- ros: fix rolling compat break, plus a bunch of deprecation warnings (#149) add a ros nightly image based weekly ci job so i have my own signal of api changes upstream
- py: improve raw dataloader and remove open3d as a dep (#148)
- misc: adds testing for lyrical, fixes the current ci fails (#142) * adds testing for lyrical, fixes the current ci fails, and switches to leaner images for ci
- use VoxelHash struct to avoid ODR violations (#140) Co-authored-by: Meher Malladi <rm.meher97@gmail.com>
- core: revert voxel down sample sorted (#141) not a 1-1 improvement over previous behavior
- core: Fix tbb threading using max_num_threads (#137) * core: return the thread limit which was lost in #93
- core: improved voxel down sampling, use robin set, explicit hash sorting (#136) * tests: add test cases for voxel_down_sample_sorted
- core, python, ros: a series of simplifications (#133) * core: clean up preprocessing result for double deskewing on/off * ros: frame parsing simplifications * ros: imu rate publishing simplify * ros: unify publishers to use lio->state * core: simplify point to voxel usage * api: fix my embarrassing spelling mistake on correspondences * ros: clean up bag progress publish in offline mode
- core: Reject empty input vectors instead of dereferencing end() (#135)
- ros (bug): fix shared library components not installing properly
- core: time in nanoseconds, everywhere (#132) * switch doubles to nanoseconds end-to-end * ros: improve the utils slightly
- ros (+ core): Installable and therefore reusable libs (#131) * make core/ros/ros::utils libs ament-installable + exportable * install only on no fetch content. and prevent install on humble
- core: drop Bonxai for tsl::robin_map (#130) * switch to tsl robin map instead of bonxai * change method names to snake case for the hash map
- chore: bump FetchContent dependencies (#128)
- ros: offline node exits once lidar buffer has been emptied (#127) * fix a potential bug that i thought i fixed on imu msgs being leftover * catch the potential race with the node dying before reg exits
- docs: overhaul (#126)
- ros, feat: odometry at imu rate (#125) * feat: publish odometry at imu freq, when running sequentially * add a part for the imu rate odom to the docs
- core: simplifications and clean up to core (#124)
- Add Catch2 tests for core functionalities and related updates (#123) * add catch2 based tests to cover important core functionalities. * then related file updates * consolidate workflows
- core: error out if keypoints is too small as thats likely a data error (#110)
- ros: add deskewed scan topic as a config, change default topic names to relative (#108)
- core: orientation linear system simplifications. move util classes to util (#94)
- Some code refactoring and execution time improvement. (#93) Co-authored-by: Meher Malladi <rm.meher97@gmail.com>
- Contributors: Aleksandr Kovalko, Luca Lobefaro, Meher Malladi, Saurabh Gupta, dependabot[bot], muvahhid kılıç
- Fix (core): log proper pose for the first frame if init. phase is on (#89)
- chore: bump FetchContent Eigen to 5.0.1 (#88) Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
- core: minimize TimestampProcessingConfig (#87) * remove the configs for start and end time thresholds that can be satisfied much simpler by just forcing relative or absolute overrides
- python: remove unnecessary scan viz (#85)
- remove pytest as optional dep, added toml based config (#83)
- Rename published_deskewed_cloud to publish_deskewed_scan (#81)
- Fix: core - proper second frame pose if initialization off (#77) * move preproc to its own file and fix the non intialization behaviour * better (but not cross platform-worthy) identity registration testing
- Update accelerometer data expectation in docs. Clarified accelerometer assumptions
- core: Configurable lidar timestamp processing (#74) * thresholds and timestamp processing behaviour is configurable * config modifications to the python side * ros side launch config modified to have more params * docs additions and cleanup * fix the py tests since the api changed
- update installation instructions and badge formatting. Updated README.md to improve formatting and clarity of installation instructions and dependencies.
- More CLI options, profiles stats has variance, dumping deskewed scans (#73) * add the modifications needed to dump the plys when running * add variance to profile stats * python: pybind interval stats, and imu logging in rerun * more cli options, viz improvements a bit * update the cli for dumping deskewed * update the rbl
- Update README.md. Add ros source build details
- Folder reorganisation and docs update (#69) * flatten the directories. massive renaming across the board * docs rework * docs updates * rename the config file so its explicit * fix workflows
- Core/move logging to wrappers (#68) * remove logging from core. improve docs * python side now does its own config and traj dumping * nlohmann json is no longer a core requirement. ros only * result dumping on ros side now * make result logging on ros optional. and add launch config for that * use a shutdown callback for ros to dump results
- Contributors: Anthony Bisulco, Meher Malladi, dependabot[bot]
- python: Update rosbags requirement from to allow 0.11 (#63) * Update rosbags requirement from <0.11,>=0.10 to >=0.10,<0.12 in /python * Changes to rosbag reader to support older versions and 0.11 Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Meher Malladi <rm.meher97@gmail.com>
- actions: Bump pypa/cibuildwheel from 3.2.0 to 3.2.1 (#61) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
- python: Update typer requirement from <0.20,>=0.19 to >=0.19,<0.21(#62) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
- python: Update rerun-sdk version (#64) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
- python: pin versions for compatibility (#60) * add python to dependabot checks * specify upper bounds for pip dependencies * add optional dataloader tests, and add a workflow to install and test * improve the testing a bit * remove the ament cmake find outside of a ros build, as that causes issues on cursed ros setups
- python: data loader improvements and raw loader overhaul (#56)
- docs: overhaul and add a github pages workflow (#55) essentially a massive overhaul to everything documentation related. we now use rosdocs2, sphinx, doxygen to build docs. and gh-pages-action to deploy to github-pages automatically
- Contributors: Meher Malladi, dependabot[bot]
- make fPIC a property target ON instead of a global build flag
- drop cmake min version to 3.22.0
- clean up bonxai finding and mocking a bit
- force include bonxai code when not fetching
- Contributors: Meher Malladi
- Drop cmake min version to 3.22.1 to support ros humble builds with default toolchains (#52) * mock a find package file if cmake below version 3.24 * different sophus version compat for older cmake * add compat target sources for cmake < 3.23 * missing include fix * cmake policy to suppress warning on the older cmake * fix the bonxai fetch problem for ubuntu 22.04 isolated builds
- Contributors: Meher Malladi
- Drop ros cmake min version to 3.26.5. (#50) * Conditional fetchcontent flags to include exclude_from_all only if version > 3.28. Should fix rhel 9 builds for ros
- Bump FetchContent dependencies (#49) * bump Eigen FetchContent to 5.0 --------- Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com> Co-authored-by: Meher Malladi <rm.meher97@gmail.com>
- Contributors: Meher Malladi, github-actions[bot]
- temp fix: ros builds when FETCHCONTENT_FULLY_DISABLED is ON, aka the ros build farm (#45) * clean up ament target dependencies deprecation * update bonxai version * add bonxai core source to dependencies/bonxai with a check to include only on specific conditions
- Change package layout to make ros package release easier (#44) * move ros/cmake and package xml out. merge core cmake into root cmake * build ros by default, but disable it for the python build * makefile recipe disables ros build by default for cpp only build * clean up ros workflows a bit
- Bump pypa/cibuildwheel from 3.1.4 to 3.2.0 (#42) Bumps [pypa/cibuildwheel](https://github.com/pypa/cibuildwheel) from 3.1.4 to 3.2.0. - [Release notes](https://github.com/pypa/cibuildwheel/releases) - [Changelog](https://github.com/pypa/cibuildwheel/blob/main/docs/changelog.md) - [Commits](https://github.com/pypa/cibuildwheel/compare/v3.1.4...v3.2.0) --- updated-dependencies: - dependency-name: pypa/cibuildwheel dependency-version: 3.2.0 dependency-type: direct:production update-type: version-update:semver-minor ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
- Contributors: Meher Malladi, dependabot[bot]
- Drop irregular lidar frames (#35) * if incoming lidar scan has a stamp with too big of a delta to the previous, we treat it as an error
- fix component registration so online node component shows up in ros2 component types (#34)
- Contributors: Meher Malladi
- Fix logic error in offline node (ros) and interval imu stats compute (core) (#29) * cleaner error messages and log parsed imu and lidar frames for ros * patch rviz config to change the global frame if a different odom frame is used * revert offline node bag and buffer completion handling logic * cannot compute accel mag variance if imu count is 1. modify the check preventing divide by 0 errors * remove python/config/default.yaml since --dump_config does the same job * bump version to v0.1.1 and update python readme slightly
- fix: ros launch - correctly overload config file params with cli params (#28) * fix: ros launch - correctly overload config file params with cli params * clarify that the default.yaml config file is not automatically picked up by the ros launch file * add a check to make sure 0 or both extrinsics are specified
- Update docs to specify more details on data format (#25) * print the extrinsics to console after guessing them, so that its easier for the user to respecify in a config if required * add a data.md that specifies the minimal requirements on data we have. * add a readme section for all the configurations rko lio has been tested on
- Update defaults to provide an easier entry into using the system (#24) * set initialization_phase to false by default, as a false start can break odometry. the user can opt-in to initializing if they know their system starts from rest. * remove Ninja as the default generator for ROS builds, as it breaks ros build farm builds
- Contributors: Meher Malladi
- Bump version 0.1.0 (#22) * Update pyproject.toml to v0.1.0 * Update package.xml to version 0.1.0
- Ros API improvements (#20) * append quat_xyzw_xyz to extrinsic parameter names to make the order clearer * rename bag_filename to bag_path to be more intuitive on the offline node * ros refactoring: more parameter definitions, better parameter defaults, better variable names, offline node simplifications, and readme and launfile updates to reflect the new parameter names. * update the rviz config file * launchfile is improved. cli params override config files. final config is printed to console * update the documentation to reflect the changes
- Contributors: Meher Malladi
- C++ simplifications, py-rosbag reader improvements (#14) * print the names of the bag files being added if there are multiple * add a --dump_config option to get a default config out * improve the --help messages a bit * print a more helpful message in case the bag doesnt contain a tf * simplifications on the cpp side to how we compute interval stats for imu * better handle the case when there are no timestamps in the point cloud for a rosbag * change the names of a few variables * add some more details to the main readme * bump version
- Contributors: Meher Malladi
- Fix/improve rerun visualization, remove matplotlib as an undocumented dep, bump version (#10) * remove unnecessary dependency on matplotlib. also prevents a break * use the rerun blueprint from the visualization we have now * move rerun config to the package folder, and then always log it on initialization so we get a well configured viz by default * improve docs a bit, and change the name for a workflow build * bump version because we fixed the visualization in this one
- Add humble support and improve workflows (#9) * fix the problem with bag timestamp on humble * use my humble image for humble build * add details for humble in readmes. switch workflows branch back to master * split workflows into reusable workflows, so that i get badges on the readme * finish the quest for pretty status badges
- Contributors: Meher Malladi
- Add macOS and Windows support/builds/wheels (#8) * builds on mac arm (14 and 15) * builds on windows 2022 * fix the msvc build error on helipr * added in tests * use pytests in the python bindings workflow * drop support for py 3.9 * we provide wheels for all major platforms now * except windows 11 arm * version bump to 0.0.2
- Contributors: Meher Malladi
- Workflows (#6) * test python bindings build workflow * add ros build workflow * update readmes to say we support kilted because it builds there as well * simplify cibuildwheel target platforms * add a pypi workflow. switch the branches out to master time to pray this works
- Add build and config docs (#2) * add build.md * move config and build docs into docs * add config.md * fix the gitignore mistake for folders * add a few more details * some ros doc cleanup
- Add initial readme documentation for both the ros and python versions (#1) * add some python readme docs * add a pre-commit config for fixing trailing whitespace * fix the math in the main readme * improve a link to python doc * add ros readme and add some placeholder details to the build and config * update the readmes a bit * add an example ros offline invocation
- add initial version
- Contributors: Meher Malladi