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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased] - 2026-03-19

Added

  • Global-LVBA Export Mode: Body-frame PCD and image export for post-processing with Global-LVBA.
    • pcd_save.type: 0 = world frame (default), 1 = body frame (required for Global-LVBA).
    • image_save.img_save_en / image_save.interval: Save undistorted camera images per VIO frame.
    • Per-frame pose files in TUM format: Log/pcd/lidar_poses.txt, Log/image/image_poses.txt.
  • Ouster OS1-128 Support: Updated point struct registration in preprocess.h to match the current ouster-ros driver format (uint16_t ring, signal, near_ir; removed intensity and ambient).
  • ARM Build Flags: CMakeLists.txt now detects CPU architecture and applies optimized compiler flags:
    • aarch64 (Jetson Orin NX, RK3588): -O3 -mcpu=native -mtune=native -ffast-math
    • ARM 32-bit: adds -mfpu=neon
    • x86-64: -O3 -march=native -mtune=native -funroll-loops
  • 2026 AGT Aussen Dataset Config: config/2026_agt_aussen.yaml and config/camera_2026_agt_aussen.yaml for Ouster OS1-128 + camera rig with iKalibr calibration.
  • IMU Init Retry Logic: Extended motion-detection during IMU initialization with configurable retry count (max_init_retries_, default 5). After max retries, initialization proceeds regardless to avoid infinite init loops in dynamic environments.
  • Unit Test Infrastructure: GTest targets test_imu_processing and test_voxel_map added to CMakeLists.txt (test sources excluded from the repo via .gitignore).

Changed

  • IMU Init Motion Detection: Welford's online algorithm now tracks per-axis variance throughout the full initialization window (previously only described, now fully implemented with retry loop).
  • README: Added complete "About This Fork" section documenting bug fixes, new features, supported datasets, and build instructions.
  • .gitignore: Added docs/ and test/ to prevent internal planning documents and development tests from being committed.

[Unreleased] - 2026-03-06

Added

  • Botanical Garden Support: New configuration files for the Botanic Garden dataset.
    • config/botanical.yaml: Dataset-specific parameters (Xsens IMU, Livox Avia).
    • config/camera_botanical.yaml: Dalsa RGB0 (left color camera) calibration.
  • Robust Gravity Alignment:
    • Added variance-based static detection during IMU initialization to ensure stable gravity estimation.
    • Extended initialization window via imu_int_frame parameter (set to 100 for Xsens).
    • Re-triggerable gravity alignment after IMU resets via reset_imu flag.
  • Voxel Map Memory Optimization:
    • Implemented points_clear_threshold in VoxelOctoTree to clear point buffers once a plane is stabilized, reducing RAM for large maps.
    • Configurable map_sliding_en / half_map_size / sliding_thresh in botanical.yaml.
  • PCD Export Improvements:
    • Added save_raw_points parameter to optionally save the unfiltered raw point cloud in addition to the downsampled one (default: false).
    • Switched savePCD() from pcl::VoxelGrid to pcl::ApproximateVoxelGrid (hash-based) to handle high-resolution (0.15 m) filtering of large maps without 32-bit PCL integer-index overflow.
    • Added incremental_pcd_save_en flag (currently disabled; accumulation and shutdown-filter is the active path).
  • Vibration-Adaptive IMU Noise (disabled):
    • Added vibration_adaptive_en, vibration_scale_acc, vibration_scale_gyr parameters to IMU_Processing for dynamic covariance scaling.
    • Disabled (vibration_adaptive_en: false) in botanical.yaml — untested on this dataset, kept as opt-in.
  • Shutdown Grace Period: mapping_avia.launch.py now sets sigterm_timeout='120' and sigkill_timeout='60' so the process has sufficient time to write PCD and COLMAP output on Ctrl+C.

Changed

  • Launch Configuration: Default launch file mapping_avia.launch.py now points to botanical.yaml and camera_botanical.yaml.
  • Initialization Sequence: LIVMapper now initializes before image_transport::ImageTransport in main.cpp to ensure a valid node handle exists, preventing crashes during shutdown.
  • Data Handling:
    • Switched from cv_bridge::toCvShare to cv_bridge::toCvCopy in getImageFromMsg to fix use-after-free with multiple simultaneous camera topics.
    • Replaced std::endl with '\n' in the COLMAP points3D.txt write loop — avoids per-line stream flush, preventing SIGKILL on large maps.

Fixed

  • Mapping Robustness (reverted three Gemini regressions):
    • Removed getInterpolatedPose from LIVMapper and the associated modified processFrame/updateFrameState signatures in vio.h/vio.cpp. The IMU-pose lookup was non-deterministic (only populated on LIO frames), giving VIO a randomly wrong initial guess → photometric alignment divergence → EKF drift.
    • Removed EKF abort-guard (rot_add.norm() > 0.5) from voxel_map.cpp::StateEstimation. The guard prevented LIO from correcting drift once it started, turning small errors into unrecoverable failures.
    • Disabled vibration_adaptive_en in botanical.yaml. The dynamic covariance scaling (up to 3×) was untested on this dataset and amplified the instability from the two items above.
  • Stability & Robustness:
    • IMU Timestamp Jumps: imu_cbk now resets buffers and recovers when timestamp jumps > 0.2 s occur.
    • VIO Projection Safety: Null-pointer guard for VisualPoint retrieval and bounds check for map-point projection in vio.cpp prevent SIGSEGV during EKF state degeneration.
  • Node Lifecycle: LIVMapper constructor now writes the internal rclcpp::Node back to the caller's shared_ptr, fixing subscriber initialization after the node is created.