v1.3.7

This release includes performance improvements and some updates.

• #50: @Tomoya-Sato
  • Bug fix of get_best_score_percentage
• #53: @mini-1235
  • Fix for boost dependency ubuntu24.04
• #54: @IversonHuang
  • Improve hash look up for cpu bbs

Thank you for your contributions!

v1.3.6

I fixed following two parts in this release

• Angular information for rotational branching
  • Fixed a bug in the previous refactor where the rotation angle was only positive at the leaf level.
• Calculation of nearest imu time stamp search in ros2 test

Thank you for reporting about bug of rotational branching.
@hwan0806
@j953302

v1.3.5

Please use v1.3.6 because versions of 1.3.5 and below have bug in rotational branching.

This is revised version of v1.3.4

Because CMake in v1.3.4 failed to select eigen version automatically when thirdparty/eigen was cloned,
I fixed the conditional branch of USE_THIRDPARTY_EIGEN.

v1.3.4

Because eigen3.3.X has bug in the matrix calculation on CUDA kernel, I added eigen3.4.X in thirdparty/Eigen as submodule.
Included eigen automatically changes depending on whether you add gitmodule or not.

• Previous user
  Previous user can build 3d_bbs as before without any changes.

• If you use eigen 3.3.X in other packages
  Please run

git clone https://github.com/KOKIAOKI/3d_bbs.git --recursive

v1.3.3

Note:
I removed the automatic setting of set_trans_search_range from bbs3d.
Please always set trans search range bbs3d_ptr->set_trans_search_range(tar_points); in your code.

Refactor

• Implement discrete transformation correctly
• Separate discrete transformation source code from bbs

v1.3.2

I apologize for the inconvenience.
I fixed fatal errors.

• Fixed CMakeLists.txt for bbs3d

I also fixed typo in source codes.

---

I repost the update in v1.3.0 here.

Note
set_trans_search_range(points) should call manually from this version.
Please specify target points or a search range using at least two points as an argument of the function.

Update

• Localization timeout

Refactor

• Move functions in util.hpp to bbs3d libraries.
• Simplify CMakeLists

Fix

• README

v1.3.1

Please use version v1.3.5

I apologize for the inconvenience.
I fixed fatal mistakes.

• If localization times out, set has_localized to false.
• file name

---

I repost the update in v1.3.0 here.

Note
set_trans_search_range(points) should call manually from this version.
Please specify target points or a search range using at least two points as an argument of the function.

Update

• Localization timeout

Refactor

• Move functions in util.hpp to bbs3d libraries.
• Simplify CMakeLists

Fix

• README

v1.3.0

There is a fatal mistake that has_localized_ does not become false when time out in gpu_bbs3d.cu
Please use version v1.3.5

Note
set_trans_search_range(points) should call manually from this version.
Please specify target points or a search range using at least two points as an argument of the function.

Update

• Localization timeout

Refactor

• Move functions in util.hpp to bbs3d libraries.
• Simplify CMakeLists

Fix

• README

v1.2.1

Fixed from v1.2.0

• ros2 test url in readme
• calculation of execution time in test code
• move add_executable(saver) outside if(BUILD_CUDA)

v1.2.0

Update

• CPU version
• ros2 test (not support for cpu and docker)
  • rviz2
  • Iridescence
• Reduce the processing time of constructing hierarchical voxel map
• The point cloud input/output/filter package
• Hierarchical voxel map saver and loader
• Output translation and rotation error on test