v1.5.0

Summary

This release makes wavemap 20% faster for LiDAR inputs and adds support for Tracy Profiler.

New features

• Annotate code for profiling with Tracy Profiler
• Switch to custom atan2 in LiDAR projection models
  • Speeds up wavemap by 20% overall for LiDAR inputs
  • No compromise in accuracy (slightly improves AUC, accuracy and recall)
• Minor general optimizations
• Add option to enable DCHECKs even when not compiling in debug mode
• Improve error messages when reading/writing a file fails

Notes on Tracy

By default, Tracy is disabled and introduces zero overhead. To enable profiling with Tracy, see the instructions in PR#19.

Package changelogs

• Libraries
  • wavemap
  • wavemap_io
• ROS
  • wavemap_ros
  • wavemap_ros_conversions

Upgrade notes

This release adds a dependency on Tracy Profiler, which we wrapped into a catkin package for easy usage and installation.

Upgrade instructions for

• Catkin
  • Go to your catkin workspace src directory: cd ~/catkin_ws/src
  • Add the tracy_catkin package:
    • git clone [email protected]:ethz-asl/tracy_catkin.git # If you're using git with SSH [recommended]
    • git clone https://github.com/ethz-asl/tracy_catkin.git # For git with HTTPS
  • Pull the newest wavemap code: cd wavemap && git checkout main && git pull
  • Rebuild wavemap: catkin build wavemap_all
• Docker
  • docker build --tag=wavemap --build-arg="VERSION=v1.5.0" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)

For more info, see the installation page in the docs.