1. 03 Nov, 2020 2 commits
  2. 28 Oct, 2020 1 commit
  3. 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
  4. 14 Oct, 2020 2 commits
  5. 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
  6. 06 Oct, 2020 1 commit
  7. 05 Oct, 2020 2 commits
  8. 17 Jun, 2020 1 commit
  9. 22 Apr, 2020 1 commit
    • Nicolas Cadart's avatar
      Update Apache 2.0 license file and headers · 6f235432
      Nicolas Cadart authored
      Add LICENSE.txt (Apache 2.0).
      Add license header to files where it was missing.
      Update and extend copyright date to 2020.
      Add copyright to Kitware SAS.
      Remove personnal email addresses.
      6f235432
  10. 13 Mar, 2020 1 commit
    • Nicolas Cadart's avatar
      Rename slamlib to LidarSlam and install header files · 4828cb34
      Nicolas Cadart authored
      Rename slamlib library to LidarSlam.
      Install header files to include/LidarSlam directory.
      Change repo hierarchy by splitting slam_lib into src and include/LidarSlam directories.
      Use add_definitions() instead of add_compile_definitions() for CMake < 3.12 compatibility.
      4828cb34
  11. 26 Feb, 2020 1 commit
  12. 19 Feb, 2020 1 commit
  13. 14 Jan, 2020 1 commit
    • Nicolas Cadart's avatar
      Fix printing issues. · 9dc7d821
      Nicolas Cadart authored
      Write warnings and erros to std::cerr instead of std::cout.
      Avoid using '\n' symbol, prefer 'std::endl'.
      9dc7d821
  14. 10 Jan, 2020 1 commit
    • Nicolas Cadart's avatar
      Add RollingGrid::Reset() method to clear maps and reset voxel grid parameters,... · 46b01eb7
      Nicolas Cadart authored
      Add RollingGrid::Reset() method to clear maps and reset voxel grid parameters, and improve Slam::Reset() to reset only SLAM internal state.
      
      RollingGrid::Reset() clears all points from VoxelGrid, but resets also voxel grid position and cropbox parameters. It increases readibility, and improves maps clearing by not deallocating memory when possible.
      
      Slam::Reset() has been split to be used to reset SLAM internal state (and log history). Memory allocation is done only in constructor.
      46b01eb7
  15. 17 Dec, 2019 1 commit
    • Nicolas Cadart's avatar
      Replace SLAM internal 6 DoF state vector by an Eigen::Isometry3d. · 11527a5b
      Nicolas Cadart authored
      Even if it has more parameters (4 x 4 matrix) insted of 6 scalars, it leads to much more cleaner code, a little faster as no conversions to homogeneous matrix are needed, and much more stable as no euler angles are used, avoiding conventions/representations/singularities.
      11527a5b
  16. 13 Dec, 2019 7 commits