Version 1.1

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

v1.1 (2020/04/09)

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

This release includes lots of bug fixes, code cleaning/refactoring or small and various improvements, but only major changes are reported below.

Core lib

New features:

  • Add transform extrapolation to compensate latency due to computation duration
  • Add OpenMP multi-threading support for faster processing
  • Enable keypoints maps saving/loading to/from PCD files
  • Enable memory consumption display
  • Enable logging keypoints and maps pointclouds as octree or PCD files to reduce memory usage

Major bug fixes or improvements:

  • Major clean up, acceleration and fixes of SpinningSensorKeypointExtractor
  • Fix maps update after PGO
  • Fix Eigen alignment issues

General or CMake related changes:

  • Rename slamlib to LidarSlam
  • Add installation step for headers and libs
  • Defaults to C++14 standard and RelWithDebInfo build type
  • Ceres becomes a public dependency, G2O (and thus PGO) becomes optional
  • Use modern CMake to link against Eigen and OpenMP targets if possible
  • Move CI to docker

ROS wrapping

  • New SLAM functionalities support
  • Add SpinningSensorKeypointExtractor parameters initialization from ROS parameter server
  • Enable full 6D GPS pose conversions and pitch/heading computation from motion

ParaView wrapping

  • Working version of LidarSlamPlugin, ParaView plugin to enable using basic SLAM as a vtkPolyData algorithm
  • This SLAM and ParaView plugin are now included in LidarView superbuild to be used directly in LidarView-based applications.