
--- a/doc/man-pages/CMakeLists.txt
+++ b/doc/man-pages/CMakeLists.txt
@@ -53,7 +53,6 @@ if (PROG_GZIP AND PROG_POD2MAN)
 	CREATE_MANPAGE_PROJECT(GridmapNavSimul)
 	CREATE_MANPAGE_PROJECT(grid-matching)
 	CREATE_MANPAGE_PROJECT(features-matching)
-	CREATE_MANPAGE_PROJECT(prrt-navigator-demo)
 	CREATE_MANPAGE_PROJECT(holonomic-navigator-demo)
 	CREATE_MANPAGE_PROJECT(navlog-viewer)
 	CREATE_MANPAGE_PROJECT(hmt-slam)
diff --git a/doc/man-pages/pod/prrt-navigator-demo.pod b/doc/man-pages/pod/prrt-navigator-demo.pod
deleted file mode 100644
index 2f7d3e9bae..0000000000
--- a/doc/man-pages/pod/prrt-navigator-demo.pod
+++ /dev/null
@@ -1,42 +0,0 @@
-=head1 NAME
-
-prrt-navigator-demo - Mobile robot navigation simulator 
-
-=head1 SYNOPSIS
-
-prrt-navigator-demo
-
-=head1 DESCRIPTION
-
-B<prrt-navigator-demo> is a GUI program that allows experimenting with a 
-new robot navigation algorithm based on Rapidly-exploring Random Tree (RTT) 
-exploration using Parameterized Trajectory Generators (PTGs). 
-
-Refer to the source code and related papers for more information about the 
-method itself.
-
-=head1 BUGS
-
-Please report bugs at https://github.com/MRPT/mrpt/issues
-
-=head1 SEE ALSO
-
-The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html
-
-=head1 AUTHORS
-
-B<prrt-navigator-demo> is part of the Mobile Robot Programming Toolkit (MRPT), and was originally 
-written by the MAPIR laboratory (University of Malaga).
-
-This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.
-
-=head1 COPYRIGHT
-
-This program is free software; you can redistribute it and/or modify it
-under the terms of the BSD License.
-
-On Debian GNU/Linux systems, the complete text of the BSD License can be 
-found in `/usr/share/common-licenses/BSD'.
-
-=cut
-

From ae7bd1e80284e67f263d5e34e84e65cfcac77abd Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Tue, 26 Jul 2022 00:04:29 +0200
Subject: [PATCH 12/13] BUGFIX: yaml bool parsing (+unit tests)

---
 doc/source/doxygen-docs/changelog.md          |  1 +
 .../containers/include/mrpt/containers/yaml.h | 10 ++++++-
 libs/containers/src/yaml_unittest.cpp         | 29 +++++++++++++++++++
 3 files changed, 39 insertions(+), 1 deletion(-)

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 69e8ea4605..80f084b913 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -10,6 +10,7 @@
   - Fix regression: mrpt::opengl::CAssimpModel may fail to resolve texture relative paths.
   - mrpt::opengl::CMesh was implementing texture coordinates flipping (u,v) wrt documented behavior.
   - Fix `static_assert()` failure in CTicTac when building with latest emscripten clang compiler.
+  - Fix regression: yaml parsing boolean values may throw an exception inside `std::stoi()`.
 
 # Version 2.5.0: Released July 18th, 2022
 - Changes in applications:
diff --git a/libs/containers/include/mrpt/containers/yaml.h b/libs/containers/include/mrpt/containers/yaml.h
index c8ff8b92b3..fc2d9dd302 100644
--- a/libs/containers/include/mrpt/containers/yaml.h
+++ b/libs/containers/include/mrpt/containers/yaml.h
@@ -1153,10 +1153,18 @@ T implAnyAsGetter(const mrpt::containers::yaml::scalar_t& s)
 		if (storedType == typeid(std::string))
 		{
 			const auto str = implAnyAsGetter<std::string>(s);
+			std::optional<int> intVal;
+			try
+			{
+				intVal = std::stoi(str);
+			}
+			catch (...)
+			{
+			}
 			return str == "y" || str == "Y" || str == "yes" || str == "Yes" ||
 				str == "YES" || str == "true" || str == "True" ||
 				str == "TRUE" || str == "on" || str == "ON" || str == "On" ||
-				std::stoi(str) != 0;
+				(intVal.has_value() && intVal.value() != 0);
 		}
 	}
 
diff --git a/libs/containers/src/yaml_unittest.cpp b/libs/containers/src/yaml_unittest.cpp
index 1bd1d52d46..508df2cab0 100644
--- a/libs/containers/src/yaml_unittest.cpp
+++ b/libs/containers/src/yaml_unittest.cpp
@@ -939,4 +939,33 @@ MRPT_TEST(yaml, fromJSON)
 }
 MRPT_TEST_END()
 
+MRPT_TEST(yaml, booleanVersions)
+{
+	mrpt::containers::yaml p;
+	p["b01"] = "0";
+	p["b02"] = "False";
+	p["b03"] = "false";
+	p["b04"] = "FALSE";
+	p["b05"] = "No";
+
+	p["b11"] = "1";
+	p["b12"] = "True";
+	p["b13"] = "true";
+	p["b14"] = "TRUE";
+	p["b15"] = "Yes";
+
+	EXPECT_EQ(p["b01"].as<bool>(), false);
+	EXPECT_EQ(p["b02"].as<bool>(), false);
+	EXPECT_EQ(p["b03"].as<bool>(), false);
+	EXPECT_EQ(p["b04"].as<bool>(), false);
+	EXPECT_EQ(p["b05"].as<bool>(), false);
+
+	EXPECT_EQ(p["b11"].as<bool>(), true);
+	EXPECT_EQ(p["b12"].as<bool>(), true);
+	EXPECT_EQ(p["b13"].as<bool>(), true);
+	EXPECT_EQ(p["b14"].as<bool>(), true);
+	EXPECT_EQ(p["b15"].as<bool>(), true);
+}
+MRPT_TEST_END()
+
 #endif	// MRPT_HAS_FYAML

From 7c6bcc69beea0ce4d59b82eb0a314ee69eca1ef5 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>
Date: Thu, 4 Aug 2022 00:36:55 +0200
Subject: [PATCH 13/13] update release date

---
 doc/source/doxygen-docs/changelog.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 80f084b913..ab3774b8ab 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,6 +1,6 @@
 \page changelog Change Log
 
-# Version 2.5.1: UNRELEASED
+# Version 2.5.1: Released August 4th, 2022
 - Changes in applications:
   - RawLogViewer:
     - Bold points when selecting a sensor in the timeline UI.