92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
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This follows #307 .
2017-06-01 15:04:07 +02:00
a2e52f81cf
Remove 2D scan matcher covariances. ( #307 )
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This replaces the scaled covariances derived from the Ceres
scan matcher by directly configurable weights. Using covariances
did not provide the expected benefit, and replacing the scaling
matrix by two values will allow a faster evaluation of the cost
function in the future.
2017-05-31 11:56:32 +02:00
522b37979a
Enable multiple configuration for multi-trajectory ( #248 )
2017-05-08 11:58:53 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
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Related to #250 .
2017-05-04 15:38:41 +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
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
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Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
71c951b370
Remove the 'log_residual_histograms' option. ( #166 )
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This option only existed in 2D. Also other refactoring to make the 2D
sparse pose graph optimization more similar to 3D.
2016-12-19 17:57:12 +01:00
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
574a56bbbc
Remove the UKF from local 2D SLAM. ( #140 )
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Changes default configuration to log loop closure matches.
2016-11-23 12:37:55 +01:00
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
8cd3178c69
Moves 2D laser options into 2D trajectory builder. ( #114 )
2016-11-15 13:24:58 +01:00
3e64a803a4
Consistently name weight parameter. ( #116 )
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All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
b94880c56e
Improves parameter names. ( #111 )
2016-10-28 13:26:13 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
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And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
8238ad8bc3
Do not accumulate scans by default for 3D SLAM. ( #30 )
2016-10-04 14:59:09 +02:00
d2962c004f
Remove the 'also_match_to_new_submaps' option. ( #29 )
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Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
e526a7022f
Remove covariance computation from branch-and-bound. ( #27 )
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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
14355a91a1
Remove dead code. ( #26 )
2016-09-22 17:53:32 +02:00
0796d50b00
Removes max_covariance_trace option. ( #25 )
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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
83a29df102
Renames expect_imu to use_imu. ( #24 )
2016-09-08 16:36:05 +02:00
fc166fdefa
Adds MapBuilder and cleans up some configurations. ( #23 )
2016-09-08 16:21:25 +02:00
54a7faf294
Optimize only once per submap in 2D. ( #22 )
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The setting was unintentionally set to optimize twice per submap which
harms parallelism.
2016-09-08 14:36:33 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Wolfgang Hess
Yutaka Takaoka
Damon Kohler
Damon Kohler