a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
42d8a8f005
Add filtered point clouds to TrajectoryNode::Data for 3D. ( #482 )
2017-08-25 16:56:50 +02:00
0837d4b228
Add fixed frame pose constraints to 3D problem. ( #480 )
2017-08-25 15:26:19 +02:00
449799719f
Extract rotation parameterization to a separate file. ( #479 )
2017-08-25 12:06:22 +02:00
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
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
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
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
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
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
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
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
94a848cd46
Rename ScanId to NodeId in the serialization. ( #394 )
...
This is consistent with the naming in the C++ structs.
2017-07-07 13:58:23 +02:00
f7af7ae238
Add serialization of compressed range data. ( #334 )
2017-07-07 12:26:36 +02:00
75d5b7a453
Check imu_data array size before access ( #392 )
2017-07-06 14:32:45 +02:00
3f4d795c3e
Add pure localization parameter to trajectory builder options. ( #389 )
2017-07-05 16:55:06 +02:00
9042450aaf
Fix initial pose of loaded submaps. ( #391 )
...
PAIR=SirVer
2017-07-05 16:24:02 +02:00
3819dd3806
Use an Eigen::AlignedBox to track known cells. ( #388 )
...
PAIR=SirVer
2017-07-05 15:05:46 +02:00
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
...
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 )
...
PAIR=wohe
2017-07-05 13:39:44 +02:00
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
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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
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 )
...
Related to #283 .
2017-06-28 12:51:09 +02:00
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
...
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 )
...
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 )
...
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
ff37b0bb7d
Remove output_debug_images. ( #358 )
...
This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
...
Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
...
This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
...
- 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 )
...
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 )
...
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 )
...
PAIR=wohe
2017-06-19 15:46:47 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
...
PAIR=wohe
2017-06-19 15:24:06 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
...
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
5fa6abe84b
Adds a tool to generate ground truth data. ( #340 )
...
Fixes #310 . Not yet tested.
2017-06-16 17:38:13 +02:00
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
...
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 )
...
This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +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 )
...
PAIR=wohe
2017-06-12 16:27:51 +02:00
521666ce55
Trim node data. ( #331 )
...
Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
...
PAIR=wohe
2017-06-12 14:28:16 +02:00
1a376c07b2
Change submap state handling in 3D. ( #327 )
...
This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
2017-06-09 17:40:22 +02:00
f07f888dab
Remove the deque for constant node data. ( #326 )
...
This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
b427259214
Mark trimmed Submaps and remove from scan matching. ( #319 )
...
Related to #283 .
PAIR=wohe
2017-06-07 15:52:24 +02:00
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
...
Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
b3b9735a4b
Remove trimmed constraints. ( #317 )
...
Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
...
Related to #315 .
2017-06-07 12:39:04 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
...
This is related to #283 . First to be implemented for
pure localization and 2D SLAM.
PAIR=SirVer
2017-06-06 17:07:30 +02:00
56529e5968
Tiny cleanup of the MapBuilder. ( #313 )
...
GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
2017-06-06 15:20:10 +02:00
ba4f8ca9ee
Tiny cleanup. ( #312 )
2017-06-02 16:44:27 +02:00
565e9c3eff
Simplify the handling of weights in the optimization problem. ( #309 )
...
This replaces the 3x3 (2D) or 6x6 (3D) matrix by the weights
for the translational and rotational component. The matrices
only contain these values now anyway, so this simplifies
the code and increases performance.
Also removes 2D from the UKF implementation which has not been
used for quite some time now.
2017-06-01 17:03:49 +02:00
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
...
This follows #307 .
2017-06-01 15:04:07 +02:00
a2e52f81cf
Remove 2D scan matcher covariances. ( #307 )
...
This replaces the scaled covariances derived from the Ceres
scan matcher by directly configurable weights. Using covariances
did not provide the expected benefit, and replacing the scaling
matrix by two values will allow a faster evaluation of the cost
function in the future.
2017-05-31 11:56:32 +02:00
4bb02c7240
Add XRayPointsProcessor::bounding_box(). ( #306 )
...
Changes XRayPointsProcessor to use one bounding box for all floors.
Makes the bounding box accessible via a public member function.
2017-05-24 14:46:17 +02:00
3d0d1e46b5
Remove unused code. ( #304 )
2017-05-23 14:17:20 +02:00
515db3b4a9
Minor fixes. ( #303 )
...
Extract mapping_2d::CreateLocalTrajectoryBuilderOptions() into its own file.
Loop initialization fix in the trajectory_connectivity_test.
Thread safety fixes in sparse_pose_graph.
2017-05-22 14:55:05 +02:00
2d416589a7
Adds a NestedVectorsById<> class template. ( #300 )
2017-05-19 16:58:21 +02:00
0bba56428f
Remove flat indices. ( #299 )
...
This cleans up scan_index_to_node_id_, num_nodes_in_trajectory_,
scan_index. Related to #256 .
2017-05-19 14:01:59 +02:00
56fc2a9a92
Fix 3D SLAM loop closure issues. ( #296 )
...
3D submaps are now oriented approximately gravity aligned.
This is so that accumulating error in the local SLAM frame is
no longer a problem for finding loop closures. It also ensures
that the z search window size is approximately in the gravity
direction.
We now also pass an estimate of gravity orientation when doing
multi-trajectory matches. Otherwise trajectories starting with
different orientation relative to gravity could not be connected.
The gravity alignment is currently derived from the ImuTracker.
It might be possible to further improve on this by using the
latest gravity direction from the optimized poses.
2017-05-18 16:55:11 +02:00
9033fad1ab
Always use the origin as the origin for grids. ( #294 )
...
Also removes convenience functions from mapping_3d::Submap.
PAIR=SirVer
2017-05-18 12:00:45 +02:00
33ce5dee37
Improve debug output and tiny bug fix. ( #293 )
...
The full submap search window in 3D SLAM was
not calculated correctly.
2017-05-17 15:21:39 +02:00
6c9e24d7c5
Keep 'trajectory_nodes_' per trajectory. ( #291 )
...
Fixes #256 .
PAIR=SirVer
2017-05-17 11:15:34 +02:00
5aa968748e
Sparse pose graph no longer uses Submaps* for trajectory identification. ( #290 )
...
Related to #256 .
PAIR=wohe
2017-05-16 14:24:49 +02:00
8612f5e6e5
ConstantData now has a trajectory_id. ( #289 )
...
Related to #256 .
PAIR=wohe
2017-05-16 11:42:18 +02:00
5effc4dac7
Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). ( #288 )
...
Related to #256 .
Also removes ComputeMapLimits with is moved to Cartographer ROS.
PAIR=SirVer
2017-05-16 10:51:08 +02:00
690d1893a7
Remove unused code. ( #287 )
2017-05-15 16:57:02 +02:00
8392a7e62c
Change SubmapState.scan_indices -> node_ids ( #286 )
...
Related to #256 .
PAIR=wohe
2017-05-15 16:31:59 +02:00
f26e4366c9
Make SparsePoseGraph::constraints() public. ( #284 )
2017-05-15 16:06:20 +02:00
7d43eaa08c
Keep node data per trajectory in the optimization problem. ( #282 )
...
Related to #256 .
PAIR=SirVer
2017-05-15 14:09:45 +02:00
c084624958
Turn submap state into a per trajectory list. ( #281 )
...
Related to #256 .
2017-05-15 12:12:30 +02:00
fde9272533
Adds mapping:NodeId for Constraint. ( #279 )
...
Also extracted mapping::SubmapId into an id.h file.
Related to #256 .
PAIR=SirVer
2017-05-11 17:17:12 +02:00
32583e0c5d
Use trajectory IDs for global samplers. ( #278 )
...
Related to #256 .
PAIR=SirVer
2017-05-11 15:08:27 +02:00
1a9b18db69
Change num_submaps_in_trajectory to using trajectory IDs. ( #277 )
...
Related to #256 .
2017-05-11 14:32:55 +02:00
7b1915b906
Fix bug in ToProto introduced in #275 .
2017-05-11 14:02:04 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
...
Related to #256 .
2017-05-11 13:36:12 +02:00
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
...
Related to #256 .
2017-05-11 11:43:47 +02:00
660eb341ff
Optimization problem only deals with trajectory IDs now. ( #273 )
...
Related to #256 .
PAIR=wohe
2017-05-10 17:12:38 +02:00
926b0320cb
Use per-trajectory SubmapData in OptimizationProblem. ( #272 )
2017-05-10 16:28:58 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
...
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
45de59b116
Move trajectory id mapping into the SparsePoseGraph. ( #270 )
2017-05-10 08:23:57 +02:00
524b613f2c
`submap_pose`s are now owned by the OptimizationProblem. ( #269 )
2017-05-09 17:24:48 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
...
PAIR=wohe
2017-05-09 15:21:30 +02:00
772d02c00e
Move ConstantData into the SPG ( #263 )
2017-05-08 17:10:07 +02:00
9194c8679b
Clean up. ( #266 )
...
Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
2017-05-08 15:29:13 +02:00
522b37979a
Enable multiple configuration for multi-trajectory ( #248 )
2017-05-08 11:58:53 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
...
Related to #250 .
2017-05-04 15:38:41 +02:00
6d2feaa8c7
Build and run all tests found by the glob. ( #258 )
2017-05-03 16:55:13 +02:00
ff06e37579
Remove the LaserScan proto. ( #257 )
2017-05-03 16:20:04 +02:00
cdd366bab4
Remove intensities - they are unused in SLAM. ( #247 )
2017-05-03 13:44:15 +02:00
2f3a9f4dcc
Add support for files containing multiple protos. ( #241 )
...
This adds code for reading and writing files that contain
sequences of compressed protocol buffer messages.
2017-04-28 15:05:42 +02:00
b4b83405ce
Fix divison by zero. ( #240 )
...
If mapping_2d::LocalTrajectoryBuilder::AddHorizontalRangeData is called
twice in a row with the same `time`, the `velocity_estimate_` becomes
`inf` which led to `inf`s in the optimization problem, which led to
failures inside Ceres.
Fixes #233 .
2017-04-26 14:14:24 +02:00
245e356449
Const-ify ProbabilityGrid::ToProto ( #238 )
2017-04-25 09:34:17 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
...
We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
...
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
4f1914b2b4
Remove extraneous Eigen/Geometry include ( #232 )
2017-03-31 08:46:48 +02:00
cb0d1a6d5a
Remove inclination warning ( #231 )
...
Resolves #194 .
2017-03-30 16:39:53 +02:00
bda68c33d9
Fix warning about struct being redefined as class ( #228 )
2017-03-28 08:57:13 +02:00
1e5b49ce62
Minor sparse_pose_graph.proto improvement ( #226 )
2017-03-24 09:03:36 +01:00
4fa190d316
Rename LaserFan to RangeData. ( #224 )
...
LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
a2abe45542
Rename CompressedLaserFan to CompressedRangeData. ( #223 )
...
CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
2017-03-22 13:06:41 +01:00
c78f29fdac
Adds #include <array> in files that use std::array ( #222 )
2017-03-20 08:37:47 +01:00
76868b7edb
Adds HybridGrid proto serialization ( #220 )
2017-03-14 11:44:19 +01:00
8bf6f101c5
Adds probability grid serialization to proto ( #208 )
2017-03-09 09:01:10 +01:00
30b9fcce34
Claim an old TODO. ( #209 )
2017-03-01 10:26:48 +01:00
370e1e52df
Enable adding as a CMake subproject ( #203 )
...
This is done by replacing CMAKE_*_DIR variables with PROJECT_*_ variables so
that CMake uses correct paths when libcartographer is a subproject
Move AllFiles.cmake into the project binary dir instead of the root CMake binary dir,
use a project-dependent detect_changes target name
This makes overriding it from an upper level CMakeLists.txt possible, which is required
when doing a super-build which doesn't require installing libcartographer.
2017-02-09 15:57:54 +01:00
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
...
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
b4a1021538
Formatting changes. ( #199 )
2017-02-08 14:30:38 +01:00
ddb3c890a6
Actually check that all points are colored or none. ( #192 )
2017-01-26 16:49:25 +01:00
97bb74157f
Remove redundant "virtual". ( #191 )
2017-01-26 13:37:02 +01:00
2dd912f5e7
Always take std::function<> by value. ( #188 )
...
Taking it by reference increases the chance of dangling references
without a significant performance gain.
2017-01-26 11:35:09 +01:00
965caf7470
Make intensities a separate channel in PointsBatch. ( #187 )
...
And add a PointsProcessor that translates from intensities to RGB.
Fixes #171 .
2017-01-24 15:08:41 +01:00
0fe51185be
Color X-Rays using the color of points. ( #185 )
...
Colorless points are considered to be black. Creating assets with
intensities will give now brighter X-Rays. I plan to fix this by adding
intensities besides colors into PointBatch and having a PointsProcessor
that converts intensities into colors.
2017-01-23 14:18:08 +01:00
92b89d12c8
Adds a PointCloudProcessor that colors points by frame_id. ( #184 )
2017-01-17 17:21:05 +01:00
99f79e3f69
Adds a FileWriter abstraction ( #182 )
2017-01-17 12:29:11 +01:00
1c433e6f3a
Refactor the documentation update script. ( #179 )
2017-01-10 10:43:16 +01:00
1477a81bfa
Tiny sparse pose graph cleanup. ( #169 )
2016-12-20 16:43:58 +01:00
628b9da6d2
Extract intensities for 2D lasers on conversion. ( #167 )
2016-12-20 16:20:00 +01:00
4e9c3d69b5
Build all our source files into a single library. ( #164 )
2016-12-20 11:24:08 +01:00
71c951b370
Remove the 'log_residual_histograms' option. ( #166 )
...
This option only existed in 2D. Also other refactoring to make the 2D
sparse pose graph optimization more similar to 3D.
2016-12-19 17:57:12 +01:00
5af133c0dd
Improve the sparse pose graph optimization. ( #165 )
...
Removes the loss function for intra-submap constraints in 3D SLAM,
as it is already done in 2D. Also removes a duplicate call to the
solver in 2D, and code cleanup.
2016-12-19 17:02:05 +01:00
0937f4f515
Support fixing z during 3D sparse pose adjustment. ( #161 )
...
This is in preparation of using the 3D sparse pose graph
optimization for 2D SLAM.
2016-12-14 15:32:23 +01:00
5bbb124b0b
Tiny namespace comment fix. ( #155 )
2016-12-06 17:53:06 +01:00
db45c4ef78
Determine the trajectory that is blocking progress. ( #154 )
...
When processing offline data determining which trajectory needs more
data before processing can continue is surprisingly tricky. We thus
expose this information at the map builder to avoid duplicating this
logic.
2016-12-06 17:04:45 +01:00
ead4d03b16
Compute the common start time per trajectory. ( #153 )
...
In the multi-trajectory case, other trajectories should not influence which
data gets dropped. This is especially the case if all trajectories are
added before any of their data. In this case, data before the start of the
last trajectory was dropped.
2016-12-06 15:22:16 +01:00
f3526bd252
Move the OrderedMultiQueue implementation out of the header. ( #152 )
2016-12-06 14:09:44 +01:00
0e826377c4
Add tool to compare to ground truth. ( #148 )
...
This computes metrics based on a SLAM result and a relations
file containing ground truth data.
2016-11-30 15:18:26 +01:00
51a0ec06a1
Add support for multi-trajectory to 3D SLAM. ( #146 )
2016-11-28 12:52:45 +01:00
318607ccd1
Add full submap scan matching in 3D. ( #145 )
2016-11-28 11:09:53 +01:00
88e4ea2866
Prepare 3D precomputation grid for full submap matches. ( #144 )
...
Removes an optimization to improve the bounds computed
via the precomputation grid in 3D that takes the limited
search window into account.
This is to allow reusing the same precomputation grids
for full submap matches.
2016-11-25 15:45:26 +01:00
17a3393694
Fix `to_remove`. ( #143 )
2016-11-24 15:16:35 +01:00
4c9c77034b
Remove UKF-related debug output. ( #142 )
2016-11-23 14:27:36 +01:00
574a56bbbc
Remove the UKF from local 2D SLAM. ( #140 )
...
Changes default configuration to log loop closure matches.
2016-11-23 12:37:55 +01:00
015519cf23
Adds support for inverted LaserScan messages. ( #138 )
2016-11-21 17:28:50 +01:00
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
5136a3a81e
Removes LaserFan from public API. ( #136 )
2016-11-21 10:30:57 +01:00
c386bf050d
Renames Odometry to Odometer. ( #135 )
2016-11-21 08:27:19 +01:00
7dc3ab1e9e
Change dropping data before start to be idempotent. ( #133 )
...
We drop as much data from each queue as possible without changing the
start time that would be determined if we only saw the dispatched
data, i.e. we retain one piece of data not beyond the common start time.
This makes the process idempotent.
2016-11-18 12:49:33 +01:00
e703b1cea3
Fix multi-trajectory loop closure attempts. ( #131 )
...
Before, old scans with new submaps were always matched as if they
belong to connected trajectories.
2016-11-18 10:36:30 +01:00
3f0eeec429
Adds configuration files test. ( #129 )
2016-11-18 09:48:54 +01:00
4522fc49ad
Simplify LuaParameterDictionary. ( #132 )
2016-11-17 17:58:51 +01:00
8f58efe79b
Formatting fixes. ( #130 )
2016-11-17 15:46:29 +01:00
ac92dd8cbf
Support by-floor XRay generation. ( #126 )
2016-11-17 01:49:17 -08:00
c8f33ee853
Drop sensor data until progress can be made. ( #124 )
...
The sensor collator now finds a common starting time for all sensor
data. For example, this prevents us from processing arbitrarily many IMU
packets before our first scan match and makes it possible to auto pause
and resume a trajectory in the event of sensor data interruption.
2016-11-17 09:11:00 +01:00
6777654202
Adds a heuristic to detect floors in a trajectory. ( #125 )
2016-11-16 05:16:40 -08:00
a74319cf1a
Pulls out collator.cc. ( #123 )
2016-11-15 14:17:23 +01:00
8cd3178c69
Moves 2D laser options into 2D trajectory builder. ( #114 )
2016-11-15 13:24:58 +01:00
1de387cba9
Improvement of 2D/3D consistency and cleanup. ( #122 )
2016-11-11 14:33:06 +01:00
97d5cb2a8b
Remove unused Imu proto message. ( #121 )
2016-11-11 12:22:41 +01:00
a6aacd0647
Fix and add CHECKs when writing X-ray output. ( #120 )
...
Before the allocation was too large which resulted in excessive memory
consumption. Also adds CHECKs for the stride size and the success of the Cairo
writer function.
2016-11-08 16:14:35 +01:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
...
This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
3e64a803a4
Consistently name weight parameter. ( #116 )
...
All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
32b5beb225
Move single caller function to call site. ( #113 )
2016-10-28 16:27:06 +02:00
b94880c56e
Improves parameter names. ( #111 )
2016-10-28 13:26:13 +02:00
404bbfcc2b
Add SubmapToProto to the map builder. ( #110 )
2016-10-27 16:20:58 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
...
And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
a33bddd4cd
Removes unneccessary num_available_packets() API. ( #108 )
2016-10-27 13:06:49 +02:00
224b068fe9
CHECKs that all queues are finished on destruction. ( #106 )
2016-10-27 11:45:27 +02:00
15f9244577
Removes sensor packet period histogram. ( #104 )
2016-10-26 15:23:37 +02:00
651a7a23e7
Rename trajectory and submap visualization protos. ( #101 )
2016-10-26 08:45:52 +02:00
4917dd65ce
Add serialization of the sparse pose graph. ( #97 )
2016-10-25 16:56:26 +02:00
a3157239b7
Adds a voxel filtering and moving objects removing points processor. ( #99 )
2016-10-25 16:36:56 +02:00
915dbd1894
Adds a CountingPointsProcessor. ( #98 )
...
It outputs the number of points processed at its stage in the pipeline
and is useful for understanding how many points a filter removed.
2016-10-25 16:09:47 +02:00
2f42c990f6
Adds a fixed sampling points processor. ( #96 )
2016-10-25 15:37:47 +02:00
46f8883d6a
Make all 'PointProcessor's registerable with the PipelineBuilder. ( #95 )
...
Also the default instance has now knowledge of all of Cartographer's
'PointsProcessor's by default.
2016-10-25 15:18:32 +02:00
188dcb57e5
Adds a class that can build a points processing pipeline out of a Lua configuration. ( #94 )
2016-10-25 12:27:58 +02:00
90e2f02e9d
Add a PCD writing points processor. ( #92 )
2016-10-25 12:11:44 +02:00
05adba7c51
Improves sensor data queue logging. ( #93 )
2016-10-25 11:09:08 +02:00
3986ad5328
Moving a temporary prevents copy elision. ( #91 )
2016-10-20 19:11:29 +02:00
695c303c56
Fix layering check for headers. ( #90 )
2016-10-20 18:48:52 +02:00
4d81b58a39
Remove unused code. ( #89 )
2016-10-20 13:54:12 +02:00
5b16f4bcb6
Simplify 3D visualization code. ( #88 )
...
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
4b7e2efbd9
Add code to serialize a trajectory to proto. ( #87 )
2016-10-20 10:53:43 +02:00
f2916143ef
Adds a PointProcessor that writes ASCII files. ( #86 )
...
The files will just contain XYZ points in a file of their own. This is
useful for example as interop with AutoCAD.
2016-10-20 09:28:18 +02:00
3cf59a0266
Collate sensor data in the MapBuilder. ( #85 )
2016-10-19 17:25:44 +02:00
e566bb73f5
Adds CollatedTrajectoryBuilder. ( #82 )
2016-10-19 16:29:26 +02:00
d4e04a3cda
Unify to AddLaserFan for both 2D and 3D. ( #81 )
2016-10-19 15:02:31 +02:00
9031f0533a
Adds a PLY writing points processor. ( #80 )
2016-10-19 14:03:05 +02:00
4a9116a58e
PointsProcessor can now ask for another pass over the data. ( #69 )
...
* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
2016-10-19 13:11:13 +02:00
a7663f6c15
Pulls sensor ID out of sensor::Data. ( #77 )
2016-10-18 17:37:40 +02:00
fddb1e32a0
Moves time into sensor::Data. ( #76 )
2016-10-18 16:07:18 +02:00
653ce1706a
Detemplatize OrderedMultiQueue. ( #75 )
2016-10-18 15:09:29 +02:00
ccc26a7f4f
Add missing <vector> include. ( #74 )
2016-10-18 14:35:45 +02:00
4d361abe41
Extract SpaCostFunctions into their own files. ( #71 )
2016-10-17 16:14:24 +02:00
f798805c4f
Removes templating on data type. ( #68 )
2016-10-17 14:47:48 +02:00
2eca021003
Moves SensorCollator into sensor package. ( #58 )
2016-10-17 10:18:17 +02:00
c2aed53ce8
Adds a points processing pipeline and a XRay creator. ( #66 )
...
- Adds cairo as required dependency.
- Adds an 'io' module.
2016-10-14 15:14:46 +02:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
9020f71605
Remove LaserFan in favor of LaserFan3D. ( #62 )
...
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
cac501cdb1
Always use the 3D voxel filter. ( #61 )
2016-10-13 18:56:41 +02:00
5aad2d6feb
Change 2D scan matching to use 3D point clouds. ( #60 )
2016-10-13 17:52:05 +02:00
9006fb6fb1
Show the unprojected point cloud in 2D SLAM. ( #59 )
...
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 )
...
Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
eeb17bf055
Adds google_binary to create installable binaries. ( #43 )
...
- 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 )
...
Fixes #35 .
2016-10-11 09:57:41 +02:00
d2962c004f
Remove the 'also_match_to_new_submaps' option. ( #29 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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
jie
Christoph Schütte
Jihoon Lee
Damon Kohler
Moritz Münst
Andrew Hundt
damienrg
Juraj Oršulić
lanyaye
Holger Rapp
Mac Mason
Brandon D. Northcutt
Moritz Münst
jordansmithgoogle
Yutaka Takaoka
catskul
William Woodall
William Woodall
scturtle
Atsushi Watanabe
Damon Kohler
Wolfgang Hess