978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
5a3bb14083
PoseExtrapolator::GetLastExtrapolatedTime ( #626 )
...
This prepares the API for #623 and #616 .
2017-11-03 11:56:31 +01:00
9be15466d3
Add slides and update next Open House date. ( #625 )
2017-11-03 11:26:55 +01:00
7964211fef
Deserialize SPG constraints ( #544 )
2017-11-02 22:01:01 +01:00
3c5a7aa2d8
Refactoring of LocalTrajectoryBuilder::AddAccumulatedRangeData ( #618 )
...
- introduce InsertIntoSubmap for 2D
- clarify some variable names in 3D
- move rotational_scan_matcher_histogram calculation
to InsertIntoSubmap for 3D
- refactor last version of range data before insertion into
range_data_in_local (filtered_range_data_in_local for 3D)
2017-11-02 16:01:23 +01:00
c57641f917
Make SPG::AddScan return the inserted node id. ( #617 )
2017-11-02 10:28:13 +01:00
e10650910e
Pull out time-based transformation interpolation. ( #615 )
2017-10-30 15:41:02 +01:00
c011177bfd
Fix the origin of accumulated range data. ( #613 )
...
This changes the origin of accumulated range data from the
zero vector (which could be far off) to the origin of the
first range data in the accumulation.
2017-10-30 11:32:06 +01:00
82a4b2f171
Follow #591 terminology in 3D optimization. ( #612 )
2017-10-27 15:48:51 +02:00
dacc962399
Adds lower_bound() to MapById. ( #610 )
2017-10-27 14:50:14 +02:00
d4db1e79a6
Add TimedPointCloud and TimedRangeData. ( #601 )
...
Adds a type TimedPointCloud that holds 4-dimensional vectors where measurement time of individual points are stored in the fourth entry.
Uses TimedRangeData to pass TimedPointCloud of incoming measurements to LocalTrajectoryBuilder.
Fixes #573 .
2017-10-24 11:47:35 +02:00
638aee7c2a
Fix slow point deletion in RemovePoints. ( #608 )
...
This speeds up the asset writer significantly:
For the 3D sample bag:
~~~
/usr/bin/time roslaunch cartographer_ros assets_writer_backpack_3d.launch \
bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag \
pose_graph_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream
master:
2100.96user 26.79system 35:43.60elapsed 99%CPU (0avgtext+0avgdata 3657028maxresident)k
17682632inputs+32080outputs (0major+20021051minor)pagefaults 0swaps
this CL:
1937.46user 11.77system 32:22.49elapsed 100%CPU (0avgtext+0avgdata 3659412maxresident)k
1352inputs+32088outputs (0major+7042032minor)pagefaults 0swaps
~~~
So ~10%. For pipelines that do less this can be even 30% or more.
2017-10-23 10:56:55 +02:00
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
0cd0148577
Update the high level overview and provide a link to a copyable Google Sketch. ( #607 )
2017-10-20 14:56:29 +02:00
a96511464e
Add map trajectory without a trajectory builder. ( #605 )
2017-10-19 16:59:04 +02:00
7c03467a78
Change GetTrajectoryNodes() to MapById. ( #603 )
2017-10-19 14:50:58 +02:00
49ead6055c
Towards a ROS map writing PointsProcessor. ( #598 )
...
- Refactor ProbabilityGridPointsProcessor for code reuse.
- Adds Image::width and height.
- Adds GetFilename for FileWriter.
Related to googlecartographer/cartographer_ros#475 .
2017-10-19 12:30:19 +02:00
0c9f2c4f65
Remove unused concept of CompressedRangeData. ( #604 )
2017-10-19 11:19:56 +02:00
e479382ecc
Change GetAllSubmapData() to MapById. ( #597 )
2017-10-17 16:03:16 +02:00
3d4650d675
Remove trimmed() from TrajectoryNode ( #596 )
2017-10-17 15:36:07 +02:00
e5f9815f67
Change submap_data_ in pose graph to MapById. ( #593 )
...
* Change submap_data_ in pose graph to MapById.
2017-10-17 13:13:37 +02:00
fdda1dd091
Switch trajectory_nodes in SPG2D to MapById. ( #592 )
2017-10-17 11:48:23 +02:00
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
...
Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
76ed37768f
Validate odometry and fixed frame poses. ( #588 )
2017-10-16 15:59:56 +02:00
6b447c4577
Add FindChecked to MapById. ( #586 )
...
* Add FindChecked to MapById.
2017-10-16 14:15:53 +02:00
d91afa4496
Introduces mapping::MapById for nodes in 3D. ( #587 )
2017-10-16 13:37:28 +02:00
5ed19c15ab
Introduce proxy object for iteration over trajectory ids. ( #585 )
...
* Introduce proxy object for iteration over trajecotry ids.
2017-10-16 12:52:53 +02:00
7e0cfc3f22
Introduces mapping::MapById for submaps in 3D. ( #584 )
2017-10-16 10:48:43 +02:00
006db45910
Introduce proxy object for range based loops over nodes of trajectory. ( #583 )
2017-10-13 16:44:31 +02:00
464d770d48
Introduces mapping::MapById for nodes in 2D. ( #581 )
...
PAIR=cschuet
2017-10-13 14:41:54 +02:00
2cca91d783
Add slides from yesterday and next date. ( #572 )
2017-10-13 13:55:04 +02:00
4ab4817104
Add MapById<>::ConstIterator::operator->(). ( #580 )
2017-10-12 16:15:12 +02:00
cb41777b9e
Introduces mapping::MapById in the 2D pose graph for submaps. ( #578 )
...
PAIR=cschuet
2017-10-12 11:58:59 +02:00
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
...
PAIR=cschuet
2017-10-09 17:33:12 +02:00
2434e7e40e
Fix crashing bug in localization. ( #575 )
...
Now that we deserialize trajectory nodes, we need to make sure
that the global matcher sampler is added for the map trajectory.
2017-10-06 17:01:04 +02:00
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +02:00
6708930bbf
Adds 'offset_seconds' to PointCloudWithIntensities. ( #571 )
...
This is preparing using per-point-unwarping in the `assets_writer` in `cartographer_ros`.
Related to googlecartographer/cartographer_ros#521 .
PAIR=@wohe
2017-10-06 13:21:02 +02:00
2862e12506
Add FrameIdFilteringPointsProcessor ( #566 )
...
* Add FrameIdFilteringPointsProcessor
Implements a PointProcessor that filters PointBatches (either by
whitelisting or blacklisting) the frame_id.
2017-10-05 17:33:51 +02:00
0053b30cc8
Add support for odometry to the 3D pose graph optimization. ( #570 )
...
Not used yet. Intended to experiment with the 3D pose graph optimization
in 2D SLAM.
2017-10-05 16:56:31 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
cae9c02e05
Follow #547 for 3D. ( #564 )
...
And changes to 3D following 2D regarding trimmed data.
2017-10-04 16:47:26 +02:00
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
aaaf5ac546
Rename serialization NodeData proto for consistency. ( #540 )
...
node_data should be a member of a node, not the other way around.
2017-10-04 14:13:18 +02:00
b1b0750e5b
Check ratios in fixed rate sampler. ( #502 )
2017-10-04 13:15:35 +02:00
9c81a01608
Add trajectory trimming support to 3d ( #559 )
...
* Adds DeleteScanMatcher() to 3D constraint builder
* Add possibility to remove submaps and scans from the 3D optimization
problem.
* Implements TrimmingHandle in SPA.
2017-10-02 17:01:14 +02:00
3c521eb573
Remove hooray. And prints remaining work items in queue ( #547 )
2017-09-29 01:04:28 -07:00
3744988fd2
Fix trajectory count check bug for asset writer floor separation. ( #542 )
2017-09-28 10:43:47 +02:00
7d0e72dac2
Fix some nits. ( #536 )
...
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
2017-09-28 09:21:07 +02:00
4fca78368d
Add Cartographer high level structure diagram to documentation ( #486 )
2017-09-28 08:27:27 +02:00
0cbc420b02
Fix odometry in the 2D pose graph optimization. ( #533 )
...
Before, the relative change in pose due to odometry in the
2D pose graph optimization problem was incorrectly done in
the tracking frame. Instead, the gravity aligned frame in
which the 2D poses are stored must be used.
Fixes #515 .
PAIR=cschuet
2017-09-15 14:11:37 +02:00
Wolfgang Hess
gaschler
Christoph Schütte
Juraj Oršulić
Holger Rapp
Damon Kohler
Jihoon Lee
jie