5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
ff37b0bb7d
Remove output_debug_images. ( #358 )
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This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +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 )
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Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
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PAIR=wohe
2017-06-19 15:24:06 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
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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
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
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PAIR=SirVer
2017-06-16 10:47:11 +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 )
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PAIR=wohe
2017-06-12 16:27:51 +02:00
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
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Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
56fc2a9a92
Fix 3D SLAM loop closure issues. ( #296 )
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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
690d1893a7
Remove unused code. ( #287 )
2017-05-15 16:57:02 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
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We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
4fa190d316
Rename LaserFan to RangeData. ( #224 )
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LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
5b16f4bcb6
Simplify 3D visualization code. ( #88 )
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Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
9020f71605
Remove LaserFan in favor of LaserFan3D. ( #62 )
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LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
817dc884d5
Clean up and simplify MapLimits. ( #12 )
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MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Brandon D. Northcutt
Holger Rapp
Wolfgang Hess
Wolfgang Hess
Damon Kohler