9042450aaf
Fix initial pose of loaded submaps. ( #391 )
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PAIR=SirVer
2017-07-05 16:24:02 +02:00
3819dd3806
Use an Eigen::AlignedBox to track known cells. ( #388 )
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PAIR=SirVer
2017-07-05 15:05:46 +02:00
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
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This removes the 'half_length' option.
PAIR=wohe
2017-07-05 14:17:04 +02:00
a313448bf0
Change CastRays to directly take the ProbabilityGrid. ( #386 )
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PAIR=wohe
2017-07-05 13:39:44 +02:00
611f244d7a
Remove HybridGrid slicing into a ProbabilityGrid. ( #385 )
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This code is currently unused. The feature of slicing a HybridGrid into a Probability grid could be useful to for example collect a map in 3D, then slice the 3D data to create a 2D map. There are simpler ways to implement this, especially in the context of the assets_writer_main.
PAIR=wohe
2017-07-05 13:17:20 +02:00
1e6723e214
Move ImuData to sensor, add ImuData proto. ( #381 )
2017-07-05 12:28:40 +02:00
9b48ba5ff4
Remove unused code. ( #384 )
2017-07-05 12:16:29 +02:00
7434e96369
First rough implementation of loading a map. ( #382 )
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This implements loading of serialized maps in 2D:
We insert all submaps at the serialized optimized pose into
the pose graph and remove their poses from the optimization.
Related to #197 and #315 .
2017-07-04 17:20:13 +02:00
31f77a01d2
Serialize submaps. ( #380 )
2017-07-04 12:11:54 +02:00
5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
03b9285034
Add support for serializing to a proto stream. ( #379 )
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Also changes the ground truth tools to read from such a file.
This resolves #335 . Related to #253 .
2017-07-03 15:23:15 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
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
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
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
19da0ab7c8
Gravity align in local 3D SLAM. ( #373 )
2017-06-28 16:17:18 +02:00
ffc939706d
Rename the KalmanLocalTrajectoryBuilder. ( #372 )
2017-06-28 15:32:43 +02:00
e4e22e9f26
Remove the LocalTrajectoryBuilderInterface in 3D. ( #371 )
2017-06-28 14:57:37 +02:00
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
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
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
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
4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
7f4f78e451
Fix README formatting. ( #359 )
2017-06-23 15:48:44 +02:00
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
10318d920e
Add slides from yesterday and next date. ( #357 )
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Closes #356 .
2017-06-23 13:58:43 +02:00
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
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
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
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
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
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
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
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
c8f02264a4
Removes GetSubmapId from SparsePoseGraph. ( #346 )
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PAIR=wohe
2017-06-19 15:46:47 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
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PAIR=wohe
2017-06-19 15:24:06 +02:00
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
8d94fe85e9
Prepare 0.2.0 release ( #344 )
2017-06-19 13:22:57 +02:00
1c1776a967
Add instructions for releasing. ( #342 )
2017-06-19 12:00:12 +02:00
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
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
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PAIR=SirVer
2017-06-16 10:47:11 +02:00
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
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
30de09bee8
Adds Cartographer logos. ( #336 )
2017-06-14 12:14:08 +02:00
7ce73858ef
Adds a HybridGridPoints processor ( #323 )
2017-06-14 11:34:59 +02:00
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
2d75f4ef56
Move SubmapToProto from Submaps -> Submap. ( #332 )
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PAIR=wohe
2017-06-12 16:27:51 +02:00
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
Wolfgang Hess
Holger Rapp
Jihoon Lee
Brandon D. Northcutt
Damon Kohler
Moritz Münst
Juraj Oršulić
jordansmithgoogle