Commit f07a730c authored by Nicolas Cadart's avatar Nicolas Cadart
Browse files

Merge branch 'Version1.3' into 'master'

Release version v1.3

See merge request !51
parents ed8e6de7 69db36b2
Pipeline #201193 passed with stage
in 52 seconds
# SLAM changes history
## *v1.3 (2020/11/20)*
This release brings various minor fixes or features to improve stability, performance or code readibility.
Major changes are reported below.
### Core lib
* Fix compilation on Windows with MSVC 2015 (!39)
* Simplify `KDTreePCLAdaptor` usage and clean its code (!41)
* Misc bug fixes and code refactoring in ICP functions (!43)
* Fix ego motion extrapolation when using Pose Graph Optimization (!44)
* Ignore Ego-Motion extrapolation, approximated undistortion and Localization results if error occurs (!49 and !52)
* Replace max variance error by max position and orientation errors (!47)
* Fix rolling grid and maps update (!50, !55, !58)
* Add missing `std` prefix in `PointCloudStorage` that prevente compilation on some machines (!42)
* Add colors to verbose display (!53)
* Major refactoring of ICP and LM optimization parts into separate classes (!54)
* Reset timers values when resetting SLAM (!63)
### ROS wrapping
* Publish SLAM pose as `gps_common/GPSFix` instead of `sensor_msgs/NavSatFix` (!45)
* Publish SLAM-estimated speed in GPS-like message (!46)
### ParaView wrapping
* Add verbose timings to check VTK <-> PCL conversions and perform less maps updates (!48)
* Fix frame stamp to last point measurement time (!49)
## *v1.2 (2020/06/26)*
This new 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.
......
......@@ -18,7 +18,7 @@ set(ServerManagerSources
set(ServerManagerXML
Slam.xml)
ADD_PARAVIEW_PLUGIN(LidarSlamPlugin "1.2"
ADD_PARAVIEW_PLUGIN(LidarSlamPlugin "1.3"
SERVER_MANAGER_XML ${ServerManagerXML}
SERVER_MANAGER_SOURCES ${ServerManagerSources}
DOCUMENTATION_DIR "${CMAKE_CURRENT_SOURCE_DIR}/doc/"
......
<?xml version="1.0"?>
<package format="2">
<name>gps_conversions</name>
<version>1.2.0</version>
<version>1.3.0</version>
<description>GPS to/from UTM conversions in WGS84 format.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
......
<?xml version="1.0"?>
<package format="2">
<name>lidar_slam</name>
<version>1.2.0</version>
<version>1.3.0</version>
<description>ROS wrapping of Kitware LiDAR SLAM algorithm.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
......
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