14977f73f1
Add fixed frame pose data to the 3D optimization problem. ( #476 )
2017-08-24 15:02:23 +02:00
a239b71a6e
Dynamic dispatch of sensor::Data. ( #475 )
...
This ensures at compile time that all types of data are handled,
and only keeps the data needed for each individual type.
2017-08-24 14:17:51 +02:00
0671e8835e
Add interface to process fixed frame pose, e.g. GPS. ( #471 )
2017-08-24 12:49:03 +02:00
e78e2cb5ad
Extract PoseEstimate into its own file. ( #474 )
...
This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
2017-08-24 12:04:39 +02:00
f0e1dab031
Add a histogram of low resolution scores for 3D. ( #473 )
2017-08-24 09:28:12 +02:00
4d11a226ff
Expose low resolution matching scores. ( #470 )
...
This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
2dd2d6f448
Use vector<map<>> instead of vector<deque> for submap_data. ( #422 )
2017-08-23 12:16:42 +02:00
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
...
Related to #369 .
2017-08-22 17:29:20 +02:00
297e9cc02d
Remove unused argument. ( #466 )
2017-08-22 12:22:41 +02:00
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
edfd6ac8d7
Also log the IMU correction as a quaternion. ( #463 )
2017-08-21 17:26:48 +02:00
0ef372d584
Use odometry in 2D pose graph optimization. ( #456 )
2017-08-21 15:12:00 +02:00
bcde3b45b0
Tiny cleanup of TransformInterpolationBuffer. ( #462 )
2017-08-18 16:19:50 +02:00
14d868869f
Add slides from yesterday and next date. ( #461 )
2017-08-18 12:06:53 +02:00
c29fec3dd0
Fix colors in the X-ray points processor. ( #460 )
...
mean_..._in_column was broken in #423 .
2017-08-17 18:07:33 +02:00
9498cc90ca
Estimate angular velocities from odometry. ( #458 )
...
If no IMU is available we will now use odometry to estimate
angular velocities if available instead of the last poses.
Fixes #453 .
2017-08-16 16:55:39 +02:00
0c6d6979c4
Fix header. ( #457 )
...
RegisterBuiltInPointsProcessors() declaration was broken in #455 .
2017-08-16 16:22:42 +02:00
ba6f782949
Fix ClangTidy warnings. ( #455 )
2017-08-16 15:21:04 +02:00
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
e79a918989
Use PoseExtrapolator in the 3D trajectory builder. ( #450 )
...
This replaces the Predict() logic in the 3D trajectory builder.
2017-08-11 17:13:28 +02:00
73b0e5e20a
Use PoseExtrapolator in the 2D trajectory builder. ( #448 )
...
This replaces the Predict() logic in the 2D trajectory builder.
2017-08-11 12:38:34 +02:00
6ebfa50291
Use odometry to extrapolate linear motion. ( #443 )
2017-08-08 16:30:53 +02:00
8732e43f16
Add sensor::OdometryData. ( #442 )
2017-08-08 14:52:47 +02:00
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
eb53b70fec
Towards localization in 3D. ( #438 )
...
Adds loading maps to 3D, deserializes submaps and supports trajectories
without any node. Still no trimming support.
2017-08-02 14:17:50 +02:00
5369c3ced1
Use the ImuTracker in the PoseExtrapolator. ( #436 )
2017-08-01 10:44:32 +02:00
b28bc3bc9e
Extract velocity estimation from poses into a function. ( #435 )
2017-07-31 12:31:28 +02:00
a6d94c07cf
Use IMU data when extrapolating poses if available. ( #434 )
2017-07-28 17:12:12 +02:00
d22402bdfa
color.cc constexpr std::sqrt is not ISO C++ ( #432 )
2017-07-28 12:11:57 +02:00
46c7ce886d
Change Color to Uint8Color and FloatColor ( #423 )
...
As almost all computations for color are done in float, use FloatColor
format by default and convert to Uint8Color only when needed.
2017-07-27 11:03:55 +02:00
6035f63860
Add a extrapolator for poses. ( #430 )
...
This will be used in Cartographer ROS to extrapolate poses for tf.
PAIR=damonkohler
2017-07-26 15:21:05 +02:00
30f7de1a32
fix num submaps in trimmer_test ( #424 )
2017-07-26 11:14:22 +02:00
3859da7ea4
Better tuning for 2D. ( #428 )
2017-07-26 10:50:01 +02:00
347dc8cec5
Fix debug build ( #418 )
...
Add a fake return value after LOG(FATAL) in
HybridGridPointsProcessor::Flush(). This keeps gcc versions lower
than 7 happy when building without optimisation (i.e. debug build).
Fixes #412 .
2017-07-25 17:39:49 +02:00
56dbad15e3
Fix proto_stream to support 32-bit platforms. ( #427 )
...
In proto_stream.cc, size_t is only correct on 64-bit platforms. Changing it to uint64 adds support for 32-bit platforms. This fixes #426 .
2017-07-25 15:59:57 +02:00
ea7c39b6f0
Draw Trajectories onto X-Rays and ProbabilityGrids. ( #421 )
...
This behavior can be turned off with the 'draw_trajectories' setting in Lua.
Fixes #174 .
2017-07-25 13:36:50 +02:00
8dfd650068
Pull some functionality from cartographer_ros into cartographer. ( #420 )
...
- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
2017-07-24 13:22:06 +02:00
4d087cd159
Towards localization in 3D. ( #417 )
...
Adds trimmer handling (but no trimming yet) and frozen trajectories
to 3D. Also freezes nodes, not just submaps.
2017-07-24 11:42:23 +02:00
21cc270645
Fix ProbabilityPointsProcessor mirroring output ( #419 )
...
Fixes #414 .
2017-07-24 10:41:45 +02:00
6303a96bc8
Add slides from yesterday and next date. ( #416 )
2017-07-21 12:25:51 +02:00
481211073f
Build relocatable code. ( #413 )
...
This is required to reuse code from cartographer_ros in cartographer_rviz. Otherwise linking fails with errors like these:
~~~
/usr/bin/ld: libcartographer_ros.a(msg_conversion.cc.o): relocation R_X86_64_32S against `_ZNSs4_Rep20_S_empty_rep_storageE' can not be use
d when making a shared object; recompile with -fPIC
~~~
While this could be fixed locally in cartographer_ros, it is a reasonable default to compile with `-fPIC` always.
2017-07-20 14:31:50 +02:00
1bce14b7b5
Adds accumulation of range data to 2D. ( #408 )
...
This mostly follows the implementation as done for 3D.
Towards googlecartographer/cartographer_ros#212 .
2017-07-18 12:10:40 +02:00
3ef680e791
Remove extraneous include ( #407 )
2017-07-18 09:01:12 +02:00
e345ae8280
Support compiling with CMAKE_BUILD_TYPE set to None ( #405 )
...
Debian defaults to setting CMAKE_BUILD_TYPE to None and setting CFLAGS
and alike to Debian standards.
2017-07-17 10:34:14 +02:00
10a19d0a3f
Add rotational score histograms in 3D. ( #403 )
2017-07-11 11:59:42 +02:00
167047173c
Tiny improvement of HybridGrid::ToProto(). ( #401 )
...
Makes it a member function and adds a check for left over
update markers.
2017-07-11 09:26:07 +02:00
0da3fad9b0
Improve handling of grid updates. ( #400 )
...
Changes the grids to only contain update markers during updates.
Serialized grids will never contain them.
2017-07-10 16:14:50 +02:00
b0b4f30007
Cleanup of cell index conversion in 2D. ( #399 )
...
This makes 2D more similar to 3D. GetProbability() only takes
cell indices which are computed using GetCellIndex().
2017-07-10 15:01:13 +02:00
39cb8401a5
Implements a ProbabilityGridPointsProcessor ( #383 )
2017-07-10 11:02:14 +02:00
78bd37ec26
Unify 2D/3D range data in trajectory nodes. ( #396 )
...
Since we only convert compressed range data to protos, we remove the
unused code to serialize (non-compressed) range data which should also
not be used in the future.
2017-07-07 17:07:04 +02:00
jie
Wolfgang Hess
Jihoon Lee
Damon Kohler
Moritz Münst
Andrew Hundt
damienrg
Holger Rapp
Juraj Oršulić
lanyaye
Mac Mason
Jochen Sprickerhof