31b5a6f1a9
Allow multiple SubmapTextures. ( #519 )
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This changes submap_visualization.proto that multiple textures can be provided.
As of now, the first texture is generated from the high resolution
grid, which is the same as before.
The second texture is generated from the low resolution grid.
2017-09-13 15:47:02 +02:00
5ade042520
Fix crash in localization. ( #526 )
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Updating the connectivity needs the data of nodes for which
constraints were added, so we postpone trimming to after the
connectivity update.
Also makes sure the mutex is held as necessary.
2017-09-13 14:08:32 +02:00
57d53b6d53
Remove unused code. ( #522 )
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Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
b383f18365
Fix crash in localization. ( #523 )
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This PR fixes a crash when cartographer is run in localization mode due
to the map trajectory not having been properly added to the
ConnectedComponents.
2017-09-12 17:04:13 +02:00
4437d89dd5
Fix crashing bug during pure localization. ( #521 )
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When loading a serialized state, no nodes are added for each
submap. This leads to crashes when loop closures are found.
2017-09-12 15:36:22 +02:00
23bf0fc0d4
Fix unsigned comparison warning in 2D SPG test. ( #518 )
2017-09-12 11:25:51 +02:00
24c2b499dd
Introduce TrajectoryConnectivityState. ( #513 )
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* Introduce TrajectoryConnectivityState.
This class will be used to track the connectivity state (including the
last connection time) between pairs of trajectories.
2017-09-11 14:43:55 +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
1a367f0549
Rename TrajectoryConnectivity ConnectedComponents. ( #510 )
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* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
c65f7a97b6
Remove connected_components_ from SPG. ( #509 )
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* Remove connected_components_ from SPG.
This PR removes connected_components_ from the SparsePoseGraph. Since
the connectivity structure is no longer updated by the
ConstraintBuilders it is no longer necessary for SPG to keep a copy of
the connected components for data consistency.
2017-09-07 16:35:49 +02:00
fa306d03ec
Remove reverse_connected_components. ( #507 )
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Remove reverse_connected_components from SparsePoseGraphs and update
TrajectoryConnectivity to return "connected" for the reflexive case even
if trajectories are unknown.
2017-09-07 15:58:30 +02:00
476d156f66
Serialize trajectory node data. ( #504 )
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Related to #253 .
2017-09-07 15:29:12 +02:00
a5dafcfde3
Update trajectory connection in WhenDone callback. ( #506 )
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This modifies the ConstraintBuilder interface so that Maybe*Constraint
is not responsible anymore for updating the TrajectoryConnectivity
member of SparsePoseGraph and moves this responsibility into the
WhenDone callback.
2017-09-07 14:51:19 +02:00
333516d955
Rename the scan queue. ( #505 )
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This queue does not only contain scans, but also other sensor data,
e.g. from an IMU.
2017-09-07 14:04:00 +02:00
22f41d8e37
Store rotational histogram as part of the node data. ( #503 )
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The compressed point cloud is no longer stored as part of the
node data to reduce memory consumption.
2017-09-07 11:01:03 +02:00
c2d9424342
Add Unittest for transform::RigidX. ( #497 )
2017-09-06 12:06:33 +02:00
4829ffee46
Allow rotating histograms in the rotational scan matcher. ( #501 )
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This allows reusing histograms to match for different yaws.
Adds a unit test to test that rotated histograms match as expected.
2017-09-06 10:59:16 +02:00
18d8ea75fa
Use vector<map<>> for node_data. ( #472 )
2017-09-04 18:01:44 +02:00
c8de50bd2b
Add 'gravity_alignment' rotation to each node. ( #500 )
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In 2D this replaces the 'tracking_to_tracking_2d' transform.
Also changes the 2D SparsePoseGraph to get the full 3D pose.
2017-09-04 16:24:26 +02:00
3948943b64
Use EstimateGravityOrientation() in 2D SLAM. ( #499 )
2017-09-04 11:14:51 +02:00
e3b6f0afc5
Expose complete poses in 2D SLAM. ( #498 )
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This changes the trajectory nodes to contain the complete 'pose'
including 'tracking_to_tracking_2d' applied already. Similar for
the 'zbar_ij' as it is returned by 'constraints()'. This allows
2D and 3D to be handled in the same way.
2017-09-01 15:40:21 +02:00
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +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
982f2bd2e0
Use TrajectoryNode::Data in FastCorrelativeMatcher. ( #493 )
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* Use TrajectoryNode::Data in FastCorrelativeMatcher.
2017-08-31 15:10:48 +02:00
e2c67a7bde
Fix Lint and ClangTidy warnings. ( #485 )
2017-08-31 13:39:47 +02:00
3215035c1c
Add thread annotation to LogResidualHistograms(). ( #492 )
2017-08-31 12:26:31 +02:00
b54ca0cca6
Fix Rigid2 and Rigid3 to default to an identity transform. ( #491 )
2017-08-31 11:32:04 +02:00
06e9112bc8
Unify GlobalTrajectoryBuilder across 2D and 3D ( #489 )
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This PR unifies GlobalTrajectoryBuilder across 2D and 3D by templating
it with the LocalTrajectoryBuilder and the SparsePoseGraph. It thus
includes small changes to interfaces in LocalTrajectoryBuilder and
SparsePoseGraph.
2017-08-30 16:34:26 +02:00
3c22c8253a
Refactoring: Do not pass 'constant_data' in pieces. ( #488 )
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Also removes the no longer used range data from trajectory nodes
in 2D.
2017-08-30 14:22:12 +02:00
094b5a4d93
Template dispatching of sensor data. ( #484 )
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This reduces the amount of code that needs to be written when a
new type of sensor data is introduced by a tiny bit.
Rangefinder data is not yet following this pattern.
2017-08-28 15:43:26 +02:00
a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
42d8a8f005
Add filtered point clouds to TrajectoryNode::Data for 3D. ( #482 )
2017-08-25 16:56:50 +02:00
0837d4b228
Add fixed frame pose constraints to 3D problem. ( #480 )
2017-08-25 15:26:19 +02:00
449799719f
Extract rotation parameterization to a separate file. ( #479 )
2017-08-25 12:06:22 +02:00
96b71e227f
Add histograms for pose residuals ( #478 )
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* WIP Add histograms for pose residuals
* Address reviewers comments
* Address more comments.
2017-08-25 11:39:56 +02:00
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
14977f73f1
Add fixed frame pose data to the 3D optimization problem. ( #476 )
2017-08-24 15:02:23 +02:00
a239b71a6e
Dynamic dispatch of sensor::Data. ( #475 )
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This ensures at compile time that all types of data are handled,
and only keeps the data needed for each individual type.
2017-08-24 14:17:51 +02:00
0671e8835e
Add interface to process fixed frame pose, e.g. GPS. ( #471 )
2017-08-24 12:49:03 +02:00
e78e2cb5ad
Extract PoseEstimate into its own file. ( #474 )
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This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
2017-08-24 12:04:39 +02:00
f0e1dab031
Add a histogram of low resolution scores for 3D. ( #473 )
2017-08-24 09:28:12 +02:00
4d11a226ff
Expose low resolution matching scores. ( #470 )
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This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
2dd2d6f448
Use vector<map<>> instead of vector<deque> for submap_data. ( #422 )
2017-08-23 12:16:42 +02:00
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
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Related to #369 .
2017-08-22 17:29:20 +02:00
297e9cc02d
Remove unused argument. ( #466 )
2017-08-22 12:22:41 +02:00
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
edfd6ac8d7
Also log the IMU correction as a quaternion. ( #463 )
2017-08-21 17:26:48 +02:00
0ef372d584
Use odometry in 2D pose graph optimization. ( #456 )
2017-08-21 15:12:00 +02:00
gaschler
Wolfgang Hess
Christoph Schütte
Juraj Oršulić
Jihoon Lee
jie
Mac Mason
Damon Kohler
Moritz Münst