7c03467a78
Change GetTrajectoryNodes() to MapById. ( #603 )
2017-10-19 14:50:58 +02:00
e479382ecc
Change GetAllSubmapData() to MapById. ( #597 )
2017-10-17 16:03:16 +02:00
e5f9815f67
Change submap_data_ in pose graph to MapById. ( #593 )
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* Change submap_data_ in pose graph to MapById.
2017-10-17 13:13:37 +02:00
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +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
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
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
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This is related to #283 . First to be implemented for
pure localization and 2D SLAM.
PAIR=SirVer
2017-06-06 17:07:30 +02:00
565e9c3eff
Simplify the handling of weights in the optimization problem. ( #309 )
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This replaces the 3x3 (2D) or 6x6 (3D) matrix by the weights
for the translational and rotational component. The matrices
only contain these values now anyway, so this simplifies
the code and increases performance.
Also removes 2D from the UKF implementation which has not been
used for quite some time now.
2017-06-01 17:03:49 +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
5aa968748e
Sparse pose graph no longer uses Submaps* for trajectory identification. ( #290 )
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Related to #256 .
PAIR=wohe
2017-05-16 14:24:49 +02:00
8612f5e6e5
ConstantData now has a trajectory_id. ( #289 )
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Related to #256 .
PAIR=wohe
2017-05-16 11:42:18 +02:00
5effc4dac7
Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). ( #288 )
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Related to #256 .
Also removes ComputeMapLimits with is moved to Cartographer ROS.
PAIR=SirVer
2017-05-16 10:51:08 +02:00
f26e4366c9
Make SparsePoseGraph::constraints() public. ( #284 )
2017-05-15 16:06:20 +02:00
fde9272533
Adds mapping:NodeId for Constraint. ( #279 )
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Also extracted mapping::SubmapId into an id.h file.
Related to #256 .
PAIR=SirVer
2017-05-11 17:17:12 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
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Related to #256 .
2017-05-11 13:36:12 +02:00
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
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Related to #256 .
2017-05-11 11:43:47 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
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Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
45de59b116
Move trajectory id mapping into the SparsePoseGraph. ( #270 )
2017-05-10 08:23:57 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
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PAIR=wohe
2017-05-09 15:21:30 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
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Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
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This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
4917dd65ce
Add serialization of the sparse pose graph. ( #97 )
2016-10-25 16:56:26 +02:00
6e56578394
Rename to local/global map frame. ( #2 )
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Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
2016-08-10 12:09:52 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Christoph Schütte
Wolfgang Hess
Juraj Oršulić
Holger Rapp
Jihoon Lee
Mac Mason
Wolfgang Hess
Damon Kohler