- Sep 13, 2023
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Tong Fu authored
[ROS][fix] Remove no return points for lidar points conversion See merge request keu-computervision/slam!287
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Tong Fu authored
No return lidar points usually have a NaN value or zero value. A helper function IsValidPoint is used to check the validity of lidar points.
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- Aug 29, 2023
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Julia Sanchez authored
[ROS][doc] Update install guide See merge request keu-computervision/slam!283
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Julia Sanchez authored
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Julia Sanchez authored
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- Aug 25, 2023
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Tong Fu authored
[fix] Add sanity check for ClearLog See merge request keu-computervision/slam!281
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Tong Fu authored
Check LogStates size before clearing.
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- Aug 03, 2023
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Julia Sanchez authored
Release 2.1 See merge request keu-computervision/slam!278
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Julia Sanchez authored
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Julia Sanchez authored
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- Jul 28, 2023
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Julia Sanchez authored
[fix][feat] Fix and update GPS use See merge request keu-computervision/slam!260
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Julia Sanchez authored
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Julia Sanchez authored
* GPS_SLAM_CALIBRATION : this was used to compute the offset, this is removed as it is done in the PGO * SET_SLAM_POSE_FROM_GPS : the SLAM should not be used to output stuff in other representation frames than a relative odometric one. The TF tree should be used to do so after PGO has been done.
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Julia Sanchez authored
* GPS offset (transform between SLAM reference frame (odom) and GPS reference frame (utm/enu/map) was badly computed in a badly named function * Now, at each PGO with GPS, the offset is refined
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Julia Sanchez authored
* The frame_id of the gps message corresponds to the reference frame and not to the gps frame
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Julia Sanchez authored
This function was incorrect and not usable because the GPS does not provide orientation so it is not possible to get a base pose from only a gps position
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Julia Sanchez authored
* The ceres function to compute the calibration of external pose is refactored a bit too for generalization
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Julia Sanchez authored
* This will be useful to compute measures associated to all the logged states
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Julia Sanchez authored
[build][fix] Fix boost linking See merge request keu-computervision/slam!277
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Julia Sanchez authored
* The shared option is added as cmake option * The echo command is made multiline for readibility * It was not possible to create a variable to store the cmake options that are duplicated in echo and cmake commands. * Trials : - Multiline variable with |, |-, <, <- : always fails on windows - Multilines with " around the variable : fails on linux - One line variable with spaces : fails on windows - Set the variable in the script : not the same command on windows and linux (= / set)
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Julia Sanchez authored
* Boost_USE_STATIC_LIBS is added in slam build to pass it to PCL, now it is not in the CMakeLists.txt of the lib anymore
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Julia Sanchez authored
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- Jul 25, 2023
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Julia Sanchez authored
[feat][perf] Allow to extract only implied map voxels See merge request keu-computervision/slam!273
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Julia Sanchez authored
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Julia Sanchez authored
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Julia Sanchez authored
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Julia Sanchez authored
* Before, the bounding box of the current scan was used to extract the corresponding submap. In some cases, it was leading to too many extracted points and to very high computation time (heavy kdtree build) * Add an overload for the function BuildSubMapKdTree to extract the submap. This submap is now the set of map points that are in the same voxels as the keypoints after ego motion step.
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Tong Fu authored
[feat][refact] Update loop closure See merge request keu-computervision/slam!250
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Tong Fu authored
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Tong Fu authored
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Tong Fu authored
* Add DetectLoop function to detect a loop closure for the current frame. * Add "Detect Loop" button to call the function. * Add LoopIdx in PV to store the loop indices
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Tong Fu authored
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Tong Fu authored
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Tong Fu authored
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Tong Fu authored
* This is a public function which can be called in PV wrapping to detect loop. * Other loop closure detection methods will be added in the future.
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Tong Fu authored
* Remove QueryIdx and RevisitedIdx members from loop closure parameters * Add a new struct LoopIndices which includes QueryIdx, RevisitedIdx and time * Create a vector of LoopIndices to store all loops indices
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Tong Fu authored
Given a frame index, find its position in the LogStates. If no same index found in the LogStates, return the neighbor state which is the first state with a larger index than the input frame index.
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- Jul 24, 2023
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Julia Sanchez authored
[fix] Fix UndistortWithLogStates See merge request keu-computervision/slam!275
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Julia Sanchez authored
* In case the undistortion was not possible, the transform to base was not performed leading to inconsistency in the output if the Lidar calibration is provided
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