b9015f33a7
Filter early in AddRangeData. ( #681 )
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Filter earlier in 3D.
Combine two transforms to one in 2D.
2017-11-16 13:35:44 +01:00
16d62f45f0
Rename sparse_pose_graph options. ( #682 )
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The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-16 11:48:25 +01:00
a08a370ef3
Check if filtered point clouds are empty. ( #664 )
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The point cloud will be filtered by MaxRangeFilter before doing scan matching. For some special cases, the filtered point cloud maybe empty, it will cause crash:
real_time_correlative_scan_matcher.cc:159 Check failed: candidate.score > 0.f (nan vs. 0)
This PR fixed this bug, check the point cloud size before scan matching, return false for empty point cloud.
2017-11-16 09:56:01 +01:00
b2e948d8a2
Fix typo in CMake install script ( #683 )
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Fixes a typo in CMake scripts when installing generated header files.
2017-11-16 09:16:34 +01:00
bdca2095c0
Rename proto::SparsePoseGraph. ( #680 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 14:58:49 +01:00
c866707013
Fix the configuration documentation script. ( #679 )
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Fixes #652 .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
c25379cd20
Rename mapping_{2,3}d::SparsePoseGraph. ( #678 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 13:50:18 +01:00
8c114d6eaf
Rename mapping::SparsePoseGraph. ( #677 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 12:06:19 +01:00
36b9cf7f9a
Move the mapping_3d/sparse_pose_graph directory. ( #676 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 11:30:35 +01:00
26db9d6210
Move the mapping_2d/sparse_pose_graph directory. ( #675 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 10:52:06 +01:00
f6192e4735
replace implicit use of cartographer::string with explicit use of std::string ( #673 )
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Fixes #622 .
2017-11-15 10:17:59 +01:00
291c0f581b
Move the mapping/sparse_pose_graph directory. ( #669 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 09:39:45 +01:00
7904808d40
Reduce transforms in LocalTrajectoryBuilder. ( #668 )
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This speeds up AddRangeData because we avoid one copy and loop over all points.
2017-11-15 09:15:02 +01:00
8c9fac4c69
#671 switch ordering of args in find_package for Protobuf ( #672 )
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per #671
2017-11-15 08:49:33 +01:00
818e5e1a44
Add local SLAM result callback. ( #574 )
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Depends on ~~#619~~ (merged) and ~~#617~~ (merged).
Related to #508 .
Also, if cartographer_ros is going to use this, and we wish to serialize the saved range data, that will have to be handled in cartographer_ros, right?
2017-11-14 17:19:14 +01:00
a4c0e4754e
Rename scan to node. ( #667 )
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Changes the naming from "scan" to "node" in the pose graph.
AddNode() adds a new node to the graph which might contain
data from multiple range sensors and not necessarily one scan.
Configuration and documentation changes might follow in a
separate PR.
Related to #280 .
2017-11-14 16:53:31 +01:00
4b342eddd0
Miscellaneous: rename odometer->odometry ( #665 )
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Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
2017-11-14 16:18:07 +01:00
5496cbdc0c
Serialize odometry data ( #666 )
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Replaces #550 .
2017-11-14 15:18:39 +01:00
a7680f60d4
Updated PR template taking wally into account. ( #663 )
2017-11-14 14:41:48 +01:00
60c72cb445
Deserialize trajectory connectivity ( #552 )
2017-11-14 13:26:53 +01:00
3ec583a327
Change fixed_frame_pose_data_ to MapByTime. ( #662 )
2017-11-13 17:41:04 +01:00
fd5003b69b
Omit odometry penalty within frozen trajectory. ( #661 )
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In the case of pure localization, this reduces the size of the optimization problem by a large factor.
2017-11-13 14:19:15 +01:00
4a8607810e
Change odometry_data_ to MapByTime. ( #655 )
2017-11-13 13:21:53 +01:00
d183ab737a
Fix mismatched tag warning for MapByIndex ( #658 )
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- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html ).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
2017-11-13 10:18:58 +01:00
a9da74496a
Fix unused lambda capture warning ( #659 )
...
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html ).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
2017-11-13 09:44:12 +01:00
6e274766f2
Remove unnecessary [packed=true] annotation ( #660 )
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[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 09:18:53 +01:00
53471359f8
Convert all .proto files to proto3 syntax. ( #653 )
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[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 08:26:35 +01:00
ed71914805
Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… ( #565 )
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…aph::TrimmingHandle::MarkSubmapAsTrimmed
To make them compile successfully in google.
2017-11-10 17:21:20 +01:00
752a279035
Adds slides from Cartographer Open House IX ( #654 )
2017-11-10 16:56:35 +01:00
0de177d207
Adds PR template text. ( #609 )
2017-11-10 16:29:38 +01:00
eb4415d17d
Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. ( #619 )
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In preparation for #574 . Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
2017-11-10 14:49:41 +01:00
5363285b8f
CMake bug fixes and performance improvements. ( #648 )
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- Pin versions of Ceres and protobuf (Fixes #341 ).
- Require Lua >= 5.2 (Fixes #629 ).
- No longer run ceres tests in CI. We implicitly test Ceres through Cartographer's tests and this saves ~4 minutes on CI.
2017-11-10 12:55:43 +01:00
e29fc9787a
New proto compiler ( #644 )
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Also change Dockerfiles to build proto3 from HEAD.
PAIR=@cschuet
2017-11-10 11:16:44 +01:00
028391357d
Add OccupancyGridState and SubmapState in cartographer/io ( #638 )
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replaces #599
related to googlecartographer/cartographer_ros#510
2017-11-09 17:19:29 +01:00
418819a9ef
Use 'global_pose' terminology for submaps. ( #645 )
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Use 'global_pose' terminology for submaps.
This follows #624 .
2017-11-09 16:40:21 +01:00
6eaf0f344d
FastCorrelativeScanMatcher outputs unique_ptr. ( #643 )
2017-11-09 16:08:16 +01:00
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
3bdee588bd
Add FinishTrajectory() in SparsePosegraph. ( #562 )
2017-11-09 14:29:26 +01:00
92f81aec8a
Make proto::ProbabilityGrid proto3 compatible. ( #641 )
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Moves the optional 'known_cells_box' into a message field.
This way its existence can still be checked in proto3.
2017-11-09 11:47:33 +01:00
386ee328d8
Fix 3D yaw rotation in GenerateDiscreteScans. ( #640 )
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Correctly generates discrete scans rotating around yaw in the gravity-aligned global map frame.
Fixes #639 .
PAIR=wohe
2017-11-08 17:37:36 +01:00
eb96c91473
Initial pose implementation. ( #606 )
2017-11-08 14:01:38 +01:00
55e4338468
Start cleaning up Google specific types by making them cartographer private.
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move string and size specific int/uint types into cartographer namespace as minimal change necessary to keep global namespace clean (#637 )
2017-11-08 09:07:46 +01:00
088681f9ec
Add 3D localization support. ( #632 )
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This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.
Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
2017-11-07 11:26:41 +01:00
8186316d77
Range loop over trajectories for MapByTime ( #633 )
2017-11-06 17:14:01 +01:00
0d2bc8b938
Adds a 'LandmarkData' struct and proto. ( #628 )
2017-11-06 15:35:21 +01:00
77fb50fd76
Introduce sensor::MapByTime<>. ( #631 )
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This data structure is used for keeping IMU data. This
allows trimming IMU data in the middle which is needed for
life-long mapping.
2017-11-06 13:36:59 +01:00
049f30d824
Generalize IntegrateImu(). ( #627 )
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This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
2017-11-06 11:00:33 +01:00
7c31291b2b
Add assets used for the Cartographer shirt. ( #630 )
2017-11-06 10:36:38 +01:00
8854aaae9e
Extrapolator reuses result using additional IMU trackers. ( #623 )
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This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
2017-11-03 16:19:55 +01:00
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
gaschler
Wolfgang Hess
jie
Tobias Ulvgård
catskul
Juraj Oršulić
Holger Rapp
damienrg
Christoph Schütte
Damon Kohler
Jihoon Lee
Alexander Belyaev