4a8607810e
Change odometry_data_ to MapByTime. ( #655 )
2017-11-13 13:21:53 +01:00
418819a9ef
Use 'global_pose' terminology for submaps. ( #645 )
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Use 'global_pose' terminology for submaps.
This follows #624 .
2017-11-09 16:40:21 +01:00
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
77fb50fd76
Introduce sensor::MapByTime<>. ( #631 )
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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
82a4b2f171
Follow #591 terminology in 3D optimization. ( #612 )
2017-10-27 15:48:51 +02:00
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
d91afa4496
Introduces mapping::MapById for nodes in 3D. ( #587 )
2017-10-16 13:37:28 +02:00
7e0cfc3f22
Introduces mapping::MapById for submaps in 3D. ( #584 )
2017-10-16 10:48:43 +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
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
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
14977f73f1
Add fixed frame pose data to the 3D optimization problem. ( #476 )
2017-08-24 15:02:23 +02:00
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
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
1e6723e214
Move ImuData to sensor, add ImuData proto. ( #381 )
2017-07-05 12:28:40 +02:00
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
7d43eaa08c
Keep node data per trajectory in the optimization problem. ( #282 )
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Related to #256 .
PAIR=SirVer
2017-05-15 14:09:45 +02:00
660eb341ff
Optimization problem only deals with trajectory IDs now. ( #273 )
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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 )
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Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
524b613f2c
`submap_pose`s are now owned by the OptimizationProblem. ( #269 )
2017-05-09 17:24:48 +02:00
5af133c0dd
Improve the sparse pose graph optimization. ( #165 )
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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 )
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This is in preparation of using the 3D sparse pose graph
optimization for 2D SLAM.
2016-12-14 15:32:23 +01:00
51a0ec06a1
Add support for multi-trajectory to 3D SLAM. ( #146 )
2016-11-28 12:52:45 +01:00
1de387cba9
Improvement of 2D/3D consistency and cleanup. ( #122 )
2016-11-11 14:33:06 +01:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
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This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
651a7a23e7
Rename trajectory and submap visualization protos. ( #101 )
2016-10-26 08:45:52 +02:00
4d361abe41
Extract SpaCostFunctions into their own files. ( #71 )
2016-10-17 16:14:24 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Wolfgang Hess
Juraj Oršulić
Christoph Schütte
jie
Jihoon Lee
Holger Rapp
Damon Kohler