matlabbe 06caa328a4 Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.

2020-03-28 16:25:27 -04:00

..

ceres

Added OptimizerCeres class (Optimizer/Strategy=3)

2019-08-17 03:55:04 -04:00

g2o

Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.

2019-05-07 18:57:53 -04:00

gtsam

0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.

2019-04-09 20:05:24 -04:00

toro3d

VS2019: fixed build

2020-03-11 23:34:55 -04:00

vertigo

fixed build with older gtsam versions

2019-01-29 19:06:28 -05:00

OptimizerCeres.cpp

Added OptimizerCeres class (Optimizer/Strategy=3)

2019-08-17 03:55:04 -04:00

OptimizerCVSBA.cpp

0.18.3: added landmarks (graph optimization, localization, navigation)

2018-12-07 18:29:41 -05:00

OptimizerG2O.cpp

Added OptimizerCeres class (Optimizer/Strategy=3)

2019-08-17 03:55:04 -04:00

OptimizerGTSAM.cpp

Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.

2020-03-28 16:25:27 -04:00

OptimizerTORO.cpp

Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.

2019-05-31 15:36:35 -04:00