1bce14b7b5
Adds accumulation of range data to 2D. ( #408 )
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This mostly follows the implementation as done for 3D.
Towards googlecartographer/cartographer_ros#212 .
2017-07-18 12:10:40 +02:00
3ef680e791
Remove extraneous include ( #407 )
2017-07-18 09:01:12 +02:00
e345ae8280
Support compiling with CMAKE_BUILD_TYPE set to None ( #405 )
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Debian defaults to setting CMAKE_BUILD_TYPE to None and setting CFLAGS
and alike to Debian standards.
2017-07-17 10:34:14 +02:00
10a19d0a3f
Add rotational score histograms in 3D. ( #403 )
2017-07-11 11:59:42 +02:00
167047173c
Tiny improvement of HybridGrid::ToProto(). ( #401 )
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Makes it a member function and adds a check for left over
update markers.
2017-07-11 09:26:07 +02:00
0da3fad9b0
Improve handling of grid updates. ( #400 )
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Changes the grids to only contain update markers during updates.
Serialized grids will never contain them.
2017-07-10 16:14:50 +02:00
b0b4f30007
Cleanup of cell index conversion in 2D. ( #399 )
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This makes 2D more similar to 3D. GetProbability() only takes
cell indices which are computed using GetCellIndex().
2017-07-10 15:01:13 +02:00
39cb8401a5
Implements a ProbabilityGridPointsProcessor ( #383 )
2017-07-10 11:02:14 +02:00
78bd37ec26
Unify 2D/3D range data in trajectory nodes. ( #396 )
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Since we only convert compressed range data to protos, we remove the
unused code to serialize (non-compressed) range data which should also
not be used in the future.
2017-07-07 17:07:04 +02:00
5378ee2adc
Serialize range data. ( #395 )
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We compress 2D range data before serialization to reduce
output size.
Related to #253 .
2017-07-07 15:39:55 +02:00
94a848cd46
Rename ScanId to NodeId in the serialization. ( #394 )
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This is consistent with the naming in the C++ structs.
2017-07-07 13:58:23 +02:00
00e3d33e43
Add slides from yesterday and next date. ( #393 )
2017-07-07 13:28:22 +02:00
f7af7ae238
Add serialization of compressed range data. ( #334 )
2017-07-07 12:26:36 +02:00
75d5b7a453
Check imu_data array size before access ( #392 )
2017-07-06 14:32:45 +02:00
3f4d795c3e
Add pure localization parameter to trajectory builder options. ( #389 )
2017-07-05 16:55:06 +02:00
9042450aaf
Fix initial pose of loaded submaps. ( #391 )
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PAIR=SirVer
2017-07-05 16:24:02 +02:00
3819dd3806
Use an Eigen::AlignedBox to track known cells. ( #388 )
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PAIR=SirVer
2017-07-05 15:05:46 +02:00
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
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This removes the 'half_length' option.
PAIR=wohe
2017-07-05 14:17:04 +02:00
a313448bf0
Change CastRays to directly take the ProbabilityGrid. ( #386 )
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PAIR=wohe
2017-07-05 13:39:44 +02:00
611f244d7a
Remove HybridGrid slicing into a ProbabilityGrid. ( #385 )
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This code is currently unused. The feature of slicing a HybridGrid into a Probability grid could be useful to for example collect a map in 3D, then slice the 3D data to create a 2D map. There are simpler ways to implement this, especially in the context of the assets_writer_main.
PAIR=wohe
2017-07-05 13:17:20 +02:00
1e6723e214
Move ImuData to sensor, add ImuData proto. ( #381 )
2017-07-05 12:28:40 +02:00
9b48ba5ff4
Remove unused code. ( #384 )
2017-07-05 12:16:29 +02:00
7434e96369
First rough implementation of loading a map. ( #382 )
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This implements loading of serialized maps in 2D:
We insert all submaps at the serialized optimized pose into
the pose graph and remove their poses from the optimization.
Related to #197 and #315 .
2017-07-04 17:20:13 +02:00
31f77a01d2
Serialize submaps. ( #380 )
2017-07-04 12:11:54 +02:00
5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
03b9285034
Add support for serializing to a proto stream. ( #379 )
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Also changes the ground truth tools to read from such a file.
This resolves #335 . Related to #253 .
2017-07-03 15:23:15 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
17a22edebc
Change local 3D SLAM to not use a UKF. ( #375 )
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This follows the 2D local SLAM in implementing a simple
constant velocity model and allows integrating odometry and
rotation information from an IMU.
2017-06-30 11:49:22 +02:00
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
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Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +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
19da0ab7c8
Gravity align in local 3D SLAM. ( #373 )
2017-06-28 16:17:18 +02:00
ffc939706d
Rename the KalmanLocalTrajectoryBuilder. ( #372 )
2017-06-28 15:32:43 +02:00
e4e22e9f26
Remove the LocalTrajectoryBuilderInterface in 3D. ( #371 )
2017-06-28 14:57:37 +02:00
471bcb6207
Delete SubmapData from trimmed submaps in the OptimizationProblem. ( #366 )
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Related to #283 .
2017-06-28 12:51:09 +02:00
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
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It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
010fefc204
Fixes the previous pose in local 3D SLAM. ( #367 )
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This bug was introduced in #294 .
PAIR=damonkohler
2017-06-27 11:53:57 +02:00
d8eb94b4a9
Delete NodeData and ImuData from trimmed submaps in the OptimizationProblem ( #364 )
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Related to #283 .
PAIR=wohe
2017-06-26 16:38:08 +02:00
4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
7f4f78e451
Fix README formatting. ( #359 )
2017-06-23 15:48:44 +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
10318d920e
Add slides from yesterday and next date. ( #357 )
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Closes #356 .
2017-06-23 13:58:43 +02:00
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
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Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
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This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
0c7b3ee596
Mitigate googlecartographer/cartographer_ros#385 ( #351 )
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Move set_and_check before finding Ceres, because on Ubuntu Zesty,
during finding Ceres, PACKAGE_PREFIX_DIR is overwritten by Eigen.
2017-06-21 15:06:51 +02:00
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
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- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Remove num_submaps().
2017-06-21 14:21:23 +02:00
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
0fbdf6d0ec
Add ground truth proto support for trajectory evaluation. ( #349 )
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This adds support of GroundTruth protos in addition to
text files.
Fixes the ground truth generation code to skip outliers.
Improves the ground truth generation to use expected
relative poses instead of the solution.
Writes constraints including the roll and pitch from the
node for 2D SLAM, so that constraints correctly capture
the expected transform between the 3D poses of scan and
submap in 2D SLAM.
Related to #239 .
Related to #310 .
2017-06-21 11:33:30 +02:00
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
Wolfgang Hess
Mac Mason
Jochen Sprickerhof
damienrg
Holger Rapp
Brandon D. Northcutt
Jihoon Lee
Moritz Münst
Damon Kohler
Juraj Oršulić