Nicolas Cadart authored Jun 22, 2021 and Julia Sanchez committed Oct 27, 2021

Remove INVALID_NUMERICAL check: as the eigen values are clamped, no risk of division by 0 in
case of null eigenvalues for degenerated neighborhoods.

Perform MSE check before computing distance matrix to save some time.

* Goal : have a better covariance interpretation (adapt covariance scaling)

* Scale the residuals using model variance

* Remove old match quality weights

* Add KeypointsMatching members *MinModelError.
They are used to clamp the lower bound of the PCA eigen values,
to limit the weights of some matches due to low points number statistics
They can be understood as the minimum error that we use for a model:
all models suffer at least by this error.

Fix .gitlab-ci.yml with MSVC19 path

See merge request !155

Fix Readme Drive link

See merge request !153

Fix Binary releases Drive link

See merge request !152

[fix] Fix time display

See merge request !151

* The time as integer was printed using "/" and "%" operators
* The case where the first digit is 0 was not taken into account leading 
to bad time display
* This display bug is fixed, using the conversion to double

[feat][PV] Add SLAM initialization in PV

See merge request !149

* Allow to load an initial map

* Allow to set an initial pose

* These parameters are reset at Reset call ( /!\Warning/!\ when clicking 
Reset 
on an intermediate frame (NbFrames > 0), the initial pose set will be 
applied)

* Only the prefix path must be supplied by the user to load the three 
maps (edges/planes/blobs). If a complete path to one of the map is 
supplied, a vtk error is raised.

Fix build in Debug mode

See merge request !148

This commit allow the paraview_wrapping of the Slam to be built in Debug mode.

[fix] Fix segfault when applying SLAM

See merge request !146

* By now, SLAM can only be applied on the field Frame which is a 
polydata and not on Trailingframe which is a multiBlock

* TrailingFrame is selected by default when loading a pcap so the first 
call to the SLAM filter without changing the selected field in Pipeline 
browser makes LV crash (SegFault).

* This commit allows to apply the filter on the Trailingframe input

* It checks the input in RequestData and extract the polydata from the 
multiblock if needed

Specify CMake project version

See merge request !144

[fix] Fix runtime error in motion limits check

See merge request !143

* The case when not enough poses are logged to comply with the required 
window was badly handled. This commit corrects it.

[fix] Add a temporal window to estimate velocity

See merge request !141

* The Lidar SLAM angular estimation is not smooth enough to estimate 
accurately local velocity.

* The velocity estimation is smoothed, using a temporal window 
parameterizable in seconds.

* In PV, loggingTimeout param follows WindowTime param as it is not 
settable from UI

* In ROS, the user has to choose a loggingTimeout value g.t. WindowTime 
param manually. If not, a warning is raised and the estimation is based 
on the current stored poses.

Check timestamp before ego motion extrapolation

See merge request !142

Cleaning and refactoring of keypoints matching

See merge request !140

Rename matching parameters for clearer usage.

MinNbrMatchedKeypoints -> MinNbMatchedKeypoints
MaxDistanceForICPMatching -> MaxNeighborsDistance

LineDistanceNbrNeighbors -> EdgeNbNeighbors
MinimumLineNeighborRejection -> EdgeMinNbNeighbors
LineDistancefactor -> EdgePcaFactor
MaxLineDistance -> EdgeMaxModelError

PlaneDistanceNbrNeighbors -> PlaneNbNeighbors
PlaneDistancefactor1 -> PlanePcaFactor1
PlaneDistancefactor2 -> PlanePcaFactor2
MaxPlaneDistance -> PlaneMaxModelError

BlobDistanceNbrNeighbors -> BlobNbNeighbors

Delete unused KeypointsMatcher::Params::MinNbrMatchedKeypoints

This allows setting this parameter from ParaView UI.

This param value was lowered from 25 yo 10 neighbors.

To build a model of the neighborhood, a minimum number of points is needed:
- 2 for a line model
- 3 for a plane model
- 4 for an ellipsoid model

A check is added to verify that enough neighbors are requested to build the target model.
Otherwise, a MatchStatus::BAD_MODEL_PARAMETRIZATION error code is returned.

This also prevents the matching procedure from crashing if no neighbors are requested.

Reformat XML proxy

See merge request !139