Releases · norlab-ulaval/norlab_icp_mapper

What's Changed

Guard icpMap mutex when doing registration by @boxanm in #6
A fix to prevent running out of memory and crashing when loading maps over cca 500k points by @kubelvla in #13
Python bindings by @boxanm in #14
Updated tutorial for better dynamic points filtering by @nicolaslauzon in #16
An example executable build_map_from_scans_and_trajectories.cpp that builds a map from a given trajectory (.csv file) and scans. We could use this function later for integration tests.
A unification of all Mapper configuration parameters and libpointmatcher config files into a single .yaml file. Relevant parts of the file are loaded either by the mapper, or libpointmatcher.
The introduction of mapper modules offers a configurable way to apply different effects to the map. Unlike the old post-mapping filters (which were disguised libpointmatcher DataPointFilters), these modules take both the map and the scan as inputs. So they can perform, for example, a removal of dynamic points.
These mapper modules are configured through the same yaml configuration file as the other parameters.
A documentation hosted on ReadTheDocs.

Full Changelog: https://github.com/norlab-ulaval/norlab_icp_mapper/commits/2.0.0