diff --git a/.circleci/config.yml b/.circleci/config.yml
index 719b2faa5d..bfe4ce60f6 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -98,7 +98,8 @@ workflows:
   build:
     jobs:
       - full-u20.04-focal-codecov
-      - full-u18.04-bionic
+        # Disabled to avoid circle CI concurrency limit timeouts
+        #      - full-u18.04-bionic
       - clang-u18.04-bionic
       - headless-u18.04-bionic
       - minimal-u18.04-bionic
diff --git a/AUTHORS b/AUTHORS
index ce782c9f9e..44b20024a8 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -113,7 +113,7 @@ the GitHub contributors page (https://github.com/MRPT/mrpt/graphs/contributors).
 * Vicente Arevalo Espejo, University of Malaga.
   - The application camera-calib.
   - Some classes: mrpt::opengl::CSetOfTexturedTriangles, etc..
-  - Some minor changes in: 3DSceneViewer and RawlogViewer applications.
+  - Some minor changes in: SceneViewer3D and RawlogViewer applications.
   - Some image-related functions.
 
 * Adrien Barral - Robopec (France).
diff --git a/apps/2d-slam-demo/slamdemoMain.cpp b/apps/2d-slam-demo/slamdemoMain.cpp
index 58e34a4eef..a950ae72f2 100644
--- a/apps/2d-slam-demo/slamdemoMain.cpp
+++ b/apps/2d-slam-demo/slamdemoMain.cpp
@@ -847,7 +847,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotGT->AddLayer(m_lyGTvisibleRange);
 
 	plotGT->LockAspect();
-	plotGT->EnableDoubleBuffer(true);
 
 	// Map plot ------------
 	m_lyMapRobot = new mpPolygon();
@@ -857,7 +856,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	m_lyMapRobot->SetCoordinateBase(0, 0, 0);
 	plotMap->AddLayer(m_lyMapRobot);
 	plotMap->LockAspect();
-	plotMap->EnableDoubleBuffer(true);
 
 	// Observations plot ------------
 	m_lyObsRobot = new mpPolygon();
@@ -874,7 +872,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotObs->AddLayer(m_lyObsvisibleRange);
 
 	plotObs->LockAspect();
-	plotObs->EnableDoubleBuffer(true);
 
 	// IC plot ------------
 	m_lyICvisibleRange = new mpPolygon();
@@ -884,7 +881,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotIndivCompat->AddLayer(m_lyICvisibleRange);
 
 	plotIndivCompat->LockAspect(false);
-	plotIndivCompat->EnableDoubleBuffer(true);
 
 	// X ERROR plot ------------
 	m_lyERRX_err = new mpFXYVector();
@@ -903,7 +899,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorX->AddLayer(m_lyERRX_boundDown);
 
 	plotErrorX->LockAspect(false);
-	plotErrorX->EnableDoubleBuffer(true);
 
 	// Y ERROR plot ------------
 	m_lyERRY_err = new mpFXYVector();
@@ -922,7 +917,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorY->AddLayer(m_lyERRY_boundDown);
 
 	plotErrorY->LockAspect(false);
-	plotErrorY->EnableDoubleBuffer(true);
 
 	// Phi ERROR plot ------------
 	m_lyERRPHI_err = new mpFXYVector();
@@ -941,7 +935,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotErrorPhi->AddLayer(m_lyERRPHI_boundDown);
 
 	plotErrorPhi->LockAspect(false);
-	plotErrorPhi->EnableDoubleBuffer(true);
 
 	// Stats Time plot ------------
 	m_lyStatTimes = new mpFXYVector();
@@ -950,7 +943,6 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	plotStatTime->AddLayer(m_lyStatTimes);
 
 	plotStatTime->LockAspect(false);
-	plotStatTime->EnableDoubleBuffer(true);
 
 // DA Stats plots ------------
 #define INIT_DA_PLOT(CODE)                                                     \
@@ -958,8 +950,7 @@ slamdemoFrame::slamdemoFrame(wxWindow* parent, wxWindowID id)
 	m_lyDa##CODE->SetPen(wxPen(wxColour(0, 0, 0), 5));                         \
 	m_lyDa##CODE->SetContinuity(false);                                        \
 	plotDa##CODE->AddLayer(m_lyDa##CODE);                                      \
-	plotDa##CODE->LockAspect(false);                                           \
-	plotDa##CODE->EnableDoubleBuffer(true);
+	plotDa##CODE->LockAspect(false);
 
 	INIT_DA_PLOT(FP);
 	INIT_DA_PLOT(FN);
diff --git a/apps/RawLogViewer/CFormPlayVideo.cpp b/apps/RawLogViewer/CFormPlayVideo.cpp
index 1f504cc71b..ad68463eeb 100644
--- a/apps/RawLogViewer/CFormPlayVideo.cpp
+++ b/apps/RawLogViewer/CFormPlayVideo.cpp
@@ -513,6 +513,7 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent& event)
 		{
 			wxTheApp->Yield();
 			CSerializable::Ptr obj;
+			mrpt::Clock::time_point imgTimestamp = INVALID_TIMESTAMP;
 
 			if (fil) { archiveFrom(*fil) >> obj; }
 			else
@@ -523,25 +524,38 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent& event)
 
 			bool doDelay = false;
 
-			if (IS_CLASS(*obj, CSensoryFrame))
-			{ doDelay = showSensoryFrame(obj.get(), nImgs); }
+			if (auto sf = std::dynamic_pointer_cast<CSensoryFrame>(obj); sf)
+			{ doDelay = showSensoryFrame(*sf, nImgs, imgTimestamp); }
 			else if (IS_DERIVED(*obj, CObservation))
 			{
-				CSensoryFrame sf;
-				sf.insert(std::dynamic_pointer_cast<CObservation>(obj));
-				doDelay = showSensoryFrame(&sf, nImgs);
+				CSensoryFrame sf2;
+				sf2.insert(std::dynamic_pointer_cast<CObservation>(obj));
+				doDelay = showSensoryFrame(sf2, nImgs, imgTimestamp);
 			}
 
 			// Free the loaded object!
 			if (fil) obj.reset();
 
 			// Update UI
-			if ((count++) % 100 == 0)
+			count++;
+			// if ((count) % 10 == 0)
 			{
 				progressBar->SetValue(
 					fil ? (int)fil->getPosition() : (int)count);
 				wxString str;
-				str.sprintf(_("Processed: %d images"), nImgs);
+				if (imgTimestamp != INVALID_TIMESTAMP)
+				{
+					str.sprintf(
+						_("Processed: %d images. Timestamp: %f [%s UTC]"),
+						static_cast<int>(nImgs),
+						mrpt::Clock::toDouble(imgTimestamp),
+						mrpt::system::dateTimeToString(imgTimestamp).c_str());
+				}
+				else
+				{
+					str.sprintf(
+						_("Processed: %d images."), static_cast<int>(nImgs));
+				}
 				lbProgress->SetLabel(str);
 				if (!doDelay) wxTheApp->Yield();
 			}
@@ -652,12 +666,12 @@ void CFormPlayVideo::drawHorzRules(mrpt::img::CImage& img)
 		img.line(0, y, w - 1, y, mrpt::img::TColor::white());
 }
 
-bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
+bool CFormPlayVideo::showSensoryFrame(
+	mrpt::obs::CSensoryFrame& SF, size_t& nImgs, Clock::time_point& timestamp)
 {
 	WX_START_TRY
 
-	ASSERT_(SF);
-	auto* sf = (CSensoryFrame*)SF;
+	auto* sf = &SF;
 
 	bool doDelay = false;
 	bool doReduceLargeImgs = cbReduceLarge->GetValue();
@@ -685,6 +699,8 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 				sf->getObservationByClass<CObservationImage>(img_idx_sf);
 			if (!obsImg) break;	 // No more images, go on...
 
+			timestamp = obsImg->timestamp;
+
 			// Onto which panel to draw??
 			if (!orderByYaw && !orderByY)
 			{
@@ -810,8 +826,10 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	{
 		CObservationStereoImages::Ptr obsImg2 =
 			sf->getObservationByClass<CObservationStereoImages>();
+
 		if (obsImg2)
 		{
+			timestamp = obsImg2->timestamp;
 			nImgs++;
 
 			// Left:
@@ -944,8 +962,10 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	{
 		CObservation3DRangeScan::Ptr obs3D =
 			sf->getObservationByClass<CObservation3DRangeScan>();
+
 		if (obs3D && obs3D->hasIntensityImage)
 		{
+			timestamp = obs3D->timestamp;
 			nImgs++;
 
 			// Intensity channel
@@ -997,32 +1017,45 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	return false;
 }
 
-void CFormPlayVideo::OnprogressBarCmdScrollChanged(wxScrollEvent& event)
+void CFormPlayVideo::OnprogressBarCmdScrollChanged(wxScrollEvent&)
 {
 	int idx = progressBar->GetValue();
 	m_idxInRawlog = idx;
+	mrpt::Clock::time_point imgTimestamp;
+	size_t nImgs = 0;
+
 	if (idx > 0 && idx < (int)rawlog.size())
 	{
 		if (rawlog.getType(idx) == CRawlog::etSensoryFrame)
 		{
-			size_t dummy = 0;
-
 			CSensoryFrame::Ptr sf = rawlog.getAsObservations(idx);
-			showSensoryFrame(sf.get(), dummy);
+			showSensoryFrame(*sf.get(), nImgs, imgTimestamp);
 			edIndex->SetValue(idx);
 		}
 		else if (rawlog.getType(idx) == CRawlog::etObservation)
 		{
-			size_t dummy = 0;
-
 			CObservation::Ptr o = rawlog.getAsObservation(idx);
 
 			CSensoryFrame sf;
 			sf.insert(o);
-			showSensoryFrame(&sf, dummy);
+			showSensoryFrame(sf, nImgs, imgTimestamp);
 
 			edIndex->SetValue(idx);
 		}
+
+		wxString str;
+		if (imgTimestamp != INVALID_TIMESTAMP)
+		{
+			str.sprintf(
+				_("Processed: %d images. Timestamp: %f [%s UTC]"),
+				static_cast<int>(nImgs), mrpt::Clock::toDouble(imgTimestamp),
+				mrpt::system::dateTimeToString(imgTimestamp).c_str());
+		}
+		else
+		{
+			str.sprintf(_("Processed: %d images."), static_cast<int>(nImgs));
+		}
+		lbProgress->SetLabel(str);
 	}
 }
 
@@ -1103,20 +1136,11 @@ void CFormPlayVideo::saveCamImage(int n)
 	WX_END_TRY
 }
 
-void CFormPlayVideo::OnbtnSaveCam1Click(wxCommandEvent& event)
-{
-	saveCamImage(0);
-}
-void CFormPlayVideo::OnbtnSaveCam2Click(wxCommandEvent& event)
-{
-	saveCamImage(1);
-}
-void CFormPlayVideo::OnbtnSaveCam3Click(wxCommandEvent& event)
-{
-	saveCamImage(2);
-}
+void CFormPlayVideo::OnbtnSaveCam1Click(wxCommandEvent&) { saveCamImage(0); }
+void CFormPlayVideo::OnbtnSaveCam2Click(wxCommandEvent&) { saveCamImage(1); }
+void CFormPlayVideo::OnbtnSaveCam3Click(wxCommandEvent&) { saveCamImage(2); }
 
-void CFormPlayVideo::OncbImageDirsSelect(wxCommandEvent& event)
+void CFormPlayVideo::OncbImageDirsSelect(wxCommandEvent&)
 {
 	wxString dir = cbImageDirs->GetValue();
 	string dirc = string(dir.mb_str());
diff --git a/apps/RawLogViewer/CFormPlayVideo.h b/apps/RawLogViewer/CFormPlayVideo.h
index 8ecb975e29..c05c84ac36 100644
--- a/apps/RawLogViewer/CFormPlayVideo.h
+++ b/apps/RawLogViewer/CFormPlayVideo.h
@@ -24,7 +24,9 @@
 #include <wx/textctrl.h>
 //*)
 
+#include <mrpt/core/Clock.h>
 #include <mrpt/img/CImage.h>
+#include <mrpt/obs/obs_frwds.h>
 
 class CFormPlayVideo : public wxDialog
 {
@@ -87,7 +89,9 @@ class CFormPlayVideo : public wxDialog
 	void OncbImageDirsSelect(wxCommandEvent& event);
 	//*)
 
-	bool showSensoryFrame(void* SF, size_t& nImgs);
+	bool showSensoryFrame(
+		mrpt::obs::CSensoryFrame& SF, size_t& nImgs,
+		mrpt::Clock::time_point& timestamp);
 
 	void drawHorzRules(mrpt::img::CImage& img);
 
diff --git a/apps/RawLogViewer/CFormRawMap.cpp b/apps/RawLogViewer/CFormRawMap.cpp
index a5adbdb430..8f13610dc9 100644
--- a/apps/RawLogViewer/CFormRawMap.cpp
+++ b/apps/RawLogViewer/CFormRawMap.cpp
@@ -715,7 +715,6 @@ void CFormRawMap::OnbtnGenerateClick(wxCommandEvent&)
 
 	plotMap->AddLayer(lyPoints);
 	plotMap->AddLayer(lyPath);
-	plotMap->EnableDoubleBuffer(true);
 
 	lyPath->SetData(pathX, pathY);
 
@@ -976,7 +975,6 @@ void CFormRawMap::OnbtnGeneratePathsClick(wxCommandEvent&)
 	plotMap->AddLayer(lyCov, false);
 
 	//
-	plotMap->EnableDoubleBuffer(true);
 
 	plotMap->Fit();	 // Update the window to show the new data fitted.
 	plotMap->LockAspect(true);
@@ -1121,7 +1119,6 @@ void CFormRawMap::OnGenerateFromRTK(wxCommandEvent&)
 
 	plotMap->AddLayer(lyPoints);
 	plotMap->AddLayer(lyPath);
-	plotMap->EnableDoubleBuffer(true);
 
 	lyPath->SetData(pathX, pathY);
 
diff --git a/apps/RawLogViewer/CRawlogTreeView.cpp b/apps/RawLogViewer/CRawlogTreeView.cpp
index b00135228b..bb0af2b7ac 100644
--- a/apps/RawLogViewer/CRawlogTreeView.cpp
+++ b/apps/RawLogViewer/CRawlogTreeView.cpp
@@ -36,6 +36,7 @@ std::atomic_bool CRawlogTreeView::RAWLOG_UNDERGOING_CHANGES{false};
 #define MRPT_NO_WARN_BIG_HDR  // It's ok here
 #include <mrpt/gui/WxUtils.h>
 #include <mrpt/obs.h>
+#include <mrpt/obs/CObservationPointCloud.h>  // this one is in mrpt-maps
 
 using namespace mrpt;
 using namespace mrpt::system;
@@ -413,6 +414,15 @@ int CRawlogTreeView::iconIndexFromClass(const TRuntimeClassId* class_ID)
 		iconIndex = 8;
 	else if (class_ID == CLASS_ID(CObservationRFID))
 		iconIndex = 8;
+	else if (class_ID == CLASS_ID(CObservationOdometry))
+		iconIndex = 9;
+	else if (
+		class_ID == CLASS_ID(CObservation3DRangeScan) ||
+		class_ID == CLASS_ID(CObservationVelodyneScan) ||
+		class_ID == CLASS_ID(CObservationPointCloud))
+		iconIndex = 10;
+	else if (class_ID == CLASS_ID(CObservationIMU))
+		iconIndex = 11;
 	else if (class_ID->derivedFrom(CLASS_ID(CObservation)))
 		iconIndex = 2;	// Default observation
 	else if (class_ID == CLASS_ID(CActionCollection))
diff --git a/apps/RawLogViewer/CScanAnimation.cpp b/apps/RawLogViewer/CScanAnimation.cpp
index 71f02aaaee..b5080558db 100644
--- a/apps/RawLogViewer/CScanAnimation.cpp
+++ b/apps/RawLogViewer/CScanAnimation.cpp
@@ -634,7 +634,7 @@ void CScanAnimation::OnbtnVizOptions(wxCommandEvent&)
 		wxDefaultSize, wxDEFAULT_DIALOG_STYLE, _T("wxID_ANY"));
 	dlgViz = &dlg;
 
-	auto sizer1 = new wxFlexGridSizer(2, 1, 0, 0);
+	auto sizer1 = new wxFlexGridSizer(0, 1, 0, 0);
 	sizer1->AddGrowableCol(0);
 
 	auto panel = new ViewOptions3DPoints(&dlg);
diff --git a/apps/RawLogViewer/ViewOptions3DPoints.cpp b/apps/RawLogViewer/ViewOptions3DPoints.cpp
index 4c5365e68d..499245cdc4 100644
--- a/apps/RawLogViewer/ViewOptions3DPoints.cpp
+++ b/apps/RawLogViewer/ViewOptions3DPoints.cpp
@@ -170,7 +170,7 @@ ViewOptions3DPoints::ViewOptions3DPoints(wxWindow* parent, wxWindowID id)
 	FlexGridSizer3->Add(FlexGridSizer4, 1, wxALL | wxEXPAND, 0);
 	StaticBoxSizer2->Add(FlexGridSizer3, 1, wxALL | wxEXPAND, 5);
 	FlexGridSizer1->Add(StaticBoxSizer2, 1, wxALL | wxEXPAND, 5);
-	FlexGridSizer5 = new wxFlexGridSizer(2, 1, 0, 0);
+	FlexGridSizer5 = new wxFlexGridSizer(0, 1, 0, 0);
 	StaticBoxSizer3 =
 		new wxStaticBoxSizer(wxHORIZONTAL, this, _("Sensor pose"));
 	FlexGridSizer6 = new wxFlexGridSizer(0, 1, 0, 0);
@@ -228,40 +228,17 @@ ViewOptions3DPoints::ViewOptions3DPoints(wxWindow* parent, wxWindowID id)
 	SetSizer(FlexGridSizer1);
 	FlexGridSizer1->Fit(this);
 	FlexGridSizer1->SetSizeHints(this);
-
-	Connect(
-		ID_BUTTON1, wxEVT_COMMAND_BUTTON_CLICKED,
-		(wxObjectEventFunction)&ViewOptions3DPoints::OnbtnApplyClick);
-	Connect(
-		ID_CHECKBOX1, wxEVT_COMMAND_CHECKBOX_CLICKED,
-		(wxObjectEventFunction)&ViewOptions3DPoints::OnbtnApplyClick);
-	Connect(
-		ID_RADIOBOX1, wxEVT_COMMAND_RADIOBOX_SELECTED,
-		(wxObjectEventFunction)&ViewOptions3DPoints::OnbtnApplyClick);
-	Connect(
-		ID_RADIOBOX2, wxEVT_COMMAND_RADIOBOX_SELECTED,
-		(wxObjectEventFunction)&ViewOptions3DPoints::OnbtnApplyClick);
-	Connect(
-		ID_CHECKBOX2, wxEVT_COMMAND_CHECKBOX_CLICKED,
-		(wxObjectEventFunction)&ViewOptions3DPoints::OnbtnApplyClick);
 	//*)
 
-	Bind(wxEVT_BUTTON, &ViewOptions3DPoints::OnbtnApplyClick, this, ID_BUTTON1);
-	Bind(
-		wxEVT_RADIOBOX, &ViewOptions3DPoints::OnbtnApplyClick, this,
-		ID_RADIOBOX1);
-	Bind(
-		wxEVT_RADIOBOX, &ViewOptions3DPoints::OnbtnApplyClick, this,
-		ID_RADIOBOX2);
-	Bind(
-		wxEVT_CHECKBOX, &ViewOptions3DPoints::OnbtnApplyClick, this,
-		ID_CHECKBOX2);
-	Bind(
-		wxEVT_SPINCTRL, &ViewOptions3DPoints::OnbtnApplyClick, this,
-		ID_SPINCTRL1);
-	Bind(
-		wxEVT_CHECKBOX, &ViewOptions3DPoints::OnbtnApplyClick, this,
-		ID_CHECKBOX3);
+	using Me = ViewOptions3DPoints;
+
+	Bind(wxEVT_BUTTON, &Me::OnbtnApplyClick, this, ID_BUTTON1);
+	Bind(wxEVT_CHECKBOX, &Me::OnbtnApplyClick, this, ID_CHECKBOX1);
+	Bind(wxEVT_CHECKBOX, &Me::OnbtnApplyClick, this, ID_CHECKBOX2);
+	Bind(wxEVT_RADIOBOX, &Me::OnbtnApplyClick, this, ID_RADIOBOX1);
+	Bind(wxEVT_RADIOBOX, &Me::OnbtnApplyClick, this, ID_RADIOBOX2);
+	Bind(wxEVT_CHECKBOX, &Me::OnbtnApplyClick, this, ID_CHECKBOX3);
+	Bind(wxEVT_SPINCTRL, &Me::OnbtnApplyClick, this, ID_SPINCTRL1);
 
 	m_params.load_from_ini_file();
 	m_params.to_UI(*this);
diff --git a/apps/RawLogViewer/imgs/tree_icon10.xpm b/apps/RawLogViewer/imgs/tree_icon10.xpm
new file mode 100644
index 0000000000..4e8502edff
--- /dev/null
+++ b/apps/RawLogViewer/imgs/tree_icon10.xpm
@@ -0,0 +1,162 @@
+/* XPM */
+static const char * tree_icon10_xpm[] = {
+"16 16 143 2",
+"  	c None",
+". 	c #6A6C6E",
+"+ 	c #676A69",
+"@ 	c #494A49",
+"# 	c #424442",
+"$ 	c #454647",
+"% 	c #3A3C3A",
+"& 	c #373939",
+"* 	c #363735",
+"= 	c #3D3E3D",
+"- 	c #181816",
+"; 	c #3A3B3A",
+"> 	c #131414",
+", 	c #4B4E50",
+"' 	c #4A4E51",
+") 	c #4E5253",
+"! 	c #646769",
+"~ 	c #5F615E",
+"{ 	c #31322F",
+"] 	c #2F2F2D",
+"^ 	c #40423D",
+"/ 	c #353632",
+"( 	c #2D2D2A",
+"_ 	c #3D3F3E",
+": 	c #181919",
+"< 	c #363A3C",
+"[ 	c #696F71",
+"} 	c #797E82",
+"| 	c #4F4F4C",
+"1 	c #30312D",
+"2 	c #30302D",
+"3 	c #9D9E99",
+"4 	c #C9CAC6",
+"5 	c #979895",
+"6 	c #434341",
+"7 	c #2F302D",
+"8 	c #2F312F",
+"9 	c #7A8285",
+"0 	c #4C4F51",
+"a 	c #62676A",
+"b 	c #4A4B48",
+"c 	c #363733",
+"d 	c #141411",
+"e 	c #B4B5B1",
+"f 	c #E7E9E5",
+"g 	c #F5F4F2",
+"h 	c #FBFBF9",
+"i 	c #D2D4D1",
+"j 	c #33342F",
+"k 	c #2A2B28",
+"l 	c #515657",
+"m 	c #3F4243",
+"n 	c #414445",
+"o 	c #5C5F61",
+"p 	c #3A3B35",
+"q 	c #222322",
+"r 	c #BCBDB7",
+"s 	c #E6E7E4",
+"t 	c #F3F3F1",
+"u 	c #F3F4F3",
+"v 	c #F0F2EF",
+"w 	c #AEB0AC",
+"x 	c #2B2B29",
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+"A 	c #444747",
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+"C 	c #363732",
+"D 	c #171815",
+"E 	c #868682",
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+"G 	c #F0F0EE",
+"H 	c #F9F9F8",
+"I 	c #F4F6F4",
+"J 	c #E9EBE8",
+"K 	c #3B3B39",
+"L 	c #292925",
+"M 	c #343435",
+"N 	c #303130",
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+"V 	c #F6F6F5",
+"W 	c #FAFAFA",
+"X 	c #EDF0ED",
+"Y 	c #8E8E8C",
+"Z 	c #272623",
+"` 	c #1B1B1A",
+" .	c #505150",
+"..	c #555857",
+"+.	c #646460",
+"@.	c #4D4E49",
+"#.	c #1B1C17",
+"$.	c #222321",
+"%.	c #82837C",
+"&.	c #D8D9D5",
+"*.	c #F1F1EF",
+"=.	c #F5F5F4",
+"-.	c #F1F1ED",
+";.	c #ABACA9",
+">.	c #2D2D29",
+",.	c #31312F",
+"'.	c #353533",
+").	c #3A3A39",
+"!.	c #33342E",
+"~.	c #10100D",
+"{.	c #B0B1AF",
+"].	c #8E908B",
+"^.	c #EDEEEB",
+"/.	c #F6F7F5",
+"(.	c #E8E9E5",
+"_.	c #6F706B",
+":.	c #292A25",
+"<.	c #22221E",
+"[.	c #585957",
+"}.	c #747575",
+"|.	c #40413C",
+"1.	c #2A2B26",
+"2.	c #030300",
+"3.	c #50514E",
+"4.	c #8E8F8A",
+"5.	c #BBBBB8",
+"6.	c #848580",
+"7.	c #4B4C49",
+"8.	c #565756",
+"9.	c #42443F",
+"0.	c #252620",
+"a.	c #181814",
+"b.	c #11120E",
+"c.	c #363734",
+"d.	c #1A1B15",
+"e.	c #2A2B27",
+"f.	c #565956",
+"g.	c #31322C",
+"h.	c #34352F",
+"i.	c #282A25",
+"j.	c #2E2F29",
+"k.	c #31322E",
+"l.	c #6D706B",
+"                .               ",
+"          + @ # $ % &           ",
+"        * = - ; > , ' ) !       ",
+"    ~ { ] ^ / / ( _ : < [ }     ",
+"    | 1 2 3 4 5 6 7 8 9 0 a b   ",
+"    c d e f g h i j k l m n o   ",
+"    p q r s t u v w x y z A B   ",
+"    C D E F G H I J K L M N O P ",
+"    Q R S T U V W X Y Z `  ...+.",
+"    @.#.$.%.&.*.=.-.;.>.,.'.).  ",
+"      !.~.{.].^./.(._.:.<.[.}.  ",
+"      |.1.2.3.4.5.6.L :.7.8.    ",
+"        9.0.a.b.c.d.e.e.f.      ",
+"            g.h.i.j.k.l.        ",
+"                                ",
+"                                "};
diff --git a/apps/RawLogViewer/imgs/tree_icon11.xpm b/apps/RawLogViewer/imgs/tree_icon11.xpm
new file mode 100644
index 0000000000..b18163ed28
--- /dev/null
+++ b/apps/RawLogViewer/imgs/tree_icon11.xpm
@@ -0,0 +1,162 @@
+/* XPM */
+static const char * tree_icon11_xpm[] = {
+"16 16 143 2",
+"  	c None",
+". 	c #929292",
+"+ 	c #909090",
+"@ 	c #8E8E8E",
+"# 	c #8D8D8D",
+"$ 	c #8C8C8C",
+"% 	c #8B8B8B",
+"& 	c #8A8A8A",
+"* 	c #898989",
+"= 	c #878787",
+"- 	c #868686",
+"; 	c #838383",
+"> 	c #848484",
+", 	c #858585",
+"' 	c #828282",
+") 	c #818181",
+"! 	c #808080",
+"~ 	c #7A7A7A",
+"{ 	c #7B7B7B",
+"] 	c #7C7C7C",
+"^ 	c #797979",
+"/ 	c #6E6E6E",
+"( 	c #6F6F6F",
+"_ 	c #707070",
+": 	c #727272",
+"< 	c #737373",
+"[ 	c #717171",
+"} 	c #ACACAC",
+"| 	c #A4A4A4",
+"1 	c #787878",
+"2 	c #696969",
+"3 	c #666666",
+"4 	c #676767",
+"5 	c #686868",
+"6 	c #6C6C6C",
+"7 	c #747474",
+"8 	c #6D726E",
+"9 	c #ADADAD",
+"0 	c #C4C4C4",
+"a 	c #DDDDDD",
+"b 	c #B4B4B4",
+"c 	c #949494",
+"d 	c #C2C2C2",
+"e 	c #AFAFAF",
+"f 	c #959595",
+"g 	c #3E423D",
+"h 	c #3C463D",
+"i 	c #4C543F",
+"j 	c #A9A9A7",
+"k 	c #B7B7B7",
+"l 	c #AEAEAE",
+"m 	c #A1A1A1",
+"n 	c #9C9C9C",
+"o 	c #9B9B9B",
+"p 	c #A2A2A2",
+"q 	c #AAAAAA",
+"r 	c #ABABAB",
+"s 	c #959797",
+"t 	c #656965",
+"u 	c #252718",
+"v 	c #2A2F29",
+"w 	c #3D463E",
+"x 	c #3E4630",
+"y 	c #2B2E19",
+"z 	c #000101",
+"A 	c #1F1F1F",
+"B 	c #4A4A4A",
+"C 	c #5A5A59",
+"D 	c #5C5D5C",
+"E 	c #515050",
+"F 	c #5A857D",
+"G 	c #75B8A6",
+"H 	c #21524A",
+"I 	c #172C23",
+"J 	c #272D1D",
+"K 	c #2A2F28",
+"L 	c #3A453A",
+"M 	c #3D452E",
+"N 	c #33371E",
+"O 	c #060707",
+"P 	c #070707",
+"Q 	c #090908",
+"R 	c #090A07",
+"S 	c #090907",
+"T 	c #3C756B",
+"U 	c #71B8A5",
+"V 	c #24584E",
+"W 	c #1B2E25",
+"X 	c #292D1E",
+"Y 	c #2B302A",
+"Z 	c #474D43",
+"` 	c #3A442D",
+" .	c #353A20",
+"..	c #060708",
+"+.	c #080808",
+"@.	c #080908",
+"#.	c #0A0B07",
+"$.	c #090808",
+"%.	c #367166",
+"&.	c #6FB7A4",
+"*.	c #26594F",
+"=.	c #1E2F24",
+"-.	c #2A2D1E",
+";.	c #2F342D",
+">.	c #999A99",
+",.	c #363D25",
+"'.	c #3B3C1C",
+").	c #070708",
+"!.	c #080909",
+"~.	c #0A0A0A",
+"{.	c #346E63",
+"].	c #76B9A4",
+"^.	c #1C4942",
+"/.	c #223023",
+"(.	c #292E1D",
+"_.	c #555754",
+":.	c #A4A4A3",
+"<.	c #61624D",
+"[.	c #22210E",
+"}.	c #090909",
+"|.	c #0A0B08",
+"1.	c #33685E",
+"2.	c #5EA694",
+"3.	c #092A25",
+"4.	c #3B453B",
+"5.	c #767675",
+"6.	c #646464",
+"7.	c #A7A7A7",
+"8.	c #B2B2B2",
+"9.	c #9D9D9D",
+"0.	c #6B6B6B",
+"a.	c #4C4C4C",
+"b.	c #424241",
+"c.	c #4D4D4C",
+"d.	c #7C8C8A",
+"e.	c #A1A7A6",
+"f.	c #888888",
+"g.	c #6A6A6A",
+"h.	c #757575",
+"i.	c #7F7F7F",
+"j.	c #A0A0A0",
+"k.	c #9E9E9E",
+"l.	c #9F9F9F",
+"        . . . + + @ @ #         ",
+"    @ $ % % % $ % & * = - =     ",
+"# ; ; > > , , > ; ; ' ' ) ) !   ",
+"! ~ ~ ~ ~ { ] { ] ~ { ^ ^ ~ ~   ",
+"@ / ( _ : _ < : _ [ [ [ _ ( ^   ",
+"} | 1 2 3 4 2 5 4 4 3 6 7 * '   ",
+"8 9 0 a b c = ! % | d e f ; g   ",
+"h i j k l m n o p q r s t u v   ",
+"w x y z A B C D E F G H I J K   ",
+"L M N O P Q R R S T U V W X Y   ",
+"Z `  ...+.@.S #.$.%.&.*.=.-.;.  ",
+">.,.'.).+.!.~.#.S {.].^./.(._.$ ",
+"r :.<.[.!.}.Q |.Q 1.2.3.4.5.6.- ",
+"  7.8.:.9.0.a.b.c.d.e.% f.7 g.  ",
+"    8.$ h.i.f.^ * # ^ < , ]     ",
+"        q j.! c n k.l.          "};
diff --git a/apps/RawLogViewer/imgs/tree_icon12.xpm b/apps/RawLogViewer/imgs/tree_icon12.xpm
new file mode 100644
index 0000000000..7f6ab6b57d
--- /dev/null
+++ b/apps/RawLogViewer/imgs/tree_icon12.xpm
@@ -0,0 +1,110 @@
+/* XPM */
+static const char * tree_icon12_xpm[] = {
+"16 16 91 1",
+" 	c None",
+".	c #878C90",
+"+	c #737577",
+"@	c #75777A",
+"#	c #7D8184",
+"$	c #82868A",
+"%	c #6C6F70",
+"&	c #808487",
+"*	c #707173",
+"=	c #888889",
+"-	c #949190",
+";	c #9EA2A7",
+">	c #828689",
+",	c #757778",
+"'	c #868C91",
+")	c #8F8987",
+"!	c #949696",
+"~	c #808386",
+"{	c #797F85",
+"]	c #8A8A88",
+"^	c #868A8F",
+"/	c #7D848C",
+"(	c #777C84",
+"_	c #8B807B",
+":	c #797A7A",
+"<	c #66696E",
+"[	c #898D91",
+"}	c #858B90",
+"|	c #9FA4A5",
+"1	c #B8AD92",
+"2	c #948D7D",
+"3	c #A0977E",
+"4	c #C7AD7A",
+"5	c #B79F73",
+"6	c #BEA774",
+"7	c #BBA473",
+"8	c #BCA778",
+"9	c #938D7A",
+"0	c #707375",
+"a	c #878B8E",
+"b	c #74797F",
+"c	c #8A8C8C",
+"d	c #A6997B",
+"e	c #8B826D",
+"f	c #A59775",
+"g	c #D0B16D",
+"h	c #CFB06E",
+"i	c #D7B672",
+"j	c #DBBD79",
+"k	c #D8BD7F",
+"l	c #B7AB8D",
+"m	c #94999C",
+"n	c #92979D",
+"o	c #81878B",
+"p	c #787C81",
+"q	c #76797E",
+"r	c #707172",
+"s	c #666A6B",
+"t	c #676968",
+"u	c #6E6E6A",
+"v	c #727370",
+"w	c #7B7C78",
+"x	c #848583",
+"y	c #90928F",
+"z	c #989D9F",
+"A	c #A1A7AD",
+"B	c #8A8F92",
+"C	c #8A8D8F",
+"D	c #95999D",
+"E	c #777A7E",
+"F	c #7D8187",
+"G	c #8D8884",
+"H	c #8F9293",
+"I	c #83878B",
+"J	c #878B8D",
+"K	c #767B81",
+"L	c #928981",
+"M	c #9A9C9A",
+"N	c #7C7F83",
+"O	c #888C8E",
+"P	c #7F858A",
+"Q	c #908A86",
+"R	c #878B8F",
+"S	c #888C90",
+"T	c #989CA1",
+"U	c #9A9EA3",
+"V	c #9FA3A9",
+"W	c #7A7D82",
+"X	c #828687",
+"Y	c #7A7E83",
+"Z	c #8B8E92",
+"       .        ",
+"    +@   #$     ",
+"   %       &    ",
+"  *   =-;   >   ",
+" ,   ') !    >  ",
+" ~   {  ]       ",
+" ^  /( _:<    [ ",
+" }|1234567890 a ",
+" bcdefghijklmno ",
+" pqrstuvwxyzA B ",
+" CD EF GH     I ",
+"  J  K LM    N  ",
+"   O P Q     R  ",
+"    STUV    W   ",
+"     XS   YY    ",
+"       Z        "};
diff --git a/apps/RawLogViewer/imgs/tree_icon7.xpm b/apps/RawLogViewer/imgs/tree_icon7.xpm
index ab581a323a..2901073ed6 100644
--- a/apps/RawLogViewer/imgs/tree_icon7.xpm
+++ b/apps/RawLogViewer/imgs/tree_icon7.xpm
@@ -1,24 +1,144 @@
 /* XPM */
 static const char * tree_icon7_xpm[] = {
-"16 16 5 1",
-" 	c None",
-".	c #6F4DEC",
-"+	c #1D0869",
-"@	c #3C1EAC",
-"#	c #0C0525",
-"...........     ",
-"+...........    ",
-"++...........   ",
-"+++...........  ",
-"+++@@@@@@@@@@@  ",
-"+++@@@@@@@@@@@  ",
-"+++@@@@@@@@@@@  ",
-"+++@@@@@@@@@@@  ",
-"+++@@@@@@@@@@@  ",
-"+++@+++++++++@  ",
-"++++#########@  ",
-"+++#########+@  ",
-"+++#########+@  ",
-" ++#########+@  ",
-"  +@#########@  ",
-"   @@@@@@@@@@@  "};
+"16 16 125 2",
+"  	c None",
+". 	c #4A494A",
+"+ 	c #454546",
+"@ 	c #413F42",
+"# 	c #3C3D3F",
+"$ 	c #444242",
+"% 	c #3F3D3E",
+"& 	c #413E40",
+"* 	c #434140",
+"= 	c #433F41",
+"- 	c #434344",
+"; 	c #353639",
+"> 	c #494949",
+", 	c #494645",
+"' 	c #414042",
+") 	c #403F40",
+"! 	c #454243",
+"~ 	c #454342",
+"{ 	c #454343",
+"] 	c #3D3D40",
+"^ 	c #414953",
+"/ 	c #36373A",
+"( 	c #444140",
+"_ 	c #464342",
+": 	c #434143",
+"< 	c #43464A",
+"[ 	c #333337",
+"} 	c #3A3A3E",
+"| 	c #586470",
+"1 	c #3F434B",
+"2 	c #312F32",
+"3 	c #28272B",
+"4 	c #313233",
+"5 	c #2E2E33",
+"6 	c #32353B",
+"7 	c #2F3946",
+"8 	c #38475C",
+"9 	c #58585F",
+"0 	c #263648",
+"a 	c #131E29",
+"b 	c #212C38",
+"c 	c #222F3E",
+"d 	c #393F4D",
+"e 	c #5B6169",
+"f 	c #5C5655",
+"g 	c #213141",
+"h 	c #102F46",
+"i 	c #1E3245",
+"j 	c #2D2B2D",
+"k 	c #474442",
+"l 	c #908781",
+"m 	c #515659",
+"n 	c #47494C",
+"o 	c #4C4846",
+"p 	c #1D1E20",
+"q 	c #1A2125",
+"r 	c #1C2329",
+"s 	c #343132",
+"t 	c #484645",
+"u 	c #666462",
+"v 	c #656765",
+"w 	c #5A636C",
+"x 	c #464443",
+"y 	c #1E2023",
+"z 	c #171E21",
+"A 	c #20252A",
+"B 	c #312C2C",
+"C 	c #3C3A3B",
+"D 	c #282C33",
+"E 	c #414347",
+"F 	c #625F5C",
+"G 	c #5D5E5D",
+"H 	c #4C535A",
+"I 	c #1F2226",
+"J 	c #171C20",
+"K 	c #1C2124",
+"L 	c #454A55",
+"M 	c #5B6779",
+"N 	c #8A9397",
+"O 	c #4C5056",
+"P 	c #464647",
+"Q 	c #5A5854",
+"R 	c #525353",
+"S 	c #313439",
+"T 	c #27282D",
+"U 	c #4C5561",
+"V 	c #8E8C72",
+"W 	c #C0A85B",
+"X 	c #9E833B",
+"Y 	c #3A3C3F",
+"Z 	c #434546",
+"` 	c #3F4142",
+" .	c #585653",
+"..	c #303336",
+"+.	c #242930",
+"@.	c #58523D",
+"#.	c #A78837",
+"$.	c #78693E",
+"%.	c #3E3F3B",
+"&.	c #32363B",
+"*.	c #3D4245",
+"=.	c #3E4040",
+"-.	c #414242",
+";.	c #2C3033",
+">.	c #292E32",
+",.	c #3A3D3D",
+"'.	c #30353A",
+").	c #222B36",
+"!.	c #2C3237",
+"~.	c #2F3235",
+"{.	c #414447",
+"].	c #3A3B3C",
+"^.	c #282D30",
+"/.	c #262C2F",
+"(.	c #2F3337",
+"_.	c #2A2E33",
+":.	c #2F3336",
+"<.	c #363A3D",
+"[.	c #48494B",
+"}.	c #323536",
+"|.	c #2E3134",
+"1.	c #303338",
+"2.	c #34363A",
+"3.	c #3A3E40",
+"4.	c #3B3F41",
+"              . + @             ",
+"        # $ % & * = -           ",
+"        ; > , ' ) ! ~ { ]       ",
+"        ^ / - ( _ : < [ }       ",
+"        | 1 2 3 4 5 6 7 8       ",
+"          9 0 a b c d e         ",
+"          f g h i j k l         ",
+"      m n o p q r s t u         ",
+"      v w x y z A B C D E       ",
+"      F G H I J K L M N O       ",
+"      P Q R S T U V W X Y       ",
+"      Z `  ...+.@.#.$.%.&.*.    ",
+"        =.-.;.>.,.'.).!.~.{.    ",
+"          ].^./.(._.:.<.        ",
+"          [.}.|.1.2.            ",
+"            3.4.                "};
diff --git a/apps/RawLogViewer/main_show_selected_object.cpp b/apps/RawLogViewer/main_show_selected_object.cpp
index 0f025f1646..f18fa022a4 100644
--- a/apps/RawLogViewer/main_show_selected_object.cpp
+++ b/apps/RawLogViewer/main_show_selected_object.cpp
@@ -328,6 +328,12 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		// ----------------------
 		wxImage* img = mrpt::gui::MRPTImage2wxImage(obs->image);
 		bmpObsImage->SetBitmap(wxBitmap(*img));
+		bmpObsImage->SetSize(img->GetWidth(), img->GetHeight());
+		FlexGridSizerImg->FitInside(ScrolledWindow2);
+		// bmpObsImage->FitInside();
+		// ScrolledWindow2->SetVirtualSize(img->GetWidth(), img->GetHeight());
+		ScrolledWindow2->SetScrollRate(1, 1);
+
 		bmpObsImage->Refresh();
 		delete img;
 		obs->image.unload();  // For externally-stored datasets
diff --git a/apps/RawLogViewer/wxsmith/xRawLogViewerframe.wxs b/apps/RawLogViewer/wxsmith/xRawLogViewerframe.wxs
index 0135dfd1a6..c2bf70625c 100644
--- a/apps/RawLogViewer/wxsmith/xRawLogViewerframe.wxs
+++ b/apps/RawLogViewer/wxsmith/xRawLogViewerframe.wxs
@@ -993,7 +993,6 @@
 					</object>
 					<object class="wxMenuItem" name="ID_MENUITEM71" variable="MenuItem68" member="yes">
 						<label>Convert pairs of mono into stereo...</label>
-						<accel>Create stereo images observations from pairs of monocular images</accel>
 						<handler function="OnMenuMono2Stereo" entry="EVT_MENU" />
 					</object>
 					<object class="wxMenuItem" name="ID_MENUITEM72" variable="MenuItem69" member="no">
diff --git a/apps/RawLogViewer/xRawLogViewerMain.cpp b/apps/RawLogViewer/xRawLogViewerMain.cpp
index 93d9f137d0..191056b531 100644
--- a/apps/RawLogViewer/xRawLogViewerMain.cpp
+++ b/apps/RawLogViewer/xRawLogViewerMain.cpp
@@ -84,6 +84,9 @@
 #include <wx/tooltip.h>
 
 #include "imgs/tree_icon1.xpm"
+#include "imgs/tree_icon10.xpm"
+#include "imgs/tree_icon11.xpm"
+#include "imgs/tree_icon12.xpm"
 #include "imgs/tree_icon2.xpm"
 #include "imgs/tree_icon3.xpm"
 #include "imgs/tree_icon4.xpm"
@@ -371,6 +374,7 @@ const long xRawLogViewerFrame::ID_MENUITEM48 = wxNewId();
 const long xRawLogViewerFrame::ID_TIMER1 = wxNewId();
 //*)
 const long xRawLogViewerFrame::ID_MENUITEM_RENAME_BY_SF_IDX = wxNewId();
+static const long ID_SCROLLEDWINDOW2 = wxNewId();
 
 BEGIN_EVENT_TABLE(xRawLogViewerFrame, wxFrame)
 //(*EventTable(xRawLogViewerFrame)
@@ -386,6 +390,10 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	// Load my custom icons:
 	wxArtProvider::Push(new MyArtProvider);
 
+	const wxFont monoFont(
+		8, wxFontFamily::wxFONTFAMILY_TELETYPE, wxFontStyle::wxFONTSTYLE_NORMAL,
+		wxFontWeight::wxFONTWEIGHT_NORMAL);
+
 	//(*Initialize(xRawLogViewerFrame)
 	wxMenu* Menu39;
 	wxBoxSizer* BoxSizer6;
@@ -674,10 +682,7 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 		wxTE_MULTILINE | wxTE_READONLY | wxTE_WORDWRAP | wxNO_BORDER |
 			wxVSCROLL,
 		wxDefaultValidator, _T("ID_TEXTCTRL1"));
-	wxFont memoFont(
-		wxSize(10, 10), wxFontFamily::wxFONTFAMILY_TELETYPE,
-		wxFontStyle::wxFONTSTYLE_NORMAL, wxFontWeight::wxFONTWEIGHT_NORMAL);
-	memo->SetFont(memoFont);
+	memo->SetFont(monoFont);
 	BoxSizer2->Add(memo, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 0);
 	Panel3->SetSizer(BoxSizer2);
 	BoxSizer2->Fit(Panel3);
@@ -717,10 +722,7 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 		wxDefaultSize, wxTE_MULTILINE | wxTE_READONLY | wxVSCROLL,
 		wxDefaultValidator, _T("ID_TEXTCTRL2"));
 	memStats->SetMinSize(wxSize(-1, 150));
-	wxFont memStatsFont(
-		10, wxFONTFAMILY_TELETYPE, wxFONTSTYLE_NORMAL, wxNORMAL, false,
-		_T("Monospace"), wxFONTENCODING_DEFAULT);
-	memStats->SetFont(memStatsFont);
+	memStats->SetFont(monoFont);
 	memStats->SetToolTip(_("Statistics of the rawlog load"));
 	Panel11 = new wxPanel(
 		SplitterWindow2, ID_PANEL25, wxDefaultPosition, wxDefaultSize,
@@ -739,10 +741,7 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 		Notebook3, ID_TEXTCTRL3, wxEmptyString, wxDefaultPosition,
 		wxDefaultSize, wxTE_MULTILINE | wxTE_READONLY, wxDefaultValidator,
 		_T("ID_TEXTCTRL3"));
-	wxFont txtExceptionFont(
-		10, wxFONTFAMILY_TELETYPE, wxFONTSTYLE_NORMAL, wxNORMAL, false,
-		_T("Monospace"), wxFONTENCODING_DEFAULT);
-	txtException->SetFont(txtExceptionFont);
+	txtException->SetFont(monoFont);
 	Notebook3->AddPage(SplitterWindow2, _("Dataset statistics && info"), false);
 	Notebook3->AddPage(txtException, _("End of load message"), false);
 	FlexGridSizer6->Add(
@@ -784,7 +783,7 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	pn_CObservationImage = new wxPanel(
 		Notebook1, ID_PANEL9, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL,
 		_T("ID_PANEL9"));
-	FlexGridSizer3 = new wxFlexGridSizer(2, 1, 0, 0);
+	FlexGridSizer3 = new wxFlexGridSizer(0, 1, 0, 0);
 	FlexGridSizer3->AddGrowableCol(0);
 	FlexGridSizer3->AddGrowableRow(1);
 	StaticText2 = new wxStaticText(
@@ -794,10 +793,26 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	FlexGridSizer3->Add(
 		StaticText2, 1,
 		wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
+
+	ScrolledWindow2 = new wxScrolledWindow(
+		pn_CObservationImage, ID_SCROLLEDWINDOW2, wxDefaultPosition,
+		wxDefaultSize, wxHSCROLL | wxVSCROLL, _T("ID_SCROLLEDWINDOW2"));
+	FlexGridSizerImg = new wxFlexGridSizer(0, 1, 0, 0);
+	FlexGridSizerImg->AddGrowableCol(0);
+	FlexGridSizerImg->AddGrowableRow(0);
+
 	bmpObsImage = new wxStaticBitmapPopup(
-		pn_CObservationImage, ID_STATICBITMAP1, wxNullBitmap, wxPoint(0, 0),
+		ScrolledWindow2, ID_STATICBITMAP1, wxNullBitmap, wxPoint(0, 0),
 		wxDefaultSize, wxFULL_REPAINT_ON_RESIZE, _T("ID_STATICBITMAP1"));
-	FlexGridSizer3->Add(bmpObsImage, 1, wxALL | wxALIGN_LEFT | wxALIGN_TOP, 5);
+
+	FlexGridSizerImg->Add(
+		bmpObsImage, 1, wxALL | wxALIGN_LEFT | wxALIGN_TOP, 0);
+	ScrolledWindow2->SetSizer(FlexGridSizerImg);
+	FlexGridSizerImg->Fit(ScrolledWindow2);
+	FlexGridSizerImg->SetSizeHints(ScrolledWindow2);
+
+	FlexGridSizer3->Add(
+		ScrolledWindow2, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 0);
 	pn_CObservationImage->SetSizer(FlexGridSizer3);
 	FlexGridSizer3->Fit(pn_CObservationImage);
 	FlexGridSizer3->SetSizeHints(pn_CObservationImage);
@@ -1274,10 +1289,9 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 		wxEmptyString, wxITEM_NORMAL);
 	Menu23->Append(MenuItem30);
 	MenuItem68 = new wxMenuItem(
-		Menu23, ID_MENUITEM71,
-		_("Convert pairs of mono into stereo...\tCreate stereo images "
-		  "observations from pairs of monocular images"),
-		wxEmptyString, wxITEM_NORMAL);
+		Menu23, ID_MENUITEM71, _("Convert pairs of mono into stereo..."),
+		"Create stereo images observations from pairs of monocular images",
+		wxITEM_NORMAL);
 	Menu23->Append(MenuItem68);
 	MenuItem69 = new wxMenuItem(
 		Menu23, ID_MENUITEM72, _("Batch rectify images..."), wxEmptyString,
@@ -1655,6 +1669,9 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	imgList->Add(wxIcon(tree_icon7_xpm));
 	imgList->Add(wxIcon(tree_icon8_xpm));
 	imgList->Add(wxIcon(tree_icon9_xpm));
+	imgList->Add(wxIcon(tree_icon10_xpm));
+	imgList->Add(wxIcon(tree_icon11_xpm));
+	imgList->Add(wxIcon(tree_icon12_xpm));
 
 	tree_view->AssignImageList(imgList);
 
@@ -1698,12 +1715,6 @@ xRawLogViewerFrame::xRawLogViewerFrame(wxWindow* parent, wxWindowID id)
 	plotRangeBearing->AddLayer(new mpScaleY());
 	plotRangeBearing->AddLayer(lyRangeBearingLandmarks);
 
-	plotScan2D->EnableDoubleBuffer(true);
-	plotAct2D_XY->EnableDoubleBuffer(true);
-	plotAct2D_PHI->EnableDoubleBuffer(true);
-	plotRangeBearing->EnableDoubleBuffer(true);
-	plotRawlogSensorTimes->EnableDoubleBuffer(true);
-
 	Maximize();	 // Maximize the main window
 
 	// Set sliders:
@@ -6458,6 +6469,6 @@ void xRawLogViewerFrame::On3DObsPagesChange(wxBookCtrlEvent& event)
 
 		m_gl3DRangeScan->Refresh();
 		wxTheApp->Yield();	// Let the app. process messages
-		m_gl3DRangeScan->Render();
+		// m_gl3DRangeScan->Render();
 	}
 }
diff --git a/apps/RawLogViewer/xRawLogViewerMain.h b/apps/RawLogViewer/xRawLogViewerMain.h
index 70c1041f38..ba689ba768 100644
--- a/apps/RawLogViewer/xRawLogViewerMain.h
+++ b/apps/RawLogViewer/xRawLogViewerMain.h
@@ -577,6 +577,8 @@ class xRawLogViewerFrame : public wxFrame
 	wxButton* btnEditComments;
 	wxMenuItem* MenuItem85;
 	//*)
+	wxFlexGridSizer* FlexGridSizerImg = nullptr;
+	wxScrolledWindow* ScrolledWindow2 = nullptr;
 
 	void OnComboImageDirsChange(wxCommandEvent& event);
 	void On3DObsPagesChange(wxBookCtrlEvent& event);
diff --git a/apps/SceneViewer3D/CodeBlock_project_Linux/3DSceneViewer.cbp b/apps/SceneViewer3D/CodeBlock_project_Linux/3DSceneViewer.cbp
index 85384719d3..61c1b632b1 100644
--- a/apps/SceneViewer3D/CodeBlock_project_Linux/3DSceneViewer.cbp
+++ b/apps/SceneViewer3D/CodeBlock_project_Linux/3DSceneViewer.cbp
@@ -2,12 +2,12 @@
 <CodeBlocks_project_file>
 	<FileVersion major="1" minor="6" />
 	<Project>
-		<Option title="3DSceneViewer" />
+		<Option title="SceneViewer3D" />
 		<Option pch_mode="2" />
 		<Option compiler="gcc" />
 		<Build>
 			<Target title="Release">
-				<Option output="bin/Release/3DSceneViewer" prefix_auto="1" extension_auto="1" />
+				<Option output="bin/Release/SceneViewer3D" prefix_auto="1" extension_auto="1" />
 				<Option object_output="obj/Release/" />
 				<Option type="0" />
 				<Option compiler="gcc" />
diff --git a/apps/SceneViewer3D/CodeBlock_project_Windows/3DSceneViewer.cbp b/apps/SceneViewer3D/CodeBlock_project_Windows/3DSceneViewer.cbp
index 61e6d35ba1..204cb3318c 100644
--- a/apps/SceneViewer3D/CodeBlock_project_Windows/3DSceneViewer.cbp
+++ b/apps/SceneViewer3D/CodeBlock_project_Windows/3DSceneViewer.cbp
@@ -2,12 +2,12 @@
 <CodeBlocks_project_file>
 	<FileVersion major="1" minor="6" />
 	<Project>
-		<Option title="3DSceneViewer" />
+		<Option title="SceneViewer3D" />
 		<Option pch_mode="2" />
 		<Option compiler="msvc8" />
 		<Build>
 			<Target title="Release">
-				<Option output="bin\Release\3DSceneViewer" prefix_auto="1" extension_auto="1" />
+				<Option output="bin\Release\SceneViewer3D" prefix_auto="1" extension_auto="1" />
 				<Option object_output="obj\Release\" />
 				<Option type="0" />
 				<Option compiler="msvc8" />
@@ -36,7 +36,7 @@
 					<Add directory="$(#wx)\lib\vc_lib" />
 				</Linker>
 				<ExtraCommands>
-					<Add after='mt.exe /nologo /manifest &quot;bin\Release\3DSceneViewer.exe.manifest&quot; /outputresource:&quot;bin\Release\3DSceneViewer.exe&quot;;1' />
+					<Add after='mt.exe /nologo /manifest &quot;bin\Release\SceneViewer3D.exe.manifest&quot; /outputresource:&quot;bin\Release\SceneViewer3D.exe&quot;;1' />
 				</ExtraCommands>
 			</Target>
 		</Build>
diff --git a/apps/SceneViewer3D/_DSceneViewerApp.cpp b/apps/SceneViewer3D/_DSceneViewerApp.cpp
index fc38dd2125..18c47ed1f6 100644
--- a/apps/SceneViewer3D/_DSceneViewerApp.cpp
+++ b/apps/SceneViewer3D/_DSceneViewerApp.cpp
@@ -45,6 +45,8 @@ bool _DSceneViewerApp::OnInit()
 	static const wxCmdLineEntryDesc cmdLineDesc[] = {
 		{wxCMD_LINE_OPTION, wxT_2("l"), wxT_2("load"), wxT_2("load a library"),
 		 wxCMD_LINE_VAL_STRING, 0},
+		{wxCMD_LINE_OPTION, wxT_2("d"), wxT_2("imgdir"),
+		 wxT_2("Lazy-load images directory"), wxCMD_LINE_VAL_STRING, 0},
 		{wxCMD_LINE_PARAM, nullptr, nullptr, wxT_2("Input File"),
 		 wxCMD_LINE_VAL_STRING, wxCMD_LINE_PARAM_OPTIONAL},
 		{wxCMD_LINE_NONE, nullptr, nullptr, nullptr, wxCMD_LINE_VAL_NONE, 0}};
@@ -58,6 +60,14 @@ bool _DSceneViewerApp::OnInit()
 		std::cout << "Loading plugin libraries: " << sLib << "...\n";
 		mrpt::system::loadPluginModules(sLib);
 	}
+	wxString imgDir;
+	if (parser.Found(wxT_2("d"), &imgDir))
+	{
+		std::cout << "Using lazy-load images base directory: " << imgDir
+				  << "...\n";
+		mrpt::img::CImage::setImagesPathBase(imgDir.ToStdString());
+	}
+
 	if (parser.GetParamCount() == 1)
 		global_fileToOpen = parser.GetParam().mb_str();
 
diff --git a/apps/SceneViewer3D/_DSceneViewerMain.cpp b/apps/SceneViewer3D/_DSceneViewerMain.cpp
index 1d143cbc62..2d4498e190 100644
--- a/apps/SceneViewer3D/_DSceneViewerMain.cpp
+++ b/apps/SceneViewer3D/_DSceneViewerMain.cpp
@@ -9,6 +9,7 @@
 
 #include "_DSceneViewerMain.h"
 
+#include <mrpt/system/string_utils.h>  // firstNLines()
 #include <wx/app.h>
 
 #include "CDlgCamTracking.h"
@@ -168,22 +169,32 @@ wxLogWindow* logWin = nullptr;
 
 void saveLastUsedDirectoryToCfgFile(const std::string& fil)
 {
-	try
-	{
-		iniFile->write(iniFileSect, "LastDir", extractFileDirectory(fil));
-	}
-	catch (const std::exception& e)
-	{
-		wxMessageBox(mrpt::exception_to_str(e), _("Exception"), wxOK);
-	}
+	WX_START_TRY
+
+	iniFile->write(iniFileSect, "LastDir", extractFileDirectory(fil));
+
+	WX_END_TRY
 }
 
 void CMyGLCanvas::OnRenderError(const wxString& str)
 {
-	if (!logWin) logWin = new wxLogWindow(this, wxT("Log window"), false);
+	const size_t maxLines = 7;
+	const std::string sErr =
+		mrpt::system::firstNLines(str.ToStdString(), maxLines);
+
+	if (!logWin)
+	{
+		logWin = new wxLogWindow(this, wxT("Log window"), false);
+		logWin->Show();
+	}
 
-	wxLogError(str);
-	logWin->Show();
+	static double lastErrMsg = 0;
+	double tNow = mrpt::Clock::nowDouble();
+	if (tNow - lastErrMsg > 10.0)
+	{
+		lastErrMsg = tNow;
+		wxLogError(wxString(sErr));
+	}
 }
 
 void CMyGLCanvas::OnPreRender() {}
@@ -405,7 +416,7 @@ _DSceneViewerFrame::_DSceneViewerFrame(wxWindow* parent, wxWindowID id)
 	wxMenu* Menu2;
 
 	Create(
-		parent, id, _("3DSceneViewer - Part of the MRPT project"),
+		parent, id, _("SceneViewer3D - Part of the MRPT project"),
 		wxDefaultPosition, wxDefaultSize, wxDEFAULT_FRAME_STYLE, _T("id"));
 	SetMinSize(wxSize(150, 100));
 	{
@@ -866,6 +877,7 @@ void _DSceneViewerFrame::OnOpenFile(wxCommandEvent& event)
 void _DSceneViewerFrame::loadFromFile(
 	const std::string& fil, bool isInASequence)
 {
+	WX_START_TRY
 	try
 	{
 		// Save the path
@@ -963,23 +975,18 @@ void _DSceneViewerFrame::loadFromFile(
 
 		Refresh(false);
 	}
-	catch (const std::exception& e)
-	{
-		std::cerr << mrpt::exception_to_str(e) << std::endl;
-		btnAutoplay->SetValue(false);
-		wxMessageBox(mrpt::exception_to_str(e), _("Exception"), wxOK, this);
-	}
-	catch (...)
+	catch (const std::exception&)
 	{
 		btnAutoplay->SetValue(false);
-		wxMessageBox(_("Runtime error!"), _("Exception"), wxOK, this);
+		throw;
 	}
+	WX_END_TRY
 }
 
 void _DSceneViewerFrame::updateTitle()
 {
 	SetTitle((format(
-				  "3DSceneViewer - Part of the MRPT project [%s]",
+				  "SceneViewer3D - Part of the MRPT project [%s]",
 				  (extractFileName(loadedFileName) + string(".") +
 				   extractFileExtension(loadedFileName))
 					  .c_str())
@@ -1596,7 +1603,7 @@ void _DSceneViewerFrame::OnmnuSceneStatsSelected(wxCommandEvent&)
 }
 
 static const std::string name_octrees_bb_globj =
-	"__3dsceneviewer_gl_octree_bb__";
+	"__SceneViewer3D_gl_octree_bb__";
 CSetOfObjects::Ptr aux_gl_octrees_bb;
 
 void func_get_octbb(const mrpt::opengl::CRenderizable::Ptr& o)
diff --git a/apps/SceneViewer3D/wxsmith/_DSceneViewerframe.wxs b/apps/SceneViewer3D/wxsmith/_DSceneViewerframe.wxs
index 1668b9d35d..636e2584a1 100644
--- a/apps/SceneViewer3D/wxsmith/_DSceneViewerframe.wxs
+++ b/apps/SceneViewer3D/wxsmith/_DSceneViewerframe.wxs
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <wxsmith>
 	<object class="wxFrame" name="_DSceneViewerFrame">
-		<title>3DSceneViewer - Part of the MRPT project - Jose Luis Blanco (C) 2005-2008</title>
+		<title>SceneViewer3D - Part of the MRPT project - Jose Luis Blanco (C) 2005-2008</title>
 		<centered>1</centered>
 		<icon stock_id="MAIN_ICON" stock_client="wxART_FRAME_ICON" />
 		<minsize>150,100</minsize>
@@ -105,8 +105,8 @@
 							<bitmap stock_id="wxART_FIND" stock_client="wxART_TOOLBAR" />
 							<disabled stock_id="wxART_FIND" stock_client="wxART_TOOLBAR" />
 							<margin>5,5</margin>
-							<tooltip>View the options of 3DSceneViewer</tooltip>
-							<help>View the options of 3DSceneViewer</help>
+							<tooltip>View the options of SceneViewer3D</tooltip>
+							<help>View the options of SceneViewer3D</help>
 							<handler function="OnMenuOptions" entry="EVT_BUTTON" />
 						</object>
 						<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
diff --git a/apps/navlog-viewer/navlog-viewer-ui.cpp b/apps/navlog-viewer/navlog-viewer-ui.cpp
index 7bdf82d9ce..7bf12ac032 100644
--- a/apps/navlog-viewer/navlog-viewer-ui.cpp
+++ b/apps/navlog-viewer/navlog-viewer-ui.cpp
@@ -12,9 +12,11 @@
 #include <mrpt/config/CConfigFileMemory.h>
 #include <mrpt/config/CConfigFilePrefixer.h>
 #include <mrpt/containers/printf_vector.h>
+#include <mrpt/containers/yaml.h>
 #include <mrpt/core/lock_helper.h>
 #include <mrpt/gui/about_box.h>
 #include <mrpt/io/CFileGZInputStream.h>
+#include <mrpt/io/CFileGZOutputStream.h>
 #include <mrpt/math/TLine3D.h>
 #include <mrpt/math/TObject3D.h>
 #include <mrpt/math/geometry.h>	 // intersect()
@@ -137,7 +139,7 @@ NavlogViewerApp::NavlogViewerApp()
 	// ===== Time slider:
 	m_txtTimeIndex = m_winMain->add<nanogui::Label>("Time index:");
 	slidLog = m_winMain->add<nanogui::Slider>();
-	slidLog->setCallback([this](float /*v*/) { OnslidLogCmdScroll(); });
+	slidLog->setCallback([this](float /*v*/) { updateVisualization(); });
 
 	m_tabWidget = m_winMain->add<nanogui::TabWidget>();
 
@@ -170,27 +172,27 @@ NavlogViewerApp::NavlogViewerApp()
 		m_cbUseOdometryCoords =
 			layer->add<nanogui::CheckBox>("Use raw odometry");
 		m_cbUseOdometryCoords->setCallback(
-			[this](bool) { OnslidLogCmdScroll(); });
+			[this](bool) { updateVisualization(); });
 
 		m_cbGlobalFrame =
 			layer->add<nanogui::CheckBox>("In global coordinates");
 		m_cbGlobalFrame->setChecked(true);
-		m_cbGlobalFrame->setCallback([this](bool) { OnslidLogCmdScroll(); });
+		m_cbGlobalFrame->setCallback([this](bool) { updateVisualization(); });
 
 		m_cbShowDelays =
 			layer->add<nanogui::CheckBox>("Show delays model-based poses");
 		m_cbShowDelays->setChecked(true);
-		m_cbShowDelays->setCallback([this](bool) { OnslidLogCmdScroll(); });
+		m_cbShowDelays->setCallback([this](bool) { updateVisualization(); });
 
 		m_cbDrawShape =
 			layer->add<nanogui::CheckBox>("Draw robot shape on trajectories");
 		m_cbDrawShape->setChecked(true);
-		m_cbDrawShape->setCallback([this](bool) { OnslidLogCmdScroll(); });
+		m_cbDrawShape->setCallback([this](bool) { updateVisualization(); });
 
 		m_cbShowAllDebugFields =
 			layer->add<nanogui::CheckBox>("Show all debug fields");
 		m_cbShowAllDebugFields->setCallback(
-			[this](bool) { OnslidLogCmdScroll(); });
+			[this](bool) { updateVisualization(); });
 
 		m_cbShowCursor = layer->add<nanogui::CheckBox>("Mouse coordinates");
 		m_cbShowCursor->setChecked(m_showCursorXY);
@@ -199,7 +201,7 @@ NavlogViewerApp::NavlogViewerApp()
 		m_ClearanceOverPath =
 			layer->add<nanogui::CheckBox>("Clearance: path/!pointwise");
 		m_ClearanceOverPath->setCallback(
-			[this](bool) { OnslidLogCmdScroll(); });
+			[this](bool) { updateVisualization(); });
 
 		{
 			auto* panel = layer->add<nanogui::Widget>();
@@ -215,7 +217,7 @@ NavlogViewerApp::NavlogViewerApp()
 		const auto lst = std::vector<std::string>(
 			{"TP-Obstacles only", "+ final scores", "+ preliminary scores"});
 		m_rbPerPTGPlots = layer->add<nanogui::ComboBox>(lst, lst);
-		m_rbPerPTGPlots->setCallback([this](int) { OnslidLogCmdScroll(); });
+		m_rbPerPTGPlots->setCallback([this](int) { updateVisualization(); });
 		m_rbPerPTGPlots->setSelectedIndex(2);
 
 		auto cbOrtho = layer->add<nanogui::CheckBox>("Orthogonal");
@@ -254,6 +256,44 @@ NavlogViewerApp::NavlogViewerApp()
 		lambdaAddSmallFontBtn(layer, "Save score matrices...", [this]() {
 			OnmnuSaveScoreMatrixSelected();
 		});
+		lambdaAddSmallFontBtn(layer, "Export current log entry...", [this]() {
+			OnmnuExportSelected();
+		});
+	}
+
+	// ===== TAB: Manually pick trajectory
+	{
+		nanogui::Widget* layer = m_tabWidget->createTab("Manual pick");
+		auto layout = new nanogui::GridLayout(
+			nanogui::Orientation::Horizontal, 2, nanogui::Alignment::Fill, 10);
+		layer->setLayout(layout);
+
+		m_cbManualPickMode =
+			layer->add<nanogui::CheckBox>("Enable manual pick");
+		m_cbManualPickMode->setCallback(
+			[this](bool) { updateVisualization(); });
+
+		layer->add<nanogui::Label>(" ");
+
+		layer->add<nanogui::Label>("PTG index:");
+		m_slidPtgIndex = layer->add<nanogui::Slider>();
+		m_slidPtgIndex->setCallback(
+			[this](float /*v*/) { updateVisualization(); });
+
+		layer->add<nanogui::Label>("Trajectory index:");
+		m_slidTrajectoryIndex = layer->add<nanogui::Slider>();
+		m_slidTrajectoryIndex->setCallback(
+			[this](float /*v*/) { updateVisualization(); });
+
+		m_manualPickLabel = layer->add<nanogui::Label>("Selection: None");
+		layer->add<nanogui::Label>(" ");
+
+		layer->add<nanogui::Label>(" ");
+
+		m_btnManualPickAppendYaml =
+			layer->add<nanogui::Button>("Append to 'nav-selected.yaml'");
+		m_btnManualPickAppendYaml->setCallback(
+			[this]() { OnManualPickAppendYaml(); });
 	}
 
 	m_tabWidget->setActiveTab(0);
@@ -283,8 +323,8 @@ NavlogViewerApp::NavlogViewerApp()
 
 	// Setup idle loop code:
 	// -----------------------------
-	m_win->setLoopCallback([this]() { OnMainIdleLoop(); });
-	m_win->setKeyboardCallback(
+	m_win->addLoopCallback([this]() { OnMainIdleLoop(); });
+	m_win->addKeyboardCallback(
 		[this](int key, int scancode, int action, int modifiers) {
 			return OnKeyboardCallback(key, scancode, action, modifiers);
 		});
@@ -369,9 +409,16 @@ void NavlogViewerApp::loadLogfile(const std::string& fileName)
 					{
 						m_logdata_ptg_paths.resize(nPTGs);
 						for (size_t i = 0; i < nPTGs; i++)
+						{
 							if (logptr->infoPerPTG[i].ptg)
 								m_logdata_ptg_paths[i] =
 									logptr->infoPerPTG[i].ptg;
+						}
+					}
+					else
+					{
+						for (size_t i = 0; i < nPTGs; i++)
+							logptr->infoPerPTG[i].ptg = m_logdata_ptg_paths[i];
 					}
 				}
 			}
@@ -388,19 +435,14 @@ void NavlogViewerApp::loadLogfile(const std::string& fileName)
 		{
 			// EOF in the middle of an object... It may be usual if the logger
 			// is shut down not cleanly.
-			// auto dlg =
-			new nanogui::MessageDialog(
-				m_win.get(), nanogui::MessageDialog::Type::Warning,
-				"Loading ended with an exception", mrpt::exception_to_str(e));
-
-			break;
+			// Show the error message (catch below)
+			throw;
 		}
 	}
+	NANOGUI_END_TRY(*m_win)
 
 	// Update stats, etc...
 	updateInfoFromLoadedLog();
-
-	NANOGUI_END_TRY(*m_win)
 }
 
 void NavlogViewerApp::OnMainIdleLoop()
@@ -416,7 +458,7 @@ void NavlogViewerApp::OnMainIdleLoop()
 		if ((p + 1) <= slidLog->range().second)
 		{
 			slidLog->setValue(p + 1);
-			OnslidLogCmdScroll();
+			updateVisualization();
 		}
 		else
 		{
@@ -441,7 +483,7 @@ bool NavlogViewerApp::OnKeyboardCallback(
 			if ((p - 1) >= slidLog->range().first)
 			{
 				slidLog->setValue(p - 1);
-				OnslidLogCmdScroll();
+				updateVisualization();
 			}
 		}
 		break;
@@ -451,7 +493,7 @@ bool NavlogViewerApp::OnKeyboardCallback(
 			if ((p + 1) <= slidLog->range().second)
 			{
 				slidLog->setValue(p + 1);
-				OnslidLogCmdScroll();
+				updateVisualization();
 			}
 		}
 		break;
@@ -469,7 +511,7 @@ void NavlogViewerApp::updateInfoFromLoadedLog()
 		this->txtLogEntries->setValue(std::to_string(N));
 		this->slidLog->setRange({0, N - 1});
 		this->slidLog->setValue(0);
-		OnslidLogCmdScroll();
+		updateVisualization();
 	}
 
 	std::string sDuration("???");
@@ -487,12 +529,14 @@ void NavlogViewerApp::updateInfoFromLoadedLog()
 // ---------------------------------------------
 // 				DRAW ONE LOG RECORD
 // ---------------------------------------------
-void NavlogViewerApp::OnslidLogCmdScroll()
+void NavlogViewerApp::updateVisualization()
 {
 	NANOGUI_START_TRY
 
 	using namespace std::string_literals;
 
+	updateManualPickControls();
+
 	const int log_idx = mrpt::round(slidLog->value());
 	if (log_idx >= int(m_logdata.size())) return;
 	// In the future, we could handle more log classes. For now, only
@@ -674,13 +718,14 @@ void NavlogViewerApp::OnslidLogCmdScroll()
 				gl_path = mrpt::opengl::CSetOfLines::Create();
 				gl_path->setName("path");
 				gl_path->setLineWidth(2.0);
-				gl_path->setColor_u8(mrpt::img::TColor(0x00, 0x00, 0xff));
+				gl_path->setColor_u8(mrpt::img::TColor(0xff, 0x00, 0x00));
 				gl_robot_frame->insert(gl_path);
 			}
 			else
 				gl_path =
 					mrpt::ptr_cast<mrpt::opengl::CSetOfLines>::from(gl_path_r);
 			gl_path->clear();
+
 			if (sel_ptg_idx < int(m_logdata_ptg_paths.size()) &&
 				sel_ptg_idx >= 0)
 			{
@@ -705,7 +750,6 @@ void NavlogViewerApp::OnslidLogCmdScroll()
 
 					ptg->renderPathAsSimpleLine(
 						selected_k, *gl_path, 0.10, max_dist);
-					gl_path->setColor_u8(mrpt::img::TColor(0xff, 0x00, 0x00));
 
 					// PTG origin:
 					// enable delays model?
@@ -793,6 +837,110 @@ void NavlogViewerApp::OnslidLogCmdScroll()
 				}
 			}
 		}
+
+		{
+			// Manually-picked PTG path:
+			mrpt::opengl::CSetOfLines::Ptr gl_path;
+			mrpt::opengl::CRenderizable::Ptr gl_path_r =
+				gl_robot_frame->getByName(
+					"manual-path");	 // Get or create if new
+			if (!gl_path_r)
+			{
+				gl_path = mrpt::opengl::CSetOfLines::Create();
+				gl_path->setName("manual-path");
+				gl_path->setLineWidth(2.0);
+				gl_path->setColor_u8(mrpt::img::TColor(0x00, 0xff, 0x00));
+				gl_robot_frame->insert(gl_path);
+			}
+			else
+				gl_path =
+					mrpt::ptr_cast<mrpt::opengl::CSetOfLines>::from(gl_path_r);
+			gl_path->clear();
+
+			if (m_manualPickPTGIdx >= 0 &&
+				m_manualPickPTGIdx < int(m_logdata_ptg_paths.size()) &&
+				m_manualPickTrajectoryIdx >= 0)
+			{
+				mrpt::nav::CParameterizedTrajectoryGenerator::Ptr ptg =
+					m_logdata_ptg_paths[m_manualPickPTGIdx];
+				if (ptg)
+				{
+					if (!ptg->isInitialized()) ptg->initialize();
+
+					// Set instantaneous dyn state:
+					ptg->updateNavDynamicState(
+						is_NOP_cmd ? log.ptg_last_navDynState
+								   : log.navDynState);
+
+					// Draw path:
+					const int selected_k = m_manualPickTrajectoryIdx;
+					float max_dist = ptg->getRefDistance();
+					ptg->add_robotShape_to_setOfLines(*gl_path);
+
+					ptg->renderPathAsSimpleLine(
+						selected_k, *gl_path, 0.10, max_dist);
+
+					// PTG origin:
+					// enable delays model?
+					mrpt::math::TPose2D ptg_origin = (m_cbShowDelays->checked())
+						? log.relPoseVelCmd
+						: mrpt::math::TPose2D(0, 0, 0);
+
+					// "NOP cmd" case:
+					if (log.ptg_index_NOP >= 0)
+					{
+						ptg_origin =
+							ptg_origin - log.rel_cur_pose_wrt_last_vel_cmd_NOP;
+					}
+
+					gl_path->setPose(ptg_origin);
+
+					// Overlay a sequence of robot shapes:
+					if (m_cbDrawShape->checked())
+					{
+						double min_shape_dists =
+							std::max(0.01, std::stod(edShapeMinDist->value()));
+
+						for (double d = min_shape_dists; d < max_dist;
+							 d += min_shape_dists)
+						{
+							uint32_t step;
+							if (!ptg->getPathStepForDist(selected_k, d, step))
+								continue;
+							mrpt::math::TPose2D p;
+							ptg->getPathPose(selected_k, step, p);
+							ptg->add_robotShape_to_setOfLines(
+								*gl_path, mrpt::poses::CPose2D(p));
+						}
+					}
+					{
+						// Robot shape:
+						mrpt::opengl::CSetOfLines::Ptr gl_shape;
+						mrpt::opengl::CRenderizable::Ptr gl_shape_r =
+							gl_robot_frame->getByName(
+								"shape");  // Get or create if new
+						if (!gl_shape_r)
+						{
+							gl_shape =
+								std::make_shared<mrpt::opengl::CSetOfLines>();
+							gl_shape->setName("shape");
+							gl_shape->setLineWidth(4.0);
+							gl_shape->setColor_u8(
+								mrpt::img::TColor(0xff, 0x00, 0x00));
+							gl_robot_frame->insert(gl_shape);
+						}
+						else
+						{
+							gl_shape = std::dynamic_pointer_cast<
+								mrpt::opengl::CSetOfLines>(gl_shape_r);
+						}
+						gl_shape->clear();
+						ptg->add_robotShape_to_setOfLines(*gl_shape);
+					}
+				}
+			}
+		}
+
 		{
 			// Target:
 			mrpt::opengl::CPointCloud::Ptr gl_trg;
@@ -1501,6 +1649,29 @@ void NavlogViewerApp::OntimMouseXY()
 	}
 }
 
+void NavlogViewerApp::OnmnuExportSelected(std::string filename)
+{
+	NANOGUI_START_TRY;
+
+	const int log_idx = mrpt::round(slidLog->value());
+	if (log_idx >= int(m_logdata.size())) return;
+	auto logptr = std::dynamic_pointer_cast<CLogFileRecord>(m_logdata[log_idx]);
+	const CLogFileRecord& log = *logptr;
+
+	if (filename.empty())
+		filename = nanogui::file_dialog(
+			{{"navlog", "MRPT navlog file"}}, true /*save*/);
+	if (filename.empty()) return;
+
+	mrpt::io::CFileGZOutputStream f(filename);
+	ASSERT_(f.is_open());
+	auto a = mrpt::serialization::archiveFrom(f);
+
+	a << log;
+
+	NANOGUI_END_TRY(*m_win)
+}
+
 void NavlogViewerApp::OnmnuMatlabExportPaths()
 {
 	NANOGUI_START_TRY;
@@ -1802,3 +1973,85 @@ void NavlogViewerApp::OnmnuMatlabExportPaths()
 
 	NANOGUI_END_TRY(*m_win)
 }
+
+void NavlogViewerApp::OnManualPickAppendYaml()
+{
+	NANOGUI_START_TRY;
+
+	const std::string yamlFileName = "nav-selected.yaml";
+
+	mrpt::containers::yaml d;
+	if (mrpt::system::fileExists(yamlFileName))
+	{
+		// load for appending:
+		d = mrpt::containers::yaml::FromFile(yamlFileName);
+	}
+	else
+	{
+		// Start from scratch:
+		d = mrpt::containers::yaml::Sequence();
+	}
+
+	// Export individual navlog file:
+	const std::string navLogSingleFile =
+		mrpt::format("log_%.03f.navlog", m_manualPickTimestamp);
+
+	OnmnuExportSelected(navLogSingleFile);
+
+	// Append entry:
+	mrpt::containers::yaml entry = mrpt::containers::yaml::Map();
+	entry["file"] = navLogSingleFile;
+	entry["entry_index"] = 0;  // since we are exporting a single-entry file
+	entry["selected_ptg_index"] = m_manualPickPTGIdx;
+	entry["selected_trajectory_index"] = m_manualPickTrajectoryIdx;
+
+	d.asSequence().push_back(entry);
+
+	std::ofstream fOut(yamlFileName);
+	d.printAsYAML(fOut);
+
+	NANOGUI_END_TRY(*m_win)
+}
+
+void NavlogViewerApp::updateManualPickControls()
+{
+	NANOGUI_START_TRY;
+
+	m_manualPickPTGIdx = -1;
+	m_manualPickTrajectoryIdx = -1;
+
+	const bool manualPickEnabled = m_cbManualPickMode->checked();
+	m_slidPtgIndex->setEnabled(manualPickEnabled);
+	m_slidTrajectoryIndex->setEnabled(manualPickEnabled);
+	m_btnManualPickAppendYaml->setEnabled(manualPickEnabled);
+
+	const int log_idx = mrpt::round(slidLog->value());
+	if (log_idx >= int(m_logdata.size())) return;
+
+	auto logptr = std::dynamic_pointer_cast<CLogFileRecord>(m_logdata[log_idx]);
+	const CLogFileRecord& log = *logptr;
+
+	m_slidPtgIndex->setRange({0, log.nPTGs - 1});
+	const int manualPickedPTG = mrpt::round(m_slidPtgIndex->value());
+
+	const auto& ptg = m_logdata_ptg_paths.at(manualPickedPTG);
+	ASSERT_(ptg);
+
+	m_slidTrajectoryIndex->setRange({0, ptg->getPathCount() - 1});
+	const int manualPickedTraj = mrpt::round(m_slidTrajectoryIndex->value());
+
+	m_manualPickLabel->setCaption(mrpt::format(
+		"Selected PTG#%i trajectory #%i", manualPickedPTG, manualPickedTraj));
+
+	if (manualPickEnabled)
+	{
+		if (!log.timestamps.empty())
+			m_manualPickTimestamp =
+				mrpt::Clock::toDouble(log.timestamps.begin()->second);
+
+		m_manualPickPTGIdx = manualPickedPTG;
+		m_manualPickTrajectoryIdx = manualPickedTraj;
+	}
+
+	NANOGUI_END_TRY(*m_win)
+}
diff --git a/apps/navlog-viewer/navlog-viewer-ui.h b/apps/navlog-viewer/navlog-viewer-ui.h
index dfcf8ff628..7efe4fd36c 100644
--- a/apps/navlog-viewer/navlog-viewer-ui.h
+++ b/apps/navlog-viewer/navlog-viewer-ui.h
@@ -44,6 +44,12 @@ class NavlogViewerApp
 	nanogui::CheckBox* m_ClearanceOverPath = nullptr;
 	nanogui::ComboBox* m_rbPerPTGPlots = nullptr;
 
+	nanogui::CheckBox* m_cbManualPickMode = nullptr;
+	nanogui::Slider* m_slidPtgIndex = nullptr;
+	nanogui::Slider* m_slidTrajectoryIndex = nullptr;
+	nanogui::Label* m_manualPickLabel = nullptr;
+	nanogui::Button* m_btnManualPickAppendYaml = nullptr;
+
 	// ============ app data ===============
 	std::string m_openedFileName = "UNNAMED";
 
@@ -67,19 +73,27 @@ class NavlogViewerApp
 
    private:
 	void OnbtnLoadClick();
-	void OnslidLogCmdScroll();
+	void updateVisualization();
 	void OnmnuMatlabPlotsSelected();
 	void OnmnuSeePTGParamsSelected();
 	void OnmnuSaveScoreMatrixSelected();
 	void OntimMouseXY();
 	void OnmnuMatlabExportPaths();
+	void OnmnuExportSelected(std::string filename = {});
 	void OnmnuSaveCurrentObstacles();
 	void OnMainIdleLoop();
 	bool OnKeyboardCallback(int key, int scancode, int action, int modifiers);
 
+	void OnManualPickAppendYaml();
+	void updateManualPickControls();
+
 	mrpt::system::CTicTac m_autoPlayTimer;
 	bool m_autoPlayEnabled = false;
 	double m_autoPlayInterval = 100e-3;
 
 	bool m_showCursorXY = false;
+
+	int m_manualPickPTGIdx = -1;
+	int m_manualPickTrajectoryIdx = -1;
+	double m_manualPickTimestamp = .0;
 };
diff --git a/apps/rawlog-edit/CMakeLists.txt b/apps/rawlog-edit/CMakeLists.txt
index cd69a341e1..63cdf83713 100644
--- a/apps/rawlog-edit/CMakeLists.txt
+++ b/apps/rawlog-edit/CMakeLists.txt
@@ -18,6 +18,7 @@ add_executable(${PROJECT_NAME}
 	rawlog-edit_gps_gas.cpp
 	rawlog-edit_info.cpp
 	rawlog-edit_externalize.cpp
+	rawlog-edit_export_txt.cpp
 	rawlog-edit_deexternalize.cpp
 	rawlog-edit_filters.cpp
 	rawlog-edit_cuts.cpp
diff --git a/apps/rawlog-edit/rawlog-edit_2d-scans.cpp b/apps/rawlog-edit/rawlog-edit_2d-scans.cpp
index ded96292f1..887bd5f6d8 100644
--- a/apps/rawlog-edit/rawlog-edit_2d-scans.cpp
+++ b/apps/rawlog-edit/rawlog-edit_2d-scans.cpp
@@ -18,117 +18,13 @@ using namespace mrpt::rawlogtools;
 using namespace mrpt::io;
 using namespace std;
 
+DECLARE_OP_FUNCTION(op_export_txt);
+
 // ======================================================================
 //		op_export_2d_scans_txt
 // ======================================================================
 DECLARE_OP_FUNCTION(op_export_2d_scans_txt)
 {
-	// A class to do this operation:
-	class CRawlogProcessor_Export2DSCANS_TXT
-		: public CRawlogProcessorOnEachObservation
-	{
-	   protected:
-		string m_inFile;
-
-		map<string, FILE*> lstFiles, lstFilesTimes;
-		string m_filPrefix;
-
-	   public:
-		size_t m_entriesSaved;
-
-		CRawlogProcessor_Export2DSCANS_TXT(
-			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
-			bool Verbose)
-			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
-			  m_entriesSaved(0)
-		{
-			getArgValue<string>(cmdline, "input", m_inFile);
-
-			m_filPrefix =
-				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
-		}
-
-		// return false on any error.
-		bool processOneObservation(CObservation::Ptr& o) override
-		{
-			if (!IS_CLASS(*o, CObservation2DRangeScan)) return true;
-
-			const CObservation2DRangeScan* obs =
-				dynamic_cast<CObservation2DRangeScan*>(o.get());
-
-			auto it = lstFiles.find(obs->sensorLabel);
-
-			FILE *f_this, *f_this_times;
-
-			if (it == lstFiles.end())  // A new file for this sensorlabel??
-			{
-				const std::string fileName = m_filPrefix + string("_") +
-					fileNameStripInvalidChars(obs->sensorLabel) +
-					string(".txt");
-
-				const std::string fileNameTimes = m_filPrefix + string("_") +
-					fileNameStripInvalidChars(obs->sensorLabel) +
-					string("_times.txt");
-
-				VERBOSE_COUT << "Writing LASER TXT file: " << fileName << endl;
-
-				f_this = lstFiles[obs->sensorLabel] =
-					os::fopen(fileName.c_str(), "wt");
-				f_this_times = lstFilesTimes[obs->sensorLabel] =
-					os::fopen(fileNameTimes.c_str(), "wt");
-				if (!f_this || !f_this_times)
-					THROW_EXCEPTION_FMT(
-						"Cannot open output file for write: %s",
-						fileName.c_str());
-			}
-			else
-			{
-				f_this = it->second;
-				f_this_times = lstFilesTimes.find(obs->sensorLabel)->second;
-			}
-
-			// Time:
-			const double sampleTime = timestampTotime_t(obs->timestamp);
-			::fprintf(f_this_times, "%14.4f\n", sampleTime);
-
-			// Ranges:
-			for (size_t j = 0; j < obs->getScanSize(); j++)
-				::fprintf(
-					f_this, "%.6f ",
-					obs->getScanRangeValidity(j) ? obs->getScanRange(j) : 0);
-			::fprintf(f_this, "\n");
-
-			m_entriesSaved++;
-
-			return true;  // All ok
-		}
-
-		// Destructor: close files and generate summary files:
-		virtual ~CRawlogProcessor_Export2DSCANS_TXT()
-		{
-			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
-			{
-				os::fclose(it->second);
-			}
-
-			// Save the joint file:
-			// -------------------------
-			VERBOSE_COUT << "Number of different 2D-SCAN sensorLabels     : "
-						 << lstFiles.size() << endl;
-
-			lstFiles.clear();
-		}  // end of destructor
-	};
-
-	// Process
-	// ---------------------------------
-	CRawlogProcessor_Export2DSCANS_TXT proc(in_rawlog, cmdline, verbose);
-	proc.doProcessRawlog();
-
-	// Dump statistics:
-	// ---------------------------------
-	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
-				 << "\n";
-	VERBOSE_COUT << "Number of records saved           : "
-				 << proc.m_entriesSaved << "\n";
+	// Forward:
+	op_export_txt(in_rawlog, cmdline, verbose);
 }
diff --git a/apps/rawlog-edit/rawlog-edit_anemometer.cpp b/apps/rawlog-edit/rawlog-edit_anemometer.cpp
index 639d66fc91..6b91cfe39f 100644
--- a/apps/rawlog-edit/rawlog-edit_anemometer.cpp
+++ b/apps/rawlog-edit/rawlog-edit_anemometer.cpp
@@ -18,122 +18,13 @@ using namespace mrpt::rawlogtools;
 using namespace mrpt::io;
 using namespace std;
 
+DECLARE_OP_FUNCTION(op_export_txt);
+
 // ======================================================================
 //		op_export_anemometer_txt
 // ======================================================================
 DECLARE_OP_FUNCTION(op_export_anemometer_txt)
 {
-	// A class to do this operation:
-	class CRawlogProcessor_ExportANEMOMETER_TXT
-		: public CRawlogProcessorOnEachObservation
-	{
-	   protected:
-		string m_inFile;
-
-		map<string, FILE*> lstFiles;
-		string m_filPrefix;
-
-	   public:
-		size_t m_entriesSaved;
-
-		CRawlogProcessor_ExportANEMOMETER_TXT(
-			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
-			bool Verbose)
-			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
-			  m_entriesSaved(0)
-		{
-			getArgValue<string>(cmdline, "input", m_inFile);
-
-			m_filPrefix =
-				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
-		}
-
-		// return false on any error.
-		bool processOneObservation(CObservation::Ptr& o) override
-		{
-			if (!IS_CLASS(*o, CObservationWindSensor)) return true;
-
-			const CObservationWindSensor* obs =
-				dynamic_cast<CObservationWindSensor*>(o.get());
-
-			auto it = lstFiles.find(obs->sensorLabel);
-
-			FILE* f_this;
-
-			if (it == lstFiles.end())  // A new file for this sensorlabel??
-			{
-				const std::string fileName = m_filPrefix + string("_") +
-					fileNameStripInvalidChars(obs->sensorLabel.empty()
-												  ? string("ANEMOMETER")
-												  : obs->sensorLabel) +
-					string(".txt");
-
-				VERBOSE_COUT << "Writing anemometer TXT file: " << fileName
-							 << endl;
-
-				f_this = lstFiles[obs->sensorLabel] =
-					os::fopen(fileName.c_str(), "wt");
-				if (!f_this)
-					THROW_EXCEPTION_FMT(
-						"Cannot open output file for write: %s",
-						fileName.c_str());
-
-				// The first line is a description of the columns:
-				::fprintf(
-					f_this,
-					"%% "
-					"%14s "	 // TIMESTAMP
-					"%18s %18s "  // WIND (mod, direction)
-					"\n",
-					"Time", "WIND_MODULE(m/s)", "WIND_DIRECTION (deg)");
-			}
-			else
-				f_this = it->second;
-
-			// For each entry in this sequence: Compute the timestamp and save
-			// values:
-			ASSERT_(obs->timestamp != INVALID_TIMESTAMP);
-			TTimeStamp t = obs->timestamp;
-
-			double sampleTime = timestampTotime_t(t);
-
-			// Time:
-			::fprintf(
-				f_this,
-				"%14.4f "  // TIMESTAMP
-				"%3.4f %3.2f"  // WIND (mod, direction)
-				"\n",
-				sampleTime, obs->speed, obs->direction);
-			m_entriesSaved++;
-			return true;  // All ok
-		}
-
-		// Destructor: close files and generate summary files:
-		~CRawlogProcessor_ExportANEMOMETER_TXT()
-		{
-			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
-			{
-				os::fclose(it->second);
-			}
-
-			// Save the joint file:
-			// -------------------------
-			VERBOSE_COUT << "Number of different anemometer sensorLabels  : "
-						 << lstFiles.size() << endl;
-
-			lstFiles.clear();
-		}  // end of destructor
-	};
-
-	// Process
-	// ---------------------------------
-	CRawlogProcessor_ExportANEMOMETER_TXT proc(in_rawlog, cmdline, verbose);
-	proc.doProcessRawlog();
-
-	// Dump statistics:
-	// ---------------------------------
-	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
-				 << "\n";
-	VERBOSE_COUT << "Number of records saved           : "
-				 << proc.m_entriesSaved << "\n";
+	// Forward:
+	op_export_txt(in_rawlog, cmdline, verbose);
 }
diff --git a/apps/rawlog-edit/rawlog-edit_export_txt.cpp b/apps/rawlog-edit/rawlog-edit_export_txt.cpp
new file mode 100644
index 0000000000..fb7657fca6
--- /dev/null
+++ b/apps/rawlog-edit/rawlog-edit_export_txt.cpp
@@ -0,0 +1,135 @@
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          https://www.mrpt.org/                         |
+   |                                                                        |
+   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
+   | See: https://www.mrpt.org/Authors - All rights reserved.               |
+   | Released under BSD License. See: https://www.mrpt.org/License          |
+   +------------------------------------------------------------------------+ */
+
+#include <mrpt/obs/CObservationOdometry.h>
+
+#include "rawlog-edit-declarations.h"
+
+using namespace mrpt;
+using namespace mrpt::obs;
+using namespace mrpt::system;
+using namespace mrpt::rawlogtools;
+using namespace std;
+using namespace mrpt::io;
+
+// ======================================================================
+//		op_export_txt
+// ======================================================================
+DECLARE_OP_FUNCTION(op_export_txt)
+{
+	// A class to do this operation:
+	class CRawlogProcessor_Export_TXT : public CRawlogProcessorOnEachObservation
+	{
+	   protected:
+		string m_inFile;
+
+		map<string, FILE*> lstFiles;
+		string m_filPrefix;
+
+	   public:
+		size_t m_entriesSaved;
+
+		CRawlogProcessor_Export_TXT(
+			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
+			bool Verbose)
+			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
+			  m_entriesSaved(0)
+		{
+			getArgValue<string>(cmdline, "input", m_inFile);
+
+			m_filPrefix =
+				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
+		}
+
+		// return false on any error.
+		bool processOneObservation(CObservation::Ptr& obs) override
+		{
+			if (!obs->exportTxtSupported()) return true;
+
+			ASSERTMSG_(
+				!obs->sensorLabel.empty(),
+				mrpt::format(
+					"Exporting as TXT requires all observations having "
+					"non-empty sensorLabels, but empty label found for "
+					"observation of type '%s'",
+					obs->GetRuntimeClass()->className));
+
+			auto it = lstFiles.find(obs->sensorLabel);
+
+			FILE* f_this = nullptr;
+
+			if (it == lstFiles.end())  // A new file for this sensorlabel??
+			{
+				const std::string fileName = m_filPrefix + string("_") +
+					fileNameStripInvalidChars(obs->sensorLabel.empty()
+												  ? string("ODOMETRY")
+												  : obs->sensorLabel) +
+					string(".txt");
+
+				VERBOSE_COUT << "Writing TXT/CSV file: " << fileName << endl;
+
+				f_this = lstFiles[obs->sensorLabel] =
+					os::fopen(fileName.c_str(), "wt");
+				if (!f_this)
+					THROW_EXCEPTION_FMT(
+						"Cannot open output file for write: %s",
+						fileName.c_str());
+
+				// The first line is a description of the columns:
+				::fprintf(
+					f_this,
+					"%% "
+					"%16s "	 // TIMESTAMP
+					"%s\n",
+					"Time", obs->exportTxtHeader().c_str());
+			}
+			else
+				f_this = it->second;
+
+			ASSERT_(obs->timestamp != INVALID_TIMESTAMP);
+			double sampleTime = mrpt::Clock::toDouble(obs->timestamp);
+
+			// Time:
+			::fprintf(
+				f_this,
+				"%16.6f "  // TIMESTAMP
+				"%s\n",
+				sampleTime, obs->exportTxtDataRow().c_str());
+			m_entriesSaved++;
+			return true;  // All ok
+		}
+
+		// Destructor: close files and generate summary files:
+		~CRawlogProcessor_Export_TXT()
+		{
+			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
+				if (it->second) os::fclose(it->second);
+
+			// Save the joint file:
+			// -------------------------
+			VERBOSE_COUT
+				<< "Number of different sensorLabels exported to TXT/CSV: "
+				<< lstFiles.size() << endl;
+
+			lstFiles.clear();
+		}  // end of destructor
+	};
+
+	// Process
+	// ---------------------------------
+	CRawlogProcessor_Export_TXT proc(in_rawlog, cmdline, verbose);
+	proc.doProcessRawlog();
+
+	// Dump statistics:
+	// ---------------------------------
+	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
+				 << "\n";
+	VERBOSE_COUT << "Number of records saved           : "
+				 << proc.m_entriesSaved << "\n";
+}
diff --git a/apps/rawlog-edit/rawlog-edit_imu.cpp b/apps/rawlog-edit/rawlog-edit_imu.cpp
index 79dacff8e2..5802f840e6 100644
--- a/apps/rawlog-edit/rawlog-edit_imu.cpp
+++ b/apps/rawlog-edit/rawlog-edit_imu.cpp
@@ -18,135 +18,13 @@ using namespace mrpt::rawlogtools;
 using namespace std;
 using namespace mrpt::io;
 
+DECLARE_OP_FUNCTION(op_export_txt);
+
 // ======================================================================
 //		op_export_imu_txt
 // ======================================================================
 DECLARE_OP_FUNCTION(op_export_imu_txt)
 {
-	// A class to do this operation:
-	class CRawlogProcessor_ExportIMU_TXT
-		: public CRawlogProcessorOnEachObservation
-	{
-	   protected:
-		string m_inFile;
-
-		map<string, FILE*> lstFiles;
-		string m_filPrefix;
-
-	   public:
-		size_t m_entriesSaved;
-
-		CRawlogProcessor_ExportIMU_TXT(
-			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
-			bool Verbose)
-			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
-			  m_entriesSaved(0)
-		{
-			getArgValue<string>(cmdline, "input", m_inFile);
-
-			m_filPrefix =
-				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
-		}
-
-		// return false on any error.
-		bool processOneObservation(CObservation::Ptr& o) override
-		{
-			if (!IS_CLASS(*o, CObservationIMU)) return true;
-
-			const CObservationIMU* obs =
-				dynamic_cast<CObservationIMU*>(o.get());
-
-			auto it = lstFiles.find(obs->sensorLabel);
-
-			FILE* f_this;
-
-			if (it == lstFiles.end())  // A new file for this sensorlabel??
-			{
-				const std::string fileName = m_filPrefix + string("_") +
-					fileNameStripInvalidChars(obs->sensorLabel) +
-					string(".txt");
-
-				VERBOSE_COUT << "Writing IMU TXT file: " << fileName << endl;
-
-				f_this = lstFiles[obs->sensorLabel] =
-					os::fopen(fileName.c_str(), "wt");
-				if (!f_this)
-					THROW_EXCEPTION_FMT(
-						"Cannot open output file for write: %s",
-						fileName.c_str());
-
-				// The first line is a description of the columns:
-				::fprintf(
-					f_this,
-					"%% "
-					"%14s "	 // TIMESTAMP
-					"%22s %22s %22s "  // IMU_{X,Y,Z}_ACC
-					"%22s %22s %22s "  // IMU_YAW_VEL...
-					"%22s %22s %22s "  // IMU_X_VEL...
-					"%22s %22s %22s "  // IMU_YAW...
-					"%22s %22s %22s "  // IMU_X...
-					"%22s %22s %22s "  // MAG_X MAG_Y MAG_Z
-					"%22s %22s %22s "  // PRESS ALTIT TEMP
-					"\n",
-					"Time", "IMU_X_ACC", "IMU_Y_ACC", "IMU_Z_ACC",
-					"IMU_YAW_VEL", "IMU_PITCH_VEL", "IMU_ROLL_VEL", "IMU_X_VEL",
-					"IMU_Y_VEL", "IMU_Z_VEL", "IMU_YAW", "IMU_PITCH",
-					"IMU_ROLL", "IMU_X", "IMU_Y", "IMU_Z", "MAG_X", "MAG_Y",
-					"MAG_Z", "PRESS", "ALTITUDE", "TEMPERATURE");
-			}
-			else
-				f_this = it->second;
-
-			ASSERT_(obs->dataIsPresent.size() == obs->rawMeasurements.size());
-			size_t nValuesPerRow = obs->dataIsPresent.size();
-
-			// For each entry in this sequence: Compute the timestamp and save
-			// all 15 values:
-			ASSERT_(obs->timestamp != INVALID_TIMESTAMP);
-			TTimeStamp t = obs->timestamp;
-
-			double sampleTime = timestampTotime_t(t);
-
-			// Time:
-			::fprintf(f_this, "%14.4f ", sampleTime);
-			ASSERT_(obs->rawMeasurements.size() == obs->rawMeasurements.size());
-			for (size_t idx = 0; idx < nValuesPerRow; idx++)
-				::fprintf(
-					f_this, "%23.16f ",
-					obs->dataIsPresent[idx] ? obs->rawMeasurements[idx] : 0);
-			::fprintf(f_this, "\n");
-
-			m_entriesSaved++;
-
-			return true;  // All ok
-		}
-
-		// Destructor: close files and generate summary files:
-		~CRawlogProcessor_ExportIMU_TXT()
-		{
-			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
-			{
-				os::fclose(it->second);
-			}
-
-			// Save the joint file:
-			// -------------------------
-			VERBOSE_COUT << "Number of different IMU sensorLabels     : "
-						 << lstFiles.size() << endl;
-
-			lstFiles.clear();
-		}  // end of destructor
-	};
-
-	// Process
-	// ---------------------------------
-	CRawlogProcessor_ExportIMU_TXT proc(in_rawlog, cmdline, verbose);
-	proc.doProcessRawlog();
-
-	// Dump statistics:
-	// ---------------------------------
-	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
-				 << "\n";
-	VERBOSE_COUT << "Number of records saved           : "
-				 << proc.m_entriesSaved << "\n";
+	// Forward:
+	op_export_txt(in_rawlog, cmdline, verbose);
 }
diff --git a/apps/rawlog-edit/rawlog-edit_main.cpp b/apps/rawlog-edit/rawlog-edit_main.cpp
index 5f5001a6f8..1d8013ebe4 100644
--- a/apps/rawlog-edit/rawlog-edit_main.cpp
+++ b/apps/rawlog-edit/rawlog-edit_main.cpp
@@ -46,16 +46,22 @@ using namespace mrpt::io;
 DECLARE_OP_FUNCTION(op_camera_params);
 DECLARE_OP_FUNCTION(op_cut);
 DECLARE_OP_FUNCTION(op_deexternalize);
-DECLARE_OP_FUNCTION(op_export_2d_scans_txt);
-DECLARE_OP_FUNCTION(op_export_anemometer_txt);
-DECLARE_OP_FUNCTION(op_export_enose_txt);
+
 DECLARE_OP_FUNCTION(op_export_gps_all);
 DECLARE_OP_FUNCTION(op_export_gps_gas_kml);
 DECLARE_OP_FUNCTION(op_export_gps_kml);
+DECLARE_OP_FUNCTION(op_export_enose_txt);
 DECLARE_OP_FUNCTION(op_export_gps_txt);
+DECLARE_OP_FUNCTION(op_export_rawdaq_txt);
+
+DECLARE_OP_FUNCTION(op_export_txt);
+// op_export_txt is a generic replacement of all these:
+DECLARE_OP_FUNCTION(op_export_2d_scans_txt);
+DECLARE_OP_FUNCTION(op_export_anemometer_txt);
 DECLARE_OP_FUNCTION(op_export_imu_txt);
 DECLARE_OP_FUNCTION(op_export_odometry_txt);
-DECLARE_OP_FUNCTION(op_export_rawdaq_txt);
+// ^^^
+
 DECLARE_OP_FUNCTION(op_externalize);
 DECLARE_OP_FUNCTION(op_generate_3d_pointclouds);
 DECLARE_OP_FUNCTION(op_info);
@@ -358,6 +364,16 @@ int main(int argc, char** argv)
 			cmd, false));
 		ops_functors["export-rawdaq-txt"] = &op_export_rawdaq_txt;
 
+		arg_ops.push_back(std::make_unique<TCLAP::SwitchArg>(
+			"", "export-txt",
+			"Op: Generic export observations to TXT/CSV files.\n"
+			"Generates one .txt file for each different sensor label of "
+			"all observation classes that supports the export-to-txt API.\n"
+			"The generated .txt files will be saved in the same path than "
+			"the input rawlog, as `<rawlog_filename>_<sensorLabel>.txt`.",
+			cmd, false));
+		ops_functors["export-txt"] = &op_export_txt;
+
 		arg_ops.push_back(std::make_unique<TCLAP::SwitchArg>(
 			"", "export-2d-scans-txt",
 			"Op: Export 2D scans to TXT files.\n"
diff --git a/apps/rawlog-edit/rawlog-edit_odometry.cpp b/apps/rawlog-edit/rawlog-edit_odometry.cpp
index cb816f6204..55a195e820 100644
--- a/apps/rawlog-edit/rawlog-edit_odometry.cpp
+++ b/apps/rawlog-edit/rawlog-edit_odometry.cpp
@@ -18,137 +18,15 @@ using namespace mrpt::rawlogtools;
 using namespace std;
 using namespace mrpt::io;
 
+DECLARE_OP_FUNCTION(op_export_txt);
+
 // ======================================================================
 //		op_export_odometry_txt
 // ======================================================================
 DECLARE_OP_FUNCTION(op_export_odometry_txt)
 {
-	// A class to do this operation:
-	class CRawlogProcessor_ExportODO_TXT
-		: public CRawlogProcessorOnEachObservation
-	{
-	   protected:
-		string m_inFile;
-
-		map<string, FILE*> lstFiles;
-		string m_filPrefix;
-
-	   public:
-		size_t m_entriesSaved;
-
-		CRawlogProcessor_ExportODO_TXT(
-			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
-			bool Verbose)
-			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
-			  m_entriesSaved(0)
-		{
-			getArgValue<string>(cmdline, "input", m_inFile);
-
-			m_filPrefix =
-				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
-		}
-
-		// return false on any error.
-		bool processOneObservation(CObservation::Ptr& o) override
-		{
-			if (!IS_CLASS(*o, CObservationOdometry)) return true;
-
-			const CObservationOdometry* obs =
-				dynamic_cast<CObservationOdometry*>(o.get());
-
-			auto it = lstFiles.find(obs->sensorLabel);
-
-			FILE* f_this;
-
-			if (it == lstFiles.end())  // A new file for this sensorlabel??
-			{
-				const std::string fileName = m_filPrefix + string("_") +
-					fileNameStripInvalidChars(obs->sensorLabel.empty()
-												  ? string("ODOMETRY")
-												  : obs->sensorLabel) +
-					string(".txt");
-
-				VERBOSE_COUT << "Writing odometry TXT file: " << fileName
-							 << endl;
-
-				f_this = lstFiles[obs->sensorLabel] =
-					os::fopen(fileName.c_str(), "wt");
-				if (!f_this)
-					THROW_EXCEPTION_FMT(
-						"Cannot open output file for write: %s",
-						fileName.c_str());
-
-				// The first line is a description of the columns:
-				::fprintf(
-					f_this,
-					"%% "
-					"%14s "	 // TIMESTAMP
-					"%18s %18s %18s "  // GLOBAL_ODO_{x,y,phi}
-					"%18s %18s %18s "  // HAS, TICKS_L/R
-					"%18s %18s %18s "  // HAS, V,W
-					"\n",
-					"Time", "GLOBAL_ODO_X", "GLOBAL_ODO_Y",
-					"GLOBAL_ODO_PHI_RAD", "HAS_ENCODERS", "LEFT_ENC_INCR_TICKS",
-					"RIGHT_ENC_INCR_TICKS", "HAS_VELOCITIES",
-					"LIN_SPEED_MetPerSec", "ANG_SPEED_RadPerSec");
-			}
-			else
-				f_this = it->second;
-
-			// For each entry in this sequence: Compute the timestamp and save
-			// all 15 values:
-			ASSERT_(obs->timestamp != INVALID_TIMESTAMP);
-			TTimeStamp t = obs->timestamp;
-
-			double sampleTime = timestampTotime_t(t);
-
-			// Time:
-			::fprintf(
-				f_this,
-				"%14.4f "  // TIMESTAMP
-				"%18.5f %18.5f %18.5f "	 // GLOBAL_ODO_{x,y,phi}
-				"%18i %18i %18i "  // HAS, TICKS_L/R
-				"%18i %18.5f %18.5f"  // HAS, V,W
-				"\n",
-				sampleTime, obs->odometry.x(), obs->odometry.y(),
-				obs->odometry.phi(),
-				static_cast<int>(obs->hasEncodersInfo ? 1 : 0),
-				static_cast<int>(obs->encoderLeftTicks),
-				static_cast<int>(obs->encoderRightTicks),
-				static_cast<int>(obs->hasVelocities ? 1 : 0),
-				obs->velocityLocal.vx, obs->velocityLocal.omega);
-			m_entriesSaved++;
-			return true;  // All ok
-		}
-
-		// Destructor: close files and generate summary files:
-		~CRawlogProcessor_ExportODO_TXT()
-		{
-			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
-			{
-				os::fclose(it->second);
-			}
-
-			// Save the joint file:
-			// -------------------------
-			VERBOSE_COUT << "Number of different odometry sensorLabels  : "
-						 << lstFiles.size() << endl;
-
-			lstFiles.clear();
-		}  // end of destructor
-	};
-
-	// Process
-	// ---------------------------------
-	CRawlogProcessor_ExportODO_TXT proc(in_rawlog, cmdline, verbose);
-	proc.doProcessRawlog();
-
-	// Dump statistics:
-	// ---------------------------------
-	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
-				 << "\n";
-	VERBOSE_COUT << "Number of records saved           : "
-				 << proc.m_entriesSaved << "\n";
+	// Forward:
+	op_export_txt(in_rawlog, cmdline, verbose);
 }
 
 // ======================================================================
diff --git a/appveyor.yml b/appveyor.yml
index 602bc43b95..c548d86868 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.3.1-{branch}-build{build}
+version: 2.3.2-{branch}-build{build}
 
 os: Visual Studio 2019
 
diff --git a/doc/man-pages/pod/rawlog-edit.pod b/doc/man-pages/pod/rawlog-edit.pod
index d955fbfaa0..6498cca4ae 100644
--- a/doc/man-pages/pod/rawlog-edit.pod
+++ b/doc/man-pages/pod/rawlog-edit.pod
@@ -8,7 +8,7 @@ rawlog-edit - Command-line robotic datasets (rawlogs) manipulation tool
                 <SENSOR_LABEL,0.5>] [--camera-params <SENSOR_LABEL
                 ,file.ini>] [--sensors-pose <file.ini>]
                 [--generate-3d-pointclouds] [--cut] [--export-2d-scans-txt]
-                [--export-rawdaq-txt] [--recalc-odometry]
+                [--export-txt] [--export-rawdaq-txt] [--recalc-odometry]
                 [--export-anemometer-txt] [--export-enose-txt]
                 [--export-odometry-txt] [--export-imu-txt]
                 [--export-gps-all] [--export-gps-txt]
@@ -22,8 +22,8 @@ rawlog-edit - Command-line robotic datasets (rawlogs) manipulation tool
                 [--text-file-output <out.txt>] [--rectify-centers-coincide]
                 [--image-size <COLSxROWS>] [--txt-externals]
                 [--image-format <jpg,png,pgm,...>] [--out-dir <.>] [-p
-                <dataset.rawlog>] [-o <dataset_out.rawlog>] -i
-                <dataset.rawlog> [--] [--version] [-h]
+                <mylib.so>] [-o <dataset_out.rawlog>] -i <dataset.rawlog>
+                [--] [--version] [-h]
 
 
 =head1 USAGE EXAMPLES
@@ -44,6 +44,10 @@ B<Cut the entries from the beginning up to timestamp 1281619819:>
 rawlog-edit --cut --to-time 1281619819 \
              -i I<in.rawlog> -o I<out.rawlog>
 
+B<Export all suitable observations to TXT/CSV files:>
+
+rawlog-edit --export-txt -i I<in.rawlog>
+
 
 B<Generate a Google Earth KML file with the GPS data in a dataset:>
 
@@ -94,10 +98,10 @@ These are the supported arguments and operations:
 
      Requires: -o (or --output)
 
-     Optional: --image-format to set image format (default=jpg), 
+     Optional: --image-format to set image format (default=jpg),
 
      --image-size to resize output images (example: --image-size 640x480)
-     
+
 
 
    --camera-params <SENSOR_LABEL,file.ini>
@@ -148,6 +152,15 @@ These are the supported arguments and operations:
      The generated .txt files will be saved in the same path than the input
      rawlog, with the same filename + each sensorLabel.
 
+   --export-txt
+     Op: Generic export observations to TXT/CSV files.
+
+     Generates one .txt file for each different sensor label of all
+     observation classes that supports the export-to-txt API.
+
+     The generated .txt files will be saved in the same path than the input
+     rawlog, as `<rawlog_filename>_<sensorLabel>.txt`.
+
    --export-rawdaq-txt
      Op: Export raw DAQ readings to TXT files.
 
diff --git a/doc/source/app_camera-calib.rst b/doc/source/app_camera-calib.rst
new file mode 100644
index 0000000000..aec5053744
--- /dev/null
+++ b/doc/source/app_camera-calib.rst
@@ -0,0 +1,69 @@
+.. _app_camera-calib:
+
+
+====================================================
+Application: camera-calib
+====================================================
+
+1. Description
+----------------
+This GUI program allows users to perform **intrinsic camera parameters calibration**
+by capturing several images of a **checkerboard**.
+The program allows live grabbing of images as well as selection
+of pre-recorded image files.
+It also shows the reprojected points, undistorted images and a 3D
+view of the reconstructed camera poses.
+
+Supported image sources:
+
+ - All cameras supported by OpenCV (webcams, firewire,…)
+ - All cameras supported by FFmpeg (IP cameras,…)
+ - Video files (in any format)
+ - :ref:`Rawlog files<rawlog_format>`.
+ - The stereo Bumblebee camera, for calibration of the individual cameras one at a time.
+ - The RGB intensity and IR channels of Microsoft Kinect.
+
+Precompiled binaries of this application can be found [here](download-mrpt.html) for Windows and Linux.
+
+.. note::
+    You need to print a checker-board for the calibration, for example `from this web <https://calib.io/pages/camera-calibration-pattern-generator>`_
+    (remember to select `checkerboard` type).
+
+
+2. Video tutorial
+--------------------
+
+This (old!) video tutorial explains how to use ``camera-calib`` to calibrate
+a camera with a checkerboard. The program captures the images of the pattern
+on the fly and finally computes the camera matrix and the distortion parameters,
+which can be saved to plain text files (or to a YAML file):
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/BkZkq6zPwQM" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+3. Screenshots
+-------------------
+
+.. image:: images/Cam_calib_gui_1.jpg
+   :alt: The detected checkerboard.
+
+The detected checkerboard.
+
+.. image:: images/Cam_calib_gui_2.jpg
+   :alt: The undistorted images
+
+The undistorted images
+
+.. image:: images/camera-calibration_kinect_ir_channel-1024x558.jpg
+   :alt: Calibrating the infrarred (IR) channel camera of a Kinect.
+
+Calibrating the infrarred (IR) channel camera of a Kinect.
+
+
+.. image:: images/Screenshot_camera_calib_3Dview.jpg
+   :alt: The final 3D reconstruction of the camera locations around the checkerboard
+
+The final 3D reconstruction of the camera locations around the checkerboard.
diff --git a/doc/source/applications.rst b/doc/source/applications.rst
index 0916fc18b1..be530ee242 100644
--- a/doc/source/applications.rst
+++ b/doc/source/applications.rst
@@ -11,7 +11,7 @@ also provides many ready-to-use applications:
   :maxdepth: 1
 
   page_app_2d-slam-demo.rst
-  page_app_camera-calib.rst
+  app_camera-calib.rst
   page_app_carmen2rawlog.rst
   page_app_carmen2rawlog.rst
   page_app_carmen2simplemap.rst
diff --git a/doc/source/compiling.rst b/doc/source/compiling.rst
index cde9ec43a5..12c3c1dbc7 100644
--- a/doc/source/compiling.rst
+++ b/doc/source/compiling.rst
@@ -31,27 +31,39 @@ Minimum compiler requisites:
 .. dropdown:: Debian/Ubuntu
     :open:
 
-    **Minimum** recommended requisites:
+    **Minimum recommended** requisites:
 
     .. code-block:: bash
 
        sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
-            libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev libgtest-dev
+         libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev zlib1g-dev \
+         libsuitesparse-dev libjpeg-dev
 
-    **Recommended additional** packages to enable most MRPT features
-    (except ROS bridges):
+    **Recommended additional** packages to enable most MRPT features:
 
     .. code-block:: bash
 
-       sudo apt install libftdi-dev freeglut3-dev zlib1g-dev \
-            libusb-1.0-0-dev libudev-dev libfreenect-dev libdc1394-22-dev \
-            libavformat-dev libswscale-dev libassimp-dev libjpeg-dev \
-            libsuitesparse-dev libpcap-dev liboctomap-dev libglfw3-dev \
-            binutils-dev
+       # Build OpenGL graphics, Qt and nanogui GUIs:
+       sudo apt install freeglut3-dev libassimp-dev libglfw3-dev \
+            libglu1-mesa-dev libqt5opengl5-dev qtbase5-dev \
+            libxrandr-dev libxxf86vm-dev
 
+       # Support most common sensors:
+       sudo apt install libftdi-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
+            libdc1394-22-dev libavformat-dev libswscale-dev libpcap-dev \
+            liboctomap-dev libopenni2-dev
 
-    Install additional dependencies for ros1bridge using official Ubuntu
-    repositories. If you already have a ROS distribution installed,
+       # Support showing debug information in call stacks upon exceptions:
+       sudo apt install binutils-dev libiberty-dev
+
+       # Support using system SimpleINI library (only Ubuntu >=20.04 focal)
+       sudo apt install libicu-dev libsimpleini-dev
+
+    If your Ubuntu distribution is old and does not have any of the packages
+    above, do not worry and ignore it, MRPT CMake scripts will handle it.
+
+    **ROS1 support:** Install additional dependencies for ros1bridge using
+    official Ubuntu repositories. If you already have a ROS distribution installed,
     doing ``source /opt/ros/xxx/setup.bash`` is enough, no further packages
     must be installed. Do not install these packages if you do not need
     the `mrpt::ros1bridge <group_mrpt_ros1bridge_grp.html>`_ module.
diff --git a/doc/source/download-mrpt.rst b/doc/source/download-mrpt.rst
index adf804588a..501647d751 100644
--- a/doc/source/download-mrpt.rst
+++ b/doc/source/download-mrpt.rst
@@ -52,31 +52,6 @@ Last **stable release** (`mrpt-stable PPA status <https://launchpad.net/~joselui
    sudo add-apt-repository ppa:joseluisblancoc/mrpt   # develop branch
    sudo apt install libmrpt-dev mrpt-apps
 
-.. note::
-   **Ubuntu 16.04 LTS users**: If you want to compile MRPT or install it from
-   a PPA, you must upgrade your gcc compiler to version >=7.
-   See `instructions here <https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5>`_.
-
-Last **stable release** (`mrpt-stable-xenial PPA status <https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-stable-xenial>`_), for Ubuntu 16.04 LTS Xenial (EOL: April 2021):
-
-.. code-block:: bash
-
-   # Install pre-requisites (** ONLY FOR Ubuntu 16.04 Xenial **)
-   sudo add-apt-repository ppa:ubuntu-toolchain-r/test # gcc-7 Backport
-   sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable-xenial
-   sudo apt-get update
-   sudo apt-get install libmrpt-dev mrpt-apps
-
-**Nightly builds** (`mrpt-nightly-xenial PPA status <https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-unstable-xenial>`_), for Ubuntu 16.04 LTS Xenial (EOL: April 2021):
-
-.. code-block:: bash
-
-   # Install pre-requisites (** ONLY FOR Ubuntu 16.04 Xenial **)
-   sudo add-apt-repository ppa:ubuntu-toolchain-r/test # gcc-7 Backport
-   sudo add-apt-repository ppa:joseluisblancoc/mrpt-unstable-xenial
-   sudo apt-get update
-   sudo apt-get install libmrpt-dev mrpt-apps
-
 
 Windows installers
 --------------------
diff --git a/doc/source/doxygen-docs/app_camera-calib.md b/doc/source/doxygen-docs/app_camera-calib.md
deleted file mode 100644
index a9499a21d5..0000000000
--- a/doc/source/doxygen-docs/app_camera-calib.md
+++ /dev/null
@@ -1 +0,0 @@
-\page  app_camera-calib Application: camera-calib
diff --git a/doc/source/doxygen-docs/app_rawlog-edit.md b/doc/source/doxygen-docs/app_rawlog-edit.md
index 70c0bbc3bb..810d70147e 100644
--- a/doc/source/doxygen-docs/app_rawlog-edit.md
+++ b/doc/source/doxygen-docs/app_rawlog-edit.md
@@ -45,6 +45,11 @@ rawlog-edit - Command-line robotic datasets (rawlogs) manipulation tool
     rawlog-edit --cut --to-time 1281619819 -i in.rawlog -o out.rawlog
 
 
+**Export all suitable observations to TXT/CSV files:**
+
+    rawlog-edit --export-txt -i in.rawlog
+
+
 **Generate a Google Earth KML file with the GPS data in a dataset:**
 
     rawlog-edit --export-gps-kml -i in.rawlog
@@ -143,6 +148,17 @@ These are the supported arguments and operations:
         The generated .txt files will be saved in the same path than the input
         rawlog, with the same filename + each sensorLabel.
 
+
+      --export-txt
+       Op: Generic export observations to TXT/CSV files.
+
+       Generates one .txt file for each different sensor label of all
+       observation classes that supports the export-to-txt API.
+
+       The generated .txt files will be saved in the same path than the input
+       rawlog, as `<rawlog_filename>_<sensorLabel>.txt`.
+
+
       --export-rawdaq-txt
         Op: Export raw DAQ readings to TXT files.
 
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index aa6e49a1b7..7b575970aa 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,45 @@
 \page changelog Change Log
 
+# Version 2.3.2: Released Jul 14, 2021
+- Changes in applications:
+  - RawLogViewer:
+    - More tree view icons.
+    - "Play video" window now also shows timestamps.
+  - SceneViewer3D:
+    - New command-line flag `--imgdir` to define the base path for lazy-load images.
+  - rawlog-edit:
+    - New operation `--export-txt` exploiting the new export-to-txt API in mrpt::obs::CObservation
+  - navlog-viewer:
+    - New UI tools to manually pick and export selected PTG selections to a training YAML file.
+- Changes in libraries:
+  - \ref mrpt_containers_grp
+    - YAML macros `MCP_LOAD_OPT()`, `MCP_LOAD_REQ()`, and `MCP_SAVE()` now also support reading and writing enums directly as YAML, transparently converting numerical values to/from their symbolic names.
+  - \ref mrpt_core_grp
+    - Added C++14 helper templates mrpt::uint_select_by_bytecount_t and mrpt::int_select_by_bytecount_t
+  - \ref mrpt_gui_grp
+    - mrpt::gui::CDisplayWindowGUI: improved API to allow multiple callback handlers, and to report exceptions in them.
+    - New 3D navigation key binding: SHIFT+scroll wheel, for fast up/down pure vertical motion of the camera point.
+  - \ref mrpt_img_grp
+    - mrpt::img::CImage::loadFromFile() now avoids memory allocations if there was already an image in memory with the same size.
+  - \ref mrpt_obs_grp
+    - mrpt::obs::CObservation now has a common API to export datasets to TXT/CSV files, see methods exportTxtSupported(), exportTxtHeader(), exportTxtDataRow(). It has been implemented in all suitable observation classes.
+    - mrpt::obs::CObservationImage::unload() defaulted to doing nothing. It now correctly unloads lazy-load images.
+  - \ref mrpt_poses_grp
+    - New methods mrpt::math::TTwist2D::rotated() and mrpt::math::TTwist3D::rotated()
+  - \ref mrpt_system_grp
+    - mrpt::system::CTimeLogger: 
+      - Include custom `name` in underlying mrpt::system::COutputLogger name.
+      - Fix all valgrind/helgrind warning messages.
+    - New functions mrpt::system::firstNLines() and mrpt::system::nthOccurrence()
+- BUG FIXES:
+  - mrpt::img::CImage::isEmpty() should return false for delay-load images.
+  - Fix build error with GCC 8 in `mrpt/containers/yaml.h`.
+  - Fix exception rendering empty point clouds due to invalid bounding box.
+  - Fix broken 2D plots rendering in Ubuntu 20.04 (and probably other systems), via an update in mpWindow to properly use wxAutoBufferedPaintDC.
+  - mrpt::img::CImage::getPixelDepth() should force loading lazy load images.
+  - Fixed wrong rendering of different textures within the same opengl shader program.
+  - Fixed potential crashes inside BFD if using BFD and calling mrpt::callStackBackTrace() from several parallel threads.
+
 # Version 2.3.1: Released May 26th, 2021
 - General cmake scripts:
   - `find_package(mrpt-xxx)` is now much faster.
diff --git a/doc/source/images/Cam_calib_gui_1.jpg b/doc/source/images/Cam_calib_gui_1.jpg
new file mode 100644
index 0000000000..0f57d07400
Binary files /dev/null and b/doc/source/images/Cam_calib_gui_1.jpg differ
diff --git a/doc/source/images/Cam_calib_gui_2.jpg b/doc/source/images/Cam_calib_gui_2.jpg
new file mode 100644
index 0000000000..d089f8c811
Binary files /dev/null and b/doc/source/images/Cam_calib_gui_2.jpg differ
diff --git a/doc/source/images/Screenshot_camera_calib_3Dview.jpg b/doc/source/images/Screenshot_camera_calib_3Dview.jpg
new file mode 100644
index 0000000000..506b51e794
Binary files /dev/null and b/doc/source/images/Screenshot_camera_calib_3Dview.jpg differ
diff --git a/doc/source/images/camera-calibration_kinect_ir_channel-1024x558.jpg b/doc/source/images/camera-calibration_kinect_ir_channel-1024x558.jpg
new file mode 100644
index 0000000000..2556134de8
Binary files /dev/null and b/doc/source/images/camera-calibration_kinect_ir_channel-1024x558.jpg differ
diff --git a/doc/source/images/graph_mrpt_libs.dot b/doc/source/images/graph_mrpt_libs.dot
index bac402b87c..70773dee0d 100644
--- a/doc/source/images/graph_mrpt_libs.dot
+++ b/doc/source/images/graph_mrpt_libs.dot
@@ -22,6 +22,7 @@ digraph MRPT_LIBS {
 
 	containers  [label="mrpt-containers",URL="group_mrpt_containers_grp.html"];
 	containers -> core;
+	containers -> typemeta;
 
 	{ rank = sink;
 	core       [label="mrpt-core",URL="group_mrpt_core_grp.html"];
diff --git a/doc/source/images/graph_mrpt_libs.map b/doc/source/images/graph_mrpt_libs.map
index 94bf23e2b7..3ea065e692 100644
--- a/doc/source/images/graph_mrpt_libs.map
+++ b/doc/source/images/graph_mrpt_libs.map
@@ -1,34 +1,34 @@
 <map id="MRPT_LIBS" name="MRPT_LIBS">
-<area shape="rect" id="node1" href="group_mrpt_bayes_grp.html" title="mrpt&#45;apps" alt="" coords="501,5,597,53"/>
+<area shape="rect" id="node1" href="group_mrpt_bayes_grp.html" title="mrpt&#45;apps" alt="" coords="440,5,536,53"/>
 <area shape="rect" id="node2" href="group_mrpt_gui_grp.html" title="mrpt&#45;gui" alt="" coords="469,293,555,341"/>
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-<area shape="rect" id="node19" href="group_mrpt_maps_grp.html" title="mrpt&#45;maps" alt="" coords="253,389,355,437"/>
-<area shape="rect" id="node20" href="group_mrpt_vision_grp.html" title="mrpt&#45;vision" alt="" coords="604,389,711,437"/>
+<area shape="rect" id="node4" href="group_mrpt_hwdrivers_grp.html" title="mrpt&#45;hwdrivers" alt="" coords="214,197,349,245"/>
+<area shape="rect" id="node5" href="group_mrpt_graphslam_grp.html" title="mrpt&#45;graphslam" alt="" coords="424,197,563,245"/>
+<area shape="rect" id="node6" href="group_mrpt_hmtslam_grp.html" title="mrpt&#45;hmtslam" alt="" coords="425,101,551,149"/>
+<area shape="rect" id="node19" href="group_mrpt_opengl_grp.html" title="mrpt&#45;opengl" alt="" coords="259,581,371,629"/>
+<area shape="rect" id="node20" href="group_mrpt_maps_grp.html" title="mrpt&#45;maps" alt="" coords="253,389,355,437"/>
+<area shape="rect" id="node21" href="group_mrpt_vision_grp.html" title="mrpt&#45;vision" alt="" coords="604,389,711,437"/>
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-<area shape="rect" id="node25" href="group_mrpt_random_grp.html" title="mrpt&#45;random" alt="" coords="443,1253,562,1301"/>
+<area shape="rect" id="node25" href="group_mrpt_serialization_grp.html" title="mrpt&#45;serialization" alt="" coords="314,1061,465,1109"/>
+<area shape="rect" id="node26" href="group_mrpt_random_grp.html" title="mrpt&#45;random" alt="" coords="451,1253,570,1301"/>
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-<area shape="rect" id="node26" href="group_mrpt_nav_grp.html" title="mrpt&#45;nav" alt="" coords="87,293,177,341"/>
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diff --git a/doc/source/images/graph_mrpt_libs.png b/doc/source/images/graph_mrpt_libs.png
index 5457ce8eac..0ed5e94a61 100644
Binary files a/doc/source/images/graph_mrpt_libs.png and b/doc/source/images/graph_mrpt_libs.png differ
diff --git a/doc/source/images/graph_mrpt_libs.svg b/doc/source/images/graph_mrpt_libs.svg
index 8ffb188a3a..ba87dc7a91 100644
--- a/doc/source/images/graph_mrpt_libs.svg
+++ b/doc/source/images/graph_mrpt_libs.svg
@@ -13,8 +13,8 @@
 <g id="node1" class="node">
 <title>apps</title>
 <g id="a_node1"><a xlink:href="group_mrpt_bayes_grp.html" xlink:title="mrpt&#45;apps">
-<polygon fill="#d0d0d0" stroke="#000000" points="444,-972 372,-972 372,-936 444,-936 444,-972"/>
-<text text-anchor="middle" x="408" y="-950.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;apps</text>
+<polygon fill="#d0d0d0" stroke="#000000" points="398,-972 326,-972 326,-936 398,-936 398,-972"/>
+<text text-anchor="middle" x="362" y="-950.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;apps</text>
 </a>
 </g>
 </g>
@@ -30,8 +30,8 @@
 <!-- apps&#45;&gt;gui -->
 <g id="edge1" class="edge">
 <title>apps&#45;&gt;gui</title>
-<path fill="none" stroke="#000000" d="M385.7211,-935.9596C360.4846,-913.7596 321.27,-873.3856 309,-828 304.8243,-812.5545 301.8928,-806.3348 309,-792 315.532,-778.8255 326.9862,-767.9951 338.8126,-759.5824"/>
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+<polygon fill="#000000" stroke="#000000" points="340.4507,-760.7434 347.2005,-752.5769 336.8312,-754.7518 340.4507,-760.7434"/>
 </g>
 <!-- slam -->
 <g id="node3" class="node">
@@ -45,104 +45,104 @@
 <!-- apps&#45;&gt;slam -->
 <g id="edge2" class="edge">
 <title>apps&#45;&gt;slam</title>
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 </g>
 </g>
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 <title>apps&#45;&gt;hwdrivers</title>
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 </g>
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+<g id="node17" class="node">
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 </a>
 </g>
 </g>
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+<g id="edge13" class="edge">
 <title>detectors&#45;&gt;gui</title>
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 </g>
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 <title>detectors&#45;&gt;slam</title>
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 </g>
 <!-- graphs -->
-<g id="node17" class="node">
+<g id="node18" class="node">
 <title>graphs</title>
-<g id="a_node17"><a xlink:href="group_mrpt_graphs_grp.html" xlink:title="mrpt&#45;graphs">
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 </a>
 </g>
 </g>
 <!-- graphs&#45;&gt;opengl -->
-<g id="edge15" class="edge">
+<g id="edge16" class="edge">
 <title>graphs&#45;&gt;opengl</title>
 <path fill="none" stroke="#000000" d="M225.2711,-575.8314C226.2336,-568.131 227.3782,-558.9743 228.4479,-550.4166"/>
 <polygon fill="#000000" stroke="#000000" points="231.9309,-550.7702 229.6983,-540.4133 224.9849,-549.9019 231.9309,-550.7702"/>
 </g>
 <!-- img -->
-<g id="node21" class="node">
+<g id="node22" class="node">
 <title>img</title>
-<g id="a_node21"><a xlink:href="group_mrpt_img_grp.html" xlink:title="mrpt&#45;img">
+<g id="a_node22"><a xlink:href="group_mrpt_img_grp.html" xlink:title="mrpt&#45;img">
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 </a>
 </g>
 </g>
 <!-- opengl&#45;&gt;img -->
-<g id="edge39" class="edge">
+<g id="edge40" class="edge">
 <title>opengl&#45;&gt;img</title>
 <path fill="none" stroke="#000000" d="M228.4538,-503.7623C223.6569,-479.0928 215.0561,-434.8598 209.4392,-405.9731"/>
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 </g>
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-<g id="node28" class="node">
+<g id="node29" class="node">
 <title>poses</title>
-<g id="a_node28"><a xlink:href="group_mrpt_poses_grp.html" xlink:title="mrpt&#45;poses">
+<g id="a_node29"><a xlink:href="group_mrpt_poses_grp.html" xlink:title="mrpt&#45;poses">
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 <text text-anchor="middle" x="303" y="-446.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;poses</text>
 </a>
 </g>
 </g>
 <!-- opengl&#45;&gt;poses -->
-<g id="edge38" class="edge">
+<g id="edge39" class="edge">
 <title>opengl&#45;&gt;poses</title>
 <path fill="none" stroke="#000000" d="M249.9163,-503.8314C258.3442,-495.2848 268.541,-484.9443 277.736,-475.6198"/>
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 </g>
 <!-- maps&#45;&gt;graphs -->
-<g id="edge29" class="edge">
+<g id="edge30" class="edge">
 <title>maps&#45;&gt;graphs</title>
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-<g id="node23" class="node">
+<g id="node24" class="node">
 <title>obs</title>
-<g id="a_node23"><a xlink:href="group_mrpt_obs_grp.html" xlink:title="mrpt&#45;obs">
+<g id="a_node24"><a xlink:href="group_mrpt_obs_grp.html" xlink:title="mrpt&#45;obs">
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 <text text-anchor="middle" x="354" y="-590.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;obs</text>
 </a>
 </g>
 </g>
 <!-- maps&#45;&gt;obs -->
-<g id="edge30" class="edge">
+<g id="edge31" class="edge">
 <title>maps&#45;&gt;obs</title>
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+<g id="edge52" class="edge">
 <title>vision&#45;&gt;obs</title>
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 </g>
 <!-- img&#45;&gt;math -->
-<g id="edge25" class="edge">
+<g id="edge26" class="edge">
 <title>img&#45;&gt;math</title>
 <path fill="none" stroke="#000000" d="M221.2228,-359.803C230.3445,-349.6869 241.4055,-336.623 250,-324 263.6011,-304.0236 276.342,-279.7686 285.2745,-261.474"/>
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 </g>
 <!-- img&#45;&gt;config -->
-<g id="edge26" class="edge">
+<g id="edge27" class="edge">
 <title>img&#45;&gt;config</title>
 <path fill="none" stroke="#000000" d="M202.9906,-359.8314C202.5628,-352.131 202.0541,-342.9743 201.5787,-334.4166"/>
 <polygon fill="#000000" stroke="#000000" points="205.0724,-334.2037 201.023,-324.4133 198.0831,-334.592 205.0724,-334.2037"/>
 </g>
 <!-- img&#45;&gt;io -->
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+<g id="edge25" class="edge">
 <title>img&#45;&gt;io</title>
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 <polygon fill="#000000" stroke="#000000" points="140.1199,-327.214 129.9739,-324.1628 136.0027,-332.8752 140.1199,-327.214"/>
 </g>
 <!-- kinematics -->
-<g id="node22" class="node">
+<g id="node23" class="node">
 <title>kinematics</title>
-<g id="a_node22"><a xlink:href="group_mrpt_kinematics_grp.html" xlink:title="mrpt&#45;kinematics">
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 </a>
 </g>
 </g>
 <!-- kinematics&#45;&gt;opengl -->
-<g id="edge28" class="edge">
+<g id="edge29" class="edge">
 <title>kinematics&#45;&gt;opengl</title>
 <path fill="none" stroke="#000000" d="M140.7858,-575.8314C156.3903,-566.6221 175.524,-555.3301 192.2303,-545.4706"/>
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 <!-- obs&#45;&gt;opengl -->
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+<g id="edge37" class="edge">
 <title>obs&#45;&gt;opengl</title>
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 <polygon fill="#000000" stroke="#000000" points="273.1669,-542.2312 262.7759,-540.1628 269.6091,-548.2596 273.1669,-542.2312"/>
 </g>
 <!-- tfest -->
-<g id="node27" class="node">
+<g id="node28" class="node">
 <title>tfest</title>
-<g id="a_node27"><a xlink:href="group_mrpt_tfest_grp.html" xlink:title="mrpt&#45;tfest">
+<g id="a_node28"><a xlink:href="group_mrpt_tfest_grp.html" xlink:title="mrpt&#45;tfest">
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 <text text-anchor="middle" x="345" y="-518.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;tfest</text>
 </a>
 </g>
 </g>
 <!-- obs&#45;&gt;tfest -->
-<g id="edge37" class="edge">
+<g id="edge38" class="edge">
 <title>obs&#45;&gt;tfest</title>
 <path fill="none" stroke="#000000" d="M351.7289,-575.8314C350.7664,-568.131 349.6218,-558.9743 348.5521,-550.4166"/>
 <polygon fill="#000000" stroke="#000000" points="352.0151,-549.9019 347.3017,-540.4133 345.0691,-550.7702 352.0151,-549.9019"/>
 </g>
 <!-- rtti -->
-<g id="node29" class="node">
+<g id="node30" class="node">
 <title>rtti</title>
-<g id="a_node29"><a xlink:href="group_mrpt_rtti_grp.html" xlink:title="mrpt&#45;rtti">
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-<text text-anchor="middle" x="288" y="-86.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;rtti</text>
+<g id="a_node30"><a xlink:href="group_mrpt_rtti_grp.html" xlink:title="mrpt&#45;rtti">
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+<text text-anchor="middle" x="285" y="-86.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;rtti</text>
 </a>
 </g>
 </g>
 <!-- serialization&#45;&gt;rtti -->
-<g id="edge44" class="edge">
+<g id="edge45" class="edge">
 <title>serialization&#45;&gt;rtti</title>
-<path fill="none" stroke="#000000" d="M288,-143.8314C288,-136.131 288,-126.9743 288,-118.4166"/>
-<polygon fill="#000000" stroke="#000000" points="291.5001,-118.4132 288,-108.4133 284.5001,-118.4133 291.5001,-118.4132"/>
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+<polygon fill="#000000" stroke="#000000" points="289.6806,-118.2589 285.7672,-108.4133 282.6867,-118.5503 289.6806,-118.2589"/>
 </g>
 <!-- nav -->
-<g id="node26" class="node">
+<g id="node27" class="node">
 <title>nav</title>
-<g id="a_node26"><a xlink:href="group_mrpt_nav_grp.html" xlink:title="mrpt&#45;nav">
+<g id="a_node27"><a xlink:href="group_mrpt_nav_grp.html" xlink:title="mrpt&#45;nav">
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 <text text-anchor="middle" x="95" y="-734.3" font-family="Times,serif" font-size="14.00" fill="#000000">mrpt&#45;nav</text>
 </a>
 </g>
 </g>
 <!-- nav&#45;&gt;maps -->
-<g id="edge35" class="edge">
+<g id="edge36" class="edge">
 <title>nav&#45;&gt;maps</title>
 <path fill="none" stroke="#000000" d="M127.5521,-719.8314C144.2048,-710.5368 164.6585,-699.1208 182.4385,-689.1971"/>
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 <!-- nav&#45;&gt;kinematics -->
-<g id="edge34" class="edge">
+<g id="edge35" class="edge">
 <title>nav&#45;&gt;kinematics</title>
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 </g>
 <!-- tfest&#45;&gt;poses -->
-<g id="edge49" class="edge">
+<g id="edge50" class="edge">
 <title>tfest&#45;&gt;poses</title>
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 </g>
 <!-- poses&#45;&gt;bayes -->
-<g id="edge40" class="edge">
+<g id="edge41" class="edge">
 <title>poses&#45;&gt;bayes</title>
 <path fill="none" stroke="#000000" d="M303,-431.8314C303,-424.131 303,-414.9743 303,-406.4166"/>
 <polygon fill="#000000" stroke="#000000" points="306.5001,-406.4132 303,-396.4133 299.5001,-406.4133 306.5001,-406.4132"/>
 </g>
 <!-- rtti&#45;&gt;core -->
-<g id="edge41" class="edge">
+<g id="edge42" class="edge">
 <title>rtti&#45;&gt;core</title>
-<path fill="none" stroke="#000000" d="M281.4391,-71.8314C278.5973,-63.9617 275.2063,-54.5712 272.0581,-45.8533"/>
-<polygon fill="#000000" stroke="#000000" points="275.3377,-44.63 268.6492,-36.4133 268.7538,-47.0076 275.3377,-44.63"/>
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+<polygon fill="#000000" stroke="#000000" points="286.0724,-46.2037 282.023,-36.4133 279.0831,-46.592 286.0724,-46.2037"/>
 </g>
 <!-- rtti&#45;&gt;typemeta -->
-<g id="edge42" class="edge">
+<g id="edge43" class="edge">
 <title>rtti&#45;&gt;typemeta</title>
-<path fill="none" stroke="#000000" d="M256.2279,-76.0184C253.1114,-74.6568 249.9953,-73.2993 247,-72 222.6419,-61.4338 195.5848,-49.8215 172.807,-40.0816"/>
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+<polygon fill="#000000" stroke="#000000" points="207.1263,-38.3838 196.7669,-36.1628 203.4802,-44.3593 207.1263,-38.3838"/>
 </g>
 <!-- ros1bridge -->
 <g id="node31" class="node">
@@ -583,7 +589,7 @@
 </g>
 </g>
 <!-- ros1bridge&#45;&gt;maps -->
-<g id="edge43" class="edge">
+<g id="edge44" class="edge">
 <title>ros1bridge&#45;&gt;maps</title>
 <path fill="none" stroke="#000000" d="M234.4672,-719.8314C232.9699,-712.131 231.1895,-702.9743 229.5255,-694.4166"/>
 <polygon fill="#000000" stroke="#000000" points="232.9248,-693.5614 227.5804,-684.4133 226.0535,-694.8975 232.9248,-693.5614"/>
@@ -598,7 +604,7 @@
 </g>
 </g>
 <!-- topography&#45;&gt;obs -->
-<g id="edge50" class="edge">
+<g id="edge51" class="edge">
 <title>topography&#45;&gt;obs</title>
 <path fill="none" stroke="#000000" d="M370.4485,-647.8314C368.0697,-640.0463 365.2362,-630.7729 362.5967,-622.1347"/>
 <polygon fill="#000000" stroke="#000000" points="365.8958,-620.954 359.6263,-612.4133 359.2013,-622.9996 365.8958,-620.954"/>
@@ -613,7 +619,7 @@
 </g>
 </g>
 <!-- visionlgpl&#45;&gt;vision -->
-<g id="edge52" class="edge">
+<g id="edge53" class="edge">
 <title>visionlgpl&#45;&gt;vision</title>
 <path fill="none" stroke="#000000" d="M556.2892,-719.8314C545.204,-710.9632 531.7046,-700.1637 519.7148,-690.5718"/>
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diff --git a/doc/source/modules.rst b/doc/source/modules.rst
index 067296d168..5b89bc6d27 100644
--- a/doc/source/modules.rst
+++ b/doc/source/modules.rst
@@ -20,7 +20,6 @@ Each MRPT library source code can be found under ``${MRPT_ROOT}/libs``.
   group_mrpt_comms_grp.rst
   group_mrpt_config_grp.rst
   group_mrpt_containers_grp.rst
-  group_mrpt_core_grp.rst
   group_mrpt_detectors_grp.rst
   group_mrpt_expr_grp.rst
   group_mrpt_graphs_grp.rst
diff --git a/doc/source/range_only_localization_mapping.rst b/doc/source/range_only_localization_mapping.rst
index 16a95f3b35..200f8698ee 100644
--- a/doc/source/range_only_localization_mapping.rst
+++ b/doc/source/range_only_localization_mapping.rst
@@ -1,4 +1,4 @@
-.. ro_slam_solutions:
+.. _ro_slam_solutions:
 
 =================================================
 Range-only Localization and Mapping Solutions
diff --git a/doc/source/rawlog_format.rst b/doc/source/rawlog_format.rst
new file mode 100644
index 0000000000..b89aa09ae8
--- /dev/null
+++ b/doc/source/rawlog_format.rst
@@ -0,0 +1,8 @@
+.. _rawlog_format:
+
+======================================
+Rawlog format for robotics datasets
+======================================
+
+Write me!
+https://www.mrpt.org/Rawlog_Format
diff --git a/doc/source/robotics_file_formats.rst b/doc/source/robotics_file_formats.rst
index f928e4bd0a..a3993220fa 100644
--- a/doc/source/robotics_file_formats.rst
+++ b/doc/source/robotics_file_formats.rst
@@ -10,15 +10,23 @@ different programs and C++ classes.
 
 .. contents:: :local:
 
+.. toctree::
+  :maxdepth: 1
+  :caption: For more details:
+
+  rawlog_format.rst
+
+
+
 1. Datasets
 ------------
 
 **Typical extension**: ``.rawlog``
 
-Description:MRPT defines a binary format for robotic datasets, or rawlogs,
+Description: MRPT defines a binary format for robotic datasets, or rawlogs,
 which can store the raw observations gathered by an arbitrary mix of sensors
 for its posterior processing. The format is described in detail in the
-Rawlog format page, among associated software tools and converters.
+:ref:`Rawlog format page<rawlog_format>`.
 
 Related applications:
 
diff --git a/doc/source/supported-sensors.rst b/doc/source/supported-sensors.rst
index 1ece1b3084..f5fbcffd44 100644
--- a/doc/source/supported-sensors.rst
+++ b/doc/source/supported-sensors.rst
@@ -11,9 +11,9 @@ All hardware and sensor-related classes can be found in
 the \ `mrpt-hwdrivers
 library <mrpt-hwdrivers.html>`__,
 which contains
-the \ `mrpt::hwdrivers <namespacemrpt_1_1hwdrivers.html>`__ namespace.
-See also
-the \ `rawlog-grabber <application-rawlog-grabber.html>`__ application.
+the \ `mrpt::hwdrivers <namespace_mrpt_hwdrivers.html>`__ namespace.
+See also: :ref:`doxid-app_rawlog-grabber`.
+
 Unless specifically noted, all devices are supported under \ **both
 Windows and Linux**, with only some (for now) supported on MacOS.
 
@@ -32,13 +32,13 @@ Any 3D camera supported by OpenNI2
    :align: right
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::OpenNI2Sensor <classmrpt_1_1hwdrivers_1_1_c_open_n_i2_sensor.html>`__.
+class \ `mrpt::hwdrivers::OpenNI2Sensor <class_mrpt_hwdrivers_COpenNI2Sensor.html>`__.
 
 Xbox Kinect (RGB+D camera)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::CKinect <classmrpt_1_1hwdrivers_1_1_c_kinect.html>`__.
+class \ `mrpt::hwdrivers::CKinect <class_mrpt_hwdrivers_CKinect.html>`__.
 See \ `this page <http://www.mrpt.org/Kinect_and_MRPT>`__ for more
 information, demo videos and example code.
 
@@ -50,9 +50,8 @@ SwissRanger SR3000/4000 (legacy)
    :align: right
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::CSwissRanger3DCamera <classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html>`__.
-See the \ `page of the demo
-application <example-swissranger-sr4000-3d-camera-demo-application/>`__ for
+class \ `mrpt::hwdrivers::CSwissRanger3DCamera <class_mrpt_hwdrivers_CSwissRanger3DCamera.html>`__.
+See the \ `page of the demo application <page_hwdrivers_swissranger_example.html>`__ for
 more information and a demo video.
 
 Manufacturer: mesa-imaging
@@ -68,7 +67,7 @@ SICK LMS 2XX
    :align: right
 
 SICK LMS2XX laser scanners are supported by the
-class \ `mrpt::hwdrivers::CSickLaserSerial <classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html>`__,
+class \ `mrpt::hwdrivers::CSickLaserSerial <class_mrpt_hwdrivers_CSickLaserSerial.html>`__,
 which supports a wide variety of configurations (different aperture
 angles, 0.25/0.50/1.0 degrees separation between rays,…) and operating
 baud rates, including 500Kbauds for the USB2SERIAL converters that allow
@@ -81,7 +80,7 @@ SICK LMS 100 (Ethernet)
    :align: right
 
 SICK LMS 100 laser scanners with Ethernet interface are supported by the
-class \ `mrpt::hwdrivers::CLMS100Eth <classmrpt_1_1hwdrivers_1_1_c_l_m_s100_eth.html>`__.
+class \ `mrpt::hwdrivers::CLMS100Eth <class_mrpt_hwdrivers_CLMS100Eth.html>`__.
 
 SICK TiM 55x/56x (Ethernet)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -90,7 +89,7 @@ SICK TiM 55x/56x (Ethernet)
    :align: right
 
 SICK TiM laser scanners with Ethernet interface are supported by the
-class mrpt::hwdrivers::CSICKTim561Eth.
+class `mrpt::hwdrivers::CSICKTim561Eth <class_mrpt_hwdrivers_CSICKTim561Eth.html>`_.
 
 Note: Since MRPT 1.9.9.
 
@@ -101,7 +100,7 @@ Hokuyo URG/UTM/UXM
    :align: right
 
 A wide range of Hokuyo laser scanners are supported by one single class,
-the `mrpt::hwdrivers::CHokuyoURG <classmrpt_1_1hwdrivers_1_1_c_hokuyo_u_r_g.html>`__.
+the `mrpt::hwdrivers::CHokuyoURG <class_mrpt_hwdrivers_CHokuyoURG.html>`__.
 See also the example
 named `HOKUYO_laser_test <example_hokuyo_urgutm_laser_scanner.html>`__.
 
@@ -114,7 +113,7 @@ Ibeo Automotive Laser Scanners
    :align: right
 
 Ibeo LUX laser scanner, Ethernet-interfaced, is supported since MRPT
-0.9.4 through the class \ `mrpt::hwdrivers::CIbeoLuxETH <classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html>`__.
+0.9.4 through the class \ `mrpt::hwdrivers::CIbeoLuxETH <class_mrpt_hwdrivers_CIbeoLuxETH.html>`__.
 
 See the manufacturer website: \ http://www.ibeo-as.com/ 
 
@@ -126,7 +125,7 @@ RoboPeak RP-LIDAR laser Scanners
 
 The low-cost RP-LIDAR sensor, USB-interfaced, is supported since MRPT
 1.2.2 through the
-class \ `mrpt::hwdrivers::CRobotPeakLidar <classmrpt_1_1hwdrivers_1_1_c_robo_peak_lidar.html>`__.
+class \ `mrpt::hwdrivers::CRoboPeakLidar <class_mrpt_hwdrivers_CRoboPeakLidar.html>`__.
 
 See the manufacturer website: \ http://rplidar.robopeak.com/
 
@@ -142,24 +141,21 @@ Velodyne
 `Velodyne 3D LIDARs <https://velodynelidar.com/>`__ are supported by
 means of:
 
--  `mrpt::hwdrivers::CVelodyneScanner <classmrpt_1_1hwdrivers_1_1_c_velodyne_scanner.html>`__
--  `mrpt::obs::CObservationVelodyne <classmrpt_1_1obs_1_1_c_observation_velodyne_scan.html>`__
--  The new
-   application \ `velodyne-view <http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/>`__
--  Visualization of datasets
-   in \ `RawLogViewer <http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/>`__
--  Grab of LiDAR scans, simultaneously to other sensors, is possible
-   via \ `rawlog-grabber <http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/>`__
-
+-  `mrpt::hwdrivers::CVelodyneScanner <class_mrpt_hwdrivers_CVelodyneScanner.html>`__
+-  `mrpt::obs::CObservationVelodyne <class_mrpt_obs_CObservationVelodyneScan.html>`__
+-  :ref:`doxid-app_velodyne-view`
+-  Visualization of datasets: :ref:`app_RawLogViewer`
+-  Grabbing LiDAR scans, simultaneously to other sensors, is possible
+   via: :ref:`doxid-app_rawlog-grabber`
 
 4. Cameras
 ----------
 
-**Important: **\ MRPT provides a universal class capable of managing all
+**Important:** MRPT provides a universal class capable of managing all
 the following cameras with a common interface, deciding which camera to
 open at runtime and converting the images from all the cameras to one
 single format, the OpenCV IplImage format. See the
-class \ `mrpt::hwdrivers::CCameraSensor <classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html>`__.
+class \ `mrpt::hwdrivers::CCameraSensor <class_mrpt_hwdrivers_CCameraSensor.html>`__.
 
 Monocular and stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -171,17 +167,17 @@ Apart from the generic CCameraSensor class, MRPT offers this
 implementation-specific classes:
 
 -  All \ **cameras supported by OpenCV** are accessible by means of the
-   class \ `mrpt::hwdrivers::CImageGrabber_OpenCV <classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html>`__.
+   class \ `mrpt::hwdrivers::CImageGrabber_OpenCV <class_mrpt_hwdrivers_CImageGrabber_OpenCV.html>`__.
 -  **Firewire cameras** are specifically supported in GNU/Linux by means
    of the libdc1394 library and the
-   class \ `mrpt::hwdrivers::CImageGrabber_dc1394 <classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html>`__.
+   class \ `mrpt::hwdrivers::CImageGrabber_dc1394 <class_mrpt_hwdrivers_CImageGrabber_dc1394.html>`__.
 -  All \ **Point Grey Research (PGR) cameras** supported
    by \ `FlyCapture2 <http://www.ptgrey.com/flycapture-sdk>`__ can be
    read with the
-   class \ `mrpt::hwdrivers::CImageGrabber_FlyCapture2 <classmrpt_1_1hwdrivers_1_1_c_image_grabber___fly_capture2.html>`__ (Requires:
+   class \ `mrpt::hwdrivers::CImageGrabber_FlyCapture2 <class_mrpt_hwdrivers_CImageGrabber_FlyCapture2.html>`__ (Requires:
    MRPT 1.0.3). \ **Stereo pairs** built from two independent PGR
    cameras are supported
-   via \ `mrpt::hwdrivers::CCameraSensor <classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html>`__.
+   via \ `mrpt::hwdrivers::CCameraSensor <class_mrpt_hwdrivers_CCameraSensor.html>`__.
 
 Bumblebee/Bumblebee2 Stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -190,7 +186,7 @@ Bumblebee stereo cameras are supported in MRPT in both Windows &
 GNU/Linux by means of the manufacturer API and the libdc1394 libraries,
 respectively. The C++ interface is the same in any case, and it’s
 implemented in the
-class\ `mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 <classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee__libdc1394.html>`__.
+class\ `mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 <class_mrpt_hwdrivers_CStereoGrabber_Bumblebee_libdc1394.html>`__.
 
 Videre Stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -198,7 +194,7 @@ Videre Stereo cameras
 Videre stereo cameras are supported in MRPT (since MRPT 0.9.1) for
 GNU/Linux only for now, by means of the manufacturer SVS API. The C++
 interface is implemented in the
-class \ `mrpt::hwdrivers::CStereoGrabber_SVS <classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html>`__.
+class \ `mrpt::hwdrivers::CStereoGrabber_SVS <class_mrpt_hwdrivers_CStereoGrabber_SVS.html>`__.
 
 IP cameras and video files
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -209,32 +205,23 @@ IP cameras and video files
 Both IP cameras and offline video files (in many common video formats
 and codecs) are supported by means of the ffmpeg libraries, within the
 MRPT
-class \ `mrpt::hwdrivers::CFFMPEG_InputStream <classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html>`__.
+class \ `mrpt::hwdrivers::CFFMPEG_InputStream <class_mrpt_hwdrivers_CFFMPEG_InputStream.html>`__.
 
 5. Inertial Sensors (IMUs)
 ----------------------------
 
-5.1. xSens MTi Inertial Unit (IMU) – 3rd generation devices
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. image:: images/mti-150x150.jpg
-   :align: right
-
-The interface to this sensor is implemented in the
-class \ `mrpt::hwdrivers::CIMUXSens <classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html>`__.
-
-5.2. xSens MTi Inertial Units (IMUs) – 4th generation devices
+5.1. xSens MTi Inertial Units (IMUs) – 4th generation devices
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. image:: images/MTi_10-series-150x150.jpg
    :align: right
 
 The interface to this sensor is implemented in the
-class \ `mrpt::hwdrivers::CIMUXSens_MT4 <classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens___m_t4.html>`__.
+class \ `mrpt::hwdrivers::CIMUXSens_MT4 <class_mrpt_hwdrivers_CIMUXSens_MT4.html>`__.
 
 Required: MRPT 1.0.3
 
-KVH DSP3000 (Fiber Optic Gyro)
+5.2. KVH DSP3000 (Fiber Optic Gyro)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. image:: images/KVH_dsp3000_IMU-150x150.jpg
@@ -242,7 +229,7 @@ KVH DSP3000 (Fiber Optic Gyro)
 
 A precise fiber optic gyro. The interface to this sensor is implemented
 in the
-class \ `mrpt::hwdrivers::CGyroKVHDSP3000 <classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html>`__.
+class \ `mrpt::hwdrivers::CGyroKVHDSP3000 <class_mrpt_hwdrivers_CGyroKVHDSP3000.html>`__.
 
 See the manufacturer
 website: \ `http://www.kvh.com/…/Fiber-Optic-Gyros/DSP-3000.aspx <http://www.kvh.com/Military-and-Government/Gyros-Inertial-Systems-and-Compasses/Gyros-IMUs-and-INS/Fiber-Optic-Gyros/DSP-3000.aspx>`__ 
@@ -259,7 +246,7 @@ Parser of standard NMEA commands and Novatel binary frames
 An implementation of a parser of NMEA commands from a wide range of GPS
 devices, also capable of receiving Novatel frames (this latter feature,
 only available in MRPT 1.3.3 or newer), can be found in the
-class \ `mrpt::hwdrivers::CGPSInterface <classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html>`__.
+class \ `mrpt::hwdrivers::CGPSInterface <class_mrpt_hwdrivers_CGPSInterface.html>`__.
 
 RTK corrections via NTRIP
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -270,7 +257,7 @@ RTK corrections via NTRIP
 You can use advanced RTK GPS receivers with MRPT. For that, MRPT
 includes a class that receives NTRIP RTK corrections from an Internet
 server and sends them to a serial port connected to the GPS receiver.
-See \ `mrpt::hwdrivers::CNTRIPEmitter <classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html>`__.
+See \ `mrpt::hwdrivers::CNTRIPEmitter <class_mrpt_hwdrivers_CNTRIPEmitter.html>`__.
 
 7. Activemedia robotic bases (All ARIA-compatible bases)
 --------------------------------------------------------
@@ -278,14 +265,6 @@ See \ `mrpt::hwdrivers::CNTRIPEmitter <classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_e
 .. image:: images/Pioneer2DX_2-150x150.jpg
    :align: right
 
-
-Access to all ARIA-based mobile robotic bases is done via the C++
-class \ `mrpt::hwdrivers::CActivMediaRobotBase <http://mrpt.ual.es/reference/1.4.0/classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html>`__,
-which implements basic mobility functions as well as sonars and other
-sensors. Since MRPT carries its own embedded version of ARIA, you won’t
-need any software or library previously installed in your system to use
-this class.
-
 Note: Support for these robots was dropped in MRPT 1.5.3. Use older
 versions if you need it with MRPT. Ten years ago, it might make sense to
 integrate ARIA into MRPT, but nowadays it’s probably more practical to
@@ -296,7 +275,9 @@ use ARIA ROS packages to access robots instead of directly using MRPT.
 
 An interface to this mobile robot, equipped with an IP camera, is
 implemented in the C++
-class \ `mrpt::hwdrivers::CRovio <classmrpt_1_1hwdrivers_1_1_c_rovio.html>`__.
+class ``mrpt::hwdrivers::CRovio``.
+
+Note: Deprecated and removed in MRPT 2.1.0.
 
 See the manufacturer
 web: \ http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio 
@@ -309,7 +290,7 @@ web: \ http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio 
 
 A cross-platform and very simple interface to joysticks is provided via
 the
-class \ `mrpt::hwdrivers::CJoystick <classmrpt_1_1hwdrivers_1_1_c_joystick.html>`__.
+class \ `mrpt::hwdrivers::CJoystick <class_mrpt_hwdrivers_CJoystick.html>`__.
 
 10. Pan and Tilt Units
 ----------------------
@@ -318,14 +299,14 @@ Direct Perception Pan-Tilt-Unit (PTU)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 An interface to this PTU model is implemented in the C++
-class \ `mrpt::hwdrivers::CPtuDPerception <classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html>`__.
+class \ `mrpt::hwdrivers::CPtuDPerception <class_mrpt_hwdrivers_CPtuDPerception.html>`__.
 
 Micos Tilt-Unit
 ~~~~~~~~~~~~~~~~~~~~~
 
 An interface to the precision “rotation stage DT-80”, by MICOS. See the
 C++
-class \ `mrpt::hwdrivers::CTuMicos <classmrpt_1_1hwdrivers_1_1_c_tu_micos.html>`__.
+class \ `mrpt::hwdrivers::CTuMicos <class_mrpt_hwdrivers_CTuMicos.html>`__.
 
 See the manufacturer
 website: http://www.micos-online.com/web2/en/1,5,120,dt80.html
@@ -337,7 +318,7 @@ Impinj’s RFID Speedway Revolution Reader
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 This sensor is supported by the MRPT
-class \ `mrpt::hwdrivers::CImpinfRFID <classmrpt_1_1hwdrivers_1_1_c_impinj_r_f_i_d.html>`__.
+class \ `mrpt::hwdrivers::CImpinjRFID <class_mrpt_hwdrivers_CImpinjRFID.html>`__.
 Note however that this sensor requires an external program outside of
 MRPT for communications (refer to the Doxygen documentation of the C++
 class).
@@ -355,7 +336,7 @@ Phidgets boards
    :align: right
 
 Phidgets Inc.’s board “PhidgetInterfaceKit 8/8/8” is supported by
-class \ `mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors <classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html>`__.
+class \ `mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors <class_mrpt_hwdrivers_CPhidgetInterfaceKitProximitySensors.html>`__.
 
 Manufacturer web: \ http://www.phidgets.com/products.php?product_id=1018
 
@@ -363,7 +344,7 @@ National Instruments boards compatible with DAQmx Base
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 | See
-  class: \ `mrpt::hwdrivers::CNationalInstrumentsDAQ <classmrpt_1_1hwdrivers_1_1_c_national_instruments_d_a_q.html>`__
+  class: \ `mrpt::hwdrivers::CNationalInstrumentsDAQ <class_mrpt_hwdrivers_CNationalInstrumentsDAQ.html>`__
 | Read \ `this blog
   entry <https://www.mrpt.org/NI_DAQmx_Base_in_openSUSE_64bit>`__ about
   the limitations of NI PCI/USB DAQ boards in 64bit Linux distributions.
@@ -378,7 +359,7 @@ MiniRAE Lite photoionization detector (PID)
 
 This sensor for fast detection of volatile organic compounds (VOC) is
 supported by the software driver C++
-class \ `mrpt::hwdrivers::CRaePID <classmrpt_1_1hwdrivers_1_1_c_rae_p_i_d.html>`__
+class \ `mrpt::hwdrivers::CRaePID <class_mrpt_hwdrivers_CRaePID.html>`__
 
 Manufacturer web: \ http://www.raesystems.com/products/minirae-lite
 
@@ -390,7 +371,7 @@ Gill WindSonic Wind sensor
 
 Speed and direction ultrasonic wind sensor. Supported by the software
 driver C++
-class \ `mrpt::hwdrivers::CGillAnemometer <classmrpt_1_1hwdrivers_1_1_c_gill_anemometer.html>`__ 
+class \ `mrpt::hwdrivers::CGillAnemometer <class_mrpt_hwdrivers_CGillAnemometer.html>`__ 
 
 Manufacturer
 web: \ http://gillinstruments.com/products/anemometer/windsonic.htm
diff --git a/doc/source/tutorial-3d-navigation-cheatsheet.rst b/doc/source/tutorial-3d-navigation-cheatsheet.rst
index 895e917efd..4f86bf0e95 100644
--- a/doc/source/tutorial-3d-navigation-cheatsheet.rst
+++ b/doc/source/tutorial-3d-navigation-cheatsheet.rst
@@ -16,7 +16,8 @@ All MRPT applications use the following convention:
 
 - **Pan** (XY plane): Right-button pressed + mouse move.
 
-- **Move camera along Z axis**: SHIFT+Left-button pressed + mouse move left/right.
+- **Move camera along Z axis**: SHIFT+Left-button pressed + mouse move left/right,
+  or (starting in MRPT 2.3.2) SHIFT+scroll wheel for faster up/down vertical motion.
 
 
 The implementation of the features above by handling mouse and keyboard events
diff --git a/doc/source/tutorial-icp-rawlogviewer.rst b/doc/source/tutorial-icp-rawlogviewer.rst
index 5a91d4b721..3e5b5ad61f 100644
--- a/doc/source/tutorial-icp-rawlogviewer.rst
+++ b/doc/source/tutorial-icp-rawlogviewer.rst
@@ -1,4 +1,4 @@
-.. tutorial-icp-rawlogviewer:
+.. _tutorial-icp-rawlogviewer:
 
 ===================================================================
 Using the ScanMatching (ICP) module in RawLogViewer
diff --git a/doc/source/tutorial-slam-for-beginners-the-basics.rst b/doc/source/tutorial-slam-for-beginners-the-basics.rst
new file mode 100644
index 0000000000..eda0202e53
--- /dev/null
+++ b/doc/source/tutorial-slam-for-beginners-the-basics.rst
@@ -0,0 +1,68 @@
+.. _tutorial-slam-for-beginners-the-basics:
+
+===========================================================================
+Simultaneous Localization and Mapping (SLAM) for beginners: the basics
+===========================================================================
+
+.. contents:: :local:
+
+Videos
+====================
+
+For those who are new into mobile robotics and want a gentle introduction, I
+recommend the following online resources:
+
+- The `"5 minutes with Cyrill" series <https://www.youtube.com/playlist?list=PLgnQpQtFTOGSO8HC48K9sPuNliY1qxzV9>`_ (2020-2021).
+  Here you can see the chapter for SLAM:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/BuRCJ2fegcc" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div> <br/> <hr><br/>
+
+
+- These `taped seminars <https://www.youtube.com/watch?v=U6vr3iNrwRA&list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_>`_ by Cyrill Stachniss (2012-2013):
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/V9qQc5X7O0k" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div> <br/> <hr><br/>
+
+- This course by Dr. Jürgen Sturm (TUM, 2013):
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/f5khDPUMYmQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div> <br/> <hr><br/>
+
+- My 2020 course `"A brief introduction to factor graphs" <https://www.youtube.com/watch?v=nLQ-YiPPMeU&list=PLOJ3GF0x2_eWtGXfZ5Ne1Jul5L-6Q76Sz>`_ (5 videos).
+  Here it is the fifth video, an introduction to the GTSAM library:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/rqvNn1ntn-A" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div> <br/>
+
+
+Papers and books
+====================
+
+- The current must-read SLAM survey paper (2020-2021):
+  Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., ... & Leonard, J. J. (2016).
+  Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age.
+  IEEE Transactions on robotics, 32(6), 1309-1332. (`PDF <https://marinerobotics.mit.edu/sites/default/files/slam%20survey.pdf>`_)
+
+- Our SLAM book, for those who want a rigorous treatment of all probabilistic equations in modern mobile robotics (~2012):
+  `“Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods” <https://www.mrpt.org/slam_book_2012/>`_ (Fernández-Madrigal, J.A. and Blanco, J.L., 2012).
+
+- About EKF-based SLAM with landmark maps (the trend between 1999 and ~2010, outdated nowadays):
+
+  - Hugh Durrant-Whyte & Tim Bailey. “Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms“, (2006) (`PDF <http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.128.4195&rep=rep1&type=pdf>`_)
+
+  - Tim Bailey & Hugh Durrant-Whyte and . “Simultaneous Localisation and Mapping (SLAM): Part II State of the Art“, (2006) (`PDF <http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.108.4153&rep=rep1&type=pdf>`_)
+
+- An excellent introductory/advanced book (for everything up to ~2005): `Probabilistic Robotics <https://mitpress.mit.edu/books/probabilistic-robotics>`_, by Sebastian Thrun, Wolfram Burgard and Dieter Fox.
diff --git a/doc/source/tutorials.rst b/doc/source/tutorials.rst
index 63c03ea162..5b382f5618 100644
--- a/doc/source/tutorials.rst
+++ b/doc/source/tutorials.rst
@@ -23,6 +23,7 @@ Note: This page is in the process of being imported from https://www.mrpt.org/tu
   :maxdepth: 2
   :caption: Robotics, SLAM
 
+  tutorial-slam-for-beginners-the-basics
   tutorial-mrpt-maps-model
   range_only_localization_mapping
   tutorial-icp-alignment
diff --git a/libs/containers/CMakeLists.txt b/libs/containers/CMakeLists.txt
index fd07cdae49..5251aa84ed 100644
--- a/libs/containers/CMakeLists.txt
+++ b/libs/containers/CMakeLists.txt
@@ -6,6 +6,7 @@ define_mrpt_lib(
 	containers
 	# Dependencies
 	mrpt-core
+	mrpt-typemeta
 	)
 
 # extra dependencies required by unit tests in this module:
diff --git a/libs/containers/include/mrpt/containers/bimap.h b/libs/containers/include/mrpt/containers/bimap.h
index 7fe1108416..b0be62f793 100644
--- a/libs/containers/include/mrpt/containers/bimap.h
+++ b/libs/containers/include/mrpt/containers/bimap.h
@@ -101,8 +101,9 @@ class bimap
 		return m_v2k.find(v) != m_v2k.end();
 	}
 
-	/**  Get the value associated the given key, KEY->VALUE, raising an
-	 * exception if not present.
+	/** Get the value associated the given key, KEY->VALUE, raising an
+	 * exception if not present (equivalent to `directMap.at()`).
+	 *
 	 *  \sa inverse, hasKey, hasValue
 	 * \exception std::exception On key not present in the bi-map.
 	 */
@@ -114,7 +115,7 @@ class bimap
 	}
 
 	/**  Get the key associated the given value, VALUE->KEY, returning false if
-	 * not present.
+	 * not present (equivalent to `inverseMap.at()`).
 	 *  \sa direct, hasKey, hasValue
 	 * \return false on value not found.
 	 */
diff --git a/libs/containers/include/mrpt/containers/ts_hash_map.h b/libs/containers/include/mrpt/containers/ts_hash_map.h
index 3160e54188..5c9b60c520 100644
--- a/libs/containers/include/mrpt/containers/ts_hash_map.h
+++ b/libs/containers/include/mrpt/containers/ts_hash_map.h
@@ -10,8 +10,10 @@
 
 #include <mrpt/core/common.h>  // remove MSVC warnings
 #include <mrpt/core/integer_select.h>
+#include <mrpt/core/lock_helper.h>
 
 #include <array>
+#include <mutex>
 #include <stdexcept>
 #include <string_view>
 
@@ -23,7 +25,24 @@ struct ts_map_entry
 	bool used{false};
 	KEY first;
 	VALUE second;
+
 	ts_map_entry() = default;
+	ts_map_entry(const ts_map_entry& e) { *this = e; }
+	ts_map_entry& operator=(const ts_map_entry& e)
+	{
+		used = !!e.used;
+		first = e.first;
+		second = e.second;
+		return *this;
+	}
+	ts_map_entry(ts_map_entry&& e) { *this = std::move(e); }
+	ts_map_entry& operator=(ts_map_entry&& e)
+	{
+		used = e.used;
+		first = e.first;
+		second = e.second;
+		return *this;
+	}
 };
 
 /** hash function used by ts_hash_map. Uses dbj2 method */
@@ -175,29 +194,58 @@ class ts_hash_map
 	/** Number of elements accessed with write access so far */
 	size_t m_size{0};
 
+	std::recursive_mutex m_mtx;	 //!< for m_vec and m_size
+
    public:
 	/** @name Constructors, read/write access and other operations
 		@{ */
 	//!< Default constructor */
 	ts_hash_map() = default;
+
+	ts_hash_map(const ts_hash_map& o) { *this = o; }
+	ts_hash_map(ts_hash_map&& o) { *this = std::move(o); }
+
+	ts_hash_map& operator=(const ts_hash_map& o)
+	{
+		auto lck1 = mrpt::lockHelper(m_mtx);
+		auto lck2 = mrpt::lockHelper(o.m_mtx);
+		m_vec = o.m_vec;
+		m_size = o.m_size;
+		return *this;
+	}
+	ts_hash_map& operator=(ts_hash_map&& o)
+	{
+		auto lck1 = mrpt::lockHelper(m_mtx);
+		auto lck2 = mrpt::lockHelper(o.m_mtx);
+		m_vec = std::move(o.m_vec);
+		m_size = o.m_size;
+		return *this;
+	}
+
 	/** Clear the contents of this container */
 	void clear()
 	{
+		auto lck = mrpt::lockHelper(m_mtx);
 		m_size = 0;
 		for (size_t oi = 0; oi < m_vec.size(); oi++)
 			for (size_t ii = 0; ii < NUM_HAS_TABLE_COLLISIONS_ALLOWED; ii++)
 				m_vec[oi][ii] = value_type();
 	}
 
-	bool empty() const { return m_size == 0; }
+	bool empty() const
+	{
+		auto lck = mrpt::lockHelper(m_mtx);
+		return m_size == 0;
+	}
+
 	/** noexcept version of operator[], returns nullptr upon failure */
 	VALUE* find_or_alloc(const KEY& key) noexcept
 	{
-		typename mrpt::uint_select_by_bytecount<NUM_BYTES_HASH_TABLE>::type
-			hash;
+		auto lck = mrpt::lockHelper(m_mtx);
+
+		mrpt::uint_select_by_bytecount_t<NUM_BYTES_HASH_TABLE> hash;
 		reduced_hash(key, hash);
-		std::array<ts_map_entry<KEY, VALUE>, NUM_HAS_TABLE_COLLISIONS_ALLOWED>&
-			match_arr = m_vec[hash];
+		auto& match_arr = m_vec[hash];
 		for (unsigned int i = 0; i < NUM_HAS_TABLE_COLLISIONS_ALLOWED; i++)
 		{
 			if (!match_arr[i].used)
@@ -216,6 +264,8 @@ class ts_hash_map
 	 * already. */
 	VALUE& operator[](const KEY& key)
 	{
+		auto lck = mrpt::lockHelper(m_mtx);
+
 		VALUE* v = find_or_alloc(key);
 		if (!v)
 			throw std::runtime_error("ts_hash_map: too many hash collisions!");
@@ -224,12 +274,11 @@ class ts_hash_map
 
 	const_iterator find(const KEY& key) const
 	{
-		typename mrpt::uint_select_by_bytecount<NUM_BYTES_HASH_TABLE>::type
-			hash;
+		auto lck = mrpt::lockHelper(m_mtx);
+
+		mrpt::uint_select_by_bytecount_t<NUM_BYTES_HASH_TABLE> hash;
 		reduced_hash(key, hash);
-		const std::array<
-			ts_map_entry<KEY, VALUE>, NUM_HAS_TABLE_COLLISIONS_ALLOWED>&
-			match_arr = m_vec[hash];
+		auto& match_arr = m_vec[hash];
 		for (unsigned int i = 0; i < NUM_HAS_TABLE_COLLISIONS_ALLOWED; i++)
 		{
 			if (match_arr[i].used && match_arr[i].first == key)
@@ -240,21 +289,29 @@ class ts_hash_map
 
 	const_iterator begin() const
 	{
+		auto lck = mrpt::lockHelper(m_mtx);
+
 		const_iterator it(m_vec, *this, 0, -1);
 		++it;
 		return it;
 	}
 	const_iterator end() const
 	{
+		auto lck = mrpt::lockHelper(m_mtx);
 		return const_iterator(m_vec, *this, m_vec.size(), 0);
 	}
 	iterator begin()
 	{
+		auto lck = mrpt::lockHelper(m_mtx);
 		iterator it(m_vec, *this, 0, -1);
 		++it;
 		return it;
 	}
-	iterator end() { return iterator(m_vec, *this, m_vec.size(), 0); }
+	iterator end()
+	{
+		auto lck = mrpt::lockHelper(m_mtx);
+		return iterator(m_vec, *this, m_vec.size(), 0);
+	}
 	/** @} */
 
 };	// end class ts_hash_map
diff --git a/libs/containers/include/mrpt/containers/yaml.h b/libs/containers/include/mrpt/containers/yaml.h
index 2da3035ca8..11a8c765ff 100644
--- a/libs/containers/include/mrpt/containers/yaml.h
+++ b/libs/containers/include/mrpt/containers/yaml.h
@@ -15,6 +15,7 @@
 #include <mrpt/core/demangle.h>
 #include <mrpt/core/exceptions.h>
 #include <mrpt/core/format.h>
+#include <mrpt/typemeta/TEnumType.h>
 
 #include <any>
 #include <array>
@@ -89,7 +90,7 @@ class yaml
 	struct node_t;
 	using scalar_t = std::any;
 	using sequence_t = std::vector<node_t>;
-	using map_t = std::map<node_t, node_t, std::less<> /*transparent comp*/>;
+	using map_t = std::map<node_t, node_t>;
 
 	using comments_t = std::array<
 		std::optional<std::string>, static_cast<size_t>(CommentPosition::MAX)>;
@@ -768,14 +769,20 @@ std::ostream& operator<<(std::ostream& o, const yaml& p);
  *
  * MCP_LOAD_REQ(p, K);
  * \endcode
+ *
+ * Since MRPT 2.3.2, this also works for enums, converting to textual names of
+ * values. Note that this requires enums to implement mrpt::typemeta::TEnumType.
  */
-#define MCP_LOAD_REQ(paramsVariable__, keyproxiedMapEntryName__)               \
-	if (!paramsVariable__.has(#keyproxiedMapEntryName__))                      \
+#define MCP_LOAD_REQ(Yaml__, Var__)                                            \
+	if (!Yaml__.has(#Var__))                                                   \
 		throw std::invalid_argument(mrpt::format(                              \
 			"Required parameter `%s` not an existing key in dictionary.",      \
-			#keyproxiedMapEntryName__));                                       \
-	keyproxiedMapEntryName__ = paramsVariable__[#keyproxiedMapEntryName__]     \
-								   .as<decltype(keyproxiedMapEntryName__)>()
+			#Var__));                                                          \
+	if constexpr (std::is_enum_v<decltype(Var__)>)                             \
+		Var__ = mrpt::typemeta::TEnumType<std::remove_cv_t<decltype(Var__)>>:: \
+			name2value(Yaml__[#Var__].as<std::string>());                      \
+	else                                                                       \
+		Var__ = Yaml__[#Var__].as<decltype(Var__)>()
 
 /** Macro to load a variable from a mrpt::containers::yaml (initials MCP)
  * dictionary, leaving it with its former value if not found (OPTional).
@@ -787,23 +794,32 @@ std::ostream& operator<<(std::ostream& o, const yaml& p);
  *
  * MCP_LOAD_OPT(p, K);
  * \endcode
+ *
+ * Since MRPT 2.3.2, this also works for enums, converting to textual names of
+ * values. Note that this requires enums to implement mrpt::typemeta::TEnumType.
  */
-#define MCP_LOAD_OPT(paramsVariable__, keyproxiedMapEntryName__)               \
-	keyproxiedMapEntryName__ = paramsVariable__.getOrDefault(                  \
-		#keyproxiedMapEntryName__, keyproxiedMapEntryName__)
+#define MCP_LOAD_OPT(Yaml__, Var__)                                            \
+	if constexpr (std::is_enum_v<decltype(Var__)>)                             \
+	{                                                                          \
+		if (Yaml__.has(#Var__))                                                \
+			Var__ = mrpt::typemeta::TEnumType<std::remove_cv_t<decltype(       \
+				Var__)>>::name2value(Yaml__[#Var__].as<std::string>());        \
+	}                                                                          \
+	else if (Yaml__.has(#Var__))                                               \
+	Var__ = Yaml__[#Var__].as<decltype(Var__)>()
 
 /** Just like MCP_LOAD_REQ(), but converts the read number from degrees to
  * radians */
-#define MCP_LOAD_REQ_DEG(paramsVariable__, keyproxiedMapEntryName__)           \
-	MCP_LOAD_REQ(paramsVariable__, keyproxiedMapEntryName__);                  \
-	keyproxiedMapEntryName__ = mrpt::DEG2RAD(keyproxiedMapEntryName__)
+#define MCP_LOAD_REQ_DEG(Yaml__, Var__)                                        \
+	MCP_LOAD_REQ(Yaml__, Var__);                                               \
+	Var__ = mrpt::DEG2RAD(Var__)
 
 /** Just like MCP_LOAD_OPT(), but converts the read number from degrees to
  * radians */
-#define MCP_LOAD_OPT_DEG(paramsVariable__, keyproxiedMapEntryName__)           \
-	keyproxiedMapEntryName__ = mrpt::RAD2DEG(keyproxiedMapEntryName__);        \
-	MCP_LOAD_OPT(paramsVariable__, keyproxiedMapEntryName__);                  \
-	keyproxiedMapEntryName__ = mrpt::DEG2RAD(keyproxiedMapEntryName__)
+#define MCP_LOAD_OPT_DEG(Yaml__, Var__)                                        \
+	Var__ = mrpt::RAD2DEG(Var__);                                              \
+	MCP_LOAD_OPT(Yaml__, Var__);                                               \
+	Var__ = mrpt::DEG2RAD(Var__)
 
 /** Macro to store a variable into a mrpt::containers::yaml (initials MCP)
  * dictionary, using as "key" the name of the variable.
@@ -819,13 +835,18 @@ std::ostream& operator<<(std::ostream& o, const yaml& p);
  * // loaded in memory:
  * MCP_SAVE_DEG(p,K);
  * \endcode
+ *
+ * Since MRPT 2.3.2, this also works for enums, converting to textual names of
+ * values. Note that this requires enums to implement mrpt::typemeta::TEnumType.
  */
-#define MCP_SAVE(paramsVariable__, keyproxiedMapEntryName__)                   \
-	paramsVariable__[#keyproxiedMapEntryName__] = keyproxiedMapEntryName__;
-
-#define MCP_SAVE_DEG(paramsVariable__, keyproxiedMapEntryName__)               \
-	paramsVariable__[#keyproxiedMapEntryName__] =                              \
-		mrpt::RAD2DEG(keyproxiedMapEntryName__);
+#define MCP_SAVE(Yaml__, Var__)                                                \
+	if constexpr (std::is_enum_v<decltype(Var__)>)                             \
+		Yaml__[#Var__] = mrpt::typemeta::TEnumType<                            \
+			std::remove_cv_t<decltype(Var__)>>::value2name(Var__);             \
+	else                                                                       \
+		Yaml__[#Var__] = Var__;
+
+#define MCP_SAVE_DEG(Yaml__, Var__) Yaml__[#Var__] = mrpt::RAD2DEG(Var__);
 
 }  // namespace mrpt::containers
 
diff --git a/libs/containers/src/yaml_unittest.cpp b/libs/containers/src/yaml_unittest.cpp
index 12b568d589..9630bd2683 100644
--- a/libs/containers/src/yaml_unittest.cpp
+++ b/libs/containers/src/yaml_unittest.cpp
@@ -11,6 +11,7 @@
 #include <mrpt/config.h>
 #include <mrpt/containers/yaml.h>
 #include <mrpt/io/vector_loadsave.h>
+#include <mrpt/system/COutputLogger.h>	// for enum type tests
 #include <mrpt/system/os.h>
 
 #include <algorithm>  // count()
@@ -443,6 +444,38 @@ MRPT_TEST(yaml, macros)
 	EXPECT_EQ(Foo, 9.0);
 
 	EXPECT_THROW(MCP_LOAD_REQ(p, Bar), std::exception);
+
+	{
+		mrpt::containers::yaml p2;
+		int i = 10;
+		MCP_SAVE(p2, i);
+
+		EXPECT_EQ(p2["i"].as<int>(), 10);
+
+		{
+			mrpt::system::VerbosityLevel vl = mrpt::system::LVL_WARN;
+			MCP_SAVE(p2, vl);
+		}
+
+		EXPECT_EQ(p2["vl"].as<std::string>(), "WARN");
+
+		{
+			mrpt::system::VerbosityLevel vl;
+			MCP_LOAD_REQ(p2, vl);
+			EXPECT_EQ(vl, mrpt::system::LVL_WARN);
+		}
+		{
+			mrpt::system::VerbosityLevel vl = mrpt::system::LVL_ERROR;
+			MCP_LOAD_OPT(p2, vl);
+			EXPECT_EQ(vl, mrpt::system::LVL_WARN);
+		}
+		{
+			auto p3 = p2;
+			mrpt::system::VerbosityLevel vl = mrpt::system::LVL_ERROR;
+			p3["vl"] = "FakeEnumValue";
+			EXPECT_THROW(MCP_LOAD_OPT(p3, vl), std::exception);
+		}
+	}
 }
 MRPT_TEST_END()
 
diff --git a/libs/core/include/mrpt/core/WorkerThreadsPool.h b/libs/core/include/mrpt/core/WorkerThreadsPool.h
index bf4f576a61..d3d3350211 100644
--- a/libs/core/include/mrpt/core/WorkerThreadsPool.h
+++ b/libs/core/include/mrpt/core/WorkerThreadsPool.h
@@ -65,7 +65,7 @@ class WorkerThreadsPool
 	/** Enqueue one new working item, to be executed by threads when any is
 	 * available. */
 	template <class F, class... Args>
-	auto enqueue(F&& f, Args&&... args)
+	[[nodiscard]] auto enqueue(F&& f, Args&&... args)
 		-> std::future<typename std::result_of<F(Args...)>::type>;
 
 	/** Returns the number of enqueued tasks, currently waiting for a free
diff --git a/libs/core/include/mrpt/core/get_env.h b/libs/core/include/mrpt/core/get_env.h
index 938348be78..d0874afcf5 100644
--- a/libs/core/include/mrpt/core/get_env.h
+++ b/libs/core/include/mrpt/core/get_env.h
@@ -12,6 +12,7 @@
 #include <mrpt/core/from_string.h>
 
 #include <cstdlib>
+#include <string_view>
 
 namespace mrpt
 {
@@ -19,18 +20,20 @@ namespace mrpt
  * \ingroup mrpt_core_grp
  */
 template <class T>
-inline T get_env(const std::string& varname, const T& defValue = T())
+inline T get_env(const std::string_view& varname, const T& defValue = T())
 {
-	auto s = ::getenv(varname.c_str());
+	const std::string v(varname.data(), varname.size());
+	auto s = ::getenv(v.c_str());
 	if (!s) return defValue;
 	return mrpt::from_string<T>(s, defValue, false /*dont throw*/);
 }
 
 /** Specialization for bool: understands "true", "True", number!=0 as `true` */
 template <>
-inline bool get_env(const std::string& varname, const bool& defValue)
+inline bool get_env(const std::string_view& varname, const bool& defValue)
 {
-	auto s = ::getenv(varname.c_str());
+	const std::string v(varname.data(), varname.size());
+	auto s = ::getenv(v.c_str());
 	if (!s) return defValue;
 	const std::string str(s);
 	if (str == "true" || str == "TRUE" || str == "True") return true;
diff --git a/libs/core/include/mrpt/core/integer_select.h b/libs/core/include/mrpt/core/integer_select.h
index b39a88166f..b8411263f1 100644
--- a/libs/core/include/mrpt/core/integer_select.h
+++ b/libs/core/include/mrpt/core/integer_select.h
@@ -48,6 +48,12 @@ struct int_select_by_bytecount<8>
 	using type = int64_t;
 };
 
+/** Usage: `int_select_by_bytecount_t<N> var;`.
+ * C++14 helper type for int_select_by_bytecount<> */
+template <unsigned int num_bytes>
+using int_select_by_bytecount_t =
+	typename int_select_by_bytecount<num_bytes>::type;
+
 /** Usage: `uint_select_by_bytecount<N>::type  var;` allows defining var as a
  * unsigned integer with, at least, N bytes. */
 template <unsigned int num_bytes>
@@ -78,5 +84,11 @@ struct uint_select_by_bytecount<8>
 	using type = uint64_t;
 };
 
+/** Usage: `uint_select_by_bytecount_t<N> var;`.
+ * C++14 helper type for uint_select_by_bytecount<> */
+template <unsigned int num_bytes>
+using uint_select_by_bytecount_t =
+	typename uint_select_by_bytecount<num_bytes>::type;
+
 /** @} */
 }  // namespace mrpt
diff --git a/libs/core/src/backtrace.cpp b/libs/core/src/backtrace.cpp
index 012c5e1e2a..4141f66d8d 100644
--- a/libs/core/src/backtrace.cpp
+++ b/libs/core/src/backtrace.cpp
@@ -17,6 +17,7 @@
 #include <mrpt/core/winerror2str.h>
 
 #include <iostream>
+#include <mutex>
 
 #ifdef _WIN32
 #define WIN32_LEAN_AND_MEAN
@@ -404,7 +405,14 @@ void mrpt::callStackBackTrace(
 			addrs.push_back(callstack[i]);
 
 #if MRPT_HAS_BFD
-		out_bt.backtrace_levels = backtraceSymbols(addrs.data(), addrs.size());
+		// It seems BFD crashes if it is invoked from several threads in
+		// parallel!
+		static std::mutex bfdMtx;
+		{
+			std::lock_guard<std::mutex> lck(bfdMtx);
+			out_bt.backtrace_levels =
+				backtraceSymbols(addrs.data(), addrs.size());
+		}
 #else
 		std::cerr << "[mrpt::callStackBackTrace] Should never reach here!!\n";
 #endif
diff --git a/libs/gui/include/mrpt/3rdparty/mathplot/mathplot.h b/libs/gui/include/mrpt/3rdparty/mathplot/mathplot.h
index 7eed81af84..98cb00c2a1 100644
--- a/libs/gui/include/mrpt/3rdparty/mathplot/mathplot.h
+++ b/libs/gui/include/mrpt/3rdparty/mathplot/mathplot.h
@@ -20,6 +20,8 @@
 
 #pragma once
 
+#include <memory>
+
 // JL: This is VERY ugly, but ask MS why we cannot export a DLL class with STL
 // members !!
 #if defined(_MSC_VER)
@@ -113,8 +115,8 @@
 #define DEBUG_NEW new (_NORMAL_BLOCK, __FILE__, __LINE__)
 #else
 #define DEBUG_NEW new
-#endif  // _DEBUG
-#endif  // _WINDOWS
+#endif	// _DEBUG
+#endif	// _WINDOWS
 
 // Separation for axes when set close to border
 #define X_BORDER_SEPARATION 40
@@ -925,7 +927,6 @@ typedef std::deque<mpLayer*> wxLayerList;
 
 	Since wxMathPlot version 0.03, the mpWindow incorporates the following
    features:
-		- DoubleBuffering (Default=disabled): Can be set with EnableDoubleBuffer
 		- Mouse based pan/zoom (Default=enabled): Can be set with
    EnableMousePanZoom.
 
@@ -1007,7 +1008,7 @@ class WXDLLIMPEXP_MATHPLOT mpWindow : public wxWindow
 	double GetScaleX() const
 	{
 		return m_scaleX;
-	};  // Schaling's method: maybe another method esists with the same name
+	};	// Schaling's method: maybe another method esists with the same name
 
 	/** Get current view's Y scale.
 		See @ref mpLayer::Plot "rules for coordinate transformation"
@@ -1147,11 +1148,6 @@ class WXDLLIMPEXP_MATHPLOT mpWindow : public wxWindow
 	//     ( (m_posY-y) * m_scaleY); }
 	inline wxCoord y2p(double y) { return (wxCoord)((m_posY - y) * m_scaleY); }
 
-	/** Enable/disable the double-buffering of the window, eliminating the
-	 * flicker (default=disabled).
-	 */
-	void EnableDoubleBuffer(bool enabled) { m_enableDoubleBuffer = enabled; }
-
 	/** Enable/disable the feature of pan/zoom with the mouse (default=enabled)
 	 */
 	void EnableMousePanZoom(bool enabled) { m_enableMouseNavigation = enabled; }
@@ -1478,14 +1474,6 @@ class WXDLLIMPEXP_MATHPLOT mpWindow : public wxWindow
 
 	int m_marginTop, m_marginRight, m_marginBottom, m_marginLeft;
 
-	/** For double buffering */
-	int m_last_lx, m_last_ly;
-	/** For double buffering */
-	wxMemoryDC m_buff_dc;
-	/** For double buffering */
-	wxBitmap* m_buff_bmp;
-	/** For double buffering */
-	bool m_enableDoubleBuffer;
 	/** For pan/zoom with the mouse. */
 	bool m_enableMouseNavigation;
 	bool m_mouseMovedAfterRightClick;
@@ -1498,6 +1486,9 @@ class WXDLLIMPEXP_MATHPLOT mpWindow : public wxWindow
 	/** For moving info layers over the window area */
 	mpInfoLayer* m_movingInfoLayer;
 
+	bool m_drawDottedSelectedWindow = false;
+	wxPoint m_dottedWindowSize{0, 0};
+
 	DECLARE_DYNAMIC_CLASS(mpWindow)
 	DECLARE_EVENT_TABLE()
 };
diff --git a/libs/gui/include/mrpt/gui/CDisplayWindowGUI.h b/libs/gui/include/mrpt/gui/CDisplayWindowGUI.h
index 3d0a358328..757d52e24d 100644
--- a/libs/gui/include/mrpt/gui/CDisplayWindowGUI.h
+++ b/libs/gui/include/mrpt/gui/CDisplayWindowGUI.h
@@ -12,6 +12,7 @@
 #include <mrpt/gui/MRPT2NanoguiGLCanvas.h>
 #include <mrpt/gui/internal/NanoGUICanvasHeadless.h>
 #include <mrpt/opengl/COpenGLScene.h>
+#include <mrpt/system/string_utils.h>  // firstNLines()
 
 #include <mutex>
 #include <string>
@@ -56,6 +57,8 @@ struct CDisplayWindowGUI_Params
  *   mrpt::gui::CDisplayWindowGUI win;
  *   // Populate win adding UI controls, etc.
  *   // ...
+ *   win.performLayout();
+ *
  *   win.drawAll();
  *   win.setVisible(true);
  *   nanogui::mainloop();
@@ -76,6 +79,16 @@ struct CDisplayWindowGUI_Params
 class CDisplayWindowGUI : public nanogui::Screen
 {
    public:
+	/** @name Callback functor types
+	 * @{ */
+
+	using loop_callback_t = std::function<void(void)>;
+	using drop_files_callback_t = std::function<bool /*handled*/ (
+		const std::vector<std::string>& /* filenames */)>;
+	using keyboard_callback_t = std::function<bool /*handled*/ (
+		int /*key*/, int /*scancode*/, int /*action*/, int /*modifiers*/)>;
+	/** @} */
+
 	/** @name Ctor and basic window set up
 	 * @{ */
 	using Ptr = std::shared_ptr<CDisplayWindowGUI>;
@@ -105,29 +118,88 @@ class CDisplayWindowGUI : public nanogui::Screen
 	void setWindowTitle(const std::string& str);
 
 	/** Every time the window is about to be repainted, an optional callback can
-	 * be called, if provided via this method. */
-	void setLoopCallback(const std::function<void(void)>& callback)
+	 * be called, if provided via this method. This method can be safely called
+	 * multiple times to register multiple callbacks.
+	 *
+	 * \note (New in MRPT 2.3.2)
+	 */
+	void addLoopCallback(const loop_callback_t& callback)
 	{
-		m_loopCallback = callback;
+		m_loopCallbacks.push_back(callback);
 	}
-	const auto& loopCallback() const { return m_loopCallback; }
+	const auto& loopCallbacks() const { return m_loopCallbacks; }
 
-	/** Sets a handle for file drop events */
-	void setDropFilesCallback(
-		const std::function<
-			bool(const std::vector<std::string>& /* filenames */)>& callback)
+	/** Handles drag-and drop events of files into the window.
+	 * This method can be safely called multiple times to register multiple
+	 * callbacks.
+	 *
+	 * \note (New in MRPT 2.3.2)
+	 */
+	void addDropFilesCallback(const drop_files_callback_t& callback)
 	{
-		m_dropFilesCallback = callback;
+		m_dropFilesCallbacks.push_back(callback);
 	}
-	const auto& dropFilesCallback() const { return m_dropFilesCallback; }
+	const auto& dropFilesCallbacks() const { return m_dropFilesCallbacks; }
 
-	void setKeyboardCallback(const std::function<bool(
-								 int /*key*/, int /*scancode*/, int /*action*/,
-								 int /*modifiers*/)>& callback)
+	/** Handles keyboard events.
+	 * This method can be safely called multiple times to register multiple
+	 * callbacks.
+	 *
+	 * \note (New in MRPT 2.3.2)
+	 */
+	void addKeyboardCallback(const keyboard_callback_t& callback)
+	{
+		m_keyboardCallbacks.push_back(callback);
+	}
+	const auto& keyboardCallbacks() const { return m_keyboardCallbacks; }
+
+	/** \note This call replaces *all* existing loop callbacks. See
+	 * addLoopCallback().
+	 * \deprecated In MRPT 2.3.2, replaced by addLoopCallback()
+	 */
+	void setLoopCallback(const loop_callback_t& callback)
+	{
+		m_loopCallbacks.clear();
+		m_loopCallbacks.push_back(callback);
+	}
+	/** \deprecated In MRPT 2.3.2, replaced by loopCallbacks() */
+	loop_callback_t loopCallback() const
+	{
+		return m_loopCallbacks.empty() ? loop_callback_t()
+									   : m_loopCallbacks.at(0);
+	}
+
+	/** \note This call replaces *all* existing drop file callbacks. See
+	 * addDropFilesCallback().
+	 * \deprecated In MRPT 2.3.2, replaced by addDropFilesCallback()
+	 */
+	void setDropFilesCallback(const drop_files_callback_t& callback)
+	{
+		m_dropFilesCallbacks.clear();
+		m_dropFilesCallbacks.push_back(callback);
+	}
+	/** \deprecated In MRPT 2.3.2, replaced by dropFilesCallbacks() */
+	drop_files_callback_t dropFilesCallback() const
+	{
+		return m_dropFilesCallbacks.empty() ? drop_files_callback_t()
+											: m_dropFilesCallbacks.at(0);
+	}
+
+	/** \note This call replaces *all* existing keyboard callbacks. See
+	 * addKeyboardCallback().
+	 * \deprecated In MRPT 2.3.2, replaced by addKeyboardCallback()
+	 */
+	void setKeyboardCallback(const keyboard_callback_t& callback)
+	{
+		m_keyboardCallbacks.clear();
+		m_keyboardCallbacks.push_back(callback);
+	}
+	/** \deprecated In MRPT 2.3.2, replaced by keyboardCallbacks() */
+	keyboard_callback_t keyboardCallback() const
 	{
-		m_keyboardCallback = callback;
+		return m_keyboardCallbacks.empty() ? keyboard_callback_t()
+										   : m_keyboardCallbacks.at(0);
 	}
-	const auto& keyboardCallback() const { return m_keyboardCallback; }
 
 	/** @} */
 
@@ -228,14 +300,9 @@ class CDisplayWindowGUI : public nanogui::Screen
 	/** Used to keep track of mouse events on the camera */
 	internal::NanoGUICanvasHeadless m_background_canvas;
 
-	std::function<void(void)> m_loopCallback;
-	// Returns true if handled
-	std::function<bool(const std::vector<std::string>& /* filenames */)>
-		m_dropFilesCallback;
-	// Returns true if handled
-	std::function<bool(
-		int /*key*/, int /*scancode*/, int /*action*/, int /*modifiers*/)>
-		m_keyboardCallback;
+	std::vector<loop_callback_t> m_loopCallbacks;
+	std::vector<drop_files_callback_t> m_dropFilesCallbacks;
+	std::vector<keyboard_callback_t> m_keyboardCallbacks;
 
 	void createSubWindowsControlUI();
 
@@ -290,10 +357,13 @@ class CDisplayWindowGUI : public nanogui::Screen
 	}                                                                          \
 	catch (const std::exception& e)                                            \
 	{                                                                          \
-		const auto sErr = mrpt::exception_to_str(e);                           \
+		const size_t maxLines = 7;                                             \
+		const std::string sErr =                                               \
+			mrpt::system::firstNLines(mrpt::exception_to_str(e), maxLines);    \
 		auto dlg = new nanogui::MessageDialog(                                 \
 			&_parentWindowRef_, nanogui::MessageDialog::Type::Warning,         \
 			"Exception", sErr);                                                \
+		dlg->requestFocus();                                                   \
 		dlg->setCallback([](int /*result*/) {});                               \
 	}
 
diff --git a/libs/gui/include/mrpt/gui/CGlCanvasBase.h b/libs/gui/include/mrpt/gui/CGlCanvasBase.h
index 04ae131c51..ee3e86d9b1 100644
--- a/libs/gui/include/mrpt/gui/CGlCanvasBase.h
+++ b/libs/gui/include/mrpt/gui/CGlCanvasBase.h
@@ -42,7 +42,8 @@ class CGlCanvasBase
 		float cameraFOV = 30.f;
 	};
 
-	CGlCanvasBase();
+	CGlCanvasBase() = default;
+
 	virtual ~CGlCanvasBase();
 	/** Sets the minimum of the zoom
 	 * See also setMaximumZoom(float) */
diff --git a/libs/gui/include/mrpt/gui/WxUtils.h b/libs/gui/include/mrpt/gui/WxUtils.h
index 2c3124ae74..ca47347d16 100644
--- a/libs/gui/include/mrpt/gui/WxUtils.h
+++ b/libs/gui/include/mrpt/gui/WxUtils.h
@@ -12,6 +12,7 @@
 #include <mrpt/config/CConfigFileMemory.h>
 #include <mrpt/gui/keycodes.h>
 #include <mrpt/img/CImage.h>
+#include <mrpt/system/string_utils.h>  // firstNLines()
 
 #if MRPT_HAS_WXWIDGETS
 
@@ -76,8 +77,10 @@ namespace gui
 	}                                                                          \
 	catch (std::exception & e)                                                 \
 	{                                                                          \
-		wxMessageBox(                                                          \
-			mrpt::exception_to_str(e), wxT("Exception"), wxOK, nullptr);       \
+		const size_t maxLines = 7;                                             \
+		const std::string sErr =                                               \
+			mrpt::system::firstNLines(mrpt::exception_to_str(e), maxLines);    \
+		wxMessageBox(sErr, wxT("Exception"), wxOK, nullptr);                   \
 	}                                                                          \
 	catch (...)                                                                \
 	{                                                                          \
diff --git a/libs/gui/include/mrpt/gui/internal/NanoGUICanvasHeadless.h b/libs/gui/include/mrpt/gui/internal/NanoGUICanvasHeadless.h
index 454bed2c21..aafd3570f9 100644
--- a/libs/gui/include/mrpt/gui/internal/NanoGUICanvasHeadless.h
+++ b/libs/gui/include/mrpt/gui/internal/NanoGUICanvasHeadless.h
@@ -31,6 +31,9 @@ class NanoGUICanvasHeadless : public mrpt::gui::CGlCanvasBaseHeadless
 	void mouseButtonEvent(
 		const nanogui::Vector2i& p, int button, bool down, int modifiers);
 	void scrollEvent(const nanogui::Vector2i& p, const nanogui::Vector2f& rel);
+
+   private:
+	int m_lastModifiers = 0;
 };
 }  // namespace mrpt::gui::internal
 #endif	// MRPT_HAS_NANOGUI
diff --git a/libs/gui/src/CDisplayWindow3D.cpp b/libs/gui/src/CDisplayWindow3D.cpp
index 345eb711fa..1674dd9c55 100644
--- a/libs/gui/src/CDisplayWindow3D.cpp
+++ b/libs/gui/src/CDisplayWindow3D.cpp
@@ -328,9 +328,9 @@ void C3DWindowDialog::OnClose(wxCloseEvent& event)
 }
 
 // Menu: Close
-void C3DWindowDialog::OnMenuClose(wxCommandEvent& event) { Close(); }
+void C3DWindowDialog::OnMenuClose(wxCommandEvent&) { Close(); }
 // Menu: About
-void C3DWindowDialog::OnMenuAbout(wxCommandEvent& event)
+void C3DWindowDialog::OnMenuAbout(wxCommandEvent&)
 {
 	::wxMessageBox(
 		_("3D Scene viewer\n Class gui::CDisplayWindow3D\n MRPT C++ library"),
diff --git a/libs/gui/src/CDisplayWindowGUI.cpp b/libs/gui/src/CDisplayWindowGUI.cpp
index 28393d464c..73336dc056 100644
--- a/libs/gui/src/CDisplayWindowGUI.cpp
+++ b/libs/gui/src/CDisplayWindowGUI.cpp
@@ -47,7 +47,18 @@ CDisplayWindowGUI::~CDisplayWindowGUI()
 void CDisplayWindowGUI::drawContents()
 {
 	// If provided, call the user loop code:
-	if (m_loopCallback) m_loopCallback();
+	for (const auto& callback : m_loopCallbacks)
+	{
+		try
+		{
+			callback();
+		}
+		catch (const std::exception& e)
+		{
+			std::cerr << "[CDisplayWindowGUI] Exception in loop callback:\n"
+					  << e.what() << std::endl;
+		}
+	}
 
 	// Optional: render background scene.
 	std::lock_guard<std::mutex> lck(background_scene_mtx);
@@ -120,16 +131,39 @@ bool CDisplayWindowGUI::scrollEvent(
 
 bool CDisplayWindowGUI::dropEvent(const std::vector<std::string>& filenames)
 {
-	if (m_dropFilesCallback) return m_dropFilesCallback(filenames);
-	else
-		return false;
+	for (const auto& callback : m_dropFilesCallbacks)
+	{
+		try
+		{
+			if (callback(filenames)) return true;
+		}
+		catch (const std::exception& e)
+		{
+			std::cerr << "[CDisplayWindowGUI] Exception in drop file event "
+						 "callback:\n"
+					  << e.what() << std::endl;
+		}
+	}
+
+	return false;
 }
 
 bool CDisplayWindowGUI::keyboardEvent(
 	int key, int scancode, int action, int modifiers)
 {
-	if (m_keyboardCallback)
-		if (m_keyboardCallback(key, scancode, action, modifiers)) return true;
+	for (const auto& callback : m_keyboardCallbacks)
+	{
+		try
+		{
+			if (callback(key, scancode, action, modifiers)) return true;
+		}
+		catch (const std::exception& e)
+		{
+			std::cerr
+				<< "[CDisplayWindowGUI] Exception in keyboard event callback:\n"
+				<< e.what() << std::endl;
+		}
+	}
 
 	if (Screen::keyboardEvent(key, scancode, action, modifiers)) return true;
 
diff --git a/libs/gui/src/CDisplayWindowPlots.cpp b/libs/gui/src/CDisplayWindowPlots.cpp
index 5ab7d126c6..fcdf1051f9 100644
--- a/libs/gui/src/CDisplayWindowPlots.cpp
+++ b/libs/gui/src/CDisplayWindowPlots.cpp
@@ -57,7 +57,6 @@ CWindowDialogPlots::CWindowDialogPlots(
 	m_plot->AddLayer(new mpScaleX());
 	m_plot->AddLayer(new mpScaleY());
 	m_plot->LockAspect(false);
-	m_plot->EnableDoubleBuffer(true);
 
 	m_plot->Fit(-10, 10, -10, 10);
 
diff --git a/libs/gui/src/CGlCanvasBase.cpp b/libs/gui/src/CGlCanvasBase.cpp
index 295675298a..1fd7d9b727 100644
--- a/libs/gui/src/CGlCanvasBase.cpp
+++ b/libs/gui/src/CGlCanvasBase.cpp
@@ -44,8 +44,6 @@ using mrpt::system::CTicTac;
 
 float CGlCanvasBase::SENSIBILITY_DEG_PER_PIXEL = 0.1f;
 
-CGlCanvasBase::CGlCanvasBase() {}
-
 CGlCanvasBase::~CGlCanvasBase()
 {
 	// Ensure all OpenGL resources are freed before the opengl context is gone:
diff --git a/libs/gui/src/CQtGlCanvasBase.cpp b/libs/gui/src/CQtGlCanvasBase.cpp
index a0de06fc6c..3e686e6da6 100644
--- a/libs/gui/src/CQtGlCanvasBase.cpp
+++ b/libs/gui/src/CQtGlCanvasBase.cpp
@@ -118,7 +118,18 @@ void CQtGlCanvasBase::mouseReleaseEvent(QMouseEvent* event)
 void CQtGlCanvasBase::wheelEvent(QWheelEvent* event)
 {
 	CamaraParams params = cameraParams();
-	updateZoom(params, event->delta());
+	if (event->modifiers() != Qt::ShiftModifier)
+	{
+		// regular zoom:
+		updateZoom(params, event->delta());
+	}
+	else
+	{
+		// Move vertically +-Z:
+		params.cameraPointingZ +=
+			event->delta() * params.cameraZoomDistance * 1e-4;
+	}
+
 	setCameraParams(params);
 
 	updateCamerasParams();
diff --git a/libs/gui/src/CWxGLCanvasBase.cpp b/libs/gui/src/CWxGLCanvasBase.cpp
index e8b25afb11..333a65f513 100644
--- a/libs/gui/src/CWxGLCanvasBase.cpp
+++ b/libs/gui/src/CWxGLCanvasBase.cpp
@@ -123,7 +123,17 @@ void CWxGLCanvasBase::OnMouseMove(wxMouseEvent& event)
 void CWxGLCanvasBase::OnMouseWheel(wxMouseEvent& event)
 {
 	CamaraParams params = cameraParams();
-	updateZoom(params, event.GetWheelRotation());
+	if (!event.ShiftDown())
+	{
+		// regular zoom:
+		updateZoom(params, event.GetWheelRotation());
+	}
+	else
+	{
+		// Move vertically +-Z:
+		params.cameraPointingZ +=
+			event.GetWheelRotation() * params.cameraZoomDistance * 1e-4;
+	}
 	setCameraParams(params);
 
 	Refresh(false);
diff --git a/libs/gui/src/NanoGUICanvasHeadless.cpp b/libs/gui/src/NanoGUICanvasHeadless.cpp
index 9ab2404335..9292f54f83 100644
--- a/libs/gui/src/NanoGUICanvasHeadless.cpp
+++ b/libs/gui/src/NanoGUICanvasHeadless.cpp
@@ -21,6 +21,8 @@ void NanoGUICanvasHeadless::mouseMotionEvent(
 	const nanogui::Vector2i& p, const nanogui::Vector2i& rel, int button,
 	int modifiers)
 {
+	m_lastModifiers = modifiers;
+
 	const bool leftIsDown = button & (1 << GLFW_MOUSE_BUTTON_LEFT);
 	const bool rightIsDown = button & (1 << GLFW_MOUSE_BUTTON_RIGHT);
 
@@ -54,6 +56,8 @@ void NanoGUICanvasHeadless::mouseMotionEvent(
 void NanoGUICanvasHeadless::mouseButtonEvent(
 	const nanogui::Vector2i& p, int button, bool down, int modifiers)
 {
+	m_lastModifiers = modifiers;
+
 	setMousePos(p.x(), p.y());
 	setMouseClicked(down);
 }
@@ -61,7 +65,18 @@ void NanoGUICanvasHeadless::scrollEvent(
 	const nanogui::Vector2i& p, const nanogui::Vector2f& rel)
 {
 	CamaraParams params = cameraParams();
-	updateZoom(params, 125 * rel.y());
+
+	if (!(m_lastModifiers & GLFW_MOD_SHIFT))
+	{
+		// regular zoom:
+		updateZoom(params, 125 * rel.y());
+	}
+	else
+	{
+		// Move vertically +-Z:
+		params.cameraPointingZ +=
+			125 * rel.y() * params.cameraZoomDistance * 1e-4;
+	}
 	setCameraParams(params);
 }
 
diff --git a/libs/gui/src/error_box.cpp b/libs/gui/src/error_box.cpp
index a52bfe3116..6c973b8916 100644
--- a/libs/gui/src/error_box.cpp
+++ b/libs/gui/src/error_box.cpp
@@ -10,6 +10,7 @@
 #include "gui-precomp.h"  // Precompiled headers
 //
 #include <mrpt/gui/error_box.h>
+#include <mrpt/system/string_utils.h>  // firstNLines()
 
 #if MRPT_HAS_Qt5
 #include <QErrorMessage>
@@ -40,12 +41,15 @@ void mrpt::gui::tryCatch(
 
 void mrpt::gui::showErrorMessage(const std::string& str)
 {
+	const size_t maxLines = 7;
+	const std::string sErr = mrpt::system::firstNLines(str, maxLines);
+
 #if MRPT_HAS_Qt5
 	QErrorMessage msg;
-	msg.showMessage(QString::fromStdString(str));
+	msg.showMessage(QString::fromStdString(sErr));
 	msg.exec();
 #elif MRPT_HAS_WXWIDGETS
-	wxMessageBox(str.c_str(), _("Exception"));
+	wxMessageBox(sErr.c_str(), _("Exception"));
 #else
 	std::cerr << str << std::endl;
 #endif	// MRPT_HAS_Qt5
diff --git a/libs/gui/src/mathplots/mathplot.cpp b/libs/gui/src/mathplots/mathplot.cpp
index 1fd3f9c14f..6019eb8b97 100644
--- a/libs/gui/src/mathplots/mathplot.cpp
+++ b/libs/gui/src/mathplots/mathplot.cpp
@@ -49,6 +49,7 @@ const int INVALID_CLICK_COORDS = -99999;
 
 #include <mrpt/3rdparty/mathplot/mathplot.h>
 #include <wx/bmpbuttn.h>
+#include <wx/dcbuffer.h>
 #include <wx/image.h>
 #include <wx/module.h>
 #include <wx/msgdlg.h>
@@ -1418,9 +1419,6 @@ mpWindow::mpWindow(
 	m_scrX = m_scrY = 64;  // Fixed from m_scrX = m_scrX = 64;
 	m_minX = m_minY = 0;
 	m_maxX = m_maxY = 0;
-	m_last_lx = m_last_ly = 0;
-	m_buff_bmp = nullptr;
-	m_enableDoubleBuffer = FALSE;
 	m_enableMouseNavigation = TRUE;
 	m_mouseMovedAfterRightClick = FALSE;
 	m_movingInfoLayer = nullptr;
@@ -1457,8 +1455,7 @@ mpWindow::mpWindow(
 	m_mouseLClick_X = INVALID_CLICK_COORDS;
 	m_mouseLClick_Y = INVALID_CLICK_COORDS;
 
-	// J.L.Blanco: Eliminates the "flick" with the double buffer.
-	SetBackgroundStyle(wxBG_STYLE_CUSTOM);
+	SetBackgroundStyle(wxBG_STYLE_PAINT);
 
 	UpdateAll();
 }
@@ -1467,12 +1464,6 @@ mpWindow::~mpWindow()
 {
 	// Free all the layers:
 	DelAllLayers(true, false);
-
-	if (m_buff_bmp)
-	{
-		delete m_buff_bmp;
-		m_buff_bmp = nullptr;
-	}
 }
 
 // Mouse handler, for detecting when the user drag with the right button or just
@@ -1535,6 +1526,8 @@ void mpWindow::OnMouseWheel(wxMouseEvent& event)
 // JLB
 void mpWindow::OnMouseMove(wxMouseEvent& event)
 {
+	m_drawDottedSelectedWindow = false;
+
 	if (!m_enableMouseNavigation)
 	{
 		event.Skip();
@@ -1578,14 +1571,10 @@ void mpWindow::OnMouseMove(wxMouseEvent& event)
 		{
 			if (m_movingInfoLayer == nullptr)
 			{
-				wxClientDC dc(this);
-				wxPen pen(*wxBLACK, 1, wxPENSTYLE_DOT);
-				dc.SetPen(pen);
-				dc.SetBrush(*wxTRANSPARENT_BRUSH);
-				dc.DrawRectangle(
-					m_mouseLClick_X, m_mouseLClick_Y,
+				m_drawDottedSelectedWindow = true;
+				m_dottedWindowSize = {
 					event.GetX() - m_mouseLClick_X,
-					event.GetY() - m_mouseLClick_Y);
+					event.GetY() - m_mouseLClick_Y};
 			}
 			else
 			{
@@ -1609,16 +1598,6 @@ void mpWindow::OnMouseMove(wxMouseEvent& event)
 					RefreshRect(tmpLyr->GetRectangle());
 				}
 			}
-			/* if (m_coordTooltip) {
-				wxString toolTipContent;
-				toolTipContent.Printf(_("X = %f\nY = %f"), p2x(event.GetX()),
-			p2y(event.GetY()));
-				wxTipWindow** ptr = nullptr;
-				wxRect rectBounds(event.GetX(), event.GetY(), 5, 5);
-				wxTipWindow* tip = new wxTipWindow(this, toolTipContent, 100,
-			ptr, &rectBounds);
-
-			} */
 		}
 	}
 	event.Skip();
@@ -2096,16 +2075,10 @@ void mpWindow::DelAllLayers(bool alsoDeleteObject, bool refreshDisplay)
 	if (refreshDisplay) UpdateAll();
 }
 
-// void mpWindow::DoPrepareDC(wxDC& dc)
-// {
-//     dc.SetDeviceOrigin(x2p(m_minX), y2p(m_maxY));
-// }
-
-void mpWindow::OnPaint(wxPaintEvent& WXUNUSED(event))
+void mpWindow::OnPaint(wxPaintEvent&)
 {
-	wxPaintDC dc(this);
-	dc.GetSize(&m_scrX, &m_scrY);  // This is the size of the visible area only!
-	//     DoPrepareDC(dc);
+	wxAutoBufferedPaintDC dc(this);
+	dc.GetSize(&m_scrX, &m_scrY);
 
 #ifdef MATHPLOT_DO_LOGGING
 	{
@@ -2118,74 +2091,30 @@ void mpWindow::OnPaint(wxPaintEvent& WXUNUSED(event))
 #endif
 
 	// Selects direct or buffered draw:
-	wxDC* trgDc;
-
-	// J.L.Blanco @ Aug 2007: Added double buffer support
-	if (m_enableDoubleBuffer)
-	{
-		if (m_last_lx != m_scrX || m_last_ly != m_scrY)
-		{
-			if (m_buff_bmp) delete m_buff_bmp;
-			m_buff_bmp = new wxBitmap(m_scrX, m_scrY);
-			m_buff_dc.SelectObject(*m_buff_bmp);
-			m_last_lx = m_scrX;
-			m_last_ly = m_scrY;
-		}
-		trgDc = &m_buff_dc;
-	}
-	else
-	{
-		trgDc = &dc;
-	}
 
 	// Draw background:
-	// trgDc->SetDeviceOrigin(0,0);
-	trgDc->SetPen(*wxTRANSPARENT_PEN);
+	dc.SetPen(*wxTRANSPARENT_PEN);
 	wxBrush brush(GetBackgroundColour());
-	trgDc->SetBrush(brush);
-	trgDc->SetTextForeground(m_fgColour);
-	trgDc->DrawRectangle(0, 0, m_scrX, m_scrY);
+	dc.SetBrush(brush);
+	dc.SetTextForeground(m_fgColour);
+	dc.DrawRectangle(0, 0, m_scrX, m_scrY);
 
 	// Draw all the layers:
-	// trgDc->SetDeviceOrigin( m_scrX>>1, m_scrY>>1);  // Origin at the center
-	wxLayerList::iterator li;
-	for (li = m_layers.begin(); li != m_layers.end(); ++li)
-	{
-		(*li)->Plot(*trgDc, *this);
-	};
+	for (const auto& ly : m_layers)
+		ly->Plot(dc, *this);
 
-	// If doublebuffer, draw now to the window:
-	if (m_enableDoubleBuffer)
+	if (m_drawDottedSelectedWindow)
 	{
-		// trgDc->SetDeviceOrigin(0,0);
-		// dc.SetDeviceOrigin(0,0);  // Origin at the center
-		dc.Blit(0, 0, m_scrX, m_scrY, trgDc, 0, 0);
+		static wxPen pen(*wxBLACK, 1, wxPENSTYLE_DOT);
+		dc.SetPen(pen);
+		dc.SetBrush(*wxTRANSPARENT_BRUSH);
+		dc.DrawRectangle(
+			m_mouseLClick_X, m_mouseLClick_Y, m_dottedWindowSize.x,
+			m_dottedWindowSize.y);
 	}
 
-	/*    if (m_coordTooltip) {
-			wxString toolTipContent;
-			wxPoint mousePoint =  wxGetMousePosition();
-			toolTipContent.Printf(_("X = %f\nY = %f"), p2x(mousePoint.x),
-	   p2y(mousePoint.y));
-			SetToolTip(toolTipContent);
-		}*/
 	// If scrollbars are enabled, refresh them
-	if (m_enableScrollBars)
-	{
-		/*       m_scrollX = (int) floor((m_posX - m_minX)*m_scaleX);
-			   m_scrollY = (int) floor((m_maxY - m_posY )*m_scaleY);
-			   Scroll(m_scrollX, m_scrollY);*/
-		// Scroll(x2p(m_posX), y2p(m_posY));
-		//             SetVirtualSize((int) ((m_maxX - m_minX)*m_scaleX), (int)
-		//             ((m_maxY - m_minY)*m_scaleY));
-		//         int centerX = (m_scrX - m_marginLeft - m_marginRight)/2; // +
-		//         m_marginLeft; // c.x = m_scrX/2;
-		// 	int centerY = (m_scrY - m_marginTop - m_marginBottom)/2; // -
-		// m_marginTop; // c.y = m_scrY/2;
-		/*SetScrollbars(1, 1, (int) ((m_maxX - m_minX)*m_scaleX), (int) ((m_maxY
-		 * - m_minY)*m_scaleY));*/  //, x2p(m_posX + centerX/m_scaleX),
-									// y2p(m_posY - centerY/m_scaleY), true);
-	}
+	if (m_enableScrollBars) {}
 }
 
 // void mpWindow::OnScroll2(wxScrollWinEvent &event)
@@ -2290,7 +2219,7 @@ void mpWindow::SetMPScrollbars(bool status)
 	// //         SetVirtualSize((int) (m_maxX - m_minX), (int) (m_maxY -
 	// m_minY));
 	//     }
-	//     Refresh(false);*/
+	//     Refresh(true);*/
 }
 
 bool mpWindow::UpdateBBox()
@@ -2426,7 +2355,7 @@ void mpWindow::UpdateAll()
 		}
 	}
 
-	Refresh(FALSE);
+	Refresh(true);
 }
 
 void mpWindow::DoScrollCalc(const int position, const int orientation)
diff --git a/libs/hwdrivers/include/mrpt/hwdrivers/CImpinjRFID.h b/libs/hwdrivers/include/mrpt/hwdrivers/CImpinjRFID.h
index 850f3e0ae2..a58bf30454 100644
--- a/libs/hwdrivers/include/mrpt/hwdrivers/CImpinjRFID.h
+++ b/libs/hwdrivers/include/mrpt/hwdrivers/CImpinjRFID.h
@@ -22,6 +22,7 @@ namespace mrpt::hwdrivers
  * connects to a program that does the actual communication with the receiver.
  * This is done because the manufacturer only provides libraries for C# and
  * Java. The program that runs the device must be started after this object
+ * \ingroup mrpt_hwdrivers_grp
  */
 class CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
 {
diff --git a/libs/img/include/mrpt/img/CImage.h b/libs/img/include/mrpt/img/CImage.h
index 751319a914..802823d6f6 100644
--- a/libs/img/include/mrpt/img/CImage.h
+++ b/libs/img/include/mrpt/img/CImage.h
@@ -202,11 +202,11 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 		}
 	}
 
-	/** Constructor from a cv::Mat image, making or not a deep copy of the data
+	/** Constructor from a cv::Mat image, making or not a deep copy of the data.
 	 */
 	CImage(const cv::Mat& img, copy_type_t copy_type);
 
-	/** Constructor from another CImage, making or not a deep copy of the data
+	/** Constructor from another CImage, making or not a deep copy of the data.
 	 */
 	CImage(const CImage& img, copy_type_t copy_type);
 
@@ -671,7 +671,10 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 	/** Returns true if the image is RGB or RGBA, false if it is grayscale */
 	bool isColor() const;
 
-	/** Returns true if the object is in the state after default constructor */
+	/** Returns true if the object is in the state after default constructor.
+	 * Returns false for delay-loaded images, disregarding whether the image is
+	 * actually on disk or memory.
+	 */
 	bool isEmpty() const;
 
 	/** Returns true (as of MRPT v2.0.0, it's fixed) */
@@ -926,11 +929,10 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 	 * (internally uses OpenCV).
 	 * \param fileName The file to read from.
 	 * \param isColor Specifies colorness of the loaded image:
-	 *  - if >0, the loaded image is forced to be color 3-channel image;
-	 *  - if 0, the loaded image is forced to be grayscale;
-	 *  - if <0, the loaded image will be loaded as is (with number of channels
-	 * depends on the file).
-	 * The supported formats are:
+	 *  - if ==1, the loaded image is forced to be color 3-channel image;
+	 *  - if ==0, the loaded image is forced to be grayscale;
+	 *  - if ==-1, the loaded image will be loaded as is (with number of
+	 * channels depends on the file). The supported formats are:
 	 *
 	 * - Windows bitmaps - BMP, DIB;
 	 * - JPEG files - JPEG, JPG, JPE;
@@ -939,6 +941,12 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
 	 * - Sun rasters - SR, RAS;
 	 * - TIFF files - TIFF, TIF.
 	 *
+	 * MRPT also provides the special loaders loadFromXPM() and loadTGA().
+	 *
+	 * Note that this function uses cv::imdecode() internally to reuse the
+	 * memory buffer used by the image already loaded into this CImage, if
+	 * possible, minimizing the number of memory allocations.
+	 *
 	 * \return False on any error
 	 * \sa saveToFile, setExternalStorage,loadFromXPM, loadTGA
 	 */
diff --git a/libs/img/src/CImage.cpp b/libs/img/src/CImage.cpp
index 4f98394871..ff25e7cd9a 100644
--- a/libs/img/src/CImage.cpp
+++ b/libs/img/src/CImage.cpp
@@ -15,6 +15,7 @@
 #include <mrpt/io/CFileInputStream.h>
 #include <mrpt/io/CFileOutputStream.h>
 #include <mrpt/io/CMemoryStream.h>
+#include <mrpt/io/vector_loadsave.h>
 #include <mrpt/math/CMatrixF.h>
 #include <mrpt/math/fourier.h>
 #include <mrpt/math/utils.h>  // for roundup()
@@ -193,20 +194,35 @@ CImage::CImage(const cv::Mat& img, copy_type_t copy_type) : CImage()
 #endif
 }
 
-CImage::CImage(const CImage& img, copy_type_t copy_type)
-	:
+CImage::CImage(const CImage& img, copy_type_t copy_type) : CImage()
+{
 #if MRPT_HAS_OPENCV
-	  CImage(img.m_impl->img, copy_type)
-#else
-	  CImage()
+	MRPT_START
+
+	// Also, copy our custom fields, only if making a shallow copy!
+	m_imgIsExternalStorage = img.m_imgIsExternalStorage;
+	m_externalFile = img.m_externalFile;
+
+	// this new image is *not* lazy-load.
+	if (copy_type == DEEP_COPY && !img.asCvMatRef().empty())
+	{
+		// deep copy
+		m_impl->img = img.asCvMatRef().clone();
+	}
+	else
+	{
+		// shallow copy
+		m_impl->img = img.m_impl->img;
+	}
+	MRPT_END
 #endif
-{
 }
 
 CImage CImage::makeDeepCopy() const
 {
 #if MRPT_HAS_OPENCV
 	CImage ret(*this);
+	ret.makeSureImageIsLoaded();
 	ret.m_impl->img = m_impl->img.clone();
 	return ret;
 #else
@@ -217,6 +233,7 @@ CImage CImage::makeDeepCopy() const
 void CImage::asCvMat(cv::Mat& out_img, copy_type_t copy_type) const
 {
 #if MRPT_HAS_OPENCV
+	makeSureImageIsLoaded();
 	if (copy_type == DEEP_COPY) out_img = m_impl->img.clone();
 	else
 		out_img = m_impl->img;
@@ -290,6 +307,7 @@ PixelDepth CImage::getPixelDepth() const
 {
 	MRPT_START
 #if MRPT_HAS_OPENCV
+	makeSureImageIsLoaded();  // For delayed loaded images stored externally
 	return cvDepth2PixelDepth(m_impl->img.depth());
 #else
 	THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_OPENCV=0 !");
@@ -302,17 +320,24 @@ bool CImage::loadFromFile(const std::string& fileName, int isColor)
 	MRPT_START
 
 #if MRPT_HAS_OPENCV
-	m_imgIsExternalStorage = false;
 #ifdef HAVE_OPENCV_IMGCODECS
-	MRPT_TODO("Port to cv::imdecode()?");
-	MRPT_TODO("add flag to reuse current img buffer");
+	std::vector<uint8_t> fileData;
+	if (!mrpt::io::loadBinaryFile(fileData, fileName)) return false;
+	const cv::Mat data(fileData.size(), 1, CV_8UC1, fileData.data());
 
-	m_impl->img = cv::imread(fileName, static_cast<cv::ImreadModes>(isColor));
+	// Reuse the buffer (save memory allocations) if possible:
+	if (m_impl->img.empty()) m_impl->img = cv::imdecode(data, isColor);
+	else
+		cv::imdecode(data, isColor, &m_impl->img);
 #else
 	IplImage* newImg = cvLoadImage(fileName.c_str(), isColor);
 	if (!newImg) return false;
 	m_impl->img = cv::cvarrToMat(newImg);
 #endif
+
+	m_imgIsExternalStorage = false;
+	m_externalFile.clear();
+
 	if (m_impl->img.empty()) return false;
 
 	return true;
@@ -366,6 +391,7 @@ void CImage::loadFromMemoryBuffer(
 #if MRPT_HAS_OPENCV
 	resize(width, height, color ? CH_RGB : CH_GRAY);
 	m_imgIsExternalStorage = false;
+	m_externalFile.clear();
 
 	auto* imgData = m_impl->img.data;
 	const auto imgWidthStep = m_impl->img.step[0];
@@ -808,10 +834,10 @@ void CImage::getSize(TImageSize& s) const
 size_t CImage::getWidth() const
 {
 #if MRPT_HAS_OPENCV
-	if (m_imgIsExternalStorage) makeSureImageIsLoaded();
+	makeSureImageIsLoaded();
 	return m_impl->img.cols;
 #else
-	return 0;
+	THROW_EXCEPTION("MRPT built without OpenCV support");
 #endif
 }
 
@@ -845,10 +871,10 @@ size_t CImage::getRowStride() const
 size_t CImage::getHeight() const
 {
 #if MRPT_HAS_OPENCV
-	if (m_imgIsExternalStorage) makeSureImageIsLoaded();
+	makeSureImageIsLoaded();
 	return m_impl->img.rows;
 #else
-	return 0;
+	THROW_EXCEPTION("MRPT built without OpenCV support");
 #endif
 }
 
@@ -875,9 +901,9 @@ int CImage::channelCount() const
 bool CImage::isEmpty() const
 {
 #if MRPT_HAS_OPENCV
-	return m_imgIsExternalStorage || m_impl->img.empty();
+	return !m_imgIsExternalStorage && m_impl->img.empty();
 #else
-	THROW_EXCEPTION("MRPT built without OpenCV support");
+	return true;
 #endif
 }
 
@@ -1752,7 +1778,8 @@ void CImage::scaleImage(
 	if (out_img.m_impl->img.data == srcImg.data) srcImg = srcImg.clone();
 
 	// Already done?
-	if (out_img.getWidth() == width && out_img.getHeight() == height)
+	if (srcImg.cols == static_cast<int>(width) &&
+		srcImg.rows == static_cast<int>(height))
 	{
 		out_img.m_impl->img = srcImg;
 		return;
diff --git a/libs/img/src/CImage_JPEG_streams.cpp b/libs/img/src/CImage_JPEG_streams.cpp
index e649443150..e5378ebf78 100644
--- a/libs/img/src/CImage_JPEG_streams.cpp
+++ b/libs/img/src/CImage_JPEG_streams.cpp
@@ -349,8 +349,6 @@ void CImage::saveToStreamAsJPEG(CStream& out, const int jpeg_quality) const
 
 	makeSureImageIsLoaded();  // For delayed loaded images stored externally
 
-	MRPT_TODO("Port to cv::encode()");
-
 	struct jpeg_compress_struct cinfo;
 	struct jpeg_error_mgr jerr;
 
@@ -449,7 +447,10 @@ void CImage::loadFromStreamAsJPEG(CStream& in)
 #if MRPT_HAS_OPENCV
 	MRPT_START
 
-	MRPT_TODO("Port to cv::imdecode()");
+	// This could have been ported to cv::imdecode(). But on a second thought,
+	// it may be not be as easy: imdecode() assumes an input buffer of known
+	// size while here we do not know the size to read from the CStream in
+	// advance.
 
 	struct jpeg_decompress_struct cinfo;
 	struct jpeg_error_mgr jerr;
diff --git a/libs/img/src/CImage_unittest.cpp b/libs/img/src/CImage_unittest.cpp
index 1068412f04..95488c8d1b 100644
--- a/libs/img/src/CImage_unittest.cpp
+++ b/libs/img/src/CImage_unittest.cpp
@@ -63,7 +63,11 @@ static bool expect_identical(
 TEST(CImage, CtorDefault)
 {
 	mrpt::img::CImage img;
+	EXPECT_TRUE(img.isEmpty());
 	EXPECT_THROW(img.isColor(), std::exception);
+	EXPECT_THROW(img.getWidth(), std::exception);
+	EXPECT_THROW(img.getHeight(), std::exception);
+	EXPECT_THROW(img.getPixelDepth(), std::exception);
 }
 
 #if MRPT_HAS_OPENCV
@@ -353,6 +357,14 @@ TEST(CImage, ScaleImage)
 	bool load_ok = a.loadFromFile(tstImgFileColor);
 	EXPECT_TRUE(load_ok);
 
+	{
+		CImage b(600, 400);
+		a.scaleImage(b, 600, 400);
+		EXPECT_EQ(b.getWidth(), 600U);
+		EXPECT_EQ(b.getHeight(), 400U);
+		EXPECT_EQ(a.getWidth(), 320U);
+		EXPECT_EQ(a.getHeight(), 240U);
+	}
 	{
 		CImage b;
 		a.scaleImage(b, 600, 400);
diff --git a/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp b/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
index b2fe6e184e..246bd98ba8 100644
--- a/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
+++ b/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
@@ -144,19 +144,6 @@ void CGasConcentrationGridMap2D::internal_clear()
 		windGrid_module.fill(insertionOptions.default_wind_speed);
 		windGrid_direction.fill(insertionOptions.default_wind_direction);
 
-		/*float S = windGrid_direction.getSizeX() *
-windGrid_direction.getSizeY();
-
-		for( unsigned int y=windGrid_direction.getSizeY()/2;
-y<windGrid_direction.getSizeY(); y++ )
-		{
-			for( unsigned int x=0; x<windGrid_direction.getSizeX(); x++ )
-			{
-				double * wind_cell = windGrid_direction.cellByIndex(x,y);
-				*wind_cell =  3*3.141516/2;
-}
-		}*/
-
 		// Generate Look-Up Table of the Gaussian weights due to wind advection.
 		if (!build_Gaussian_Wind_Grid())
 		{
@@ -646,20 +633,6 @@ void CGasConcentrationGridMap2D::increaseUncertainty(
 
 	// Update m_map.kf_std
 	recoverMeanAndCov();
-
-	// for (cy=0; cy<m_size_y; cy++)
-	//   {
-	//       for (cx=0; cx<m_size_x; cx++)
-	//       {
-	//		// Forgetting_curve --> memory_retention =
-	// exp(-time/memory_relative_strenght)
-	//		memory_retention = exp(- mrpt::system::timeDifference(m_map[cx +
-	// cy*m_size_x].last_updated, now()) / memory_relative_strenght);
-	//		//Update Uncertainty (STD)
-	//		m_map[cx + cy*m_size_x].kf_std = 1 - ( (1-m_map[cx +
-	// cy*m_size_x].updated_std) * memory_retention );
-	//       }
-	//   }
 }
 
 /*---------------------------------------------------------------
@@ -1199,95 +1172,6 @@ that models the propagation of the gas comming from cell_i.
 						}
 					}
 
-					// OLD WAY
-
-					/* ---------------------------------------------------------
-					   Estimate the volume of the Gaussian on each affected cell
-					//-----------------------------------------------------------*/
-					// for(int cx=min_cx; cx<=max_cx; cx++)
-					//{
-					//	for(int cy=min_cy; cy<=max_cy; cy++)
-					//	{
-					//		// Coordinates of affected cell (center of the cell)
-					//		float cell_a_x = (cx+0.5f)*LUT.resolution;
-					//		float cell_a_y = (cy+0.5f)*LUT.resolution;
-					//		float w_cell_a = 0.0;	//initial Gaussian value of
-					// cell afected
-
-					//		// Estimate volume of the Gaussian under cell (a)
-					//		// Partition each cell into (p x p) subcells and
-					// evaluate the gaussian.
-					//		int p = 40;
-					//		float subcell_pres = LUT.resolution/p;
-					//		float cell_a_x_min = cell_a_x - LUT.resolution/2.0;
-					//		float cell_a_y_min = cell_a_y - LUT.resolution/2.0;
-
-					//
-					//		for(int scy=0; scy<p; scy++)
-					//		{
-					//			for(int scx=0; scx<p; scx++)
-					//			{
-					//				//P-Subcell coordinates (center of the
-					// p-subcell)
-					//				float subcell_a_x = cell_a_x_min +
-					//(scx+0.5f)*subcell_pres;
-					//				float subcell_a_y = cell_a_y_min +
-					//(scy+0.5f)*subcell_pres;
-
-					//				//distance and angle between cell_i and
-					// subcell_a
-					//				float r_ia = sqrt(
-					// square(subcell_a_x-cell_i_x)
-					//+
-					// square(subcell_a_y-cell_i_y) );
-					//				float phi_ia = atan2(subcell_a_y-cell_i_y,
-					// subcell_a_x-cell_i_x);
-
-					//				//Volume Approximation of subcell_a
-					//(Gaussian
-					// Bivariate)
-					//				float w = (1/(2*M_PI*LUT.std_r*LUT.std_phi))
-					//*
-					// exp(-0.5*( square(r_ia-r)/square(LUT.std_r) +
-					// square(phi_ia-phi)/square(LUT.std_phi) ) );
-					//				w += (1/(2*M_PI*LUT.std_r*LUT.std_phi)) *
-					// exp(-0.5*( square(r_ia-r)/square(LUT.std_r) +
-					// square(phi_ia+2*M_PI-phi)/square(LUT.std_phi) ) );
-					//				w += (1/(2*M_PI*LUT.std_r*LUT.std_phi)) *
-					// exp(-0.5*( square(r_ia-r)/square(LUT.std_r) +
-					// square(phi_ia-2*M_PI-phi)/square(LUT.std_phi) ) );
-					//
-					//				//Since we work with a cell grid,
-					// approximate
-					// the
-					// weight of the gaussian by the volume of the subcell_a
-					//				if (r_ia != 0.0)
-					//					w_cell_a = w_cell_a + (w *
-					// square(subcell_pres)/r_ia);
-					//			}//end-for scx
-					//		}//end-for scy
-
-					//		//Save the weight of the gaussian volume for cell_a
-					//(cx,cy)
-					//		TGaussianCell gauss_info;
-					//		gauss_info.cx = cx;
-					//		gauss_info.cy = cy;
-					//		gauss_info.value = w_cell_a;
-
-					//		//Add cell volume to LookUp Table
-					//		LUT_TABLE[phi_indx][r_indx].push_back(gauss_info);
-
-					//		if (debug)
-					//		{
-					//			//Save to file (debug)
-					//			fprintf(debug_file, "(%d,%d)=%.6f
-					//",gauss_info.cx, gauss_info.cy, gauss_info.value);
-					//		}
-					//
-					//
-					//	}//end-for cy
-					//}//end-for cx
-
 				}  // end-if only one affected cell
 
 			}  // end-for r
diff --git a/libs/maps/src/maps/CGasConcentrationGridMap2D_unittest.cpp b/libs/maps/src/maps/CGasConcentrationGridMap2D_unittest.cpp
new file mode 100644
index 0000000000..d33af6737f
--- /dev/null
+++ b/libs/maps/src/maps/CGasConcentrationGridMap2D_unittest.cpp
@@ -0,0 +1,76 @@
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          https://www.mrpt.org/                         |
+   |                                                                        |
+   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
+   | See: https://www.mrpt.org/Authors - All rights reserved.               |
+   | Released under BSD License. See: https://www.mrpt.org/License          |
+   +------------------------------------------------------------------------+ */
+
+#include <gtest/gtest.h>
+#include <mrpt/maps/CGasConcentrationGridMap2D.h>
+#include <mrpt/system/filesystem.h>
+
+const double xMin = -4.0, xMax = 4.0, yMin = -4.0, yMax = 4.0;
+const double val = 0.2, sigma = 1.0;
+const bool ti = true;  // time invariant
+const bool um = false;	// update map. Manual call to updateMapEstimation()
+
+static void test_CGasConcentrationGridMap2D_insertAndRead(
+	mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation mapType,
+	const double resolution,
+	const std::function<double(const mrpt::maps::TRandomFieldCell&)>&
+		cellToValue)
+{
+	mrpt::maps::CGasConcentrationGridMap2D grid(
+		mapType, xMin, xMax, yMin, yMax, resolution);
+
+	// Inside:
+	grid.insertIndividualReading(1.0 * val, {2.0, 3.0}, um, ti, sigma);
+	grid.insertIndividualReading(2.0 * val, {1.0, 0.5}, um, ti, sigma);
+	grid.insertIndividualReading(3.0 * val, {-1.0, -2.0}, um, ti, sigma);
+
+	grid.insertionOptions.GMRF_skip_variance = true;
+	grid.updateMapEstimation();
+
+	for (int i = 0; i < 2; i++)
+	{
+		{
+			const double map_value = cellToValue(*grid.cellByPos(2.0, 3.0));
+			EXPECT_NEAR(map_value, 1.0 * val, 1e-2) << "mapType: " << mapType;
+		}
+		{
+			const double map_value = cellToValue(*grid.cellByPos(1.0, 0.5));
+			EXPECT_NEAR(map_value, 2.0 * val, 1e-2) << "mapType: " << mapType;
+		}
+		{
+			const double map_value = cellToValue(*grid.cellByPos(-1.0, -2.0));
+			EXPECT_NEAR(map_value, 3.0 * val, 1e-2) << "mapType: " << mapType;
+
+			// Test after map enlarge:
+			grid.resize(-5.0, 5.0, -5.0, 5.0, {}, .0);
+		}
+	}
+}
+
+TEST(CGasConcentrationGridMap2D, insertAndRead)
+{
+	test_CGasConcentrationGridMap2D_insertAndRead(
+		mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, 1.0,
+		[](const mrpt::maps::TRandomFieldCell& c) { return c.kf_mean(); });
+	test_CGasConcentrationGridMap2D_insertAndRead(
+		mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, 1.0,
+		[](const mrpt::maps::TRandomFieldCell& c) { return c.kf_mean(); });
+	test_CGasConcentrationGridMap2D_insertAndRead(
+		mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, 0.5,
+		[](const mrpt::maps::TRandomFieldCell& c) { return c.gmrf_mean(); });
+
+#if 0
+	test_CGasConcentrationGridMap2D_insertAndRead(
+		mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, 0.1,
+		[](const mrpt::maps::TRandomFieldCell& c) { return c.dm_mean(); });
+	test_CGasConcentrationGridMap2D_insertAndRead(
+		mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, 0.1,
+		[](const mrpt::maps::TRandomFieldCell& c) { return c.dm_mean(); });
+#endif
+}
diff --git a/libs/maps/src/maps/CRandomFieldGridMap2D.cpp b/libs/maps/src/maps/CRandomFieldGridMap2D.cpp
index da8aae229d..87f1d4309b 100644
--- a/libs/maps/src/maps/CRandomFieldGridMap2D.cpp
+++ b/libs/maps/src/maps/CRandomFieldGridMap2D.cpp
@@ -591,6 +591,7 @@ void CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(
 
 	// Compute the "parzen Gaussian" once only:
 	// -------------------------------------------------
+	ASSERT_LT_(m_resolution, 0.5 * m_insertOptions_common->cutoffRadius);
 	int Ac_cutoff = round(m_insertOptions_common->cutoffRadius / m_resolution);
 	unsigned Ac_all = 1 + 2 * Ac_cutoff;
 	double minWinValueAtCutOff = exp(-square(
diff --git a/libs/math/include/mrpt/math/TTwist2D.h b/libs/math/include/mrpt/math/TTwist2D.h
index a90a291a55..7d2bf59d71 100644
--- a/libs/math/include/mrpt/math/TTwist2D.h
+++ b/libs/math/include/mrpt/math/TTwist2D.h
@@ -95,6 +95,16 @@ struct TTwist2D : public internal::ProvideStaticResize<TTwist2D>
 	/** Transform the (vx,vy) components for a counterclockwise rotation of
 	 * `ang` radians. */
 	void rotate(const double ang);
+
+	/** Like rotate(), but returning a copy of the rotated twist.
+	 *  \note New in MRPT 2.3.2 */
+	[[nodiscard]] TTwist2D rotated(const double ang) const
+	{
+		TTwist2D r = *this;
+		r.rotate(ang);
+		return r;
+	}
+
 	bool operator==(const TTwist2D& o) const;
 	bool operator!=(const TTwist2D& o) const;
 	/** Returns the pose increment of multiplying each twist component times
diff --git a/libs/math/include/mrpt/math/TTwist3D.h b/libs/math/include/mrpt/math/TTwist3D.h
index 0e26e79eb1..696991ef32 100644
--- a/libs/math/include/mrpt/math/TTwist3D.h
+++ b/libs/math/include/mrpt/math/TTwist3D.h
@@ -151,6 +151,15 @@ struct TTwist3D : public internal::ProvideStaticResize<TTwist3D>
 	 * The translational part of the pose is ignored */
 	void rotate(const mrpt::math::TPose3D& rot);
 
+	/** Like rotate(), but returning a copy of the rotated twist.
+	 *  \note New in MRPT 2.3.2 */
+	[[nodiscard]] TTwist3D rotated(const mrpt::math::TPose3D& rot) const
+	{
+		TTwist3D r = *this;
+		r.rotate(rot);
+		return r;
+	}
+
 	/** Set the current object value from a string generated by 'asString' (eg:
 	 * "[vx vy vz wx wy wz]" )
 	 * \sa asString
diff --git a/libs/obs/include/mrpt/obs/CObservation.h b/libs/obs/include/mrpt/obs/CObservation.h
index 7bddad9c8e..13b114ca44 100644
--- a/libs/obs/include/mrpt/obs/CObservation.h
+++ b/libs/obs/include/mrpt/obs/CObservation.h
@@ -26,18 +26,21 @@ namespace obs
  * \ingroup mrpt_obs_grp */
 #define INVALID_LANDMARK_ID (-1)
 
-/** Declares a class that represents any robot's observation.
- *  This is a base class for many types of sensor observations.
+/** Generic sensor observation.
+ *
+ *  This is a base virtual class for all types of sensor observations.
  *  Users can add new observation types creating a new class deriving from this
- * one.
+ * one, or reuse those provided in MRPT modules. Most observations are defined
+ * in \def mrpt_obs_grp.
+ *
+ * Observations do not include any information about the robot localization,
+ * but just raw sensory data and, where aplicable, information about the
+ * sensor position and orientation in the **local frame** (vehicle frame).
  *
- *  <b>IMPORTANT</b>: Observations don't include any information about the robot
- * pose,
- *   just  raw sensory data and, where aplicable, information about the sensor
- * position and
- *   orientation in the local frame of the robot.
+ * Datasets with large number of observations can be managed with
+ * mrpt::obs::CRawLog.
  *
- * \sa CSensoryFrame, CMetricMap
+ * \sa CSensoryFrame, CMetricMap, mrpt::obs::CRawLog
  * \ingroup mrpt_obs_grp
  */
 class CObservation : public mrpt::serialization::CSerializable
@@ -153,6 +156,25 @@ class CObservation : public mrpt::serialization::CSerializable
 	/** Return by value version of getDescriptionAsText(std::ostream&) */
 	std::string getDescriptionAsTextValue() const;
 
+	/** @name Export to TXT/CSV API (see the rawlog-edit app)
+		@{ */
+	/** Must return true if the class is exportable to TXT/CSV files, in which
+	 * case the other virtual methods in this group must be redefined too.
+	 */
+	virtual bool exportTxtSupported() const { return false; }
+
+	/** Returns the description of the data columns. Timestamp is automatically
+	 * included as the first column, do not list it. See example implementations
+	 * if interested in enabling this in custom CObservation classes.
+	 * Do not include newlines.*/
+	virtual std::string exportTxtHeader() const { return {}; }
+
+	/** Returns one row of data with the data stored in this particular object.
+	 * Do not include newlines. */
+	virtual std::string exportTxtDataRow() const { return {}; }
+
+	/** @} */
+
 	/** @name Delayed-load manual control methods.
 		@{ */
 
diff --git a/libs/obs/include/mrpt/obs/CObservation2DRangeScan.h b/libs/obs/include/mrpt/obs/CObservation2DRangeScan.h
index b5e4adc794..8155fae58d 100644
--- a/libs/obs/include/mrpt/obs/CObservation2DRangeScan.h
+++ b/libs/obs/include/mrpt/obs/CObservation2DRangeScan.h
@@ -263,6 +263,13 @@ class CObservation2DRangeScan : public CObservation
 	void filterByExclusionAngles(
 		const std::vector<std::pair<double, double>>& angles);
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
+	/** @} */
+
 };	// End of class def.
 
 }  // namespace obs
diff --git a/libs/obs/include/mrpt/obs/CObservation3DRangeScan.h b/libs/obs/include/mrpt/obs/CObservation3DRangeScan.h
index a63724cfe2..d3a6815448 100644
--- a/libs/obs/include/mrpt/obs/CObservation3DRangeScan.h
+++ b/libs/obs/include/mrpt/obs/CObservation3DRangeScan.h
@@ -51,9 +51,7 @@ void unprojectInto(
  *"rangeImage(ROW,COLUMN)" contains a distance or a depth, depending
  *on \a range_is_depth. Ranges are stored as uint16_t for efficiency. The units
  *of ranges are stored separately in rangeUnits.
- *    - 2D intensity (grayscale or RGB) image (as a mrpt::img::CImage): For
- *SwissRanger cameras, a logarithmic A-law compression is used to convert the
- *original 16bit intensity to a more standard 8bit graylevel.
+ *    - 2D intensity (grayscale or RGB) image (as a mrpt::img::CImage).
  *    - 2D confidence image (as a mrpt::img::CImage): For each pixel, a 0x00
  *and a 0xFF mean the lowest and highest confidence levels, respectively.
  *    - Semantic labels: Stored as a matrix of bitfields, each bit having a
@@ -62,18 +60,15 @@ void unprojectInto(
  *range images are available in the map \a rangeImageOtherLayers.
  *
  *  The coordinates of the 3D point cloud are in meters with respect to the
- *depth camera origin of coordinates
- *    (in SwissRanger, the front face of the camera: a small offset ~1cm in
- *front of the physical focal point),
+ *depth camera origin of coordinates,
  *    with the +X axis pointing forward, +Y pointing left-hand and +Z pointing
  *up. By convention, a 3D point with its coordinates set to (0,0,0), will be
  *considered as invalid.
  *  The field CObservation3DRangeScan::relativePoseIntensityWRTDepth describes
- *the change of coordinates from
- *    the depth camera to the intensity (RGB or grayscale) camera. In a
- *SwissRanger camera both cameras coincide,
- *    so this pose is just a rotation (0,0,0,-90deg,0,-90deg). But in
- *    Microsoft Kinect there is also an offset, as shown in this figure:
+ * the change of coordinates from the depth camera to the intensity
+ * (RGB or grayscale) camera. In some cameras both cameras coincide,
+ * so this pose would be just a rotation (0,0,0,-90deg,0,-90deg).
+ * In Microsoft Kinect there is also an offset, as shown in this figure:
  *
  *  <div align=center>
  *   <img src="CObservation3DRangeScan_figRefSystem.png">
@@ -261,6 +256,7 @@ class CObservation3DRangeScan : public CObservation
 			T3DPointsProjectionParams(),
 		const TRangeImageFilterParams& filterParams = TRangeImageFilterParams())
 	{
+		load();	 // load, if lazy-load
 		detail::unprojectInto<POINTMAP>(
 			*this, dest_pointcloud, projectParams, filterParams);
 	}
@@ -525,8 +521,9 @@ class CObservation3DRangeScan : public CObservation
 
 	/** Relative pose of the intensity camera wrt the depth camera (which is the
 	 * coordinates origin for this observation).
-	 *  In a SwissRanger camera, this will be (0,0,0,-90deg,0,-90deg) since
-	 * both cameras coincide.
+	 *  In a SwissRanger camera, this will be (0,0,0,-90deg,0,-90deg) since the
+	 * location of both cameras coincide and there is only a rotation due to the
+	 * different axes conventions (see picture above).
 	 *  In a Kinect, this will include a small lateral displacement and a
 	 * rotation, according to the drawing on the top of this page.
 	 *  \sa doDepthAndIntensityCamerasCoincide
@@ -582,7 +579,7 @@ class CObservation3DRangeScan : public CObservation
 	 * parameters of a 3D camera given a range (depth) image and the
 	 * corresponding 3D point cloud.
 	 * \param camera_offset The offset (in meters) in the +X direction of the
-	 * point cloud. It's 1cm for SwissRanger SR4000.
+	 * point cloud.
 	 * \return The final average reprojection error per pixel (typ <0.05 px)
 	 */
 	static double recoverCameraCalibrationParameters(
diff --git a/libs/obs/include/mrpt/obs/CObservationBatteryState.h b/libs/obs/include/mrpt/obs/CObservationBatteryState.h
index 0b05d8d967..67a220c8a0 100644
--- a/libs/obs/include/mrpt/obs/CObservationBatteryState.h
+++ b/libs/obs/include/mrpt/obs/CObservationBatteryState.h
@@ -67,6 +67,11 @@ class CObservationBatteryState : public CObservation
 	void getDescriptionAsText(
 		std::ostream& o) const override;  // See base class docs
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationBeaconRanges.h b/libs/obs/include/mrpt/obs/CObservationBeaconRanges.h
index ce268e197f..b83bee8a51 100644
--- a/libs/obs/include/mrpt/obs/CObservationBeaconRanges.h
+++ b/libs/obs/include/mrpt/obs/CObservationBeaconRanges.h
@@ -73,6 +73,11 @@ class CObservationBeaconRanges : public CObservation
 	 * beacon, or 0 if the beacon is not observed */
 	float getSensedRangeByBeaconID(int32_t beaconID);
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationIMU.h b/libs/obs/include/mrpt/obs/CObservationIMU.h
index 1ee8f9f041..e7eb2fb9f1 100644
--- a/libs/obs/include/mrpt/obs/CObservationIMU.h
+++ b/libs/obs/include/mrpt/obs/CObservationIMU.h
@@ -160,6 +160,11 @@ class CObservationIMU : public CObservation
 	}
 	void getDescriptionAsText(std::ostream& o) const override;
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationImage.h b/libs/obs/include/mrpt/obs/CObservationImage.h
index d65e3c3748..b4f63689c4 100644
--- a/libs/obs/include/mrpt/obs/CObservationImage.h
+++ b/libs/obs/include/mrpt/obs/CObservationImage.h
@@ -72,8 +72,21 @@ class CObservationImage : public CObservation
 	}
 	void getDescriptionAsText(std::ostream& o) const override;
 
+	/** @name Delayed-load (lazy-load) manual control methods.
+		@{ */
+
+	/** Makes sure the image, which may be externally stored, are loaded in
+	 * memory. \sa unload
+	 */
 	void load() const override;
 
+	/** Unload image, for the case of it being stored in lazy-load mode
+	 *  (othewise, the method has no effect).
+	 * \sa load
+	 */
+	void unload() override;
+	/** @} */
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationOdometry.h b/libs/obs/include/mrpt/obs/CObservationOdometry.h
index f6557b7d7a..926f71bba6 100644
--- a/libs/obs/include/mrpt/obs/CObservationOdometry.h
+++ b/libs/obs/include/mrpt/obs/CObservationOdometry.h
@@ -58,6 +58,11 @@ class CObservationOdometry : public CObservation
 	void setSensorPose(const mrpt::poses::CPose3D&) override {}
 	void getDescriptionAsText(std::ostream& o) const override;
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationReflectivity.h b/libs/obs/include/mrpt/obs/CObservationReflectivity.h
index 0aa8f9558d..e4c6c2e6dd 100644
--- a/libs/obs/include/mrpt/obs/CObservationReflectivity.h
+++ b/libs/obs/include/mrpt/obs/CObservationReflectivity.h
@@ -56,6 +56,11 @@ class CObservationReflectivity : public CObservation
 	}
 	void getDescriptionAsText(std::ostream& o) const override;
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationRobotPose.h b/libs/obs/include/mrpt/obs/CObservationRobotPose.h
index 2abcfc3ae3..cb801041f9 100644
--- a/libs/obs/include/mrpt/obs/CObservationRobotPose.h
+++ b/libs/obs/include/mrpt/obs/CObservationRobotPose.h
@@ -35,6 +35,11 @@ class CObservationRobotPose : public CObservation
 	void getDescriptionAsText(
 		std::ostream& o) const override;  // See base class docs
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationWindSensor.h b/libs/obs/include/mrpt/obs/CObservationWindSensor.h
index a020d5d340..2341be5190 100644
--- a/libs/obs/include/mrpt/obs/CObservationWindSensor.h
+++ b/libs/obs/include/mrpt/obs/CObservationWindSensor.h
@@ -33,12 +33,10 @@ class CObservationWindSensor : public CObservation
 	/** @name The data members
 	 * @{ */
 
-	/** The wind speed in m/s */
-	double speed{.0};
-	/** The wind flow direction in deg */
-	double direction{.0};
-	/** The location of the sensing anemometer on the robot coordinate framework
-	 */
+	double speed = 0;  //!< Wind speed [m/s]
+	double direction = 0;  //!< Wind flow direction [degrees]
+
+	/** The location of the sensing anemometer on the robot frame */
 	mrpt::poses::CPose3D sensorPoseOnRobot;
 
 	/** @} */
@@ -48,6 +46,11 @@ class CObservationWindSensor : public CObservation
 	void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
 	void getDescriptionAsText(std::ostream& o) const override;
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/include/mrpt/obs/CObservationWirelessPower.h b/libs/obs/include/mrpt/obs/CObservationWirelessPower.h
index dec9168087..32627bf51e 100644
--- a/libs/obs/include/mrpt/obs/CObservationWirelessPower.h
+++ b/libs/obs/include/mrpt/obs/CObservationWirelessPower.h
@@ -46,6 +46,11 @@ class CObservationWirelessPower : public CObservation
 	void getDescriptionAsText(
 		std::ostream& o) const override;  // See base class docs
 
+	// See base class docs:
+	bool exportTxtSupported() const override { return true; }
+	std::string exportTxtHeader() const override;
+	std::string exportTxtDataRow() const override;
+
 };	// End of class def.
 
 }  // namespace mrpt::obs
diff --git a/libs/obs/src/CObservation2DRangeScan.cpp b/libs/obs/src/CObservation2DRangeScan.cpp
index 9b10e108e3..65791097c1 100644
--- a/libs/obs/src/CObservation2DRangeScan.cpp
+++ b/libs/obs/src/CObservation2DRangeScan.cpp
@@ -577,3 +577,30 @@ void CObservation2DRangeScan::loadFromVectors(
 		m_validRange[i] = scanValidity[i];
 	}
 }
+
+// See base class docs:
+std::string CObservation2DRangeScan::exportTxtHeader() const
+{
+	std::string ret = "RANGES[i] ... VALID[i]";
+	if (hasIntensity()) ret += " ... INTENSITY[i]";
+	return ret;
+}
+
+std::string CObservation2DRangeScan::exportTxtDataRow() const
+{
+	std::stringstream o;
+	for (size_t i = 0; i < m_scan.size(); i++)
+		o << format("%.03f ", m_scan[i]);
+	o << "    ";
+
+	for (size_t i = 0; i < m_validRange.size(); i++)
+		o << format("%u ", m_validRange[i] ? 1 : 0);
+	o << "    ";
+
+	if (hasIntensity())
+	{
+		for (size_t i = 0; i < m_intensity.size(); i++)
+			o << format("%d ", m_intensity[i]);
+	}
+	return o.str();
+}
diff --git a/libs/obs/src/CObservationBatteryState.cpp b/libs/obs/src/CObservationBatteryState.cpp
index cad3ae4d5b..b6aeb29f39 100644
--- a/libs/obs/src/CObservationBatteryState.cpp
+++ b/libs/obs/src/CObservationBatteryState.cpp
@@ -99,3 +99,21 @@ void CObservationBatteryState::getDescriptionAsText(std::ostream& o) const
 			(voltageOtherBatteriesValid[i] == true) ? "True" : "False");
 	}
 }
+
+std::string CObservationBatteryState::exportTxtHeader() const
+{
+	return "VoltageMainRobotBattery "
+		   "VoltageMainRobotComputer "
+		   "[other voltages...]";
+}
+std::string CObservationBatteryState::exportTxtDataRow() const
+{
+	std::string s;
+	s += mrpt::format("%18.5f ", voltageMainRobotBattery);
+	s += mrpt::format("%18.5f ", voltageMainRobotComputer);
+
+	for (CVectorDouble::Index i = 0; i < voltageOtherBatteries.size(); i++)
+		s += mrpt::format("%18.5f ", voltageOtherBatteries[i]);
+
+	return s;
+}
diff --git a/libs/obs/src/CObservationBeaconRanges.cpp b/libs/obs/src/CObservationBeaconRanges.cpp
index ade2ede1a3..8cfe9509d6 100644
--- a/libs/obs/src/CObservationBeaconRanges.cpp
+++ b/libs/obs/src/CObservationBeaconRanges.cpp
@@ -152,11 +152,28 @@ void CObservationBeaconRanges::getDescriptionAsText(std::ostream& o) const
 
 	o << "  BEACON   RANGE     SENSOR POSITION ON ROBOT \n";
 	o << "------------------------------------------------\n";
-	for (const auto& it : sensedData)
+	for (const auto& d : sensedData)
 	{
 		o << format(
-			"   %i      %.04f      (%.03f,%.03f,%.03f)\n", (int)it.beaconID,
-			it.sensedDistance, it.sensorLocationOnRobot.x(),
-			it.sensorLocationOnRobot.y(), it.sensorLocationOnRobot.z());
+			"   %i      %.04f      (%.03f,%.03f,%.03f)\n", (int)d.beaconID,
+			d.sensedDistance, d.sensorLocationOnRobot.x(),
+			d.sensorLocationOnRobot.y(), d.sensorLocationOnRobot.z());
 	}
 }
+
+std::string CObservationBeaconRanges::exportTxtHeader() const
+{
+	return "[BEACON_ID  RANGE  SENSOR_LOCATION_ON_ROBOT] x N \n";
+}
+std::string CObservationBeaconRanges::exportTxtDataRow() const
+{
+	std::stringstream o;
+	for (const auto& d : sensedData)
+	{
+		o << format(
+			"   %i      %.04f      %.03f %.03f %.03f", (int)d.beaconID,
+			d.sensedDistance, d.sensorLocationOnRobot.x(),
+			d.sensorLocationOnRobot.y(), d.sensorLocationOnRobot.z());
+	}
+	return o.str();
+}
diff --git a/libs/obs/src/CObservationIMU.cpp b/libs/obs/src/CObservationIMU.cpp
index 03249e9d9f..fc3da7e00e 100644
--- a/libs/obs/src/CObservationIMU.cpp
+++ b/libs/obs/src/CObservationIMU.cpp
@@ -162,7 +162,7 @@ void CObservationIMU::getDescriptionAsText(std::ostream& o) const
 	};
 
 #define DUMP_IMU_DATA(x)                                                       \
-	o << format("%15s = ", #x);                                                \
+	o << format("%20s = ", #x);                                                \
 	if (dataIsPresent[x])                                                      \
 		o << format("%10f %s\n", rawMeasurements[x], imu_units[x]);            \
 	else                                                                       \
@@ -200,3 +200,33 @@ void CObservationIMU::getDescriptionAsText(std::ostream& o) const
 	DUMP_IMU_DATA(IMU_Y_ACC_GLOBAL)
 	DUMP_IMU_DATA(IMU_Z_ACC_GLOBAL)
 }
+
+std::string CObservationIMU::exportTxtHeader() const
+{
+	return mrpt::format(
+		"%16s %16s %16s "  // IMU_{X,Y,Z}_ACC
+		"%16s %16s %16s "  // IMU_YAW_VEL...
+		"%16s %16s %16s "  // IMU_X_VEL...
+		"%16s %16s %16s "  // IMU_YAW...
+		"%16s %16s %16s "  // IMU_X...
+		"%16s %16s %16s "  // MAG_X MAG_Y MAG_Z
+		"%16s %16s %16s "  // PRESS ALTIT TEMP
+		"%16s %16s %16s %16s "	// ORI_QUAT
+		"%16s %16s %16s "  // YAW_VEL_GLOBAL
+		"%16s %16s %16s "  // X Y Z ACC GLOBAL
+		,
+		"IMU_X_ACC", "IMU_Y_ACC", "IMU_Z_ACC", "IMU_WZ", "IMU_WY", "IMU_WX",
+		"IMU_X_VEL", "IMU_Y_VEL", "IMU_Z_VEL", "IMU_YAW", "IMU_PITCH",
+		"IMU_ROLL", "IMU_X", "IMU_Y", "IMU_Z", "MAG_X", "MAG_Y", "MAG_Z",
+		"PRESS", "ALTITUDE", "TEMPERATURE", "ORI_QUAT_X", "ORI_QUAT_Y",
+		"ORI_QUAT_Z", "ORI_QUAT_W", "YAW_VEL_GLOBAL", "PITCH_VEL_GLOBAL",
+		"ROLL_VEL_GLOBAL", "X_ACC_GLOBAL", "Y_ACC_GLOBAL", "Z_ACC_GLOBAL");
+}
+std::string CObservationIMU::exportTxtDataRow() const
+{
+	std::string s;
+	for (size_t idx = 0; idx < rawMeasurements.size(); idx++)
+		s += mrpt::format(
+			"%16.8f ", dataIsPresent[idx] ? rawMeasurements[idx] : 0);
+	return s;
+}
diff --git a/libs/obs/src/CObservationImage.cpp b/libs/obs/src/CObservationImage.cpp
index db4501a7c9..adef55fe91 100644
--- a/libs/obs/src/CObservationImage.cpp
+++ b/libs/obs/src/CObservationImage.cpp
@@ -9,6 +9,7 @@
 
 #include "obs-precomp.h"  // Precompiled headers
 //
+#include <mrpt/core/get_env.h>
 #include <mrpt/math/ops_vectors.h>	// << of std::vector()
 #include <mrpt/obs/CObservationImage.h>
 #include <mrpt/serialization/CArchive.h>
@@ -159,4 +160,23 @@ void CObservationImage::getDescriptionAsText(std::ostream& o) const
 	}
 }
 
-void CObservationImage::load() const { image.forceLoad(); }
+void CObservationImage::load() const
+{
+	const thread_local bool MRPT_DEBUG_OBSIMG_LAZY_LOAD =
+		mrpt::get_env<bool>("MRPT_DEBUG_OBSIMG_LAZY_LOAD", false);
+	if (MRPT_DEBUG_OBSIMG_LAZY_LOAD)
+		std::cout << "[CObservationImage::load()] Called on this="
+				  << reinterpret_cast<const void*>(this) << std::endl;
+
+	image.forceLoad();
+}
+void CObservationImage::unload()
+{
+	const thread_local bool MRPT_DEBUG_OBSIMG_LAZY_LOAD =
+		mrpt::get_env<bool>("MRPT_DEBUG_OBSIMG_LAZY_LOAD", false);
+	if (MRPT_DEBUG_OBSIMG_LAZY_LOAD)
+		std::cout << "[CObservationImage::unload()] Called on this="
+				  << reinterpret_cast<const void*>(this) << std::endl;
+
+	image.unload();
+}
diff --git a/libs/obs/src/CObservationOdometry.cpp b/libs/obs/src/CObservationOdometry.cpp
index 19ab61503f..b6186353ec 100644
--- a/libs/obs/src/CObservationOdometry.cpp
+++ b/libs/obs/src/CObservationOdometry.cpp
@@ -105,3 +105,28 @@ void CObservationOdometry::getDescriptionAsText(std::ostream& o) const
 	else
 		o << "Velocity info: Not available!\n";
 }
+
+std::string CObservationOdometry::exportTxtHeader() const
+{
+	return mrpt::format(
+		"%18s %18s %18s "  // GLOBAL_ODO_{x,y,phi}
+		"%18s %18s %18s "  // HAS, TICKS_L/R
+		"%18s %18s %18s %18s "	// HAS, VX, VY,W
+		,
+		"GLOBAL_ODO_X", "GLOBAL_ODO_Y", "GLOBAL_ODO_PHI_RAD", "HAS_ENCODERS",
+		"LEFT_ENC_INCR_TICKS", "RIGHT_ENC_INCR_TICKS", "HAS_VELOCITIES",
+		"VEL_VX_MetPerSec", "VEL_VY_MetPerSec", "ANG_SPEED_RadPerSec");
+}
+std::string CObservationOdometry::exportTxtDataRow() const
+{
+	return mrpt::format(
+		"%18.5f %18.5f %18.5f "	 // GLOBAL_ODO_{x,y,phi}
+		"%18i %18i %18i "  // HAS, TICKS_L/R
+		"%18i %18.5f %18.5f %18.5f"	 // HAS, Vx, Vy,W
+		,
+		odometry.x(), odometry.y(), odometry.phi(),
+		static_cast<int>(hasEncodersInfo ? 1 : 0),
+		static_cast<int>(encoderLeftTicks), static_cast<int>(encoderRightTicks),
+		static_cast<int>(hasVelocities ? 1 : 0), velocityLocal.vx,
+		velocityLocal.vy, velocityLocal.omega);
+}
diff --git a/libs/obs/src/CObservationReflectivity.cpp b/libs/obs/src/CObservationReflectivity.cpp
index b839af3364..a494d83e30 100644
--- a/libs/obs/src/CObservationReflectivity.cpp
+++ b/libs/obs/src/CObservationReflectivity.cpp
@@ -51,3 +51,13 @@ void CObservationReflectivity::getDescriptionAsText(std::ostream& o) const
 	o << "reflectivityLevel=" << reflectivityLevel << std::endl;
 	o << "channel=" << channel << " (-1=any)" << std::endl;
 }
+
+std::string CObservationReflectivity::exportTxtHeader() const
+{
+	return "reflectivityLevel  channel";
+}
+
+std::string CObservationReflectivity::exportTxtDataRow() const
+{
+	return mrpt::format("%18.5f %5d", reflectivityLevel, channel);
+}
diff --git a/libs/obs/src/CObservationRobotPose.cpp b/libs/obs/src/CObservationRobotPose.cpp
index 1648cd8999..e00a3b6f7c 100644
--- a/libs/obs/src/CObservationRobotPose.cpp
+++ b/libs/obs/src/CObservationRobotPose.cpp
@@ -63,3 +63,48 @@ void CObservationRobotPose::getDescriptionAsText(std::ostream& o) const
 	o << "Sensor pose: " << sensorPose << endl;
 	o << "Pose: " << pose.asString() << endl;
 }
+
+// See base class docs:
+std::string CObservationRobotPose::exportTxtHeader() const
+{
+	return mrpt::format(
+		"%18s %18s %18s %18s %18s %18s"	 // POSE
+		// COV
+		"%18s %18s %18s %18s %18s %18s"
+		"%18s %18s %18s %18s %18s"
+		"%18s %18s %18s %18s"
+		"%18s %18s %18s"
+		"%18s %18s"
+		"%18s",
+		"X", "Y", "Z", "YAW_RAD", "PITCH_RAD", "ROLL_RAD",	// pose
+		// cov
+		"var_x", "std_x_y", "std_x_z", "std_x_yaw", "std_x_pitch",
+		"std_x_roll",  //
+		"var_y", "std_y_z", "std_y_yaw", "std_y_pitch", "std_y_roll",  //
+		"var_z", "std_z_yaw", "std_z_pitch", "std_z_roll",	//
+		"var_yaw", "std_yaw_pitch", "std_yaw_roll",	 //
+		"var_pitch", "std_yaw_roll",  //
+		"var_roll");
+}
+std::string CObservationRobotPose::exportTxtDataRow() const
+{
+	const auto& C = pose.cov;
+	return mrpt::format(
+		"%18.5f %18.5f %18.5f %18.5f %18.5f %18.5f "  // POSE
+		// cov
+		"%18.5f %18.5f %18.5f %18.5f %18.5f %18.5f "
+		"%18.5f %18.5f %18.5f %18.5f %18.5f "
+		"%18.5f %18.5f %18.5f %18.5f "
+		"%18.5f %18.5f %18.5f "
+		"%18.5f %18.5f "
+		"%18.5f ",
+		pose.mean.x(), pose.mean.y(), pose.mean.z(), pose.mean.yaw(),
+		pose.mean.pitch(), pose.mean.roll(),
+		// cov
+		C(0, 0), C(0, 1), C(0, 2), C(0, 3), C(0, 4), C(0, 5),  //
+		C(1, 1), C(1, 2), C(1, 3), C(1, 4), C(1, 5),  //
+		C(2, 2), C(2, 3), C(2, 4), C(2, 5),	 //
+		C(3, 3), C(3, 4), C(3, 5),	//
+		C(4, 4), C(4, 5),  //
+		C(5, 5));
+}
diff --git a/libs/obs/src/CObservationWindSensor.cpp b/libs/obs/src/CObservationWindSensor.cpp
index 4d55230490..dc88530509 100644
--- a/libs/obs/src/CObservationWindSensor.cpp
+++ b/libs/obs/src/CObservationWindSensor.cpp
@@ -67,3 +67,19 @@ void CObservationWindSensor::getDescriptionAsText(std::ostream& o) const
 {
 	CObservation::getDescriptionAsText(o);
 }
+
+std::string CObservationWindSensor::exportTxtHeader() const
+{
+	return mrpt::format(
+		"%18s %18s"	 // WIND (mod, direction)
+		,
+		"WIND_MODULE(m/s)", "WIND_DIRECTION (deg)");
+}
+
+std::string CObservationWindSensor::exportTxtDataRow() const
+{
+	return mrpt::format(
+		"%18.5f %18.3f"	 // WIND (mod, direction)
+		,
+		speed, direction);
+}
diff --git a/libs/obs/src/CObservationWirelessPower.cpp b/libs/obs/src/CObservationWirelessPower.cpp
index ffd774dc21..3735444e93 100644
--- a/libs/obs/src/CObservationWirelessPower.cpp
+++ b/libs/obs/src/CObservationWirelessPower.cpp
@@ -68,3 +68,12 @@ void CObservationWirelessPower::getDescriptionAsText(std::ostream& o) const
 	CObservation::getDescriptionAsText(o);
 	o << format("Measured Power: %.02f/100\n", power);
 }
+
+std::string CObservationWirelessPower::exportTxtHeader() const
+{
+	return mrpt::format("%18s", "POWER[0,100]");
+}
+std::string CObservationWirelessPower::exportTxtDataRow() const
+{
+	return mrpt::format("%18.5f ", power);
+}
diff --git a/libs/opengl/include/mrpt/opengl/CPointCloud.h b/libs/opengl/include/mrpt/opengl/CPointCloud.h
index 4523ed78ef..0af6a51622 100644
--- a/libs/opengl/include/mrpt/opengl/CPointCloud.h
+++ b/libs/opengl/include/mrpt/opengl/CPointCloud.h
@@ -97,6 +97,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 	 * in the coordinate frame of the object parent. */
 	mrpt::math::TBoundingBox getBoundingBox() const override
 	{
+		if (empty()) return {};
 		if (auto bb = this->octree_getBoundingBox(); bb) return *bb;
 		else
 			return {};
@@ -105,9 +106,9 @@ class CPointCloud : public CRenderizableShaderPoints,
 	/** @name Read/Write of the list of points to render
 		@{ */
 
-	inline size_t size() const { return m_points.size(); }
+	size_t size() const { return m_points.size(); }
 	/** Set the number of points (with contents undefined) */
-	inline void resize(size_t N)
+	void resize(size_t N)
 	{
 		m_points.resize(N);
 		m_minmax_valid = false;
@@ -115,7 +116,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 	}
 
 	/** Like STL std::vector's reserve */
-	inline void reserve(size_t N) { m_points.reserve(N); }
+	void reserve(size_t N) { m_points.reserve(N); }
 
 	/** Set the list of (X,Y,Z) point coordinates, all at once, from three
 	 * vectors with their coordinates */
@@ -149,7 +150,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 	}
 
 	/** Get a const reference to the internal array of points */
-	inline const std::vector<mrpt::math::TPoint3Df>& getArrayPoints() const
+	const std::vector<mrpt::math::TPoint3Df>& getArrayPoints() const
 	{
 		return m_points;
 	}
@@ -157,6 +158,8 @@ class CPointCloud : public CRenderizableShaderPoints,
 	/** Empty the list of points. */
 	void clear();
 
+	bool empty() const { return m_points.empty(); }
+
 	/** Adds a new point to the cloud */
 	void insertPoint(float x, float y, float z);
 
@@ -171,7 +174,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 
 	/** Read access to each individual point (checks for "i" in the valid
 	 * range only in Debug). */
-	inline const mrpt::math::TPoint3Df& operator[](size_t i) const
+	const mrpt::math::TPoint3Df& operator[](size_t i) const
 	{
 #ifdef _DEBUG
 		ASSERT_LT_(i, size());
@@ -179,7 +182,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 		return m_points[i];
 	}
 
-	inline const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const
+	const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const
 	{
 		return m_points[i];
 	}
@@ -190,8 +193,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 
 	/** Write an individual point (without checking validity of the index).
 	 */
-	inline void setPoint_fast(
-		size_t i, const float x, const float y, const float z)
+	void setPoint_fast(size_t i, const float x, const float y, const float z)
 	{
 		m_points[i] = {x, y, z};
 		m_minmax_valid = false;
@@ -231,29 +233,29 @@ class CPointCloud : public CRenderizableShaderPoints,
 
 	/** @name Modify the appearance of the rendered points
 		@{ */
-	inline void enableColorFromX(bool v = true)
+	void enableColorFromX(bool v = true)
 	{
 		m_colorFromDepth = v ? CPointCloud::colX : CPointCloud::colNone;
 		CRenderizable::notifyChange();
 	}
-	inline void enableColorFromY(bool v = true)
+	void enableColorFromY(bool v = true)
 	{
 		m_colorFromDepth = v ? CPointCloud::colY : CPointCloud::colNone;
 		CRenderizable::notifyChange();
 	}
-	inline void enableColorFromZ(bool v = true)
+	void enableColorFromZ(bool v = true)
 	{
 		m_colorFromDepth = v ? CPointCloud::colZ : CPointCloud::colNone;
 		CRenderizable::notifyChange();
 	}
 
-	inline void enablePointSmooth(bool enable = true)
+	void enablePointSmooth(bool enable = true)
 	{
 		m_pointSmooth = enable;
 		CRenderizable::notifyChange();
 	}
-	inline void disablePointSmooth() { m_pointSmooth = false; }
-	inline bool isPointSmoothEnabled() const { return m_pointSmooth; }
+	void disablePointSmooth() { m_pointSmooth = false; }
+	bool isPointSmoothEnabled() const { return m_pointSmooth; }
 	/** Sets the colors used as extremes when colorFromDepth is enabled. */
 	void setGradientColors(
 		const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax);
@@ -285,7 +287,7 @@ class CPointCloud : public CRenderizableShaderPoints,
 	mrpt::img::TColorf m_colorFromDepth_min = {0, 0, 0},
 					   m_colorFromDepth_max = {0, 0, 1};
 
-	inline void internal_render_one_point(size_t i) const;
+	void internal_render_one_point(size_t i) const;
 };
 
 /** Specialization mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloud>
@@ -307,19 +309,19 @@ class PointCloudAdapter<mrpt::opengl::CPointCloud>
 	static constexpr bool HAS_RGBu8 = false;
 
 	/** Constructor (accept a const ref for convenience) */
-	inline PointCloudAdapter(const mrpt::opengl::CPointCloud& obj)
+	PointCloudAdapter(const mrpt::opengl::CPointCloud& obj)
 		: m_obj(*const_cast<mrpt::opengl::CPointCloud*>(&obj))
 	{
 	}
 	/** Get number of points */
-	inline size_t size() const { return m_obj.size(); }
+	size_t size() const { return m_obj.size(); }
 	/** Set number of points (to uninitialized values) */
-	inline void resize(const size_t N) { m_obj.resize(N); }
+	void resize(const size_t N) { m_obj.resize(N); }
 	/** Does nothing as of now */
-	inline void setDimensions(size_t height, size_t width) {}
+	void setDimensions(size_t height, size_t width) {}
 	/** Get XYZ coordinates of i'th point */
 	template <typename T>
-	inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
+	void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
 	{
 		const auto& pt = m_obj[idx];
 		x = pt.x;
@@ -327,14 +329,14 @@ class PointCloudAdapter<mrpt::opengl::CPointCloud>
 		z = pt.z;
 	}
 	/** Set XYZ coordinates of i'th point */
-	inline void setPointXYZ(
+	void setPointXYZ(
 		const size_t idx, const coords_t x, const coords_t y, const coords_t z)
 	{
 		m_obj.setPoint_fast(idx, x, y, z);
 	}
 
 	/** Set XYZ coordinates of i'th point */
-	inline void setInvalidPoint(const size_t idx)
+	void setInvalidPoint(const size_t idx)
 	{
 		m_obj.setPoint_fast(idx, 0, 0, 0);
 	}
diff --git a/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h b/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h
index 92b1ee76f1..bcd6d701d8 100644
--- a/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h
+++ b/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h
@@ -62,6 +62,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	 * in the coordinate frame of the object parent. */
 	mrpt::math::TBoundingBox getBoundingBox() const override
 	{
+		if (empty()) return {};
 		if (auto bb = this->octree_getBoundingBox(); bb) return *bb;
 		else
 			return {};
@@ -78,7 +79,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	void insertPoint(const mrpt::math::TPointXYZfRGBAu8& p);
 
 	/** Set the number of points, with undefined contents */
-	inline void resize(size_t N)
+	void resize(size_t N)
 	{
 		m_points.resize(N);
 		m_point_colors.resize(N);
@@ -87,13 +88,13 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	}
 
 	/** Like STL std::vector's reserve */
-	inline void reserve(size_t N)
+	void reserve(size_t N)
 	{
 		m_points.reserve(N);
 		m_point_colors.reserve(N);
 	}
 
-	inline const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const
+	const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const
 	{
 		return m_points[i];
 	}
@@ -103,8 +104,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	void setPoint(size_t i, const mrpt::math::TPointXYZfRGBAu8& p);
 
 	/** Like \a setPoint() but does not check for index out of bounds */
-	inline void setPoint_fast(
-		const size_t i, const mrpt::math::TPointXYZfRGBAu8& p)
+	void setPoint_fast(const size_t i, const mrpt::math::TPointXYZfRGBAu8& p)
 	{
 		m_points[i] = p.pt;
 		m_point_colors[i] = mrpt::img::TColor(p.r, p.g, p.b, p.a);
@@ -112,7 +112,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	}
 
 	/** Like \a setPoint() but does not check for index out of bounds */
-	inline void setPoint_fast(
+	void setPoint_fast(
 		const size_t i, const float x, const float y, const float z)
 	{
 		m_points[i] = {x, y, z};
@@ -120,7 +120,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 	}
 
 	/** Like \c setPointColor but without checking for out-of-index erors */
-	inline void setPointColor_fast(
+	void setPointColor_fast(
 		size_t index, float R, float G, float B, float A = 1)
 	{
 		m_point_colors[index].R = f2u8(R);
@@ -128,7 +128,7 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 		m_point_colors[index].B = f2u8(B);
 		m_point_colors[index].A = f2u8(A);
 	}
-	inline void setPointColor_u8_fast(
+	void setPointColor_u8_fast(
 		size_t index, uint8_t r, uint8_t g, uint8_t b, uint8_t a = 0xff)
 	{
 		m_point_colors[index].R = r;
@@ -137,29 +137,31 @@ class CPointCloudColoured : public CRenderizableShaderPoints,
 		m_point_colors[index].A = a;
 	}
 	/** Like \c getPointColor but without checking for out-of-index erors */
-	inline void getPointColor_fast(
-		size_t index, float& R, float& G, float& B) const
+	void getPointColor_fast(size_t index, float& R, float& G, float& B) const
 	{
 		R = u8tof(m_point_colors[index].R);
 		G = u8tof(m_point_colors[index].G);
 		B = u8tof(m_point_colors[index].B);
 	}
-	inline void getPointColor_fast(
+	void getPointColor_fast(
 		size_t index, uint8_t& r, uint8_t& g, uint8_t& b) const
 	{
 		r = m_point_colors[index].R;
 		g = m_point_colors[index].B;
 		b = m_point_colors[index].B;
 	}
-	inline mrpt::img::TColor getPointColor(size_t index) const
+	mrpt::img::TColor getPointColor(size_t index) const
 	{
 		return m_point_colors[index];
 	}
 
 	/** Return the number of points */
-	inline size_t size() const { return m_points.size(); }
+	size_t size() const { return m_points.size(); }
+
+	bool empty() const { return m_points.empty(); }
+
 	/** Erase all the points */
-	inline void clear()
+	void clear()
 	{
 		m_points.clear();
 		m_point_colors.clear();
@@ -243,19 +245,19 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 	static constexpr bool HAS_RGBu8 = false;
 
 	/** Constructor (accept a const ref for convenience) */
-	inline PointCloudAdapter(const mrpt::opengl::CPointCloudColoured& obj)
+	PointCloudAdapter(const mrpt::opengl::CPointCloudColoured& obj)
 		: m_obj(*const_cast<mrpt::opengl::CPointCloudColoured*>(&obj))
 	{
 	}
 	/** Get number of points */
-	inline size_t size() const { return m_obj.size(); }
+	size_t size() const { return m_obj.size(); }
 	/** Set number of points (to uninitialized values) */
-	inline void resize(const size_t N) { m_obj.resize(N); }
+	void resize(const size_t N) { m_obj.resize(N); }
 	/** Does nothing as of now */
-	inline void setDimensions(size_t height, size_t width) {}
+	void setDimensions(size_t height, size_t width) {}
 	/** Get XYZ coordinates of i'th point */
 	template <typename T>
-	inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
+	void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
 	{
 		const auto& p = m_obj.getPoint3Df(idx);
 		x = p.x;
@@ -263,20 +265,20 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 		z = p.z;
 	}
 	/** Set XYZ coordinates of i'th point */
-	inline void setPointXYZ(
+	void setPointXYZ(
 		const size_t idx, const coords_t x, const coords_t y, const coords_t z)
 	{
 		m_obj.setPoint_fast(idx, x, y, z);
 	}
 
-	inline void setInvalidPoint(const size_t idx)
+	void setInvalidPoint(const size_t idx)
 	{
 		m_obj.setPoint_fast(idx, 0, 0, 0);
 	}
 
 	/** Get XYZ_RGBf coordinates of i'th point */
 	template <typename T>
-	inline void getPointXYZ_RGBAf(
+	void getPointXYZ_RGBAf(
 		const size_t idx, T& x, T& y, T& z, float& Rf, float& Gf, float& Bf,
 		float& Af) const
 	{
@@ -291,7 +293,7 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 		Af = u8tof(col.A);
 	}
 	/** Set XYZ_RGBf coordinates of i'th point */
-	inline void setPointXYZ_RGBAf(
+	void setPointXYZ_RGBAf(
 		const size_t idx, const coords_t x, const coords_t y, const coords_t z,
 		const float Rf, const float Gf, const float Bf, const float Af)
 	{
@@ -303,7 +305,7 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 
 	/** Get XYZ_RGBu8 coordinates of i'th point */
 	template <typename T>
-	inline void getPointXYZ_RGBu8(
+	void getPointXYZ_RGBu8(
 		const size_t idx, T& x, T& y, T& z, uint8_t& r, uint8_t& g,
 		uint8_t& b) const
 	{
@@ -317,7 +319,7 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 		b = col.B;
 	}
 	/** Set XYZ_RGBu8 coordinates of i'th point */
-	inline void setPointXYZ_RGBu8(
+	void setPointXYZ_RGBu8(
 		const size_t idx, const coords_t x, const coords_t y, const coords_t z,
 		const uint8_t r, const uint8_t g, const uint8_t b,
 		const uint8_t a = 0xff)
@@ -327,26 +329,25 @@ class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>
 	}
 
 	/** Get RGBf color of i'th point */
-	inline void getPointRGBf(
-		const size_t idx, float& r, float& g, float& b) const
+	void getPointRGBf(const size_t idx, float& r, float& g, float& b) const
 	{
 		m_obj.getPointColor_fast(idx, r, g, b);
 	}
 	/** Set XYZ_RGBf coordinates of i'th point */
-	inline void setPointRGBf(
+	void setPointRGBf(
 		const size_t idx, const float r, const float g, const float b)
 	{
 		m_obj.setPointColor_fast(idx, r, g, b);
 	}
 
 	/** Get RGBu8 color of i'th point */
-	inline void getPointRGBu8(
+	void getPointRGBu8(
 		const size_t idx, uint8_t& r, uint8_t& g, uint8_t& b) const
 	{
 		m_obj.getPointColor_fast(idx, r, g, b);
 	}
 	/** Set RGBu8 coordinates of i'th point */
-	inline void setPointRGBu8(
+	void setPointRGBu8(
 		const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
 	{
 		m_obj.setPointColor_u8_fast(idx, r, g, b);
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h
index 7d15518da2..40a8f8ca03 100644
--- a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h
+++ b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h
@@ -110,12 +110,27 @@ class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
 	void writeToStreamTexturedObject(mrpt::serialization::CArchive& out) const;
 	void readFromStreamTexturedObject(mrpt::serialization::CArchive& in);
 
+	using texture_name_t = unsigned int;
+	/// the "i" in GL_TEXTUREi
+	using texture_unit_t = int;
+
+	struct texture_name_unit_t
+	{
+		texture_name_unit_t() = default;
+		texture_name_unit_t(texture_name_t Name, texture_unit_t Unit)
+			: name(Name), unit(Unit)
+		{
+		}
+
+		texture_name_t name = 0;
+		/// the "i" in GL_TEXTUREi
+		texture_unit_t unit = 0;
+	};
+
    private:
 	bool m_enableLight = false;
 
-	mutable unsigned int m_glTextureName{0};
-	mutable bool m_texture_is_loaded{false};
-	mutable bool m_texture_is_pending_destruction{false};
+	mutable std::optional<texture_name_unit_t> m_glTexture;
 	bool m_textureImageAssigned = false;
 	mutable mrpt::img::CImage m_textureImage{4, 4};
 	mutable mrpt::img::CImage m_textureImageAlpha;
@@ -127,8 +142,9 @@ class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
 
 	void unloadTexture();
 
-	static unsigned int getNewTextureNumber();
-	static void releaseTextureName(unsigned int i);
+	/// Returns: [texture name, texture unit]
+	static texture_name_unit_t getNewTextureNumber();
+	static void releaseTextureName(const texture_name_unit_t& t);
 
 	mutable COpenGLBuffer m_vertexBuffer;
 	mutable COpenGLVertexArrayObject m_vao;
diff --git a/libs/opengl/include/mrpt/opengl/CTexturedPlane.h b/libs/opengl/include/mrpt/opengl/CTexturedPlane.h
index ccfbc9640d..c5a964172b 100644
--- a/libs/opengl/include/mrpt/opengl/CTexturedPlane.h
+++ b/libs/opengl/include/mrpt/opengl/CTexturedPlane.h
@@ -29,7 +29,6 @@ class CTexturedPlane : public CRenderizableShaderTexturedTriangles
 	/** Used for ray-tracing */
 	mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly;
 	void updatePoly() const;
-	void unloadTexture();
 
    public:
 	/** @name Renderizable shader API virtual methods
diff --git a/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp b/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp
index 3b61e6fa2b..8f6c9530dd 100644
--- a/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp
+++ b/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp
@@ -9,6 +9,7 @@
 
 #include "opengl-precomp.h"	 // Precompiled header
 //
+#include <mrpt/core/get_env.h>
 #include <mrpt/core/lock_helper.h>
 #include <mrpt/opengl/CRenderizableShaderTexturedTriangles.h>
 #include <mrpt/opengl/TLightParameters.h>
@@ -18,6 +19,7 @@
 
 #include <iostream>
 #include <memory>  // std::align
+#include <set>
 #include <thread>
 
 using namespace mrpt;
@@ -30,6 +32,9 @@ using mrpt::img::CImage;
 IMPLEMENTS_VIRTUAL_SERIALIZABLE(
 	CRenderizableShaderTexturedTriangles, CRenderizable, mrpt::opengl)
 
+const bool MRPT_OPENGL_VERBOSE =
+	mrpt::get_env<bool>("MRPT_OPENGL_VERBOSE", false);
+
 // Whether to profile memory allocations:
 //#define TEXTUREOBJ_PROFILE_MEM_ALLOC
 
@@ -62,12 +67,13 @@ void CRenderizableShaderTexturedTriangles::render(const RenderContext& rc) const
 
 	// This will load and/or select our texture, only once:
 	initializeTextures();
+	ASSERT_(m_glTexture.has_value());
 
 	// Set the texture uniform:
 	{
 		const Program& s = *rc.shader;
-		// bound to GL_TEXTURE0:
-		glUniform1i(s.uniformId("textureSampler"), 0);
+		// bound to GL_TEXTURE0 + "i":
+		glUniform1i(s.uniformId("textureSampler"), m_glTexture->unit);
 	}
 
 	// Enable/disable lights:
@@ -275,40 +281,44 @@ void CRenderizableShaderTexturedTriangles::initializeTextures() const
 	static mrpt::system::CTimeLogger tim;
 #endif
 
-	// Destroy a former texture, if it was freed:
-	// It's important we do this from the very same thread from which it was
-	// reserved:
-	if (m_texture_is_pending_destruction)
+	// Note: if we are rendering and the user assigned us no texture image,
+	// let's create a dummy one with the uniform CRenderizable's color:
+	if (!textureImageHasBeenAssigned() || m_textureImage.isEmpty())
 	{
-		m_texture_is_pending_destruction = false;
-		releaseTextureName(m_glTextureName);
-		m_glTextureName = 0;
+		mrpt::img::CImage im_rgb(4, 4, mrpt::img::CH_RGB),
+			im_a(4, 4, mrpt::img::CH_GRAY);
+		im_rgb.filledRectangle(0, 0, 3, 3, m_color);
+		im_a.filledRectangle(
+			0, 0, 3, 3,
+			mrpt::img::TColor(m_color.A, m_color.A, m_color.A, m_color.A));
+		const_cast<CRenderizableShaderTexturedTriangles*>(this)->assignImage(
+			std::move(im_rgb), std::move(im_a));
 	}
 
-	// Do nothing until we are assigned an image.
-	if (m_textureImage.isEmpty()) return;
-
 	try
 	{
-		if (m_texture_is_loaded)
+		if (m_glTexture.has_value())
 		{
 			// activate the texture unit first before binding texture
-			glActiveTexture(GL_TEXTURE0);
-			glBindTexture(GL_TEXTURE_2D, m_glTextureName);
+			glActiveTexture(GL_TEXTURE0 + m_glTexture->unit);
+			glBindTexture(GL_TEXTURE_2D, m_glTexture->name);
 			CHECK_OPENGL_ERROR();
 			return;
 		}
 
 		// Reserve the new one --------------------------
+		m_textureImage.forceLoad();	 // just in case they are lazy-load imgs
+		m_textureImageAlpha.forceLoad();
+
 		ASSERT_(m_textureImage.getPixelDepth() == mrpt::img::PixelDepth::D8U);
 
 		// allocate texture names:
-		m_glTextureName = getNewTextureNumber();
+		m_glTexture = getNewTextureNumber();
 
 		// activate the texture unit first before binding texture
-		glActiveTexture(GL_TEXTURE0);
+		glActiveTexture(GL_TEXTURE0 + m_glTexture->unit);
 		// select our current texture
-		glBindTexture(GL_TEXTURE_2D, m_glTextureName);
+		glBindTexture(GL_TEXTURE_2D, m_glTexture->name);
 		CHECK_OPENGL_ERROR();
 
 		// when texture area is small, linear interpolation. Default is
@@ -481,7 +491,9 @@ void CRenderizableShaderTexturedTriangles::initializeTextures() const
 
 		}  // End of color texture WITHOUT trans.
 
-		m_texture_is_loaded = true;
+		// Was: m_texture_is_loaded = true;
+		// Now this situation is represented by the optional m_glTexture having
+		// a valid value.
 
 #ifdef TEXTUREOBJ_PROFILE_MEM_ALLOC
 		{
@@ -514,8 +526,9 @@ void CRenderizableShaderTexturedTriangles::initializeTextures() const
 	}
 	catch (exception& e)
 	{
-		THROW_EXCEPTION(
-			format("m_glTextureName=%i\n%s", m_glTextureName, e.what()));
+		THROW_EXCEPTION(format(
+			"m_glTextureName=%i\n%s", m_glTexture ? m_glTexture->name : 0,
+			e.what()));
 	}
 	catch (...)
 	{
@@ -539,11 +552,11 @@ CRenderizableShaderTexturedTriangles::~CRenderizableShaderTexturedTriangles()
 }
 void CRenderizableShaderTexturedTriangles::unloadTexture()
 {
-	if (m_texture_is_loaded)
-	{
-		m_texture_is_loaded = false;
-		m_texture_is_pending_destruction = true;
-	}
+	if (!m_glTexture.has_value()) return;
+
+	releaseTextureName(*m_glTexture);
+
+	m_glTexture.reset();
 }
 
 void CRenderizableShaderTexturedTriangles::writeToStreamTexturedObject(
@@ -564,8 +577,6 @@ void CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(
 	uint8_t version;
 	in >> version;
 
-	CRenderizable::notifyChange();
-
 	switch (version)
 	{
 		case 0:
@@ -589,6 +600,7 @@ void CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(
 		break;
 		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
 	};
+
 	CRenderizable::notifyChange();
 }
 
@@ -603,7 +615,8 @@ class TextureResourceHandler
 		return o;
 	}
 
-	unsigned int generateTextureID()
+	/// Return [textureName, textureUnit]
+	std::pair<unsigned int, unsigned int> generateTextureID()
 	{
 #if MRPT_HAS_OPENGL_GLUT
 		auto lck = mrpt::lockHelper(m_texturesMtx);
@@ -616,24 +629,64 @@ class TextureResourceHandler
 		CHECK_OPENGL_ERROR();
 		m_textureReservedFrom[textureID] = std::this_thread::get_id();
 
-		return textureID;
+		int foundUnit = -1;
+		for (int i = 0; i < m_maxTextureUnits; i++)
+			if (!m_occupiedTextureUnits.count(i))
+			{
+				foundUnit = i;
+				break;
+			}
+		if (foundUnit < 0)
+		{
+			foundUnit = 0;
+			std::cerr
+				<< "[mrpt TextureResourceHandler] **WARNING**: Apparently "
+				   "your program reached the maximum number of allowed "
+				   "simultaneous OpenGL textures ("
+				<< m_maxTextureUnits << ")" << std::endl;
+		}
+		else
+		{
+			m_occupiedTextureUnits.insert(foundUnit);
+		}
+
+		if (MRPT_OPENGL_VERBOSE)
+			std::cout << "[mrpt generateTextureID] textureName:" << textureID
+					  << " unit: " << foundUnit << std::endl;
+
+		return {textureID, foundUnit};
 #else
 		THROW_EXCEPTION("This function needs OpenGL");
 #endif
 	}
 
-	void releaseTextureID(unsigned int id)
+	void releaseTextureID(unsigned int texName, unsigned int texUnit)
 	{
 #if MRPT_HAS_OPENGL_GLUT
+		MRPT_START
 		auto lck = mrpt::lockHelper(m_texturesMtx);
 
-		m_destroyQueue[std::this_thread::get_id()].push_back(id);
+		if (MRPT_OPENGL_VERBOSE)
+			std::cout << "[mrpt releaseTextureID] textureName: " << texName
+					  << " unit: " << texUnit << std::endl;
+
+		m_destroyQueue[m_textureReservedFrom.at(texName)].push_back(texName);
 		processDestroyQueue();
+		m_occupiedTextureUnits.erase(texUnit);
+		MRPT_END
 #endif
 	}
 
    private:
-	TextureResourceHandler() = default;
+	TextureResourceHandler()
+	{
+#if MRPT_HAS_OPENGL_GLUT
+		glGetIntegerv(GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS, &m_maxTextureUnits);
+		if (MRPT_OPENGL_VERBOSE)
+			std::cout << "[mrpt TextureResourceHandler] maxTextureUnits:"
+					  << m_maxTextureUnits << std::endl;
+#endif
+	}
 
 	void processDestroyQueue()
 	{
@@ -653,17 +706,25 @@ class TextureResourceHandler
 	std::mutex m_texturesMtx;
 	std::map<GLuint, std::thread::id> m_textureReservedFrom;
 	std::map<std::thread::id, std::vector<GLuint>> m_destroyQueue;
+	std::set<GLint> m_occupiedTextureUnits;
+	GLint m_maxTextureUnits;
 #endif
 };
 
-unsigned int CRenderizableShaderTexturedTriangles::getNewTextureNumber()
+CRenderizableShaderTexturedTriangles::texture_name_unit_t
+	CRenderizableShaderTexturedTriangles::getNewTextureNumber()
 {
-	return TextureResourceHandler::Instance().generateTextureID();
+	CRenderizableShaderTexturedTriangles::texture_name_unit_t ret;
+	const auto r = TextureResourceHandler::Instance().generateTextureID();
+	ret.name = r.first;
+	ret.unit = r.second;
+	return ret;
 }
 
-void CRenderizableShaderTexturedTriangles::releaseTextureName(unsigned int i)
+void CRenderizableShaderTexturedTriangles::releaseTextureName(
+	const texture_name_unit_t& t)
 {
-	TextureResourceHandler::Instance().releaseTextureID(i);
+	TextureResourceHandler::Instance().releaseTextureID(t.name, t.unit);
 }
 
 const mrpt::math::TBoundingBox
diff --git a/libs/opengl/src/CTexturedPlane.cpp b/libs/opengl/src/CTexturedPlane.cpp
index 8ba69012be..e35aab9f32 100644
--- a/libs/opengl/src/CTexturedPlane.cpp
+++ b/libs/opengl/src/CTexturedPlane.cpp
@@ -33,19 +33,6 @@ void CTexturedPlane::onUpdateBuffers_TexturedTriangles()
 	using P2f = mrpt::math::TPoint2Df;
 	using P3f = mrpt::math::TPoint3Df;
 
-	// Note: if we are rendering and the user assigned us no texture image,
-	// let's create a dummy one with the uniform CRenderizable's color:
-	if (!textureImageHasBeenAssigned())
-	{
-		mrpt::img::CImage im_rgb(4, 4, mrpt::img::CH_RGB),
-			im_a(4, 4, mrpt::img::CH_GRAY);
-		im_rgb.filledRectangle(0, 0, 3, 3, m_color);
-		im_a.filledRectangle(
-			0, 0, 3, 3,
-			mrpt::img::TColor(m_color.A, m_color.A, m_color.A, m_color.A));
-		this->assignImage(std::move(im_rgb), std::move(im_a));
-	}
-
 	auto& tris = CRenderizableShaderTexturedTriangles::m_triangles;
 	tris.clear();
 
diff --git a/libs/opengl/src/RenderQueue.cpp b/libs/opengl/src/RenderQueue.cpp
index 260abeb1b0..caa515fade 100644
--- a/libs/opengl/src/RenderQueue.cpp
+++ b/libs/opengl/src/RenderQueue.cpp
@@ -162,10 +162,6 @@ void mrpt::opengl::processRenderQueue(
 					shader.uniformId("pmv_matrix"), 1, IS_TRANSPOSED,
 					rqe.renderState.pmv_matrix.data());
 
-			// Use Texture0:
-			if (shader.hasUniform("textureSampler"))
-				glUniform1i(shader.uniformId("textureSampler"), 0);
-
 			CRenderizable::RenderContext rc;
 			rc.shader = &shader;
 			rc.shader_id = rqSet.first;
diff --git a/libs/system/include/mrpt/system/CTimeLogger.h b/libs/system/include/mrpt/system/CTimeLogger.h
index 9676c3f2cb..b3d398082a 100644
--- a/libs/system/include/mrpt/system/CTimeLogger.h
+++ b/libs/system/include/mrpt/system/CTimeLogger.h
@@ -59,13 +59,44 @@ class CTimeLogger : public mrpt::system::COutputLogger
 	//! Data of all the calls:
 	struct TCallData
 	{
-		TCallData();
-
 		size_t n_calls{0};
 		double min_t{0}, max_t{0}, mean_t{0}, last_t{0};
 		std::stack<double, std::vector<double>> open_calls;
 		bool has_time_units{true};
 		std::optional<std::deque<double>> whole_history{};
+
+		// Each instance holds its own mutex, even after = operations.
+		std::mutex mtx;
+
+		TCallData() = default;
+
+		TCallData(const TCallData& d) { *this = d; }
+		TCallData(TCallData&& d) { *this = std::move(d); }
+
+		TCallData& operator=(const TCallData& d)
+		{
+			n_calls = d.n_calls;
+			min_t = d.min_t;
+			max_t = d.max_t;
+			mean_t = d.mean_t;
+			last_t = d.last_t;
+			open_calls = d.open_calls;
+			has_time_units = d.has_time_units;
+			whole_history = d.whole_history;
+			return *this;
+		}
+		TCallData& operator=(TCallData&& d)
+		{
+			n_calls = d.n_calls;
+			min_t = d.min_t;
+			max_t = d.max_t;
+			mean_t = d.mean_t;
+			last_t = d.last_t;
+			open_calls = std::move(d.open_calls);
+			has_time_units = d.has_time_units;
+			whole_history = std::move(d.whole_history);
+			return *this;
+		}
 	};
 
    protected:
@@ -111,10 +142,18 @@ class CTimeLogger : public mrpt::system::COutputLogger
 	/** Dump all stats through the COutputLogger interface. \sa getStatsAsText,
 	 * saveToCVSFile */
 	void dumpAllStats(const size_t column_width = 80) const;
+
 	/** Resets all stats. By default (deep_clear=false), all section names are
 	 * remembered (not freed) so the cost of creating upon the first next call
-	 * is avoided. */
+	 * is avoided.
+	 *
+	 * \note By design, calling this method is the only one which is not thread
+	 * safe. It's not made thread-safe to save the performance cost. Please,
+	 * ensure that you call `clear()` only while there are no other threads
+	 * registering annotations in the object.
+	 */
 	void clear(bool deep_clear = false);
+
 	void enable(bool enabled = true) { m_enabled = enabled; }
 	void disable() { m_enabled = false; }
 	bool isEnabled() const { return m_enabled; }
@@ -135,7 +174,7 @@ class CTimeLogger : public mrpt::system::COutputLogger
 		const bool is_time = false) noexcept;
 
 	const std::string& getName() const noexcept { return m_name; }
-	void setName(const std::string& name) noexcept { m_name = name; }
+	void setName(const std::string& name) noexcept;
 
 	/** Start of a named section \sa enter */
 	inline void enter(const std::string_view& func_name) noexcept
diff --git a/libs/system/include/mrpt/system/WorkerThreadsPool.h b/libs/system/include/mrpt/system/WorkerThreadsPool.h
index fd890a404f..ce7586d783 100644
--- a/libs/system/include/mrpt/system/WorkerThreadsPool.h
+++ b/libs/system/include/mrpt/system/WorkerThreadsPool.h
@@ -93,8 +93,8 @@ auto WorkerThreadsPool::enqueue(F&& f, Args&&... args)
 		}
 		// Enqeue the new task:
 		tasks_.emplace([task]() { (*task)(); });
+		condition_.notify_one();
 	}
-	condition_.notify_one();
 	return res;
 }
 }  // namespace mrpt::system
diff --git a/libs/system/include/mrpt/system/string_utils.h b/libs/system/include/mrpt/system/string_utils.h
index 408725c2c9..bfc37ccec5 100644
--- a/libs/system/include/mrpt/system/string_utils.h
+++ b/libs/system/include/mrpt/system/string_utils.h
@@ -145,6 +145,18 @@ void stringListAsString(
 	const std::deque<std::string>& lst, std::string& out,
 	const std::string& newline = "\r\n");
 
+/** Finds the position of the n-th occurence of the given substring, or
+ * std::string::npos if it does not happen.
+ * \note New in MRPT 2.3.2
+ */
+size_t nthOccurrence(
+	const std::string& str, const std::string& strToFind, size_t nth);
+
+/** Returns the first `n` lines (splitted by '\n' chars) of the given text.
+ * \note New in MRPT 2.3.2
+ */
+std::string firstNLines(const std::string& str, size_t n);
+
 /** Original code snippet found in http://stackoverflow.com/a/30357710 */
 /**\{*/
 
diff --git a/libs/system/src/CTimeLogger.cpp b/libs/system/src/CTimeLogger.cpp
index e0627cffeb..0345801bc0 100644
--- a/libs/system/src/CTimeLogger.cpp
+++ b/libs/system/src/CTimeLogger.cpp
@@ -10,6 +10,7 @@
 #include "system-precomp.h"	 // Precompiled headers
 //
 #include <mrpt/core/bits_math.h>
+#include <mrpt/core/lock_helper.h>
 #include <mrpt/system/CTimeLogger.h>
 #include <mrpt/system/datetime.h>
 #include <mrpt/system/filesystem.h>
@@ -64,15 +65,20 @@ void global_profiler_leave(const char* func_name) noexcept
 
 CTimeLogger::CTimeLogger(
 	bool enabled, const std::string& name, const bool keep_whole_history)
-	: COutputLogger("CTimeLogger"),
-	  m_tictac(),
-	  m_enabled(enabled),
-	  m_name(name),
-	  m_keep_whole_history(keep_whole_history)
+	: m_enabled(enabled), m_keep_whole_history(keep_whole_history)
 {
+	setName(name);
 	m_tictac.Tic();
 }
 
+void CTimeLogger::setName(const std::string& name) noexcept
+{
+	m_name = name;
+	COutputLogger::setLoggerName(
+		name.empty() ? std::string("CTimeLogger")
+					 : (name + std::string(" timeLogger")));
+}
+
 CTimeLogger::~CTimeLogger()
 {
 	// Dump all stats:
@@ -86,7 +92,11 @@ void CTimeLogger::clear(bool deep_clear)
 	else
 	{
 		for (auto& e : m_data)
+		{
+			e.second.mtx.lock();
+			e.second.mtx.unlock();
 			e.second = TCallData();
+		}
 	}
 }
 
@@ -107,6 +117,8 @@ void CTimeLogger::getStats(std::map<std::string, TCallStats>& out_stats) const
 	out_stats.clear();
 	for (const auto& e : m_data)
 	{
+		auto lck = mrpt::lockHelper(e.second.mtx);
+
 		TCallStats& cs = out_stats[std::string(e.first)];
 		cs.min_t = e.second.min_t;
 		cs.max_t = e.second.max_t;
@@ -170,6 +182,8 @@ std::string CTimeLogger::getStatsAsText(const size_t column_width) const
 	std::string last_parent;
 	for (const auto& i : stat_strs)
 	{
+		auto lck = mrpt::lockHelper(i.second.mtx);
+
 		string line = string(i.first);	// make a copy
 
 		const auto dot_pos = line.find(".");
@@ -211,6 +225,8 @@ void CTimeLogger::saveToCSVFile(const std::string& csv_file) const
 		 "WHOLE_HISTORY]\n";
 	for (const auto& i : m_data)
 	{
+		auto lck = mrpt::lockHelper(i.second.mtx);
+
 		s += format(
 			"\"%.*s\",%7u,%e,%e,%e,%e,%e", static_cast<int>(i.first.size()),
 			i.first.data(), static_cast<unsigned int>(i.second.n_calls),
@@ -251,6 +267,8 @@ void CTimeLogger::saveToMFile(const std::string& file) const
 
 	for (const auto& i : m_data)
 	{
+		auto lck = mrpt::lockHelper(i.second.mtx);
+
 		s_names += "'"s + i.first + "',"s;
 		s_counts += std::to_string(i.second.n_calls) + ","s;
 		s_mins += mrpt::format("%e,", i.second.min_t);
@@ -304,6 +322,7 @@ void CTimeLogger::do_enter(const std::string_view& func_name) noexcept
 		return;
 	}
 	auto& d = *d_ptr;
+	auto lck = mrpt::lockHelper(d.mtx);
 	d.n_calls++;
 	d.open_calls.push(0);  // Dummy value, it'll be written below
 	d.open_calls.top() = m_tictac.Tac();  // to avoid possible delays.
@@ -321,6 +340,7 @@ double CTimeLogger::do_leave(const std::string_view& func_name) noexcept
 		return .0;
 	}
 	auto& d = *d_ptr;
+	auto lck = mrpt::lockHelper(d.mtx);
 
 	if (!d.open_calls.empty())
 	{
@@ -366,6 +386,7 @@ void CTimeLogger::registerUserMeasure(
 		return;
 	}
 	auto& d = *d_ptr;
+	auto lck = mrpt::lockHelper(d.mtx);
 
 	d.has_time_units = is_time;
 	d.last_t = value;
@@ -390,21 +411,26 @@ void CTimeLogger::registerUserMeasure(
 	}
 }
 
-CTimeLogger::TCallData::TCallData() = default;
-
 double CTimeLogger::getMeanTime(const std::string& name) const
 {
 	TDataMap::const_iterator it = m_data.find(name);
 	if (it == m_data.end()) return 0;
 	else
+	{
+		auto lck = mrpt::lockHelper(it->second.mtx);
+
 		return it->second.n_calls ? it->second.mean_t / it->second.n_calls : 0;
+	}
 }
 double CTimeLogger::getLastTime(const std::string& name) const
 {
 	TDataMap::const_iterator it = m_data.find(name);
 	if (it == m_data.end()) return 0;
 	else
+	{
+		auto lck = mrpt::lockHelper(it->second.mtx);
 		return it->second.last_t;
+	}
 }
 
 CTimeLoggerEntry::CTimeLoggerEntry(
diff --git a/libs/system/src/CTimeLogger_unittest.cpp b/libs/system/src/CTimeLogger_unittest.cpp
index cb870f49ee..48d5af2ce0 100644
--- a/libs/system/src/CTimeLogger_unittest.cpp
+++ b/libs/system/src/CTimeLogger_unittest.cpp
@@ -11,6 +11,7 @@
 #include <mrpt/system/CTimeLogger.h>
 
 #include <chrono>
+#include <mutex>
 #include <thread>
 
 static void doTimLogEntry(
@@ -95,3 +96,30 @@ TEST(CTimeLogger, printStatsFaulty)
 	tl.clear(true);
 	EXPECT_EQ(std::count(s.begin(), s.end(), '\n'), 14U);
 }
+
+TEST(CTimeLogger, multithread)
+{
+	mrpt::system::CTimeLogger tl;
+	std::vector<std::thread> ths;
+	std::mutex mtx;
+
+	mtx.lock();
+
+	for (int i = 0; i < 20; i++)
+	{
+		ths.push_back(std::thread([i, &mtx, &tl]() {
+			mtx.lock();
+			mtx.unlock();
+			doTimLogEntry(tl, mrpt::format("foo%i", i % 5).c_str(), 10);
+		}));
+	}
+
+	mtx.unlock();  // now, all threads will run
+
+	for (auto& t : ths)
+		if (t.joinable()) t.join();
+
+	const std::string s = tl.getStatsAsText();
+	tl.clear(true);	 // to silent console output upon dtor
+	EXPECT_EQ(std::count(s.begin(), s.end(), '\n'), 9U);
+}
diff --git a/libs/system/src/string_utils.cpp b/libs/system/src/string_utils.cpp
index b5bfadc3c8..1ba054b81a 100644
--- a/libs/system/src/string_utils.cpp
+++ b/libs/system/src/string_utils.cpp
@@ -358,3 +358,27 @@ void mrpt::system::stringListAsString(
 {
 	impl_stringListAsString(lst, outText, newLine);
 }
+
+size_t mrpt::system::nthOccurrence(
+	const std::string& str, const std::string& strToFind, size_t nth)
+{
+	size_t pos = 0;
+	size_t cnt = 0;
+
+	while (cnt != nth)
+	{
+		pos++;
+		pos = str.find(strToFind, pos);
+		if (pos == std::string::npos) return std::string::npos;
+		cnt++;
+	}
+	return pos;
+}
+
+std::string mrpt::system::firstNLines(const std::string& str, size_t n)
+{
+	const auto i = nthOccurrence(str, "\n", n);
+	if (i == std::string::npos) return str;
+	else
+		return str.substr(0, i);
+}
diff --git a/libs/system/src/string_utils_unittest.cpp b/libs/system/src/string_utils_unittest.cpp
new file mode 100644
index 0000000000..cc6414e67b
--- /dev/null
+++ b/libs/system/src/string_utils_unittest.cpp
@@ -0,0 +1,21 @@
+/* +------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)            |
+   |                          https://www.mrpt.org/                         |
+   |                                                                        |
+   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
+   | See: https://www.mrpt.org/Authors - All rights reserved.               |
+   | Released under BSD License. See: https://www.mrpt.org/License          |
+   +------------------------------------------------------------------------+ */
+
+#include <gtest/gtest.h>
+#include <mrpt/system/string_utils.h>
+
+TEST(string_utils, firstNLines)
+{
+	const std::string s = "1\n2\n3\n4\n";
+
+	EXPECT_EQ(mrpt::system::firstNLines(s, 1), "1");
+	EXPECT_EQ(mrpt::system::firstNLines(s, 2), "1\n2");
+	EXPECT_EQ(mrpt::system::firstNLines(s, 3), "1\n2\n3");
+	EXPECT_EQ(mrpt::system::firstNLines(s, 10), s);
+}
diff --git a/package.xml b/package.xml
index 83e2502f21..2714c75f26 100644
--- a/package.xml
+++ b/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="2">
   <name>mrpt2</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>
diff --git a/packaging/debian/changelog b/packaging/debian/changelog
index 83fc9c5714..0ed857a6b8 100644
--- a/packaging/debian/changelog
+++ b/packaging/debian/changelog
@@ -1,8 +1,8 @@
-mrpt (1:2.3.1-1) experimental; urgency=medium
+mrpt (1:2.3.2-1) experimental; urgency=medium
 
   * New version of upstream sources.
 
- -- José Luis Blanco Claraco <joseluisblancoc@gmail.com>  Wed, 26 May 2021 17:19:51 +0200
+ -- José Luis Blanco Claraco <joseluisblancoc@gmail.com>  Wed, 14 Jul 2021 11:27:53 +0200
 
 mrpt (1:2.2.0-1) experimental; urgency=medium
 
diff --git a/packaging/prepare_ubuntu_pkgs_for_ppa.sh b/packaging/prepare_ubuntu_pkgs_for_ppa.sh
index 40a6c469b5..3d7d696bea 100755
--- a/packaging/prepare_ubuntu_pkgs_for_ppa.sh
+++ b/packaging/prepare_ubuntu_pkgs_for_ppa.sh
@@ -14,13 +14,13 @@
 set -e
 
 # List of distributions to create PPA packages for:
-#  - Xenial LTS EOL: Apr 2021
 #  - Groovy     EOL: Jul 2021
 #  - Hirsute    EOL: Jan 2022
 #  - Bionic LTS EOL: Apr 2023
 #  - Focal  LTS EOL: Apr 2025
+#  - Impish     EOL: Jul 2022
 if [ -z ${LST_DISTROS+x} ]; then
-	LST_DISTROS=(xenial bionic focal groovy hirsute)
+	LST_DISTROS=(bionic focal groovy hirsute impish)
 fi
 
 count=${#LST_DISTROS[@]}
@@ -28,15 +28,8 @@ echo "========================================================================="
 echo " Ubuntu PPA script for $count distros: ${LST_DISTROS[@]}"
 echo "========================================================================="
 
-# Special case for Xenial: enforce g++7
-export MRPT_PKG_CUSTOM_CMAKE_PARAMS_xenial="-DCMAKE_C_COMPILER=/usr/bin/gcc-7 -DCMAKE_CXX_COMPILER=/usr/bin/g++-7"
-
 # Special case for Bionic: use embedded version of simpleini
 # (Remove these lines after xenial and bionic EOL)
-export MRPT_PKG_EXPORTED_SUBMODULES_xenial="simpleini nanoflann"
-export DEB_EXTRA_BUILD_DEPS_xenial="cmake"  # dummy package (it cannot be blank)
-export DEB_NANOFLANN_DEP_xenial="libmrpt-common-dev"  # dummy package (it cannot be blank)
-
 export MRPT_PKG_EXPORTED_SUBMODULES_bionic="simpleini nanoflann"
 export DEB_EXTRA_BUILD_DEPS_bionic="cmake"  # dummy package (it cannot be blank)
 export DEB_NANOFLANN_DEP_bionic="libmrpt-common-dev"  # dummy package (it cannot be blank)
@@ -53,6 +46,10 @@ export MRPT_PKG_EXPORTED_SUBMODULES_hirsute=""
 export DEB_EXTRA_BUILD_DEPS_hirsute="libsimpleini-dev, libnanoflann-dev"
 export DEB_NANOFLANN_DEP_hirsute="libnanoflann-dev"  # make mrpt-math-dev to depend on nanoflann headers
 
+export MRPT_PKG_EXPORTED_SUBMODULES_impish=""
+export DEB_EXTRA_BUILD_DEPS_impish="libsimpleini-dev, libnanoflann-dev"
+export DEB_NANOFLANN_DEP_impish="libnanoflann-dev"  # make mrpt-math-dev to depend on nanoflann headers
+
 
 # Checks
 # --------------------------------
@@ -88,8 +85,8 @@ rm -fr $MRPT_UBUNTU_OUT_DIR/
 # And now create the custom packages for each Ubuntu distribution:
 # -------------------------------------------------------------------
 # Xenial:armhf does not have any version of liboctomap-dev:
-export MRPT_RELEASE_EXTRA_OTHERLIBS_URL="https://github.com/OctoMap/octomap/archive/v1.9.1.zip"
-export MRPT_RELEASE_EXTRA_OTHERLIBS_PATH="3rdparty/octomap.zip"
+#export MRPT_RELEASE_EXTRA_OTHERLIBS_URL="https://github.com/OctoMap/octomap/archive/v1.9.1.zip"
+#export MRPT_RELEASE_EXTRA_OTHERLIBS_PATH="3rdparty/octomap.zip"
 
 IDXS=$(seq 0 $(expr $count - 1))
 
diff --git a/packaging/upload_all_mrpt_ppa.sh b/packaging/upload_all_mrpt_ppa.sh
index 8116d197b0..dc4a286d0e 100755
--- a/packaging/upload_all_mrpt_ppa.sh
+++ b/packaging/upload_all_mrpt_ppa.sh
@@ -1,5 +1,3 @@
 #!/bin/bash
 
-find xenial -name '*.changes' | xargs -I FIL dput ppa:joseluisblancoc/mrpt-unstable-xenial FIL
-rm -fr xenial || true
 find . -name '*.changes'      | xargs -I FIL dput ppa:joseluisblancoc/mrpt FIL
diff --git a/samples/hwdrivers_mynteye_icp/test.cpp b/samples/hwdrivers_mynteye_icp/test.cpp
index cbe6ce9d49..88a1ae6ac8 100644
--- a/samples/hwdrivers_mynteye_icp/test.cpp
+++ b/samples/hwdrivers_mynteye_icp/test.cpp
@@ -523,7 +523,7 @@ void Test_3DCamICP()
 	win.performLayout();
 
 	// Set loop hook to update text messages:
-	win.setLoopCallback([&lbStatuses, &ui_data]() {
+	win.addLoopCallback([&lbStatuses, &ui_data]() {
 		ui_data.strStatuses_mtx.lock();
 		for (unsigned int i = 0; i < lbStatuses.size(); i++)
 			lbStatuses[i]->setValue(ui_data.strStatuses[i]);
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 510c8881bc..3dec7b05be 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -17,6 +17,7 @@ set_target_properties(tests_build_all PROPERTIES FOLDER "unit tests")
 if (UNIX)
 	add_custom_target(test_gdb)
 	add_custom_target(test_valgrind)
+	add_custom_target(test_helgrind)
 endif()
 
 
@@ -116,6 +117,13 @@ foreach(_TSTLIB ${LST_LIB_TESTS})
 			)
 		add_dependencies(run_tests_${_TSTLIB}_valgrind test_${_TSTLIB})
 		add_dependencies(test_valgrind run_tests_${_TSTLIB}_valgrind)
+
+		# test_helgrind
+		add_custom_target(run_tests_${_TSTLIB}_helgrind
+			COMMAND "valgrind" "--tool=helgrind" "--error-exitcode=1" "${GENERATED_EXE}"
+			)
+		add_dependencies(run_tests_${_TSTLIB}_helgrind test_${_TSTLIB})
+		add_dependencies(test_helgrind run_tests_${_TSTLIB}_helgrind)
 	endif()
 
 	set_target_properties(test_${_TSTLIB} PROPERTIES FOLDER "unit tests")
diff --git a/version_prefix.txt b/version_prefix.txt
index 6d4abbe8b0..47ef73593f 100644
--- a/version_prefix.txt
+++ b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.3.1
+2.3.2
 # 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