044f53735c
removed unused member matching_submap_index (ActiveSubmaps3D,ActiveSubmaps2D) ( #1238 )
...
Removed the unused member matching_submap_index of ActiveSubmaps3D and ActiveSubmaps2D.
Adjusted the test accordingly.
2018-07-06 11:48:25 +02:00
902459e95c
fixed casting of high_resolution_max_range (SubmapsOptions3D) ( #1239 )
...
Fixed unintentional casting of high_resolution_max_range from double to int, to float
In SubmapsOptions3D the parameter "high_resolution_max_range" is defined as double. In the code it gets casted to int when calling Submap3D::InsertRangeData and to float when calling FilterRangeDataByMaxRange.
2018-07-06 11:02:38 +02:00
627ebb39b9
Add function to get the work queue delay from PoseGraph. ( #1218 )
2018-07-06 09:40:44 +02:00
bad8c96bc6
Add token_file_path parameter and enable auth ( #1235 )
2018-07-05 13:14:11 +02:00
cc9fc75757
Separate raycast and grid update ( #1216 )
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Separate raycast and grid update logic.
Rename raycast to ray_to_pixel_mask.
2018-07-03 19:51:39 +02:00
d2f3c1ea31
Fix the local SLAM latency metric. ( #1231 )
...
Before, the metric was in integer seconds and since measurements
are usually quite small, it was mostly outputting 0.
2018-07-03 16:35:58 +02:00
ddce76d9fb
Make old pbstreams compatible with the new pure_localization_trimmer options. ( #1230 )
2018-07-03 14:27:38 +02:00
ffb5034390
Mark TSDF::ToProto with override. ( #1227 )
2018-07-03 12:46:30 +02:00
0a253d24f6
Remove unnecessary std::move. ( #1228 )
2018-07-03 10:56:33 +02:00
3540996e91
Add options to (not)collate fixed-frame/landmarks data. ( #1224 )
2018-07-02 21:49:00 +02:00
0981620d8f
Add max_submaps_with_pure_localization parameter ( #1141 )
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Adds a parameter for the currently hard coded `kSubmapsToKeep` in `pure_localization` mode.
The new parameter `max_submaps_with_pure_localization` allows to specify the history size of submaps in `pure_localization` mode.
Closes #1116
2018-07-02 20:32:23 +02:00
d5ed8a9ded
Add further tests for MapById ( #1226 )
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Adds tests for MapById for the cases: empty MapById, invalid trajectory_id, deleting all entries for a trajectory.
2018-07-02 19:37:44 +02:00
7839f3f216
Avoid uninitialized NodeId, SubmapId ( #1223 )
...
Previously, NodeId and SubmapId could be (partially) uninitialized,
for instance like this:
```
NodeId node_id;
SubmapId submap{0}; // uninitialized submap_index
```
This introduces constructors to prevent this.
2018-07-02 14:51:48 +02:00
7fcc4576a8
Add use_online_imu_extrinsics_in_3d parameter and set it to true by default. ( #1217 )
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Add the parameter `OptimizationProblemOptions.use_online_imu_extrinsincs_in_3d`. Set it to true by default to not change existing behavior.
Using online IMU extrinsics is not always desirable, and particularly during localization, we have determined that it is preferable to turn this feature off.
2018-07-02 13:40:21 +02:00
22ea782fad
Handle invalid requests. ( #1222 )
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FIXES=#1221
2018-07-02 13:05:28 +02:00
eed07d2f80
Extract ground truth generation into a library. ( #1215 )
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Extract ground truth generation from `autogenerate_ground_truth_main.cc` into a library function in `ground_truth.h/cc`, so it can be reused outside that binary.
Tested with Cartographer ROS.
`cartographer_autogenerate_ground_truth -pose_graph_filename=/home/afleck/Downloads/b3-2016-04-05-15-51-36.bag.pbstream -output_filename=/home/afleck/Downloads/ground_truth.pb`
still runs as before.
2018-06-29 12:48:29 +02:00
b4594bcdbd
Add Normal Estimation ( #1213 )
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Adds Normal Estimation needed for TSDF RangeDataInserter.
2018-06-26 14:22:16 +02:00
2bd987ffb4
Fix serialization for deleted trajectories. ( #1214 )
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* update TrajectoryState of trajectories that got 'trimmed' away to be
deleted in the PureLocalizationTrimmer
* update serialization to only serialize 'undeleted' trajectories and
corresponding options.
#1111
2018-06-26 13:36:42 +02:00
15ecb88a92
Add TSDF2D Grid ( #1209 )
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- Adds TSDF2D Grid
- Adds tests for TSDF2D Grid
- Introduces Grid2D::GrowLimits(...) for multiple grids to reduce code duplication between TSDF2D and Grid2D
2018-06-25 11:40:12 +02:00
b5279532ce
Add a link to the new open house slides. ( #1210 )
2018-06-21 16:39:51 +02:00
41b642d92b
check trajectory remapping in test ( #1208 )
2018-06-20 13:55:09 +02:00
5e96bfaeea
Endpoints for GetTrajectoryStates ( #1206 )
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[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-20 12:30:56 +02:00
984553ee15
LoadState(FromFile) endpoints ( #1203 )
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[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 18:01:39 +02:00
c249a9901d
Endpoints for DeleteTrajectory ( #1207 )
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[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 16:59:17 +02:00
d36cbc39b8
Truncated Signed Distance Value Converter ( #1204 )
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Introduces conversions between float and uint16 representations for truncated signed distance values and weights.
2018-06-19 16:19:46 +02:00
4c5e6dc0fb
Remove ChannelArguments ( #1198 )
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This was introduced by #1179 but seems unused.
2018-06-19 14:16:30 +02:00
54041d76eb
DeleteTrajectory ( #1205 )
...
[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 13:41:55 +02:00
ecaa95f3b0
Move occupied space cost function to .cc ( #1200 )
2018-06-19 12:31:11 +02:00
a9045fa375
Introduce TrajectoryState ( #1201 )
...
[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 11:48:09 +02:00
5d26742bfa
LoadStateFromFile ( #1202 )
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[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 11:00:41 +02:00
42c1288e66
Add LoadState() test case to ClientServerTest. ( #1189 )
2018-06-15 14:31:18 +02:00
849f2a66ac
clarify comment ( #1196 )
2018-06-15 13:06:02 +02:00
0e25fafc47
Fixes display of IMU correction angle. ( #1193 )
...
When the 'imu_calibration' quaternion has a negative real part,
correction angles above 180 degrees were displayed. This fixes
the issue.
2018-06-12 17:10:19 +02:00
de22b9c311
Rename to TrimSubmap ( #1192 )
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Trimmable::MarkSubmapAsTrimmed was incorrectly named and commented.
It really trims the submap.
2018-06-12 16:01:14 +02:00
f79c6afee7
Rename namespace to testing ( #1191 )
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We commonly use the namespace testing for test helpers,
so rename similar namespaces to "testing" for consistency.
2018-06-12 15:18:20 +02:00
29f6ea9ea3
Test LoadState and pure localization ( #1190 )
2018-06-12 12:49:07 +02:00
5055703490
Use PoseGraphData in PoseGraph3d. ( #1188 )
...
[RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0022-pose-graph-data.md )
2018-06-08 14:40:24 +02:00
3437b931dd
Introduce PoseGraphModel and use it in 2D. ( #1185 )
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[RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0022-pose-graph-data.md )
2018-06-08 11:52:08 +02:00
47a25e9e6f
Add links to the Open House slides. ( #1187 )
2018-06-07 20:36:18 +02:00
e8b211f674
Writing probability grid as proto with probability grid points processor ( #1069 )
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The probability grid points processor can now be configured to write the probability grid as pbstream. Before it was only possible to write the probability grid as png.
2018-06-06 16:11:37 +02:00
3f0bb0eec5
Fixing 846 without tests. ( #1183 )
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Fixing "Optimizing: -nan%... #846" https://github.com/googlecartographer/cartographer/issues/846 .
The issue was triggered in a multithreaded execution, when all nodes were processed, but the working queue was still non empty (having other kind of jobs).
Unfortunately I failed to reproduce the bug in tests, so no new tests were added.
2018-06-06 15:38:10 +02:00
4ef38497a9
Skip the Collator for the landmark data. ( #1184 )
2018-06-06 14:14:01 +02:00
5bda2a567c
Release 1.0 ( #1177 )
2018-06-05 12:54:07 +02:00
f83ba3db2f
Fix LoadState gRPC ( #1179 )
2018-06-04 11:11:28 +02:00
5b0fe666ee
Adding short description of pbstream migration tool ( #1181 )
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Adding a section to the docs, describing the existence and usage of the serialization migration tool.
2018-06-04 10:39:27 +02:00
000b967c79
adding LOG output to migration tool ( #1180 )
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Adding some log-feedback to the serialization migration tool.
2018-06-04 09:35:37 +02:00
73d18e5fc5
Using new serialization format. ( #1174 )
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Updates everyone to use the new serialization format.
A corresponding PR will be made in cartographer_ros for the various tools.
2018-05-30 13:31:33 +02:00
87370371ec
Making a test nicer: procrastination and nits. ( #1175 )
2018-05-30 12:56:59 +02:00
876a41f06f
Provide local poses via GetTrajectoryNodePoses() ( #1172 )
2018-05-30 07:34:49 +02:00
a35092c20f
Mapping state deserializer ( #1171 )
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class for de-serializing mapping state stored in the new serialization format [RFC 0021](https://github.com/sebastianklose/rfcs/blob/serialization_format/text/0021-serialization-format.md ).
Not used yet. Will be hooked up in a separate PR that switches all logic to the new serialization format at once.
2018-05-29 22:10:11 +02:00
Martin Schwörer
Arno Fleck
Christoph Schütte
Kevin Daun
Wolfgang Hess
Alexander Belyaev
Alexander Reimann
gaschler
Sebastian Klose
sotnik-github