damienrg
a9da74496a
Fix unused lambda capture warning ( #659 )
...
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html ).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
2017-11-13 09:44:12 +01:00
Christoph Schütte
6e274766f2
Remove unnecessary [packed=true] annotation ( #660 )
...
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 09:18:53 +01:00
Christoph Schütte
53471359f8
Convert all .proto files to proto3 syntax. ( #653 )
...
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 08:26:35 +01:00
jie
ed71914805
Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… ( #565 )
...
…aph::TrimmingHandle::MarkSubmapAsTrimmed
To make them compile successfully in google.
2017-11-10 17:21:20 +01:00
Juraj Oršulić
eb4415d17d
Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. ( #619 )
...
In preparation for #574 . Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
2017-11-10 14:49:41 +01:00
Jihoon Lee
028391357d
Add OccupancyGridState and SubmapState in cartographer/io ( #638 )
...
replaces #599
related to googlecartographer/cartographer_ros#510
2017-11-09 17:19:29 +01:00
Wolfgang Hess
418819a9ef
Use 'global_pose' terminology for submaps. ( #645 )
...
Use 'global_pose' terminology for submaps.
This follows #624 .
2017-11-09 16:40:21 +01:00
gaschler
6eaf0f344d
FastCorrelativeScanMatcher outputs unique_ptr. ( #643 )
2017-11-09 16:08:16 +01:00
Juraj Oršulić
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
Jihoon Lee
3bdee588bd
Add FinishTrajectory() in SparsePosegraph. ( #562 )
2017-11-09 14:29:26 +01:00
Wolfgang Hess
92f81aec8a
Make proto::ProbabilityGrid proto3 compatible. ( #641 )
...
Moves the optional 'known_cells_box' into a message field.
This way its existence can still be checked in proto3.
2017-11-09 11:47:33 +01:00
gaschler
386ee328d8
Fix 3D yaw rotation in GenerateDiscreteScans. ( #640 )
...
Correctly generates discrete scans rotating around yaw in the gravity-aligned global map frame.
Fixes #639 .
PAIR=wohe
2017-11-08 17:37:36 +01:00
Christoph Schütte
eb96c91473
Initial pose implementation. ( #606 )
2017-11-08 14:01:38 +01:00
catskul
55e4338468
Start cleaning up Google specific types by making them cartographer private.
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move string and size specific int/uint types into cartographer namespace as minimal change necessary to keep global namespace clean (#637 )
2017-11-08 09:07:46 +01:00
Wolfgang Hess
088681f9ec
Add 3D localization support. ( #632 )
...
This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.
Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
2017-11-07 11:26:41 +01:00
Juraj Oršulić
8186316d77
Range loop over trajectories for MapByTime ( #633 )
2017-11-06 17:14:01 +01:00
Alexander Belyaev
0d2bc8b938
Adds a 'LandmarkData' struct and proto. ( #628 )
2017-11-06 15:35:21 +01:00
Wolfgang Hess
77fb50fd76
Introduce sensor::MapByTime<>. ( #631 )
...
This data structure is used for keeping IMU data. This
allows trimming IMU data in the middle which is needed for
life-long mapping.
2017-11-06 13:36:59 +01:00
Wolfgang Hess
049f30d824
Generalize IntegrateImu(). ( #627 )
...
This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
2017-11-06 11:00:33 +01:00
gaschler
8854aaae9e
Extrapolator reuses result using additional IMU trackers. ( #623 )
...
This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
2017-11-03 16:19:55 +01:00
Wolfgang Hess
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
gaschler
5a3bb14083
PoseExtrapolator::GetLastExtrapolatedTime ( #626 )
...
This prepares the API for #623 and #616 .
2017-11-03 11:56:31 +01:00
Juraj Oršulić
7964211fef
Deserialize SPG constraints ( #544 )
2017-11-02 22:01:01 +01:00
Juraj Oršulić
3c5a7aa2d8
Refactoring of LocalTrajectoryBuilder::AddAccumulatedRangeData ( #618 )
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- introduce InsertIntoSubmap for 2D
- clarify some variable names in 3D
- move rotational_scan_matcher_histogram calculation
to InsertIntoSubmap for 3D
- refactor last version of range data before insertion into
range_data_in_local (filtered_range_data_in_local for 3D)
2017-11-02 16:01:23 +01:00
Juraj Oršulić
c57641f917
Make SPG::AddScan return the inserted node id. ( #617 )
2017-11-02 10:28:13 +01:00
Christoph Schütte
e10650910e
Pull out time-based transformation interpolation. ( #615 )
2017-10-30 15:41:02 +01:00
Wolfgang Hess
c011177bfd
Fix the origin of accumulated range data. ( #613 )
...
This changes the origin of accumulated range data from the
zero vector (which could be far off) to the origin of the
first range data in the accumulation.
2017-10-30 11:32:06 +01:00
Wolfgang Hess
82a4b2f171
Follow #591 terminology in 3D optimization. ( #612 )
2017-10-27 15:48:51 +02:00
Christoph Schütte
dacc962399
Adds lower_bound() to MapById. ( #610 )
2017-10-27 14:50:14 +02:00
gaschler
d4db1e79a6
Add TimedPointCloud and TimedRangeData. ( #601 )
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Adds a type TimedPointCloud that holds 4-dimensional vectors where measurement time of individual points are stored in the fourth entry.
Uses TimedRangeData to pass TimedPointCloud of incoming measurements to LocalTrajectoryBuilder.
Fixes #573 .
2017-10-24 11:47:35 +02:00
Holger Rapp
638aee7c2a
Fix slow point deletion in RemovePoints. ( #608 )
...
This speeds up the asset writer significantly:
For the 3D sample bag:
~~~
/usr/bin/time roslaunch cartographer_ros assets_writer_backpack_3d.launch \
bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag \
pose_graph_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream
master:
2100.96user 26.79system 35:43.60elapsed 99%CPU (0avgtext+0avgdata 3657028maxresident)k
17682632inputs+32080outputs (0major+20021051minor)pagefaults 0swaps
this CL:
1937.46user 11.77system 32:22.49elapsed 100%CPU (0avgtext+0avgdata 3659412maxresident)k
1352inputs+32088outputs (0major+7042032minor)pagefaults 0swaps
~~~
So ~10%. For pipelines that do less this can be even 30% or more.
2017-10-23 10:56:55 +02:00
Juraj Oršulić
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
Wolfgang Hess
a96511464e
Add map trajectory without a trajectory builder. ( #605 )
2017-10-19 16:59:04 +02:00
Christoph Schütte
7c03467a78
Change GetTrajectoryNodes() to MapById. ( #603 )
2017-10-19 14:50:58 +02:00
Holger Rapp
49ead6055c
Towards a ROS map writing PointsProcessor. ( #598 )
...
- Refactor ProbabilityGridPointsProcessor for code reuse.
- Adds Image::width and height.
- Adds GetFilename for FileWriter.
Related to googlecartographer/cartographer_ros#475 .
2017-10-19 12:30:19 +02:00
Holger Rapp
0c9f2c4f65
Remove unused concept of CompressedRangeData. ( #604 )
2017-10-19 11:19:56 +02:00
Wolfgang Hess
e479382ecc
Change GetAllSubmapData() to MapById. ( #597 )
2017-10-17 16:03:16 +02:00
Christoph Schütte
3d4650d675
Remove trimmed() from TrajectoryNode ( #596 )
2017-10-17 15:36:07 +02:00
Wolfgang Hess
e5f9815f67
Change submap_data_ in pose graph to MapById. ( #593 )
...
* Change submap_data_ in pose graph to MapById.
2017-10-17 13:13:37 +02:00
Christoph Schütte
fdda1dd091
Switch trajectory_nodes in SPG2D to MapById. ( #592 )
2017-10-17 11:48:23 +02:00
Wolfgang Hess
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
...
Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
Wolfgang Hess
76ed37768f
Validate odometry and fixed frame poses. ( #588 )
2017-10-16 15:59:56 +02:00
Christoph Schütte
6b447c4577
Add FindChecked to MapById. ( #586 )
...
* Add FindChecked to MapById.
2017-10-16 14:15:53 +02:00
Wolfgang Hess
d91afa4496
Introduces mapping::MapById for nodes in 3D. ( #587 )
2017-10-16 13:37:28 +02:00
Christoph Schütte
5ed19c15ab
Introduce proxy object for iteration over trajectory ids. ( #585 )
...
* Introduce proxy object for iteration over trajecotry ids.
2017-10-16 12:52:53 +02:00
Wolfgang Hess
7e0cfc3f22
Introduces mapping::MapById for submaps in 3D. ( #584 )
2017-10-16 10:48:43 +02:00
Christoph Schütte
006db45910
Introduce proxy object for range based loops over nodes of trajectory. ( #583 )
2017-10-13 16:44:31 +02:00
Wolfgang Hess
464d770d48
Introduces mapping::MapById for nodes in 2D. ( #581 )
...
PAIR=cschuet
2017-10-13 14:41:54 +02:00
Wolfgang Hess
4ab4817104
Add MapById<>::ConstIterator::operator->(). ( #580 )
2017-10-12 16:15:12 +02:00
Wolfgang Hess
cb41777b9e
Introduces mapping::MapById in the 2D pose graph for submaps. ( #578 )
...
PAIR=cschuet
2017-10-12 11:58:59 +02:00
Wolfgang Hess
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
...
PAIR=cschuet
2017-10-09 17:33:12 +02:00
Wolfgang Hess
2434e7e40e
Fix crashing bug in localization. ( #575 )
...
Now that we deserialize trajectory nodes, we need to make sure
that the global matcher sampler is added for the map trajectory.
2017-10-06 17:01:04 +02:00
Juraj Oršulić
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +02:00
Holger Rapp
6708930bbf
Adds 'offset_seconds' to PointCloudWithIntensities. ( #571 )
...
This is preparing using per-point-unwarping in the `assets_writer` in `cartographer_ros`.
Related to googlecartographer/cartographer_ros#521 .
PAIR=@wohe
2017-10-06 13:21:02 +02:00
Christoph Schütte
2862e12506
Add FrameIdFilteringPointsProcessor ( #566 )
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* Add FrameIdFilteringPointsProcessor
Implements a PointProcessor that filters PointBatches (either by
whitelisting or blacklisting) the frame_id.
2017-10-05 17:33:51 +02:00
Wolfgang Hess
0053b30cc8
Add support for odometry to the 3D pose graph optimization. ( #570 )
...
Not used yet. Intended to experiment with the 3D pose graph optimization
in 2D SLAM.
2017-10-05 16:56:31 +02:00
Juraj Oršulić
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
Wolfgang Hess
cae9c02e05
Follow #547 for 3D. ( #564 )
...
And changes to 3D following 2D regarding trimmed data.
2017-10-04 16:47:26 +02:00
Wolfgang Hess
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
Juraj Oršulić
aaaf5ac546
Rename serialization NodeData proto for consistency. ( #540 )
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node_data should be a member of a node, not the other way around.
2017-10-04 14:13:18 +02:00
Juraj Oršulić
b1b0750e5b
Check ratios in fixed rate sampler. ( #502 )
2017-10-04 13:15:35 +02:00
Christoph Schütte
9c81a01608
Add trajectory trimming support to 3d ( #559 )
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* Adds DeleteScanMatcher() to 3D constraint builder
* Add possibility to remove submaps and scans from the 3D optimization
problem.
* Implements TrimmingHandle in SPA.
2017-10-02 17:01:14 +02:00
Jihoon Lee
3c521eb573
Remove hooray. And prints remaining work items in queue ( #547 )
2017-09-29 01:04:28 -07:00
jie
3744988fd2
Fix trajectory count check bug for asset writer floor separation. ( #542 )
2017-09-28 10:43:47 +02:00
Wolfgang Hess
7d0e72dac2
Fix some nits. ( #536 )
...
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
2017-09-28 09:21:07 +02:00
Wolfgang Hess
0cbc420b02
Fix odometry in the 2D pose graph optimization. ( #533 )
...
Before, the relative change in pose due to odometry in the
2D pose graph optimization problem was incorrectly done in
the tracking frame. Instead, the gravity aligned frame in
which the 2D poses are stored must be used.
Fixes #515 .
PAIR=cschuet
2017-09-15 14:11:37 +02:00
Jihoon Lee
259e22a5fc
Use oldest and newest instead of last two odometry data. ( #530 )
2017-09-14 16:10:03 +02:00
Christoph Schütte
5896ead32e
Introduce timeout for global constraints. ( #517 )
...
This PR introduces a new option that specifies the number of seconds
after which global matcher searches are performed if no recent global
constraints have been found between the submap's and the node's
trajectory.
2017-09-14 12:11:54 +02:00
gaschler
31b5a6f1a9
Allow multiple SubmapTextures. ( #519 )
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This changes submap_visualization.proto that multiple textures can be provided.
As of now, the first texture is generated from the high resolution
grid, which is the same as before.
The second texture is generated from the low resolution grid.
2017-09-13 15:47:02 +02:00
Wolfgang Hess
5ade042520
Fix crash in localization. ( #526 )
...
Updating the connectivity needs the data of nodes for which
constraints were added, so we postpone trimming to after the
connectivity update.
Also makes sure the mutex is held as necessary.
2017-09-13 14:08:32 +02:00
Wolfgang Hess
57d53b6d53
Remove unused code. ( #522 )
...
Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
Christoph Schütte
b383f18365
Fix crash in localization. ( #523 )
...
This PR fixes a crash when cartographer is run in localization mode due
to the map trajectory not having been properly added to the
ConnectedComponents.
2017-09-12 17:04:13 +02:00
Wolfgang Hess
4437d89dd5
Fix crashing bug during pure localization. ( #521 )
...
When loading a serialized state, no nodes are added for each
submap. This leads to crashes when loop closures are found.
2017-09-12 15:36:22 +02:00
Juraj Oršulić
23bf0fc0d4
Fix unsigned comparison warning in 2D SPG test. ( #518 )
2017-09-12 11:25:51 +02:00
Christoph Schütte
24c2b499dd
Introduce TrajectoryConnectivityState. ( #513 )
...
* Introduce TrajectoryConnectivityState.
This class will be used to track the connectivity state (including the
last connection time) between pairs of trajectories.
2017-09-11 14:43:55 +02:00
Wolfgang Hess
84da6d75bc
Also use vector<map<>> for node data in 3D. ( #516 )
...
This reduces the difference between 2D and 3D and moves
3D towards localization and trimming.
2017-09-11 13:46:49 +02:00
Wolfgang Hess
35aa38f73f
Also use vector<map<>> submaps in 3D. ( #512 )
...
This reduces the difference between 2D and 3D and moves
3D towards localization and trimming.
2017-09-08 15:54:28 +02:00
Christoph Schütte
1a367f0549
Rename TrajectoryConnectivity ConnectedComponents. ( #510 )
...
* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
Christoph Schütte
c65f7a97b6
Remove connected_components_ from SPG. ( #509 )
...
* Remove connected_components_ from SPG.
This PR removes connected_components_ from the SparsePoseGraph. Since
the connectivity structure is no longer updated by the
ConstraintBuilders it is no longer necessary for SPG to keep a copy of
the connected components for data consistency.
2017-09-07 16:35:49 +02:00
Christoph Schütte
fa306d03ec
Remove reverse_connected_components. ( #507 )
...
Remove reverse_connected_components from SparsePoseGraphs and update
TrajectoryConnectivity to return "connected" for the reflexive case even
if trajectories are unknown.
2017-09-07 15:58:30 +02:00
Wolfgang Hess
476d156f66
Serialize trajectory node data. ( #504 )
...
Related to #253 .
2017-09-07 15:29:12 +02:00
Christoph Schütte
a5dafcfde3
Update trajectory connection in WhenDone callback. ( #506 )
...
This modifies the ConstraintBuilder interface so that Maybe*Constraint
is not responsible anymore for updating the TrajectoryConnectivity
member of SparsePoseGraph and moves this responsibility into the
WhenDone callback.
2017-09-07 14:51:19 +02:00
Wolfgang Hess
333516d955
Rename the scan queue. ( #505 )
...
This queue does not only contain scans, but also other sensor data,
e.g. from an IMU.
2017-09-07 14:04:00 +02:00
Wolfgang Hess
22f41d8e37
Store rotational histogram as part of the node data. ( #503 )
...
The compressed point cloud is no longer stored as part of the
node data to reduce memory consumption.
2017-09-07 11:01:03 +02:00
Christoph Schütte
c2d9424342
Add Unittest for transform::RigidX. ( #497 )
2017-09-06 12:06:33 +02:00
Wolfgang Hess
4829ffee46
Allow rotating histograms in the rotational scan matcher. ( #501 )
...
This allows reusing histograms to match for different yaws.
Adds a unit test to test that rotated histograms match as expected.
2017-09-06 10:59:16 +02:00
Jihoon Lee
18d8ea75fa
Use vector<map<>> for node_data. ( #472 )
2017-09-04 18:01:44 +02:00
Wolfgang Hess
c8de50bd2b
Add 'gravity_alignment' rotation to each node. ( #500 )
...
In 2D this replaces the 'tracking_to_tracking_2d' transform.
Also changes the 2D SparsePoseGraph to get the full 3D pose.
2017-09-04 16:24:26 +02:00
Wolfgang Hess
3948943b64
Use EstimateGravityOrientation() in 2D SLAM. ( #499 )
2017-09-04 11:14:51 +02:00
Wolfgang Hess
e3b6f0afc5
Expose complete poses in 2D SLAM. ( #498 )
...
This changes the trajectory nodes to contain the complete 'pose'
including 'tracking_to_tracking_2d' applied already. Similar for
the 'zbar_ij' as it is returned by 'constraints()'. This allows
2D and 3D to be handled in the same way.
2017-09-01 15:40:21 +02:00
Wolfgang Hess
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +02:00
Wolfgang Hess
d3c49c8585
Pass odometry data to the 3D optimization problem. ( #495 )
...
Not yet used.
2017-09-01 09:58:24 +02:00
Wolfgang Hess
72bb24e362
Pass initial pose of nodes to the 3D optimization problem. ( #496 )
...
Also drops 'point_cloud' from the name since the pose is also
relevant to other sensor data.
2017-09-01 09:34:48 +02:00
Christoph Schütte
982f2bd2e0
Use TrajectoryNode::Data in FastCorrelativeMatcher. ( #493 )
...
* Use TrajectoryNode::Data in FastCorrelativeMatcher.
2017-08-31 15:10:48 +02:00
jie
e2c67a7bde
Fix Lint and ClangTidy warnings. ( #485 )
2017-08-31 13:39:47 +02:00
Wolfgang Hess
3215035c1c
Add thread annotation to LogResidualHistograms(). ( #492 )
2017-08-31 12:26:31 +02:00
Mac Mason
b54ca0cca6
Fix Rigid2 and Rigid3 to default to an identity transform. ( #491 )
2017-08-31 11:32:04 +02:00
Christoph Schütte
06e9112bc8
Unify GlobalTrajectoryBuilder across 2D and 3D ( #489 )
...
This PR unifies GlobalTrajectoryBuilder across 2D and 3D by templating
it with the LocalTrajectoryBuilder and the SparsePoseGraph. It thus
includes small changes to interfaces in LocalTrajectoryBuilder and
SparsePoseGraph.
2017-08-30 16:34:26 +02:00
Wolfgang Hess
3c22c8253a
Refactoring: Do not pass 'constant_data' in pieces. ( #488 )
...
Also removes the no longer used range data from trajectory nodes
in 2D.
2017-08-30 14:22:12 +02:00
Wolfgang Hess
094b5a4d93
Template dispatching of sensor data. ( #484 )
...
This reduces the amount of code that needs to be written when a
new type of sensor data is introduced by a tiny bit.
Rangefinder data is not yet following this pattern.
2017-08-28 15:43:26 +02:00
Wolfgang Hess
a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
jie
42d8a8f005
Add filtered point clouds to TrajectoryNode::Data for 3D. ( #482 )
2017-08-25 16:56:50 +02:00
jie
0837d4b228
Add fixed frame pose constraints to 3D problem. ( #480 )
2017-08-25 15:26:19 +02:00
jie
449799719f
Extract rotation parameterization to a separate file. ( #479 )
2017-08-25 12:06:22 +02:00
Christoph Schütte
96b71e227f
Add histograms for pose residuals ( #478 )
...
* WIP Add histograms for pose residuals
* Address reviewers comments
* Address more comments.
2017-08-25 11:39:56 +02:00
jie
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
jie
14977f73f1
Add fixed frame pose data to the 3D optimization problem. ( #476 )
2017-08-24 15:02:23 +02:00
Wolfgang Hess
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
jie
0671e8835e
Add interface to process fixed frame pose, e.g. GPS. ( #471 )
2017-08-24 12:49:03 +02:00
Wolfgang Hess
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
Wolfgang Hess
f0e1dab031
Add a histogram of low resolution scores for 3D. ( #473 )
2017-08-24 09:28:12 +02:00
Wolfgang Hess
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
Jihoon Lee
2dd2d6f448
Use vector<map<>> instead of vector<deque> for submap_data. ( #422 )
2017-08-23 12:16:42 +02:00
zjwoody
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
...
Related to #369 .
2017-08-22 17:29:20 +02:00
Wolfgang Hess
297e9cc02d
Remove unused argument. ( #466 )
2017-08-22 12:22:41 +02:00
zjwoody
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
Damon Kohler
edfd6ac8d7
Also log the IMU correction as a quaternion. ( #463 )
2017-08-21 17:26:48 +02:00
Moritz Münst
0ef372d584
Use odometry in 2D pose graph optimization. ( #456 )
2017-08-21 15:12:00 +02:00
Wolfgang Hess
bcde3b45b0
Tiny cleanup of TransformInterpolationBuffer. ( #462 )
2017-08-18 16:19:50 +02:00
Wolfgang Hess
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
Wolfgang Hess
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
Wolfgang Hess
0c6d6979c4
Fix header. ( #457 )
...
RegisterBuiltInPointsProcessors() declaration was broken in #455 .
2017-08-16 16:22:42 +02:00
zjwoody
ba6f782949
Fix ClangTidy warnings. ( #455 )
2017-08-16 15:21:04 +02:00
Wolfgang Hess
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
Wolfgang Hess
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
Wolfgang Hess
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
Wolfgang Hess
6ebfa50291
Use odometry to extrapolate linear motion. ( #443 )
2017-08-08 16:30:53 +02:00
Wolfgang Hess
8732e43f16
Add sensor::OdometryData. ( #442 )
2017-08-08 14:52:47 +02:00
Wolfgang Hess
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
Wolfgang Hess
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
Wolfgang Hess
5369c3ced1
Use the ImuTracker in the PoseExtrapolator. ( #436 )
2017-08-01 10:44:32 +02:00
Wolfgang Hess
b28bc3bc9e
Extract velocity estimation from poses into a function. ( #435 )
2017-07-31 12:31:28 +02:00
Wolfgang Hess
a6d94c07cf
Use IMU data when extrapolating poses if available. ( #434 )
2017-07-28 17:12:12 +02:00
Andrew Hundt
d22402bdfa
color.cc constexpr std::sqrt is not ISO C++ ( #432 )
2017-07-28 12:11:57 +02:00
damienrg
46c7ce886d
Change Color to Uint8Color and FloatColor ( #423 )
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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
Wolfgang Hess
6035f63860
Add a extrapolator for poses. ( #430 )
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This will be used in Cartographer ROS to extrapolate poses for tf.
PAIR=damonkohler
2017-07-26 15:21:05 +02:00
Jihoon Lee
30f7de1a32
fix num submaps in trimmer_test ( #424 )
2017-07-26 11:14:22 +02:00
Juraj Oršulić
347dc8cec5
Fix debug build ( #418 )
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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
lanyaye
56dbad15e3
Fix proto_stream to support 32-bit platforms. ( #427 )
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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
Holger Rapp
ea7c39b6f0
Draw Trajectories onto X-Rays and ProbabilityGrids. ( #421 )
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This behavior can be turned off with the 'draw_trajectories' setting in Lua.
Fixes #174 .
2017-07-25 13:36:50 +02:00
Holger Rapp
8dfd650068
Pull some functionality from cartographer_ros into cartographer. ( #420 )
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- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
2017-07-24 13:22:06 +02:00
Wolfgang Hess
4d087cd159
Towards localization in 3D. ( #417 )
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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
damienrg
21cc270645
Fix ProbabilityPointsProcessor mirroring output ( #419 )
...
Fixes #414 .
2017-07-24 10:41:45 +02:00
Wolfgang Hess
1bce14b7b5
Adds accumulation of range data to 2D. ( #408 )
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This mostly follows the implementation as done for 3D.
Towards googlecartographer/cartographer_ros#212 .
2017-07-18 12:10:40 +02:00
Mac Mason
3ef680e791
Remove extraneous include ( #407 )
2017-07-18 09:01:12 +02:00
Wolfgang Hess
10a19d0a3f
Add rotational score histograms in 3D. ( #403 )
2017-07-11 11:59:42 +02:00
Wolfgang Hess
167047173c
Tiny improvement of HybridGrid::ToProto(). ( #401 )
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Makes it a member function and adds a check for left over
update markers.
2017-07-11 09:26:07 +02:00
Wolfgang Hess
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
Wolfgang Hess
b0b4f30007
Cleanup of cell index conversion in 2D. ( #399 )
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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
damienrg
39cb8401a5
Implements a ProbabilityGridPointsProcessor ( #383 )
2017-07-10 11:02:14 +02:00
Wolfgang Hess
78bd37ec26
Unify 2D/3D range data in trajectory nodes. ( #396 )
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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
Wolfgang Hess
5378ee2adc
Serialize range data. ( #395 )
...
We compress 2D range data before serialization to reduce
output size.
Related to #253 .
2017-07-07 15:39:55 +02:00
Wolfgang Hess
94a848cd46
Rename ScanId to NodeId in the serialization. ( #394 )
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This is consistent with the naming in the C++ structs.
2017-07-07 13:58:23 +02:00
Brandon D. Northcutt
f7af7ae238
Add serialization of compressed range data. ( #334 )
2017-07-07 12:26:36 +02:00
Jihoon Lee
75d5b7a453
Check imu_data array size before access ( #392 )
2017-07-06 14:32:45 +02:00
Moritz Münst
3f4d795c3e
Add pure localization parameter to trajectory builder options. ( #389 )
2017-07-05 16:55:06 +02:00
Wolfgang Hess
9042450aaf
Fix initial pose of loaded submaps. ( #391 )
...
PAIR=SirVer
2017-07-05 16:24:02 +02:00
Wolfgang Hess
3819dd3806
Use an Eigen::AlignedBox to track known cells. ( #388 )
...
PAIR=SirVer
2017-07-05 15:05:46 +02:00
Holger Rapp
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
Holger Rapp
a313448bf0
Change CastRays to directly take the ProbabilityGrid. ( #386 )
...
PAIR=wohe
2017-07-05 13:39:44 +02:00
Holger Rapp
611f244d7a
Remove HybridGrid slicing into a ProbabilityGrid. ( #385 )
...
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
Jihoon Lee
1e6723e214
Move ImuData to sensor, add ImuData proto. ( #381 )
2017-07-05 12:28:40 +02:00
Holger Rapp
9b48ba5ff4
Remove unused code. ( #384 )
2017-07-05 12:16:29 +02:00
Wolfgang Hess
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
Wolfgang Hess
31f77a01d2
Serialize submaps. ( #380 )
2017-07-04 12:11:54 +02:00
Brandon D. Northcutt
5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
Wolfgang Hess
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
Wolfgang Hess
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
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
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 )
...
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 )
...
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
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
Wolfgang Hess
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
...
Related to #283 .
2017-06-21 17:57:08 +02:00
Wolfgang Hess
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
...
This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +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 )
...
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 )
...
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
Wolfgang Hess
5fa6abe84b
Adds a tool to generate ground truth data. ( #340 )
...
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 )
...
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 )
...
This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +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 )
...
PAIR=wohe
2017-06-12 16:27:51 +02:00
Holger Rapp
521666ce55
Trim node data. ( #331 )
...
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