464d770d48
Introduces mapping::MapById for nodes in 2D. ( #581 )
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PAIR=cschuet
2017-10-13 14:41:54 +02:00
2cca91d783
Add slides from yesterday and next date. ( #572 )
2017-10-13 13:55:04 +02:00
4ab4817104
Add MapById<>::ConstIterator::operator->(). ( #580 )
2017-10-12 16:15:12 +02:00
cb41777b9e
Introduces mapping::MapById in the 2D pose graph for submaps. ( #578 )
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PAIR=cschuet
2017-10-12 11:58:59 +02:00
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
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PAIR=cschuet
2017-10-09 17:33:12 +02:00
2434e7e40e
Fix crashing bug in localization. ( #575 )
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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
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +02:00
6708930bbf
Adds 'offset_seconds' to PointCloudWithIntensities. ( #571 )
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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
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
0053b30cc8
Add support for odometry to the 3D pose graph optimization. ( #570 )
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Not used yet. Intended to experiment with the 3D pose graph optimization
in 2D SLAM.
2017-10-05 16:56:31 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
cae9c02e05
Follow #547 for 3D. ( #564 )
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And changes to 3D following 2D regarding trimmed data.
2017-10-04 16:47:26 +02:00
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
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
b1b0750e5b
Check ratios in fixed rate sampler. ( #502 )
2017-10-04 13:15:35 +02:00
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
3c521eb573
Remove hooray. And prints remaining work items in queue ( #547 )
2017-09-29 01:04:28 -07:00
3744988fd2
Fix trajectory count check bug for asset writer floor separation. ( #542 )
2017-09-28 10:43:47 +02:00
7d0e72dac2
Fix some nits. ( #536 )
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Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
2017-09-28 09:21:07 +02:00
4fca78368d
Add Cartographer high level structure diagram to documentation ( #486 )
2017-09-28 08:27:27 +02:00
0cbc420b02
Fix odometry in the 2D pose graph optimization. ( #533 )
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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
6b544628b6
Add slides from yesterday and next date. ( #531 )
2017-09-15 11:53:57 +02:00
259e22a5fc
Use oldest and newest instead of last two odometry data. ( #530 )
2017-09-14 16:10:03 +02:00
5896ead32e
Introduce timeout for global constraints. ( #517 )
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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
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
5ade042520
Fix crash in localization. ( #526 )
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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
57d53b6d53
Remove unused code. ( #522 )
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Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
b383f18365
Fix crash in localization. ( #523 )
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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
4437d89dd5
Fix crashing bug during pure localization. ( #521 )
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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
23bf0fc0d4
Fix unsigned comparison warning in 2D SPG test. ( #518 )
2017-09-12 11:25:51 +02:00
24c2b499dd
Introduce TrajectoryConnectivityState. ( #513 )
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* 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
84da6d75bc
Also use vector<map<>> for node data in 3D. ( #516 )
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This reduces the difference between 2D and 3D and moves
3D towards localization and trimming.
2017-09-11 13:46:49 +02:00
35aa38f73f
Also use vector<map<>> submaps in 3D. ( #512 )
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This reduces the difference between 2D and 3D and moves
3D towards localization and trimming.
2017-09-08 15:54:28 +02:00
1a367f0549
Rename TrajectoryConnectivity ConnectedComponents. ( #510 )
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* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
c65f7a97b6
Remove connected_components_ from SPG. ( #509 )
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* 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
fa306d03ec
Remove reverse_connected_components. ( #507 )
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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
476d156f66
Serialize trajectory node data. ( #504 )
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Related to #253 .
2017-09-07 15:29:12 +02:00
a5dafcfde3
Update trajectory connection in WhenDone callback. ( #506 )
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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
333516d955
Rename the scan queue. ( #505 )
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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
22f41d8e37
Store rotational histogram as part of the node data. ( #503 )
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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
c2d9424342
Add Unittest for transform::RigidX. ( #497 )
2017-09-06 12:06:33 +02:00
4829ffee46
Allow rotating histograms in the rotational scan matcher. ( #501 )
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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
18d8ea75fa
Use vector<map<>> for node_data. ( #472 )
2017-09-04 18:01:44 +02:00
c8de50bd2b
Add 'gravity_alignment' rotation to each node. ( #500 )
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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
3948943b64
Use EstimateGravityOrientation() in 2D SLAM. ( #499 )
2017-09-04 11:14:51 +02:00
e3b6f0afc5
Expose complete poses in 2D SLAM. ( #498 )
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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
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +02:00
d3c49c8585
Pass odometry data to the 3D optimization problem. ( #495 )
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Not yet used.
2017-09-01 09:58:24 +02:00
72bb24e362
Pass initial pose of nodes to the 3D optimization problem. ( #496 )
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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
982f2bd2e0
Use TrajectoryNode::Data in FastCorrelativeMatcher. ( #493 )
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* Use TrajectoryNode::Data in FastCorrelativeMatcher.
2017-08-31 15:10:48 +02:00
Wolfgang Hess
Christoph Schütte
Juraj Oršulić
Holger Rapp
Jihoon Lee
jie
gaschler