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609 Commits (43008d391d30f07c8111467098a5e6e9e9c62035)

Author SHA1 Message Date
Wolfgang Hess 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
Wolfgang Hess 6c9e24d7c5 Keep 'trajectory_nodes_' per trajectory. (#291) 
Fixes #256.

PAIR=SirVer
 2017-05-17 11:15:34 +02:00
Holger Rapp 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
Holger Rapp 8612f5e6e5 ConstantData now has a trajectory_id. (#289) 
Related to #256.

PAIR=wohe
 2017-05-16 11:42:18 +02:00
Wolfgang Hess 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
Wolfgang Hess 690d1893a7 Remove unused code. (#287) 2017-05-15 16:57:02 +02:00
Holger Rapp 8392a7e62c Change SubmapState.scan_indices -> node_ids (#286) 
Related to #256.

PAIR=wohe
 2017-05-15 16:31:59 +02:00
Jihoon Lee f26e4366c9 Make SparsePoseGraph::constraints() public. (#284) 2017-05-15 16:06:20 +02:00
Wolfgang Hess 7d43eaa08c Keep node data per trajectory in the optimization problem. (#282) 
Related to #256.

PAIR=SirVer
 2017-05-15 14:09:45 +02:00
Holger Rapp c084624958 Turn submap state into a per trajectory list. (#281) 
Related to #256.
 2017-05-15 12:12:30 +02:00
Wolfgang Hess 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
Wolfgang Hess 32583e0c5d Use trajectory IDs for global samplers. (#278) 
Related to #256.

PAIR=SirVer
 2017-05-11 15:08:27 +02:00
Holger Rapp 1a9b18db69 Change num_submaps_in_trajectory to using trajectory IDs. (#277) 
Related to #256.
 2017-05-11 14:32:55 +02:00
Holger Rapp 7b1915b906 Fix bug in ToProto introduced in #275. 2017-05-11 14:02:04 +02:00
Holger Rapp e6a6bab351 Make TrajectoryConnectivity use trajectory IDs. (#275) 
Related to #256.
 2017-05-11 13:36:12 +02:00
Holger Rapp 95f0d013c6 Rename Constraint::i -> submap_id. (#274) 
Related to #256.
 2017-05-11 11:43:47 +02:00
Holger Rapp 660eb341ff Optimization problem only deals with trajectory IDs now. (#273) 
Related to #256.

PAIR=wohe
 2017-05-10 17:12:38 +02:00
Wolfgang Hess 926b0320cb Use per-trajectory SubmapData in OptimizationProblem. (#272) 2017-05-10 16:28:58 +02:00
Holger Rapp 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
Holger Rapp 45de59b116 Move trajectory id mapping into the SparsePoseGraph. (#270) 2017-05-10 08:23:57 +02:00
Holger Rapp 524b613f2c `submap_pose`s are now owned by the OptimizationProblem. (#269) 2017-05-09 17:24:48 +02:00
Holger Rapp 20e9cde53d Fix race condition in extrapolation of submap poses. (#268) 
PAIR=wohe
 2017-05-09 15:21:30 +02:00
Wolfgang Hess c664d7b966 Comply to CMake's CMP0037. (#267) 
Test target names are generated from the directory and
source filename. Now "/"s are replaced by "."s which are
allowed by CMP0037.
 2017-05-08 18:09:39 +02:00
Holger Rapp 772d02c00e Move ConstantData into the SPG (#263) 2017-05-08 17:10:07 +02:00
Wolfgang Hess 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
Yutaka Takaoka 522b37979a Enable multiple configuration for multi-trajectory (#248) 2017-05-08 11:58:53 +02:00
Holger Rapp e2de27cded Remove dead code. (#262) 2017-05-08 11:06:33 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259) 
Related to #250.
 2017-05-04 15:38:41 +02:00
Jochen Sprickerhof 12b3cc0d7b Support new Debian version of gmock and add testing for debian systems (#236) 2017-05-04 12:47:12 +02:00
Wolfgang Hess 6d2feaa8c7 Build and run all tests found by the glob. (#258) 2017-05-03 16:55:13 +02:00
Wolfgang Hess ff06e37579 Remove the LaserScan proto. (#257) 2017-05-03 16:20:04 +02:00
Holger Rapp cdd366bab4 Remove intensities - they are unused in SLAM. (#247) 2017-05-03 13:44:15 +02:00
Holger Rapp 1cdcd12a8b Make missing case statements an error. (#245) 2017-05-02 16:56:10 +02:00
Wolfgang Hess 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
Holger Rapp 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
catskul 245e356449 Const-ify ProbabilityGrid::ToProto (#238) 2017-04-25 09:34:17 +02:00
Wolfgang Hess 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
Mac Mason 92d360a8f2 Multi-trajectory SparsePoseGraph::ToProto. (#227) 
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
 2017-04-19 17:01:03 +02:00
Mac Mason 4f1914b2b4 Remove extraneous Eigen/Geometry include (#232) 2017-03-31 08:46:48 +02:00
Juraj Oršulić 2854c485ef Enable building in Debug mode if the user really wants this (#230) 
Also inform the user about slow performance if they do this.
 2017-03-30 17:00:50 +02:00
Juraj Oršulić cb0d1a6d5a Remove inclination warning (#231) 
Resolves #194.
 2017-03-30 16:39:53 +02:00
Juraj Oršulić 28da207c4d Sphinx build fix (#229) 
This was missed in #203, where uses of absolute CMAKE_BINARY_DIR were
changed to PROJECT_BINARY_DIR.
 2017-03-30 16:23:19 +02:00
William Woodall bda68c33d9 Fix warning about struct being redefined as class (#228) 2017-03-28 08:57:13 +02:00
Mac Mason 1e5b49ce62 Minor sparse_pose_graph.proto improvement (#226) 2017-03-24 09:03:36 +01:00
Wolfgang Hess 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
Wolfgang Hess 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
William Woodall c78f29fdac Adds #include <array> in files that use std::array (#222) 2017-03-20 08:37:47 +01:00
Mac Mason 76868b7edb Adds HybridGrid proto serialization (#220) 2017-03-14 11:44:19 +01:00
Mac Mason 8bf6f101c5 Adds probability grid serialization to proto (#208) 2017-03-09 09:01:10 +01:00
Mac Mason 30b9fcce34 Claim an old TODO. (#209) 2017-03-01 10:26:48 +01:00