Commit Graph

21 Commits (9194c8679b05c402b7378e21cc5db408f3d88b3a)

Author SHA1 Message Date
Yutaka Takaoka 522b37979a Enable multiple configuration for multi-trajectory (#248) 2017-05-08 11:58:53 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259)
Related to #250.
2017-05-04 15:38:41 +02:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. (#224)
LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
Wolfgang Hess b2175f0d93 Remove covariance from the 3D Ceres scan matcher. (#200)
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
Wolfgang Hess 71c951b370 Remove the 'log_residual_histograms' option. (#166)
This option only existed in 2D. Also other refactoring to make the 2D
sparse pose graph optimization more similar to 3D.
2016-12-19 17:57:12 +01:00
Wolfgang Hess 5af133c0dd Improve the sparse pose graph optimization. (#165)
Removes the loss function for intra-submap constraints in 3D SLAM,
as it is already done in 2D. Also removes a duplicate call to the
solver in 2D, and code cleanup.
2016-12-19 17:02:05 +01:00
Wolfgang Hess 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
Damon Kohler a39bbff70c Removes odometer covariance from public API. (#137) 2016-11-21 12:34:52 +01:00
Damon Kohler 8cd3178c69 Moves 2D laser options into 2D trajectory builder. (#114) 2016-11-15 13:24:58 +01:00
Wolfgang Hess 3e64a803a4 Consistently name weight parameter. (#116)
All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
Damon Kohler b94880c56e Improves parameter names. (#111) 2016-10-28 13:26:13 +02:00
Wolfgang Hess 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
Wolfgang Hess 8238ad8bc3 Do not accumulate scans by default for 3D SLAM. (#30) 2016-10-04 14:59:09 +02:00
Wolfgang Hess d2962c004f Remove the 'also_match_to_new_submaps' option. (#29)
Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
Wolfgang Hess e526a7022f Remove covariance computation from branch-and-bound. (#27)
These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
2016-09-23 14:27:19 +02:00
Wolfgang Hess 14355a91a1 Remove dead code. (#26) 2016-09-22 17:53:32 +02:00
Wolfgang Hess 0796d50b00 Removes max_covariance_trace option. (#25)
This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
2016-09-22 11:35:47 +02:00
Damon Kohler 83a29df102 Renames expect_imu to use_imu. (#24) 2016-09-08 16:36:05 +02:00
Damon Kohler fc166fdefa Adds MapBuilder and cleans up some configurations. (#23) 2016-09-08 16:21:25 +02:00
Wolfgang Hess 54a7faf294 Optimize only once per submap in 2D. (#22)
The setting was unintentionally set to optimize twice per submap which
harms parallelism.
2016-09-08 14:36:33 +02:00
Damon Kohler 269c28cb0c Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00