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757 Commits (926b8540f696c73c33e9bee69d22ee835a478b2f)

Author SHA1 Message Date
Juraj Oršulić ee530d2423 Purge some additional jets (#1000) 2018-03-16 19:12:56 +01:00
Alexander Belyaev 1f9c78a82b
Remove float-to-jet casts where possible. (#998) 2018-03-16 14:53:10 +01:00
Alexander Belyaev 06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. (#997) 
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-16 12:01:55 +01:00
gaschler 37a68cd7f4 LocalTrajectoryBuilder uses RangeDataCollator (#996) 
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
FIXES=#910
 2018-03-15 16:34:51 +01:00
gaschler 55065a2108 Mockable optimization (#994) 2018-03-15 14:13:59 +01:00
gaschler bd7d7202bf Filter RangeMeasurement (#995) 
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-15 12:31:08 +01:00
gaschler 067d01a364 Test PoseGraph3D (#990) 2018-03-15 11:44:47 +01:00
gaschler ed47f9d8f8 OptimizationProblemInterface (#991) 
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
 2018-03-15 11:12:26 +01:00
Alexander Belyaev e6c4ee4b8b Move interpolation of poses to 'cost_helpers'. (#992) 2018-03-15 10:33:02 +01:00
Alexander Belyaev 1e4d558ac4
Add landmarks to the state and deserialize them. (#988) 2018-03-14 21:36:15 +01:00
gaschler 36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. (#945) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-03-14 14:51:40 +01:00
Alexander Belyaev 0190e7cd99 Clean-up dependencies of map_builder and put getters to the header. (#989) 2018-03-14 13:33:44 +01:00
Alexander Belyaev c060a15670
Remove dead code: fast_global_localizer. (#987) 2018-03-13 16:23:27 +01:00
Alexander Belyaev 4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. (#986) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 15:18:05 +01:00
Wolfgang Hess c09b643d8d Synchronize correctly in FinishTrajectory(). (#980) 
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
 2018-03-13 14:10:51 +01:00
Alexander Belyaev 525f7afe7e
Move sensor-related stuff to internal/. (#985) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 13:36:45 +01:00
gaschler 1187480fe6 Introduce RangeDataCollator (#975) 
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-13 11:08:01 +01:00
Alexander Belyaev 976736051c
Move scan matchers to internal/. (#983) 2018-03-13 10:21:27 +01:00
Alexander Belyaev 70c7660348
Move even more stuff to internal/. (#982) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 17:46:31 +01:00
Alexander Belyaev bfbf29dcd6
Move mapping/pose_graph/ to internal/. (#979) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 14:00:18 +01:00
Alexander Belyaev 418e0964bf
Move pose_graph_*d related files to internal/. (#976) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 12:42:52 +01:00
Juraj Oršulić 091a4f852d Update descriptions in pose_graph.h (#977) 
Remove "frozen", since deserialized trajectories can be unfrozen since #891.
 2018-03-10 23:50:31 +01:00
Alexander Belyaev 2fe1867221
Fix writing the pbstream via gRPC. (#973) 2018-03-09 16:26:03 +01:00
Alexander Belyaev daa35d3bc8
Move in_memory_proto_stream.* to internal. (#969) 
Internal Headers RFC
 2018-03-09 15:24:07 +01:00
Alexander Belyaev bb4ba8b319
Split local_slam_result_data.h into base and 2d/3d parts. (#967) 2018-03-08 15:17:31 +01:00
Alexander Belyaev b29986f297
Remove the pointers to the derived PoseGraph*D classes from map_builder. (#966) 2018-03-08 14:49:41 +01:00
Alexander Belyaev 20a980aade
Remove 'pose_graph_*d.h' from local_slam_result_data.h. (#965) 2018-03-08 13:09:43 +01:00
Alexander Belyaev 256b5a6ff0
Remove '2d/probability_grid.h' include from 'submaps.h'. (#964) 2018-03-08 11:56:42 +01:00
Kevin Daun 82a491181d Add IsTrajectoryFrozen to PoseGraph (#962) 
Adds IsTrajectoryFrozen to the PoseGraph interface
 2018-03-08 11:18:08 +01:00
Alexander Belyaev f34df22a24
Update header guards. (#959) 2018-03-05 14:55:51 +01:00
Alexander Belyaev cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. (#960) 2018-03-05 14:09:04 +01:00
Alexander Belyaev f76d8a8a0d
Move cartographer_grpc/ to cartographer/cloud. (#958) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-03-05 12:41:38 +01:00
gaschler a2219cb2fc
Correct comment (#948) 2018-03-02 10:25:23 +01:00
gaschler 0156e6b8ce Instrument metrics in local trajectory builders. (#946) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-28 16:32:40 +01:00
gaschler df1ee4bb29 Fix metric label. (#944) 
This makes metrics_test in debug mode happy.
 2018-02-28 14:46:26 +01:00
gaschler 363a337e67 Re-implement VoxelFilter with unordered_set (#938) 
Use hashing to filter voxels.
Handles arbitrary grid coordinates up to sizeof(int).

FIXES=#937
 2018-02-28 11:12:18 +01:00
Juraj Oršulić 32b8bd3581 Enable loading unfrozen state (#891) 
Enable loading unfrozen state
 2018-02-27 20:38:57 +01:00
Alexander Belyaev 29875117b3
Move internal/mapping to mapping/internal. (#941) 2018-02-27 16:25:53 +01:00
gaschler 63fd497e0f Document HybridGrid limits. (#939) 
Adds documentation to avoid issue #937.
 2018-02-27 15:28:35 +01:00
gaschler f606d4b91c Gracefully handle time-overlapping point clouds. (#936) 
Per-point relative times are usually computed by multiplying
a per-point time increment by the number of points.
So it is not uncommon for consecutive point clouds of a single
sensor to overlap in time.
When this happens, we act as if no backward jump in time happened
and warn once per input point cloud.

FIXES=#912
 2018-02-26 18:38:00 +01:00
Alexander Belyaev 3ebfa757ef
Move mapping_*d to mapping/*d. (#935) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 17:40:29 +01:00
Alexander Belyaev e75e023ce2
Purge 'mapping_3d::'. (#927) (#928) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 14:26:41 +01:00
danielsievers 258aa715ba Move GetTrajectoryData() down to PoseGraphInterface (#932) 2018-02-26 12:45:53 +01:00
Michael Grupp 90994464a5 Check ifstream::good() in proto_stream.cc (#929) 
Check for basic stream errors before doing more involved read actions.
The log message in this case is also more descriptive than
`Check failed: reader->ReadProto(&pose_graph)`.
 2018-02-22 16:21:15 +01:00
Alexander Belyaev 94fce13f62
Purge 'mapping_2d::'. (#927) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 19:44:53 +01:00
gaschler 30114e364a Instrument metrics in constraint builders. (#921) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-21 17:31:11 +01:00
gaschler 2711f4492f Test PoseExtrapolator (#926) 2018-02-21 16:43:58 +01:00
Alexander Belyaev 7d13383dec
Remove 'mapping_3d' namespace. (#922) (#925) 
Remove 'mapping_3d' namespace. (#922)

It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_3d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 14:24:12 +01:00
Alexander Belyaev f8dc89d8ff
Remove 'mapping_2d' namespace. (#922) 
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 12:41:14 +01:00
Alexander Belyaev 96d5e2819c
Move implementation of ProbabilityGrid to .cc file. (#924) 2018-02-21 09:55:40 +01:00
gaschler ab05459f1c Move GlobalTrajectoryBuilder to cc file (#923) 
* Move GlobalTrajectoryBuilder to cc file.

This allows to instrument file-level static metrics.
Also, it is a cleaner interface.

* two create functions

* drop superfluous typename
 2018-02-21 08:53:09 +01:00
Alexander Belyaev a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. (#918) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-20 15:28:21 +01:00
Alexander Belyaev 43544f0fbc
Rename mapping_2d::PoseGraph to mapping::PoseGraph2D. (#917) 
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-19 20:01:29 +01:00
danielsievers c38bb60407 (De)serialize trajectory data from the optimization problem (#915) 
* Write/Read the trajectory data (gravity, imu calibration, and fixed frame origin) into the serialized state proto
 2018-02-19 16:30:32 +01:00
gaschler 64bc194609 Introduce interfaces for metrics (#907) 
Adds interfaces for metrics and metrics families.
Adds creation of null (noop) metrics.
Declares global register function.

RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 14:02:54 +01:00
Juraj Oršulić fb631ac9e6 Landmark improvements (#901) 2018-02-14 15:39:43 +01:00
gaschler cf01184114 Fix leak in LandmarkCostFunctionTest. (#902) 2018-02-14 12:38:01 +01:00
gaschler 9793542957 Add 3D global SLAM grpc test. (#904) 2018-02-14 12:04:52 +01:00
gaschler 244cf615f5 Make clang compile without warnings. (#903) 
Rule out accidental usage of integer-only ::abs.
Correct static, override and protected annotations.
 2018-02-14 11:06:46 +01:00
gaschler b2581b0d58 Make comparison operator const. (#898) 2018-02-13 13:03:26 +01:00
gaschler 7448f93b50 Avoid auto for Eigen expressions. (#899) 
While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
 2018-02-13 12:34:43 +01:00
Alexander Belyaev ac79f0c034
Save landmark poses after optimization run. (#896) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-12 13:15:16 +01:00
Alexander Belyaev b72bbb20c3
Fix the size of residuals, add test for jacobians. (#895) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-09 13:13:17 +01:00
Alexander Belyaev 95dbcfdf9e Serialize landmarks. (#889) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-07 10:47:39 +01:00
Alexander Belyaev 58bc1ced68
Implement GetLandmarkPoses method. (#888) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-06 18:13:31 +01:00
Alexander Belyaev 28993a8963
Use landmarks in optimization (both 2D & 3D). (#884) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-05 13:23:00 +01:00
Juraj Oršulić 9bebeea742 Serialize and deserialize trajectory builder options (#859) 2018-02-05 09:45:43 +01:00
Holger Rapp c212bbb698 Hand through intensities into the generated PLY - if they exist. (#885) 2018-02-02 18:29:18 +01:00
gaschler 9eaf960936 Configure remaining tests in bazel (#879) 2018-02-01 21:58:59 +01:00
Alexander Belyaev eed51b8bb6 Cleaning up dependencies for constraint builder & optimization problem. (#877) 2018-02-01 20:59:22 +01:00
Alexander Belyaev 8ea46857ac
Move cerec_pose.* to mapping/pose_graph. (#874) 2018-02-01 15:16:50 +01:00
Alexander Belyaev d195c77ebc
Add a 2D landmark cost function. (#868) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-01 13:39:24 +01:00
Christoph Schütte 60e9fa59fe
Implement AddImuDataHandlerTest (#872) 
This PR introduces first gRPC handler test that takes advantage of new RpcHandlerTestServer.
 2018-02-01 13:05:08 +01:00
Alexander Belyaev e735203a05
Extend MapById::lower_bound() to support structs with 'time' field. (#871) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-01 11:58:13 +01:00
Alexander Belyaev ab890a8e15
Move 3D landmark cost function to mapping_3d/. (#870) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 18:40:10 +01:00
Alexander Belyaev 0440761474
Move slerp and scaling of error to 'cost_helpers'. (#864) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 17:06:49 +01:00
Rodrigo Queiro ad4dc3c4d3 Bazel: build with -Wno-sign-compare (#863) 
This avoids warnings for code like:

```
  CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
```
 2018-01-31 15:19:36 +01:00
Alexander Belyaev 708e7fc57d
Add a 'cost_helpers' library. (#862) 
* Add a 'cost_helpers' library.

* Change naming and add comments.
 2018-01-30 22:12:25 +01:00
Alexander Belyaev 93568641f9
Implement LandmarkCostFunction 3D. (#860) 2018-01-30 15:18:13 +01:00
Alexander Belyaev 8316444319
Store landmark observations as LandmarkNodes in PoseGraph. (#850) 2018-01-29 10:17:05 +01:00
gaschler dab69e0ca0 Struct SensorId (#839) 
* WIP, started unordered_set<SensorId>

* struct SensorId. Works for cartographer without grpc.

* correct test

* SensorId in cartographer_grpc/

* clean up

* try to fix for trusty

* SensorId::operator==

* Ran clang-format.
 2018-01-26 15:07:49 +01:00
Christoph Schütte edb18231b6 Add ProtoStreamWriterInterface and implement forwarding writer. (#849) 2018-01-25 15:27:50 +01:00
Alexander Belyaev 894bad397d
Rename Landmark->LandmarkObservation. (#847) 2018-01-25 12:10:30 +01:00
Alexander Belyaev aee1bc46dc
Introduce InMemoryProtoStreamReader. (#844) 
* Introduce InMemoryProtoStreamReader.

* Move inmemory*.* to in_memory*.*.
 2018-01-24 13:58:15 +01:00
Alexander Belyaev 43008d391d
Introduce a ProtoStreamReaderInterface. (#837) 
* Introduce a ProtoStreamReaderInterface.

* Remove the comments from interface def.
 2018-01-23 09:09:37 +01:00
Alexander Belyaev 986ac28ff8
Rename 'tranform' to 'landmark_to_tracking_transform'. (#836) 2018-01-22 18:30:14 +01:00
Alexander Belyaev 6d4649857a
Move implementation of ReadProto/WriteProto to .cc (#835) 2018-01-22 17:53:31 +01:00
Rodrigo Queiro 0c227097e7 Add a Bazel build for cartographer (#834) 
This does not include cartographer_grpc, nor any of the binaries
(*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with
the latest (at time of writing) dazel/dazel container, by running:

```
bazel build //...
bazel test //...
```

While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
 2018-01-22 16:47:07 +01:00
Alexander Belyaev 67850d25a0 Replace templates in io/proto_stream.h with upcasting. (#833) 2018-01-22 14:12:14 +01:00
Alexander Belyaev 746c9c83c8
Propagate LandmarksData to the PoseGraph. (#830) 
Propagate LandmarkData to the PoseGraph.
 2018-01-19 09:41:24 +01:00
gaschler de5937856d Collate_by_trajectory option (#828) 
Adds an option to create a MapBuilder using TrajectoryCollator
(instead of Collator).

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-17 21:15:15 +01:00
gaschler d92040d0e6 Test Collator for multiple trajectories (#829) 2018-01-17 20:43:20 +01:00
gaschler 70e378b7c5 TrajectoryCollator (#827) 
Introduces TrajectorCollator, which collates sensor data ignoring
other trajectories.
Tests the same.

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-17 17:48:20 +01:00
Wolfgang Hess ffdbf1c161 Fix debug output for 3D loop closure error. (#826) 
PAIR=spielawa
 2018-01-17 13:09:48 +01:00
gaschler f64eef876a Optional GetBlockingTrajectoryId (#820) 
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-16 16:21:22 +01:00
Alexander Belyaev 53c2a6b58f
Move 'finished' getter to the base class. (#803) 
* Move 'finished' getter to the base class.

* Ran clang-format.

* Ran clang-format.
 2018-01-16 14:20:33 +01:00
Christoph Schütte 31ec89614c Add parameter to Submap::ToProto() to determine whether to include loop (#821) 2018-01-16 11:23:29 +01:00
Christoph Schütte 3660408ae6 Forward declare unique_ptr<LocalSlamResultData> (#824) 2018-01-16 10:20:51 +01:00
gaschler 057bd8ce6a Public SpaCostFunction::Compute* (#814) 2018-01-12 21:46:47 +01:00
Wolfgang Hess 19ff047a79 Allow FixedRatioSampler to drop all data. (#817) 
This is useful to disable loop closure by setting
constraint_builder.sampling_ratio = 0.
 2018-01-12 18:54:41 +01:00
Christoph Schütte 1de696d45f Introduce PoseGraphInterface::ToProto() (#813) 2018-01-12 13:55:14 +01:00
Christoph Schütte fee77c8a99 Add LocalSlamResultData retrieval and submap management (#810) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2018-01-12 13:00:25 +01:00
gaschler 51ccee3e74 CollatorInterface (#808) 
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-11 16:02:03 +01:00
Christoph Schütte 8fc64fdbb5 Wrap HybridGrid in unique_ptr to make Submap updatable (#809) 2018-01-11 14:34:56 +01:00
Christoph Schütte e1a182d1fa Implement LocalSlamResult data adding to PoseGraph. (#804) 2018-01-11 10:19:37 +01:00
Christoph Schütte d313af8674
Add InsertionResult to LocalSlamResult. (#801) 2018-01-10 17:26:04 +01:00
Susanne Pielawa c7a8c5fda9 Keep fixed frame across optimizations. (#807) 
PAIR=wohe
 2018-01-10 16:01:27 +01:00
Susanne Pielawa 286d16238e In optimization_problem, use a map instead of vector for trajectory data. (#805) 
PAIR=wohe
 2018-01-10 14:30:51 +01:00
Susanne Pielawa 67d26747cc Implement assignment operator for common::optional. (#800) 
Implement assignment operator for common::optional.
 2018-01-09 17:54:53 +01:00
Christoph Schütte 8c7c4e3d2a Make LocalTrajectoryBuilder optional. (#799) 
This is to prepare for the cloud-based mapping case where the robot is running cartographer in pure-localization mode and the cloud instance only solves the global problem. In that case a `LocalTrajectoryBuilder` need to be instantiated in for the cloud instance.
 2018-01-09 16:54:30 +01:00
Christoph Schütte 8165da873f Add GetConstraints() to gRPC service. (#798) 2018-01-09 14:25:28 +01:00
Christoph Schütte 78d05bf745 Add GetTrajectoryNodePoses() to gRPC service (#796) 2018-01-08 14:19:39 +01:00
Christoph Schütte d57c2441b8 Implement gRPC submap query. (#794) 2018-01-08 13:52:14 +01:00
Susanne Pielawa 91034eaf58 Making pose in FixedFramePoseData optional. (#792) 
This is for the case that the GPS signal is not available.
 2018-01-08 11:37:07 +01:00
Christoph Schütte 196b4b891c Add PoseGraphInterface::GetTrajectoryNodePoses() (#795) 2018-01-08 09:13:51 +01:00
Christoph Schütte 1a837ef3ab Introduce PoseGraphInterface::GetAllSubmapPoses() (#790) 2018-01-05 14:19:08 +01:00
Susanne Pielawa 63a80c9340 Adding a minimal implementation of std::optional. (#783) 
We're using C++11, which doesn't have std::optional. We need a few
features of std::optional for improved GPS support. These are
implemented here.
 2018-01-05 11:27:21 +01:00
Juraj Oršulić 58d94aaa68 Refactor calling optimization into DispatchOptimization. (#729) 
I noticed that @jihoonl opened the PR #726 which performs a similar thing. As discussed in googlecartographer/cartographer_ros#613 (@cschuet  has already taken a look), I pulled this out of #481 (a really old PR whose merging has been postponed), which is an example where re-running optimization is triggered from elsewhere as well (besides from `ComputeConstraintsForNode`). This refactoring makes libcartographer friendlier for use cases such as that one.

An important detail is that I have changed the condition in `WaitForAllComputations` to also check if the work queue is empty. If there are other things on the worker queue besides `ComputeConstraintsForNode`, currently we will wrongfully conclude that all computations are done. (This detail was merged in #754, so it's no longer in the diff of this PR).

Also missing is the same thing for 3D. I can add that when we settle on this.

Also, I suggest that `run_loop_closure` gets renamed to `run_optimization`.
 2018-01-05 10:43:56 +01:00
Jihoon Lee 2ad83662f2 Migrate SubmapTexture and SubmapSlice logics from cartographer_ros (#782) 
Towards [RFC06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md).

Migrates
* `FillSubmapSlice` from `pbstream_to_rosmap_main.cc` 
* `SubmapTexture` logics from cartographer_ros
 2018-01-04 10:52:05 +01:00
Juraj Oršulić 9ee65293d2 Pose graph: do not mark all submaps finished when finalizing a trajectory. (#784) 
I think this was a mistake in #563 (@jihoonl). Not all submaps should be marked as finished, only those pertaining to the trajectory being finalized.
 2018-01-04 10:11:28 +01:00
gaschler dbb3f7cde4 Test TrajectoryBuilderStub (#780) 2018-01-03 14:56:56 +01:00
Christoph Schütte 5b5b290e9f Implement BlockingQueue::WaitUntilEmpty(). (#775) 
PAIR=gaschler
 2017-12-20 10:22:53 +01:00
Christoph Schütte 02734c296d Implement ReceiveLocalSlamResultsHandler. (#772) 2017-12-19 15:11:29 +01:00
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer (#766) 2017-12-18 16:32:34 +01:00
gaschler c6decd5b7b Test MapBuilderServer (#762) 
Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
 2017-12-18 11:52:17 +01:00
gaschler d49706944f FixedFramePoseData in gRPC server (#761) 
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
 2017-12-15 15:26:58 +01:00
gaschler 6817d22788 Test global 2D SLAM. (#751) 2017-12-15 14:45:56 +01:00
Juraj Oršulić 29e4395a5a Make WaitForAllComputation wait for work queue in 3D as well (#758) 
Repeat the change in #754 by @gaschler for 3D as well.
 2017-12-14 10:02:54 +01:00
gaschler f8452821d7 WaitForAllComputation waits for work queue (#754) 2017-12-13 18:49:22 +01:00
gaschler 59d1b968bc Unwarp by point in LocalTrajectoryBuilder. (#636) 2017-12-13 18:29:42 +01:00
Christoph Schütte c5ec086968 Introduce TimedPointCloudData. (#748) 
This data structure is needed to forward RangeFinderData over gRPC.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-08 19:28:47 +01:00
Christoph Schütte 3ae78563c6 Introduce TrajectoryBuilderInterface. (#736) 
[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md)
 2017-12-08 11:52:29 +01:00
Christoph Schütte 96cdbde5bf Introduce PoseGraphInterface. (#744) 
[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md)
 2017-12-08 11:13:48 +01:00
gaschler 549eef0000 Correct namespace (#742) 2017-12-07 21:17:30 +01:00
Michael Grupp 176fc42c3f Remove empty leftover of pose_estimate.h (#740) 
Follow-up of #670.
 2017-12-07 08:53:04 +01:00
Christoph Schütte 2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. (#738) 
This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
 2017-12-06 16:36:36 +01:00
gaschler 4c999037b4 Integration tests for local slam. (#734) 2017-12-06 15:58:16 +01:00
gaschler 49d55d97c1 Test MapBuilder (#731) 2017-12-05 14:04:10 +01:00
gaschler b77a1f2178
Remove implementation from TrajectoryBuilder. (#728) 
To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
 2017-12-05 11:05:05 +01:00
gaschler ee9c61a736 Move LocalSlamResultCallback to AddTrajectory (#724) 2017-12-04 22:41:38 +01:00
gaschler 1ff8243802
Test RotationDeltaCostFunctor (#721) 2017-12-01 09:25:15 +01:00
gaschler 63e901d276
Create AutoDiffCostFunction in cost functions. (#718) 
Creating a ceres::AutoDiffCostFunction requires specifying numbers
of residuals and variables, so it is safer to implement this within
the cost functions, which know best.
 2017-11-30 15:41:57 +01:00
gaschler 85bfb888eb
Interface for MapBuilder (#715) 
Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-30 14:41:48 +01:00
gaschler 24f253a2aa Remove GetBlockingTrajectoryId (#714) 2017-11-30 12:04:14 +01:00
Jihoon Lee 88805a301d Trim all submaps when pure localization trajectory is finished. (#563) 
Fixes #560 
based on #562
 2017-11-28 10:21:55 +01:00
Juraj Oršulić bebe021b04 Serialize fixed frame pose data. (#689) 
Similar to #666 and #548.
 2017-11-28 09:44:35 +01:00
gaschler 1c7183d5c4 VoxelFilter for TimedPointCloud, Filter method. (#710) 
This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
 2017-11-27 15:12:07 +01:00
gaschler c292d76f86 Test ImuTracker (#711) 
Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
 2017-11-27 14:46:32 +01:00
Wolfgang Hess 7e82ac3bbf Make IMU cost functions internal. (#708) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 15:29:48 +01:00
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. (#707) 
Also moves it from mapping_3d to mapping since it is used
in both 2D and 3D SLAM.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 14:01:07 +01:00
gaschler 0084f14c1c CeresScanMatcher target_translation (#702) 
For its translation cost function, CeresScanMatcher now takes
a target translation as an argument instead of a pose, which 
was confusing.
 2017-11-24 12:26:14 +01:00
Wolfgang Hess 0819e52a9c Make the LocalTrajectoryBuilders internal. (#704) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 10:39:12 +01:00
Wolfgang Hess 8e6101de5c Make the OccupiedSpaceCostFunction internal. (#703) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-23 18:04:36 +01:00
Wolfgang Hess 70a0f41364 Remove unused code. (#699) 2017-11-23 16:39:55 +01:00
gaschler 9bfc52d878 Rename arguments of CostFunctors to target_ (#700) 
Rename constant targets of cost functors to target_*.
Pass only translation to Translation cost functors.
 2017-11-23 16:04:49 +01:00
Wolfgang Hess ec034b13bc Do not install global_trajectory_builder.h. (#698) 
This moves the global_trajectory_builder.h header under
cartographer/internal and changes the CMakeLists.txt to
not install internal headers.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-23 14:47:29 +01:00
Juraj Oršulić 8f9f1cf44e Fix debug build (#697) 
Similar to #418.
 2017-11-23 14:20:01 +01:00
gaschler 147c8166b6 ImuTracker uses conjugate. (#693) 
Normalized quaternions can be inverted with conjugate, which is faster.
The motivation for optimizing ImuTracker::Advance is that
per-point unwarping will call this for every point.
 2017-11-23 13:50:44 +01:00
gaschler a8bd98680e ExtrapolatePose uses fewer transforms. (#694) 
ExtrapolatePose avoids conversion to Rigid3d and computes translation
and rotation directly, which is faster.
Per-point unwarping will call this function for every point, so we
optimize it.
 2017-11-23 12:27:26 +01:00
Juraj Oršulić 31f28b5097 Remove PoseEstimate. (#670) 
Replaces #620.

Depends on switching `cartographer_ros` to use the new callback API for handling the last scan and pose estimate (googlecartographer/cartographer_ros#594).
 2017-11-17 16:47:06 +01:00
Wolfgang Hess aba4575d93 Rename 'submap_transforms' to follow terminology. (#688) 
https://google-cartographer.readthedocs.io/en/latest/terminology.html

Related to #602.
 2017-11-17 13:13:45 +01:00
Christoph Schütte b91ff8fe44 Extrapolate poses for ground truth relations. (#687) 2017-11-17 12:27:31 +01:00
Wolfgang Hess 055728af93 Rename options for consistency. (#686) 
"scan" is better named "node" if it refers to a node in global SLAM.

"penalty factor" is renamed "weight" for consistency with other similar options.

"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
 2017-11-17 10:52:22 +01:00
Holger Rapp 5ee830e8cc Cleanup and new features in Image code. (#685) 
- Removes stride_, since we know for a fact that it is always width * 4.
- Adds a constructor from a cairo surface.
- Adds a function that rotates the image by 90 degrees.

This is in preparation of adding a tool that can generate an image from a .pbstream.
 2017-11-16 17:05:18 +01:00
Holger Rapp 0b4e7a9443 Refactor image related code. (#684) 
- Take immutable parameter as const ref instead of pointer.
- make kCairoFormat a global constant, since it is defined in many places in cartographer and cartographer_ros, but we rely on it actually always being the same value.
 2017-11-16 15:07:05 +01:00
gaschler b9015f33a7 Filter early in AddRangeData. (#681) 
Filter earlier in 3D.
Combine two transforms to one in 2D.
 2017-11-16 13:35:44 +01:00
Wolfgang Hess 16d62f45f0 Rename sparse_pose_graph options. (#682) 
The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-16 11:48:25 +01:00
jie a08a370ef3 Check if filtered point clouds are empty. (#664) 
The point cloud will be filtered by MaxRangeFilter before doing scan matching. For some special cases, the filtered point cloud maybe empty, it will cause crash:
real_time_correlative_scan_matcher.cc:159 Check failed: candidate.score > 0.f (nan vs. 0) 
This PR fixed this bug, check the point cloud size before scan matching, return false for empty point cloud.
 2017-11-16 09:56:01 +01:00
Wolfgang Hess bdca2095c0 Rename proto::SparsePoseGraph. (#680) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 14:58:49 +01:00
Wolfgang Hess c25379cd20 Rename mapping_{2,3}d::SparsePoseGraph. (#678) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 13:50:18 +01:00
Wolfgang Hess 8c114d6eaf Rename mapping::SparsePoseGraph. (#677) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 12:06:19 +01:00
Wolfgang Hess 36b9cf7f9a Move the mapping_3d/sparse_pose_graph directory. (#676) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 11:30:35 +01:00
Wolfgang Hess 26db9d6210 Move the mapping_2d/sparse_pose_graph directory. (#675) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 10:52:06 +01:00
catskul f6192e4735 replace implicit use of cartographer::string with explicit use of std::string (#673) 
Fixes #622.
 2017-11-15 10:17:59 +01:00
Wolfgang Hess 291c0f581b Move the mapping/sparse_pose_graph directory. (#669) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 09:39:45 +01:00
gaschler 7904808d40 Reduce transforms in LocalTrajectoryBuilder. (#668) 
This speeds up AddRangeData because we avoid one copy and loop over all points.
 2017-11-15 09:15:02 +01:00
Juraj Oršulić 818e5e1a44 Add local SLAM result callback. (#574) 
Depends on ~~#619~~ (merged) and ~~#617~~ (merged).
Related to #508.

Also, if cartographer_ros is going to use this, and we wish to serialize the saved range data, that will have to be handled in cartographer_ros, right?
 2017-11-14 17:19:14 +01:00
Wolfgang Hess a4c0e4754e Rename scan to node. (#667) 
Changes the naming from "scan" to "node" in the pose graph.
AddNode() adds a new node to the graph which might contain
data from multiple range sensors and not necessarily one scan.

Configuration and documentation changes might follow in a
separate PR.

Related to #280.
 2017-11-14 16:53:31 +01:00
Juraj Oršulić 4b342eddd0 Miscellaneous: rename odometer->odometry (#665) 
Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
 2017-11-14 16:18:07 +01:00
Juraj Oršulić 5496cbdc0c Serialize odometry data (#666) 
Replaces #550.
 2017-11-14 15:18:39 +01:00
Juraj Oršulić 60c72cb445 Deserialize trajectory connectivity (#552) 2017-11-14 13:26:53 +01:00
Wolfgang Hess 3ec583a327 Change fixed_frame_pose_data_ to MapByTime. (#662) 2017-11-13 17:41:04 +01:00
gaschler fd5003b69b Omit odometry penalty within frozen trajectory. (#661) 
In the case of pure localization, this reduces the size of the optimization problem by a large factor.
 2017-11-13 14:19:15 +01:00
Wolfgang Hess 4a8607810e Change odometry_data_ to MapByTime. (#655) 2017-11-13 13:21:53 +01:00
damienrg d183ab737a Fix mismatched tag warning for MapByIndex (#658) 
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
 2017-11-13 10:18:58 +01:00
damienrg a9da74496a Fix unused lambda capture warning (#659) 
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
 2017-11-13 09:44:12 +01:00
Christoph Schütte 6e274766f2 Remove unnecessary [packed=true] annotation (#660) 
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
 2017-11-13 09:18:53 +01:00
Christoph Schütte 53471359f8 Convert all .proto files to proto3 syntax. (#653) 
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
 2017-11-13 08:26:35 +01:00
jie ed71914805 Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… (#565) 
…aph::TrimmingHandle::MarkSubmapAsTrimmed

To make them compile successfully in google.
 2017-11-10 17:21:20 +01:00
Juraj Oršulić eb4415d17d Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. (#619) 
In preparation for #574. Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
 2017-11-10 14:49:41 +01:00
Jihoon Lee 028391357d Add OccupancyGridState and SubmapState in cartographer/io (#638) 
replaces #599 
related to googlecartographer/cartographer_ros#510
 2017-11-09 17:19:29 +01:00
Wolfgang Hess 418819a9ef Use 'global_pose' terminology for submaps. (#645) 
Use 'global_pose' terminology for submaps.

This follows #624.
 2017-11-09 16:40:21 +01:00
gaschler 6eaf0f344d FastCorrelativeScanMatcher outputs unique_ptr. (#643) 2017-11-09 16:08:16 +01:00
Juraj Oršulić e21fc9f253 Serialize IMU data. (#548) 2017-11-09 15:32:54 +01:00
Jihoon Lee 3bdee588bd Add FinishTrajectory() in SparsePosegraph. (#562) 2017-11-09 14:29:26 +01:00
Wolfgang Hess 92f81aec8a
Make proto::ProbabilityGrid proto3 compatible. (#641) 
Moves the optional 'known_cells_box' into a message field.
This way its existence can still be checked in proto3.
 2017-11-09 11:47:33 +01:00
gaschler 386ee328d8
Fix 3D yaw rotation in GenerateDiscreteScans. (#640) 
Correctly generates discrete scans rotating around yaw in the gravity-aligned global map frame.
Fixes #639.
PAIR=wohe
 2017-11-08 17:37:36 +01:00
Christoph Schütte eb96c91473
Initial pose implementation. (#606) 2017-11-08 14:01:38 +01:00
catskul 55e4338468 Start cleaning up Google specific types by making them cartographer private. 
move string and size specific int/uint types into cartographer namespace as minimal change necessary to keep global namespace clean (#637)
 2017-11-08 09:07:46 +01:00
Wolfgang Hess 088681f9ec
Add 3D localization support. (#632) 
This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.

Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
 2017-11-07 11:26:41 +01:00
Juraj Oršulić 8186316d77 Range loop over trajectories for MapByTime (#633) 2017-11-06 17:14:01 +01:00
Alexander Belyaev 0d2bc8b938 Adds a 'LandmarkData' struct and proto. (#628) 2017-11-06 15:35:21 +01:00
Wolfgang Hess 77fb50fd76
Introduce sensor::MapByTime<>. (#631) 
This data structure is used for keeping IMU data. This
allows trimming IMU data in the middle which is needed for
life-long mapping.
 2017-11-06 13:36:59 +01:00
Wolfgang Hess 049f30d824
Generalize IntegrateImu(). (#627) 
This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
 2017-11-06 11:00:33 +01:00
gaschler 8854aaae9e Extrapolator reuses result using additional IMU trackers. (#623) 
This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
 2017-11-03 16:19:55 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. (#624) 2017-11-03 13:44:23 +01:00
gaschler 5a3bb14083 PoseExtrapolator::GetLastExtrapolatedTime (#626) 
This prepares the API for #623 and #616.
 2017-11-03 11:56:31 +01:00
Juraj Oršulić 7964211fef Deserialize SPG constraints (#544) 2017-11-02 22:01:01 +01:00
Juraj Oršulić 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
Juraj Oršulić c57641f917 Make SPG::AddScan return the inserted node id. (#617) 2017-11-02 10:28:13 +01:00
Christoph Schütte e10650910e
Pull out time-based transformation interpolation. (#615) 2017-10-30 15:41:02 +01:00
Wolfgang Hess 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
Wolfgang Hess 82a4b2f171 Follow #591 terminology in 3D optimization. (#612) 2017-10-27 15:48:51 +02:00
Christoph Schütte dacc962399 Adds lower_bound() to MapById. (#610) 2017-10-27 14:50:14 +02:00
gaschler 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
Holger Rapp 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
Juraj Oršulić f179bd942c Support multiple trajectories in LoadMap. (#567) 2017-10-20 16:13:18 +02:00
Wolfgang Hess a96511464e Add map trajectory without a trajectory builder. (#605) 2017-10-19 16:59:04 +02:00
Christoph Schütte 7c03467a78 Change GetTrajectoryNodes() to MapById. (#603) 2017-10-19 14:50:58 +02:00
Holger Rapp 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
Holger Rapp 0c9f2c4f65 Remove unused concept of CompressedRangeData. (#604) 2017-10-19 11:19:56 +02:00
Wolfgang Hess e479382ecc Change GetAllSubmapData() to MapById. (#597) 2017-10-17 16:03:16 +02:00
Christoph Schütte 3d4650d675 Remove trimmed() from TrajectoryNode (#596) 2017-10-17 15:36:07 +02:00
Wolfgang Hess 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
Christoph Schütte fdda1dd091 Switch trajectory_nodes in SPG2D to MapById. (#592) 2017-10-17 11:48:23 +02:00
Wolfgang Hess bcd1be92b1 Adds a bit of terminology documentation. (#591) 
Changes code to match the new documentation.
 2017-10-17 10:07:54 +02:00
Wolfgang Hess 76ed37768f Validate odometry and fixed frame poses. (#588) 2017-10-16 15:59:56 +02:00
Christoph Schütte 6b447c4577 Add FindChecked to MapById. (#586) 
* Add FindChecked to MapById.
 2017-10-16 14:15:53 +02:00
Wolfgang Hess d91afa4496 Introduces mapping::MapById for nodes in 3D. (#587) 2017-10-16 13:37:28 +02:00
Christoph Schütte 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
Wolfgang Hess 7e0cfc3f22 Introduces mapping::MapById for submaps in 3D. (#584) 2017-10-16 10:48:43 +02:00
Christoph Schütte 006db45910 Introduce proxy object for range based loops over nodes of trajectory. (#583) 2017-10-13 16:44:31 +02:00
Wolfgang Hess 464d770d48 Introduces mapping::MapById for nodes in 2D. (#581) 
PAIR=cschuet
 2017-10-13 14:41:54 +02:00
Wolfgang Hess 4ab4817104 Add MapById<>::ConstIterator::operator->(). (#580) 2017-10-12 16:15:12 +02:00
Wolfgang Hess cb41777b9e Introduces mapping::MapById in the 2D pose graph for submaps. (#578) 
PAIR=cschuet
 2017-10-12 11:58:59 +02:00
Wolfgang Hess ea55e837d2 Introduces mapping::MapById in the 2D optimization problem. (#577) 
PAIR=cschuet
 2017-10-09 17:33:12 +02:00
Wolfgang Hess 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
Juraj Oršulić 2f332eca28 Deserialize trajectory nodes. (#569) 2017-10-06 16:16:25 +02:00
Holger Rapp 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
Christoph Schütte 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
Wolfgang Hess 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
Juraj Oršulić bd8a2e6a92 Store node initial pose in constant data. (#568) 2017-10-05 16:10:12 +02:00
Wolfgang Hess cae9c02e05 Follow #547 for 3D. (#564) 
And changes to 3D following 2D regarding trimmed data.
 2017-10-04 16:47:26 +02:00
Wolfgang Hess 51f5a18462 Fix formatting. (#561) 2017-10-04 15:58:48 +02:00
Juraj Oršulić 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
Juraj Oršulić b1b0750e5b Check ratios in fixed rate sampler. (#502) 2017-10-04 13:15:35 +02:00
Christoph Schütte 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
Jihoon Lee 3c521eb573 Remove hooray. And prints remaining work items in queue (#547) 2017-09-29 01:04:28 -07:00
jie 3744988fd2 Fix trajectory count check bug for asset writer floor separation. (#542) 2017-09-28 10:43:47 +02:00
Wolfgang Hess 7d0e72dac2 Fix some nits. (#536) 
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
 2017-09-28 09:21:07 +02:00