Commit Graph

800 Commits (3b511aa1bafaf3cd80890927bf7122a33e5f13a3)

Author SHA1 Message Date
Holger Rapp 2f42c990f6 Adds a fixed sampling points processor. (#96) 2016-10-25 15:37:47 +02:00
Holger Rapp 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
Holger Rapp 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
Atsushi Watanabe 90e2f02e9d Add a PCD writing points processor. (#92) 2016-10-25 12:11:44 +02:00
Damon Kohler 05adba7c51 Improves sensor data queue logging. (#93) 2016-10-25 11:09:08 +02:00
Holger Rapp 3986ad5328 Moving a temporary prevents copy elision. (#91) 2016-10-20 19:11:29 +02:00
Holger Rapp 695c303c56 Fix layering check for headers. (#90) 2016-10-20 18:48:52 +02:00
Wolfgang Hess 4d81b58a39 Remove unused code. (#89) 2016-10-20 13:54:12 +02:00
Wolfgang Hess 5b16f4bcb6 Simplify 3D visualization code. (#88)
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
Holger Rapp 4b7e2efbd9 Add code to serialize a trajectory to proto. (#87) 2016-10-20 10:53:43 +02:00
Holger Rapp 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
Wolfgang Hess 3cf59a0266 Collate sensor data in the MapBuilder. (#85) 2016-10-19 17:25:44 +02:00
Wolfgang Hess e566bb73f5 Adds CollatedTrajectoryBuilder. (#82) 2016-10-19 16:29:26 +02:00
Wolfgang Hess d4e04a3cda Unify to AddLaserFan for both 2D and 3D. (#81) 2016-10-19 15:02:31 +02:00
Holger Rapp 9031f0533a Adds a PLY writing points processor. (#80) 2016-10-19 14:03:05 +02:00
Holger Rapp 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
Damon Kohler a7663f6c15 Pulls sensor ID out of sensor::Data. (#77) 2016-10-18 17:37:40 +02:00
Damon Kohler fddb1e32a0 Moves time into sensor::Data. (#76) 2016-10-18 16:07:18 +02:00
Damon Kohler 653ce1706a Detemplatize OrderedMultiQueue. (#75) 2016-10-18 15:09:29 +02:00
Atsushi Watanabe ccc26a7f4f Add missing <vector> include. (#74) 2016-10-18 14:35:45 +02:00
Wolfgang Hess 4d361abe41 Extract SpaCostFunctions into their own files. (#71) 2016-10-17 16:14:24 +02:00
Damon Kohler f798805c4f Removes templating on data type. (#68) 2016-10-17 14:47:48 +02:00
Damon Kohler 2eca021003 Moves SensorCollator into sensor package. (#58) 2016-10-17 10:18:17 +02:00
Holger Rapp 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
Wolfgang Hess 098349f67e Rename LaserFan3D to LaserFan. (#64) 2016-10-14 12:06:54 +02:00
Wolfgang Hess 9020f71605 Remove LaserFan in favor of LaserFan3D. (#62)
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
Wolfgang Hess cac501cdb1 Always use the 3D voxel filter. (#61) 2016-10-13 18:56:41 +02:00
Wolfgang Hess 5aad2d6feb Change 2D scan matching to use 3D point clouds. (#60) 2016-10-13 17:52:05 +02:00
Wolfgang Hess 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
Wolfgang Hess 7d93ac3302 Simplify the conversion of LaserScan to LaserFan3D. (#57) 2016-10-13 15:09:36 +02:00
Damon Kohler 518850999f Moves SensorData struct into Cartographer. (#55) 2016-10-13 14:17:28 +02:00
Wolfgang Hess cc7cc6f72b Move the ImuTracker and OdometryStateTracker to mapping. (#50)
Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
Holger Rapp 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
Damon Kohler 8f5fc98188 Improves logging, fixes #94. (#41) 2016-10-11 11:22:33 +02:00
catskul 045f6a7522 Pass Eigen arguments by const reference (#38)
Fixes #35.
2016-10-11 09:57:41 +02:00
Wolfgang Hess 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
Wolfgang Hess 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
Wolfgang Hess 14355a91a1 Remove dead code. (#26) 2016-09-22 17:53:32 +02:00
Wolfgang Hess 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
Damon Kohler 83a29df102 Renames expect_imu to use_imu. (#24) 2016-09-08 16:36:05 +02:00
Damon Kohler fc166fdefa Adds MapBuilder and cleans up some configurations. (#23) 2016-09-08 16:21:25 +02:00
Wolfgang Hess 5b20df7fcb Fix a bug introduced in the recent clean up. (#13) 2016-08-26 17:40:37 +02:00
Wolfgang Hess 817dc884d5 Clean up and simplify MapLimits. (#12)
MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
Wolfgang Hess 4c6a2fcb28 Clean up of XYIndexRangeIterator and MapLimits. (#10) 2016-08-24 18:01:14 +02:00
Damon Kohler b50f1a6e96 Adds rate timer. (#8) 2016-08-24 15:37:30 +02:00
Wolfgang Hess 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
Damon Kohler cf9e365bc2 Improved logging for loading Lua configurations. (#4) 2016-08-23 01:31:36 -07:00
Wolfgang Hess 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
Damon Kohler 269c28cb0c Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
Damon Kohler 166f2568bc Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00