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Better LIO#9

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jlblancoc merged 99 commits intodevelopfrom
feature/better-lio
Oct 12, 2025
Merged

Better LIO#9
jlblancoc merged 99 commits intodevelopfrom
feature/better-lio

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@jlblancoc jlblancoc commented Aug 28, 2025 •
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  • New ICP optimizer based on Thrun's GICP with regularized covariances
  • Unit tests
  • Visualization improvements
  • Revert manual temporary package.xml version bump

jlblancoc added 30 commits August 27, 2025 10:20
@jlblancoc
New option to set pointcloud alpha channel
74c6285
@jlblancoc
clang-tidy warning fixes
50f259d
@jlblancoc
TEMPORARY package version bump
0e35337
@jlblancoc
Define methods enum
40f685c
@jlblancoc
Revert "Define methods enum"
9f59f25 
This reverts commit 40f685c.
@jlblancoc
Progress reorganizing deskew
96f259a
@jlblancoc
Add imu preintegration package as dependency
794fb1e
@jlblancoc
cmake files: prefer spaces indentation
e18fcb7
@jlblancoc
Extend velocity buffer with accelerometer and attitude
0dde324
@jlblancoc
Implement Linear motion model in the refactored code
dcae424
@jlblancoc
Progress refactoring towards generic deskewing
608e9b2
@jlblancoc
Implement trajectory reconstruction for deskew
253d434
@jlblancoc
Reorganize deskew methods
5d833ff
@jlblancoc
code style fixes
969ca19
@jlblancoc
Finish implementation of higher-order IMU interpolator
d8fdb42
@jlblancoc
deskew filter: new option 'in_place' to avoid allocating a new cloud …
8bbd911 
…whenever possible
@jlblancoc
Fix typo
f100f97
@jlblancoc
Add [[nodiscard]] to icp_pipeline_from_yaml()
309dba7
@jlblancoc
add missing acc term
835f9f0
@jlblancoc
Update imu bias getter before refactoring
d9d6228
@jlblancoc
Move LocalVelocityBuffer to the IMU repository
aa4806a
@jlblancoc
Move code out to the imu preintegration package
999d040
@jlblancoc
Depend on imu external library
d46aeed
@jlblancoc
Finished integration of new IMU API package
5d48498
@jlblancoc
Fix clang-tidy warnings
a937a3c
@jlblancoc
Refactor mp2p_icp_map into mp2p_icp_common for IMU-related parts
90f317f
@jlblancoc
Add new virtual interface NearestPointWithCovCapable
d8c80e2
@jlblancoc
clang-format
0afc13a
@jlblancoc
New interface 'IcpPrepareCapable'
ea224d8
@jlblancoc
Style: public 'params_' rename as 'params'
e6002c6
jlblancoc added 28 commits October 9, 2025 23:45
@jlblancoc
Refactor errorTerm for pt2pt for better reusability
6ff6bd0
@jlblancoc
Remove dead code
39dde96
@jlblancoc
clang-tidy fixes
1b2c340
@jlblancoc
format
afbcbd2
@jlblancoc
Update mola_common to 0.5.1
c3d2514
@jlblancoc
Allow building without the IMU library
5a758e9
@jlblancoc
Add 'name' property to all generators and filters for disaggregated s…
b6dfc23 
…tats
@jlblancoc
Add unit test for cov2cov optimizer
94a4ebd
@jlblancoc
Progress with deskew unit test
2d7693e
@jlblancoc
FIX: potential crash in FilterDeskew
2abd82b
@jlblancoc
progress with deskew test
6c2ec96
@jlblancoc
include centripetal force
6ca5450
@jlblancoc
Correct unit test (error in GT)
30c078a
@jlblancoc
CI: add running unit tests
d9d6d4a
@jlblancoc
FIX: bug in non-TBB serial implementation of GN optimizer
93d4011
@jlblancoc
CI: Add another pipeline without TBB
f4eb6c5
@jlblancoc
unit test: second test case using sm2mm()
18619f1
@jlblancoc
fix warning
f318352
@jlblancoc
refactor for clarity
07d9d6f
@jlblancoc
unit test: trajectories with smooth profiles
b41235b
@jlblancoc
format
5718a1b
@jlblancoc
demo sm2mm pipelines: add deskew method entry
fb6b393
@jlblancoc
Finally, fixed wrong deskew in sm2mm
517f73a
@jlblancoc
sm2mm cli app: add --profiler flag
52c62fc
@jlblancoc
Implement parsing missing IMU params
cf29acf
@jlblancoc
Fix TO-DO note
bdac0a6
@jlblancoc
Solve another TO-DO note
bcba7a7
@jlblancoc
revert package.xml version
941ff8b
@jlblancoc jlblancoc merged commit a7fc903 into develop Oct 12, 2025
2 of 9 checks passed
@jlblancoc jlblancoc deleted the feature/better-lio branch October 12, 2025 23:46
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