Wolfgang Hess
17a22edebc
Change local 3D SLAM to not use a UKF. ( #375 )
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This follows the 2D local SLAM in implementing a simple
constant velocity model and allows integrating odometry and
rotation information from an IMU.
2017-06-30 11:49:22 +02:00
Damon Kohler
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
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Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
Wolfgang Hess
955e190166
Add IMU orientation correction to the pose graph optimization. ( #361 )
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Orientation of the IMU, most importantly pitch, is crucial to correctly
track changes in altitude. Each trajectory gets optimization variables
to correct for small errors in the IMU orientation.
Also adds separate gravity constants for each trajectory. The idea is
that different trajectories might use different hardware and slightly
disagree about the strength of gravity.
PAIR=damonkohler
2017-06-28 18:12:24 +02:00
Wolfgang Hess
19da0ab7c8
Gravity align in local 3D SLAM. ( #373 )
2017-06-28 16:17:18 +02:00
Wolfgang Hess
ffc939706d
Rename the KalmanLocalTrajectoryBuilder. ( #372 )
2017-06-28 15:32:43 +02:00
Wolfgang Hess
e4e22e9f26
Remove the LocalTrajectoryBuilderInterface in 3D. ( #371 )
2017-06-28 14:57:37 +02:00
Holger Rapp
471bcb6207
Delete SubmapData from trimmed submaps in the OptimizationProblem. ( #366 )
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Related to #283 .
2017-06-28 12:51:09 +02:00
Wolfgang Hess
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
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It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
Wolfgang Hess
010fefc204
Fixes the previous pose in local 3D SLAM. ( #367 )
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This bug was introduced in #294 .
PAIR=damonkohler
2017-06-27 11:53:57 +02:00
Holger Rapp
d8eb94b4a9
Delete NodeData and ImuData from trimmed submaps in the OptimizationProblem ( #364 )
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Related to #283 .
PAIR=wohe
2017-06-26 16:38:08 +02:00
Moritz Münst
4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
Wolfgang Hess
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
Holger Rapp
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
Holger Rapp
7f4f78e451
Fix README formatting. ( #359 )
2017-06-23 15:48:44 +02:00
Holger Rapp
ff37b0bb7d
Remove output_debug_images. ( #358 )
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This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
Holger Rapp
10318d920e
Add slides from yesterday and next date. ( #357 )
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Closes #356 .
2017-06-23 13:58:43 +02:00
Wolfgang Hess
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
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Related to #283 .
2017-06-21 17:57:08 +02:00
Wolfgang Hess
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
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This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
Juraj Oršulić
0c7b3ee596
Mitigate googlecartographer/cartographer_ros#385 ( #351 )
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Move set_and_check before finding Ceres, because on Ubuntu Zesty,
during finding Ceres, PACKAGE_PREFIX_DIR is overwritten by Eigen.
2017-06-21 15:06:51 +02:00
Holger Rapp
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
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- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Remove num_submaps().
2017-06-21 14:21:23 +02:00
Holger Rapp
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
Wolfgang Hess
0fbdf6d0ec
Add ground truth proto support for trajectory evaluation. ( #349 )
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This adds support of GroundTruth protos in addition to
text files.
Fixes the ground truth generation code to skip outliers.
Improves the ground truth generation to use expected
relative poses instead of the solution.
Writes constraints including the roll and pitch from the
node for 2D SLAM, so that constraints correctly capture
the expected transform between the 3D poses of scan and
submap in 2D SLAM.
Related to #239 .
Related to #310 .
2017-06-21 11:33:30 +02:00
Holger Rapp
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
Holger Rapp
f242b5242a
Use shared_ptr<> for Submap objects. ( #347 )
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Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
Holger Rapp
c8f02264a4
Removes GetSubmapId from SparsePoseGraph. ( #346 )
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PAIR=wohe
2017-06-19 15:46:47 +02:00
Holger Rapp
5c389cdf4a
Remove mapping::Submaps. ( #345 )
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PAIR=wohe
2017-06-19 15:24:06 +02:00
Holger Rapp
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
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Use mapping_2d::Submap instead of mapping::Submap in 2D.
Use `finished()` instead of `finished_probability_grid()` in 2D.
PAIR=wohe
2017-06-19 14:43:10 +02:00
Damon Kohler
8d94fe85e9
Prepare 0.2.0 release ( #344 )
2017-06-19 13:22:57 +02:00
Damon Kohler
1c1776a967
Add instructions for releasing. ( #342 )
2017-06-19 12:00:12 +02:00
Wolfgang Hess
5fa6abe84b
Adds a tool to generate ground truth data. ( #340 )
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Fixes #310 . Not yet tested.
2017-06-16 17:38:13 +02:00
Wolfgang Hess
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
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PAIR=SirVer
2017-06-16 10:47:11 +02:00
Wolfgang Hess
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
Wolfgang Hess
79eeb7d77a
Improve code structure for extrapolation of poses. ( #337 )
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This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +02:00
Holger Rapp
30de09bee8
Adds Cartographer logos. ( #336 )
2017-06-14 12:14:08 +02:00
jordansmithgoogle
7ce73858ef
Adds a HybridGridPoints processor ( #323 )
2017-06-14 11:34:59 +02:00
Holger Rapp
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
Holger Rapp
2d75f4ef56
Move SubmapToProto from Submaps -> Submap. ( #332 )
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PAIR=wohe
2017-06-12 16:27:51 +02:00
Holger Rapp
521666ce55
Trim node data. ( #331 )
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Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
Holger Rapp
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
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PAIR=wohe
2017-06-12 14:28:16 +02:00
Wolfgang Hess
1a376c07b2
Change submap state handling in 3D. ( #327 )
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This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
2017-06-09 17:40:22 +02:00
Wolfgang Hess
f07f888dab
Remove the deque for constant node data. ( #326 )
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This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
Holger Rapp
0c3aa32ad2
Adds slides and announce next open house. ( #321 )
2017-06-09 15:10:20 +02:00
Holger Rapp
b427259214
Mark trimmed Submaps and remove from scan matching. ( #319 )
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Related to #283 .
PAIR=wohe
2017-06-07 15:52:24 +02:00
Holger Rapp
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
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Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
Wolfgang Hess
b3b9735a4b
Remove trimmed constraints. ( #317 )
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Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
Wolfgang Hess
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
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Related to #315 .
2017-06-07 12:39:04 +02:00
Wolfgang Hess
c90b887bfb
Adds API to add trimmers. ( #314 )
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This is related to #283 . First to be implemented for
pure localization and 2D SLAM.
PAIR=SirVer
2017-06-06 17:07:30 +02:00
Wolfgang Hess
56529e5968
Tiny cleanup of the MapBuilder. ( #313 )
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GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
2017-06-06 15:20:10 +02:00
Wolfgang Hess
ba4f8ca9ee
Tiny cleanup. ( #312 )
2017-06-02 16:44:27 +02:00
Holger Rapp
0aa9730518
Announce Open House Hangout. ( #311 )
2017-06-02 14:00:25 +02:00