Tags

Features available in this version : 
* Landmarks handling (locally and in pose graph optimization)
* Wheel odometer handling
* External pose integration
* Localization/Mapping modes
* Modular keypoints extraction 
* MultiLidar
* GPS for pose graph optimization
* Moving objects rejection
* Confidence estimators available
* Ouster/Velodyne ROS support
* Superbuild

Version 1.2

This release brings important improvements (in terms of processing speed as well as precision) such as *undistortion* or *motion extrapolation*.
It also greatly improves user interface for easier parameters settings.

Version 1.1

Add several functionalities to v1.0, such as compressed pointclouds logging, latency compensation, multi-threading or ParaView/LidarView plugin.

First release of LiDAR SLAM as an independent project.

As this is the first 'official' version, most changes are not reported since **v0.0**, and only a small subset of useful or major changes is listed below.

### Core lib

* Numerous misc bug fixes and improvements
* Major code cleaning and refactoring
* Add CI for core SLAM lib
* Add pose graph optimization (PGO)
* Add optional logging of keypoints and trajectory
* Add verbosity modes to display state, steps durations and results
* Replace 6 DoF state vector by `Eigen::Isometry3d`
* Major acceleration of `RollingGrid`
* Add documentation for dependencies and installation

### ROS wrapping

* First version of ROS package `lidar_slam`, supporting all core SLAM lib functionalities
* Add SLAM parameters setting from ROS parameter server
* Optional SLAM/GPS global calibration from trajectories
* Add ROS package `gps_conversions` to manage conversions to standard `gps_common::GPSFix` message and process UTM/WGS84 transformations
* Compute GPS heading from movement when it is not available.
* Add documentation for usage

Slam code extracted from LidarView without any modification.