a2abe45542
Rename CompressedLaserFan to CompressedRangeData. ( #223 )
...
CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
2017-03-22 13:06:41 +01:00
c78f29fdac
Adds #include <array> in files that use std::array ( #222 )
2017-03-20 08:37:47 +01:00
97bb74157f
Remove redundant "virtual". ( #191 )
2017-01-26 13:37:02 +01:00
1c433e6f3a
Refactor the documentation update script. ( #179 )
2017-01-10 10:43:16 +01:00
628b9da6d2
Extract intensities for 2D lasers on conversion. ( #167 )
2016-12-20 16:20:00 +01:00
4e9c3d69b5
Build all our source files into a single library. ( #164 )
2016-12-20 11:24:08 +01:00
0937f4f515
Support fixing z during 3D sparse pose adjustment. ( #161 )
...
This is in preparation of using the 3D sparse pose graph
optimization for 2D SLAM.
2016-12-14 15:32:23 +01:00
db45c4ef78
Determine the trajectory that is blocking progress. ( #154 )
...
When processing offline data determining which trajectory needs more
data before processing can continue is surprisingly tricky. We thus
expose this information at the map builder to avoid duplicating this
logic.
2016-12-06 17:04:45 +01:00
ead4d03b16
Compute the common start time per trajectory. ( #153 )
...
In the multi-trajectory case, other trajectories should not influence which
data gets dropped. This is especially the case if all trajectories are
added before any of their data. In this case, data before the start of the
last trajectory was dropped.
2016-12-06 15:22:16 +01:00
f3526bd252
Move the OrderedMultiQueue implementation out of the header. ( #152 )
2016-12-06 14:09:44 +01:00
574a56bbbc
Remove the UKF from local 2D SLAM. ( #140 )
...
Changes default configuration to log loop closure matches.
2016-11-23 12:37:55 +01:00
015519cf23
Adds support for inverted LaserScan messages. ( #138 )
2016-11-21 17:28:50 +01:00
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
5136a3a81e
Removes LaserFan from public API. ( #136 )
2016-11-21 10:30:57 +01:00
c386bf050d
Renames Odometry to Odometer. ( #135 )
2016-11-21 08:27:19 +01:00
7dc3ab1e9e
Change dropping data before start to be idempotent. ( #133 )
...
We drop as much data from each queue as possible without changing the
start time that would be determined if we only saw the dispatched
data, i.e. we retain one piece of data not beyond the common start time.
This makes the process idempotent.
2016-11-18 12:49:33 +01:00
8f58efe79b
Formatting fixes. ( #130 )
2016-11-17 15:46:29 +01:00
c8f33ee853
Drop sensor data until progress can be made. ( #124 )
...
The sensor collator now finds a common starting time for all sensor
data. For example, this prevents us from processing arbitrarily many IMU
packets before our first scan match and makes it possible to auto pause
and resume a trajectory in the event of sensor data interruption.
2016-11-17 09:11:00 +01:00
a74319cf1a
Pulls out collator.cc. ( #123 )
2016-11-15 14:17:23 +01:00
8cd3178c69
Moves 2D laser options into 2D trajectory builder. ( #114 )
2016-11-15 13:24:58 +01:00
97d5cb2a8b
Remove unused Imu proto message. ( #121 )
2016-11-11 12:22:41 +01:00
32b5beb225
Move single caller function to call site. ( #113 )
2016-10-28 16:27:06 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
...
And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
a33bddd4cd
Removes unneccessary num_available_packets() API. ( #108 )
2016-10-27 13:06:49 +02:00
224b068fe9
CHECKs that all queues are finished on destruction. ( #106 )
2016-10-27 11:45:27 +02:00
15f9244577
Removes sensor packet period histogram. ( #104 )
2016-10-26 15:23:37 +02:00
4917dd65ce
Add serialization of the sparse pose graph. ( #97 )
2016-10-25 16:56:26 +02:00
05adba7c51
Improves sensor data queue logging. ( #93 )
2016-10-25 11:09:08 +02:00
3986ad5328
Moving a temporary prevents copy elision. ( #91 )
2016-10-20 19:11:29 +02:00
5b16f4bcb6
Simplify 3D visualization code. ( #88 )
...
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
4a9116a58e
PointsProcessor can now ask for another pass over the data. ( #69 )
...
* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
2016-10-19 13:11:13 +02:00
a7663f6c15
Pulls sensor ID out of sensor::Data. ( #77 )
2016-10-18 17:37:40 +02:00
fddb1e32a0
Moves time into sensor::Data. ( #76 )
2016-10-18 16:07:18 +02:00
653ce1706a
Detemplatize OrderedMultiQueue. ( #75 )
2016-10-18 15:09:29 +02:00
4d361abe41
Extract SpaCostFunctions into their own files. ( #71 )
2016-10-17 16:14:24 +02:00
f798805c4f
Removes templating on data type. ( #68 )
2016-10-17 14:47:48 +02:00
2eca021003
Moves SensorCollator into sensor package. ( #58 )
2016-10-17 10:18:17 +02:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
9020f71605
Remove LaserFan in favor of LaserFan3D. ( #62 )
...
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
cac501cdb1
Always use the 3D voxel filter. ( #61 )
2016-10-13 18:56:41 +02:00
9006fb6fb1
Show the unprojected point cloud in 2D SLAM. ( #59 )
...
We now project to 2D later in 2D SLAM, so that the roll and pitch
applied to the laser fan in visible in the visualization.
2016-10-13 17:16:32 +02:00
7d93ac3302
Simplify the conversion of LaserScan to LaserFan3D. ( #57 )
2016-10-13 15:09:36 +02:00
518850999f
Moves SensorData struct into Cartographer. ( #55 )
2016-10-13 14:17:28 +02:00
eeb17bf055
Adds google_binary to create installable binaries. ( #43 )
...
- Do not link in Ceres if gflags or glog is used, but still rely on ceres
to find those libraries for us.
- Update CMakeLists with new settings.
2016-10-11 15:18:59 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Wolfgang Hess
William Woodall
Holger Rapp
Damon Kohler
Damon Kohler