1. 03 Nov, 2020 3 commits
  2. 28 Oct, 2020 1 commit
  3. 26 Oct, 2020 1 commit
  4. 23 Oct, 2020 1 commit
    • Nicolas Cadart's avatar
      [fix] Use WORLD coordinates input bounding box to extract points from RollingGrid · 265ab9fc
      Nicolas Cadart authored
      Before, user had to specify relative bounding box inb BASE coordinates.
      This same relative bounding box was used to extract local keypoints from map, and to roll it later.
      
      But this bounding box was in relative coordinates, and was not correctly rotated to WORLD coordinates.
      Therefore, some cells were incorrectly extracted, and others were missing.
      
      Now, user can directly specify a WORLD bounding box to extract keypoints.
      Also, the Add() method can automatically call the Roll() method by computing the bounding box of the new points to add.
      
      By fixing previous wrong extraction and rolling, this improves SLAM precision as more keypoints can be matched.
      265ab9fc
  5. 21 Oct, 2020 1 commit
  6. 15 Oct, 2020 2 commits
  7. 14 Oct, 2020 2 commits
  8. 13 Oct, 2020 2 commits
  9. 12 Oct, 2020 3 commits
  10. 08 Oct, 2020 2 commits
    • Nicolas Cadart's avatar
      7c7c53f7
    • Nicolas Cadart's avatar
      [fix] Roll map to center of new frame bounds · 54035cd1
      Nicolas Cadart authored
      Before this commit, if the new frame does not fit at all in all directions (if min point and max point are out of the grid),
      the grid would firstly roll to include the min point, then roll to include the max point.
      This behavior resulted in always discarding the min point to the benefit of the max one.
      
      Now, if the new frame does not fit into grid, the grid is rolled by the mean of the offsets.
      
      This allows to properly run SLAM when using smaller grids (e.g. indoor).
      54035cd1
  11. 06 Oct, 2020 1 commit
  12. 05 Oct, 2020 3 commits
  13. 28 Sep, 2020 6 commits
  14. 25 Sep, 2020 2 commits
  15. 17 Sep, 2020 1 commit
  16. 11 Sep, 2020 2 commits
  17. 08 Sep, 2020 3 commits
  18. 01 Sep, 2020 1 commit
  19. 31 Aug, 2020 3 commits
    • Nicolas Cadart's avatar
      Fix setting SLAM pose from GPS guess · 363742f4
      Nicolas Cadart authored
      Fix transformation matrix multiplication order.
      Use modern tf2 server to get transform.
      Reset current keypoints and previous pose to skip next ego-motion step due to discontinuity.
      363742f4
    • Nicolas Cadart's avatar
      Fix ego motion extrapolation when using PGO · cf9abccd
      Nicolas Cadart authored
      When using Pose Graph Optimization, last Tworld is beeing updated after optimization succeded.
      However, PreviousTWorld was not updated.
      When extrapolating motion from PreviousTWorld to TWorld, this lead to very important motion.
      This resulted in a wrong big jump for next TWorld estimation.
      
      This commit also updates PreviousTWorld after PGO to repair Ego Motion extrapolation.
      cf9abccd
    • Nicolas Cadart's avatar
      Merge branch 'fix/MiscBugsInICP' into 'master' · 667d43f2
      Nicolas Cadart authored
      Misc bug fixes and code refactoring in ICP functions
      
      See merge request !43
      667d43f2