9006fb6fb1
Show the unprojected point cloud in 2D SLAM. ( #59 )
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We now project to 2D later in 2D SLAM, so that the roll and pitch
applied to the laser fan in visible in the visualization.
2016-10-13 17:16:32 +02:00
7d93ac3302
Simplify the conversion of LaserScan to LaserFan3D. ( #57 )
2016-10-13 15:09:36 +02:00
518850999f
Moves SensorData struct into Cartographer. ( #55 )
2016-10-13 14:17:28 +02:00
cc7cc6f72b
Move the ImuTracker and OdometryStateTracker to mapping. ( #50 )
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Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
eeb17bf055
Adds google_binary to create installable binaries. ( #43 )
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- Do not link in Ceres if gflags or glog is used, but still rely on ceres
to find those libraries for us.
- Update CMakeLists with new settings.
2016-10-11 15:18:59 +02:00
8f5fc98188
Improves logging, fixes #94 . ( #41 )
2016-10-11 11:22:33 +02:00
045f6a7522
Pass Eigen arguments by const reference ( #38 )
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Fixes #35 .
2016-10-11 09:57:41 +02:00
d2962c004f
Remove the 'also_match_to_new_submaps' option. ( #29 )
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Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
e526a7022f
Remove covariance computation from branch-and-bound. ( #27 )
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These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
2016-09-23 14:27:19 +02:00
14355a91a1
Remove dead code. ( #26 )
2016-09-22 17:53:32 +02:00
0796d50b00
Removes max_covariance_trace option. ( #25 )
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This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
2016-09-22 11:35:47 +02:00
83a29df102
Renames expect_imu to use_imu. ( #24 )
2016-09-08 16:36:05 +02:00
fc166fdefa
Adds MapBuilder and cleans up some configurations. ( #23 )
2016-09-08 16:21:25 +02:00
5b20df7fcb
Fix a bug introduced in the recent clean up. ( #13 )
2016-08-26 17:40:37 +02:00
817dc884d5
Clean up and simplify MapLimits. ( #12 )
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MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
4c6a2fcb28
Clean up of XYIndexRangeIterator and MapLimits. ( #10 )
2016-08-24 18:01:14 +02:00
b50f1a6e96
Adds rate timer. ( #8 )
2016-08-24 15:37:30 +02:00
afa0cef31d
Clean up xy_index.h. ( #9 )
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Removes and simplifies code from free standing functions in xy_index.h.
2016-08-24 15:33:13 +02:00
cf9e365bc2
Improved logging for loading Lua configurations. ( #4 )
2016-08-23 01:31:36 -07:00
6e56578394
Rename to local/global map frame. ( #2 )
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Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
2016-08-10 12:09:52 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
166f2568bc
Initial import of Cartographer codebase.
2016-08-02 09:12:42 +02:00
Wolfgang Hess
Damon Kohler
Holger Rapp
catskul
Wolfgang Hess
Damon Kohler