1de696d45f
Introduce PoseGraphInterface::ToProto() ( #813 )
2018-01-12 13:55:14 +01:00
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
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
8fc64fdbb5
Wrap HybridGrid in unique_ptr to make Submap updatable ( #809 )
2018-01-11 14:34:56 +01:00
e1a182d1fa
Implement LocalSlamResult data adding to PoseGraph. ( #804 )
2018-01-11 10:19:37 +01:00
d313af8674
Add InsertionResult to LocalSlamResult. ( #801 )
2018-01-10 17:26:04 +01:00
c7a8c5fda9
Keep fixed frame across optimizations. ( #807 )
...
PAIR=wohe
2018-01-10 16:01:27 +01:00
286d16238e
In optimization_problem, use a map instead of vector for trajectory data. ( #805 )
...
PAIR=wohe
2018-01-10 14:30:51 +01:00
67d26747cc
Implement assignment operator for common::optional. ( #800 )
...
Implement assignment operator for common::optional.
2018-01-09 17:54:53 +01:00
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
8165da873f
Add GetConstraints() to gRPC service. ( #798 )
2018-01-09 14:25:28 +01:00
78d05bf745
Add GetTrajectoryNodePoses() to gRPC service ( #796 )
2018-01-08 14:19:39 +01:00
d57c2441b8
Implement gRPC submap query. ( #794 )
2018-01-08 13:52:14 +01:00
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
196b4b891c
Add PoseGraphInterface::GetTrajectoryNodePoses() ( #795 )
2018-01-08 09:13:51 +01:00
1a837ef3ab
Introduce PoseGraphInterface::GetAllSubmapPoses() ( #790 )
2018-01-05 14:19:08 +01:00
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
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
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
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
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
5b5b290e9f
Implement BlockingQueue::WaitUntilEmpty(). ( #775 )
...
PAIR=gaschler
2017-12-20 10:22:53 +01:00
02734c296d
Implement ReceiveLocalSlamResultsHandler. ( #772 )
2017-12-19 15:11:29 +01:00
03751b3c9f
Implement local SLAM subscriptions in MapBuilderServer ( #766 )
2017-12-18 16:32:34 +01:00
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
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
6817d22788
Test global 2D SLAM. ( #751 )
2017-12-15 14:45:56 +01:00
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
f8452821d7
WaitForAllComputation waits for work queue ( #754 )
2017-12-13 18:49:22 +01:00
59d1b968bc
Unwarp by point in LocalTrajectoryBuilder. ( #636 )
2017-12-13 18:29:42 +01:00
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
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
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
549eef0000
Correct namespace ( #742 )
2017-12-07 21:17:30 +01:00
176fc42c3f
Remove empty leftover of pose_estimate.h ( #740 )
...
Follow-up of #670 .
2017-12-07 08:53:04 +01:00
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
4c999037b4
Integration tests for local slam. ( #734 )
2017-12-06 15:58:16 +01:00
49d55d97c1
Test MapBuilder ( #731 )
2017-12-05 14:04:10 +01:00
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
ee9c61a736
Move LocalSlamResultCallback to AddTrajectory ( #724 )
2017-12-04 22:41:38 +01:00
1ff8243802
Test RotationDeltaCostFunctor ( #721 )
2017-12-01 09:25:15 +01:00
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
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
24f253a2aa
Remove GetBlockingTrajectoryId ( #714 )
2017-11-30 12:04:14 +01:00
88805a301d
Trim all submaps when pure localization trajectory is finished. ( #563 )
...
Fixes #560
based on #562
2017-11-28 10:21:55 +01:00
bebe021b04
Serialize fixed frame pose data. ( #689 )
...
Similar to #666 and #548 .
2017-11-28 09:44:35 +01:00
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
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
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
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
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
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
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
70a0f41364
Remove unused code. ( #699 )
2017-11-23 16:39:55 +01:00
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
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
8f9f1cf44e
Fix debug build ( #697 )
...
Similar to #418 .
2017-11-23 14:20:01 +01:00
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
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
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
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
b91ff8fe44
Extrapolate poses for ground truth relations. ( #687 )
2017-11-17 12:27:31 +01:00
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
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
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
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
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
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
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
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
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
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
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
f6192e4735
replace implicit use of cartographer::string with explicit use of std::string ( #673 )
...
Fixes #622 .
2017-11-15 10:17:59 +01:00
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
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
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
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
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
5496cbdc0c
Serialize odometry data ( #666 )
...
Replaces #550 .
2017-11-14 15:18:39 +01:00
60c72cb445
Deserialize trajectory connectivity ( #552 )
2017-11-14 13:26:53 +01:00
3ec583a327
Change fixed_frame_pose_data_ to MapByTime. ( #662 )
2017-11-13 17:41:04 +01:00
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
4a8607810e
Change odometry_data_ to MapByTime. ( #655 )
2017-11-13 13:21:53 +01:00
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
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
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
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
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
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
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
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
6eaf0f344d
FastCorrelativeScanMatcher outputs unique_ptr. ( #643 )
2017-11-09 16:08:16 +01:00
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
3bdee588bd
Add FinishTrajectory() in SparsePosegraph. ( #562 )
2017-11-09 14:29:26 +01:00
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
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
eb96c91473
Initial pose implementation. ( #606 )
2017-11-08 14:01:38 +01:00
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
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
8186316d77
Range loop over trajectories for MapByTime ( #633 )
2017-11-06 17:14:01 +01:00
0d2bc8b938
Adds a 'LandmarkData' struct and proto. ( #628 )
2017-11-06 15:35:21 +01:00
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
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
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
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
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
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
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
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
259e22a5fc
Use oldest and newest instead of last two odometry data. ( #530 )
2017-09-14 16:10:03 +02:00
5896ead32e
Introduce timeout for global constraints. ( #517 )
...
This PR introduces a new option that specifies the number of seconds
after which global matcher searches are performed if no recent global
constraints have been found between the submap's and the node's
trajectory.
2017-09-14 12:11:54 +02:00
31b5a6f1a9
Allow multiple SubmapTextures. ( #519 )
...
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 )
...
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 )
...
Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
b383f18365
Fix crash in localization. ( #523 )
...
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 )
...
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 )
...
* 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 )
...
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 )
...
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 )
...
* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
c65f7a97b6
Remove connected_components_ from SPG. ( #509 )
...
* 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 )
...
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 )
...
Related to #253 .
2017-09-07 15:29:12 +02:00
a5dafcfde3
Update trajectory connection in WhenDone callback. ( #506 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
Not yet used.
2017-09-01 09:58:24 +02:00
72bb24e362
Pass initial pose of nodes to the 3D optimization problem. ( #496 )
...
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 )
...
* 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 )
...
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 )
...
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 )
...
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 )
...
* 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 )
...
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 )
...
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 )
...
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 )
...
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
bcde3b45b0
Tiny cleanup of TransformInterpolationBuffer. ( #462 )
2017-08-18 16:19:50 +02:00
c29fec3dd0
Fix colors in the X-ray points processor. ( #460 )
...
mean_..._in_column was broken in #423 .
2017-08-17 18:07:33 +02:00
9498cc90ca
Estimate angular velocities from odometry. ( #458 )
...
If no IMU is available we will now use odometry to estimate
angular velocities if available instead of the last poses.
Fixes #453 .
2017-08-16 16:55:39 +02:00
0c6d6979c4
Fix header. ( #457 )
...
RegisterBuiltInPointsProcessors() declaration was broken in #455 .
2017-08-16 16:22:42 +02:00
ba6f782949
Fix ClangTidy warnings. ( #455 )
2017-08-16 15:21:04 +02:00
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
e79a918989
Use PoseExtrapolator in the 3D trajectory builder. ( #450 )
...
This replaces the Predict() logic in the 3D trajectory builder.
2017-08-11 17:13:28 +02:00
73b0e5e20a
Use PoseExtrapolator in the 2D trajectory builder. ( #448 )
...
This replaces the Predict() logic in the 2D trajectory builder.
2017-08-11 12:38:34 +02:00
6ebfa50291
Use odometry to extrapolate linear motion. ( #443 )
2017-08-08 16:30:53 +02:00
8732e43f16
Add sensor::OdometryData. ( #442 )
2017-08-08 14:52:47 +02:00
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
eb53b70fec
Towards localization in 3D. ( #438 )
...
Adds loading maps to 3D, deserializes submaps and supports trajectories
without any node. Still no trimming support.
2017-08-02 14:17:50 +02:00
5369c3ced1
Use the ImuTracker in the PoseExtrapolator. ( #436 )
2017-08-01 10:44:32 +02:00
b28bc3bc9e
Extract velocity estimation from poses into a function. ( #435 )
2017-07-31 12:31:28 +02:00
a6d94c07cf
Use IMU data when extrapolating poses if available. ( #434 )
2017-07-28 17:12:12 +02:00
d22402bdfa
color.cc constexpr std::sqrt is not ISO C++ ( #432 )
2017-07-28 12:11:57 +02:00
46c7ce886d
Change Color to Uint8Color and FloatColor ( #423 )
...
As almost all computations for color are done in float, use FloatColor
format by default and convert to Uint8Color only when needed.
2017-07-27 11:03:55 +02:00
6035f63860
Add a extrapolator for poses. ( #430 )
...
This will be used in Cartographer ROS to extrapolate poses for tf.
PAIR=damonkohler
2017-07-26 15:21:05 +02:00
30f7de1a32
fix num submaps in trimmer_test ( #424 )
2017-07-26 11:14:22 +02:00
347dc8cec5
Fix debug build ( #418 )
...
Add a fake return value after LOG(FATAL) in
HybridGridPointsProcessor::Flush(). This keeps gcc versions lower
than 7 happy when building without optimisation (i.e. debug build).
Fixes #412 .
2017-07-25 17:39:49 +02:00
56dbad15e3
Fix proto_stream to support 32-bit platforms. ( #427 )
...
In proto_stream.cc, size_t is only correct on 64-bit platforms. Changing it to uint64 adds support for 32-bit platforms. This fixes #426 .
2017-07-25 15:59:57 +02:00
ea7c39b6f0
Draw Trajectories onto X-Rays and ProbabilityGrids. ( #421 )
...
This behavior can be turned off with the 'draw_trajectories' setting in Lua.
Fixes #174 .
2017-07-25 13:36:50 +02:00
8dfd650068
Pull some functionality from cartographer_ros into cartographer. ( #420 )
...
- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
2017-07-24 13:22:06 +02:00
4d087cd159
Towards localization in 3D. ( #417 )
...
Adds trimmer handling (but no trimming yet) and frozen trajectories
to 3D. Also freezes nodes, not just submaps.
2017-07-24 11:42:23 +02:00
21cc270645
Fix ProbabilityPointsProcessor mirroring output ( #419 )
...
Fixes #414 .
2017-07-24 10:41:45 +02:00
1bce14b7b5
Adds accumulation of range data to 2D. ( #408 )
...
This mostly follows the implementation as done for 3D.
Towards googlecartographer/cartographer_ros#212 .
2017-07-18 12:10:40 +02:00
3ef680e791
Remove extraneous include ( #407 )
2017-07-18 09:01:12 +02:00
10a19d0a3f
Add rotational score histograms in 3D. ( #403 )
2017-07-11 11:59:42 +02:00
167047173c
Tiny improvement of HybridGrid::ToProto(). ( #401 )
...
Makes it a member function and adds a check for left over
update markers.
2017-07-11 09:26:07 +02:00
0da3fad9b0
Improve handling of grid updates. ( #400 )
...
Changes the grids to only contain update markers during updates.
Serialized grids will never contain them.
2017-07-10 16:14:50 +02:00
b0b4f30007
Cleanup of cell index conversion in 2D. ( #399 )
...
This makes 2D more similar to 3D. GetProbability() only takes
cell indices which are computed using GetCellIndex().
2017-07-10 15:01:13 +02:00
39cb8401a5
Implements a ProbabilityGridPointsProcessor ( #383 )
2017-07-10 11:02:14 +02:00
78bd37ec26
Unify 2D/3D range data in trajectory nodes. ( #396 )
...
Since we only convert compressed range data to protos, we remove the
unused code to serialize (non-compressed) range data which should also
not be used in the future.
2017-07-07 17:07:04 +02:00
5378ee2adc
Serialize range data. ( #395 )
...
We compress 2D range data before serialization to reduce
output size.
Related to #253 .
2017-07-07 15:39:55 +02:00
94a848cd46
Rename ScanId to NodeId in the serialization. ( #394 )
...
This is consistent with the naming in the C++ structs.
2017-07-07 13:58:23 +02:00
f7af7ae238
Add serialization of compressed range data. ( #334 )
2017-07-07 12:26:36 +02:00
75d5b7a453
Check imu_data array size before access ( #392 )
2017-07-06 14:32:45 +02:00
3f4d795c3e
Add pure localization parameter to trajectory builder options. ( #389 )
2017-07-05 16:55:06 +02:00
9042450aaf
Fix initial pose of loaded submaps. ( #391 )
...
PAIR=SirVer
2017-07-05 16:24:02 +02:00
3819dd3806
Use an Eigen::AlignedBox to track known cells. ( #388 )
...
PAIR=SirVer
2017-07-05 15:05:46 +02:00
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
...
This removes the 'half_length' option.
PAIR=wohe
2017-07-05 14:17:04 +02:00
a313448bf0
Change CastRays to directly take the ProbabilityGrid. ( #386 )
...
PAIR=wohe
2017-07-05 13:39:44 +02:00
611f244d7a
Remove HybridGrid slicing into a ProbabilityGrid. ( #385 )
...
This code is currently unused. The feature of slicing a HybridGrid into a Probability grid could be useful to for example collect a map in 3D, then slice the 3D data to create a 2D map. There are simpler ways to implement this, especially in the context of the assets_writer_main.
PAIR=wohe
2017-07-05 13:17:20 +02:00
1e6723e214
Move ImuData to sensor, add ImuData proto. ( #381 )
2017-07-05 12:28:40 +02:00
9b48ba5ff4
Remove unused code. ( #384 )
2017-07-05 12:16:29 +02:00
7434e96369
First rough implementation of loading a map. ( #382 )
...
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
31f77a01d2
Serialize submaps. ( #380 )
2017-07-04 12:11:54 +02:00
5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
03b9285034
Add support for serializing to a proto stream. ( #379 )
...
Also changes the ground truth tools to read from such a file.
This resolves #335 . Related to #253 .
2017-07-03 15:23:15 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
17a22edebc
Change local 3D SLAM to not use a UKF. ( #375 )
...
This follows the 2D local SLAM in implementing a simple
constant velocity model and allows integrating odometry and
rotation information from an IMU.
2017-06-30 11:49:22 +02:00
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
...
Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
955e190166
Add IMU orientation correction to the pose graph optimization. ( #361 )
...
Orientation of the IMU, most importantly pitch, is crucial to correctly
track changes in altitude. Each trajectory gets optimization variables
to correct for small errors in the IMU orientation.
Also adds separate gravity constants for each trajectory. The idea is
that different trajectories might use different hardware and slightly
disagree about the strength of gravity.
PAIR=damonkohler
2017-06-28 18:12:24 +02:00
ffc939706d
Rename the KalmanLocalTrajectoryBuilder. ( #372 )
2017-06-28 15:32:43 +02:00
e4e22e9f26
Remove the LocalTrajectoryBuilderInterface in 3D. ( #371 )
2017-06-28 14:57:37 +02:00
471bcb6207
Delete SubmapData from trimmed submaps in the OptimizationProblem. ( #366 )
...
Related to #283 .
2017-06-28 12:51:09 +02:00
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
...
It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
010fefc204
Fixes the previous pose in local 3D SLAM. ( #367 )
...
This bug was introduced in #294 .
PAIR=damonkohler
2017-06-27 11:53:57 +02:00
d8eb94b4a9
Delete NodeData and ImuData from trimmed submaps in the OptimizationProblem ( #364 )
...
Related to #283 .
PAIR=wohe
2017-06-26 16:38:08 +02:00
4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
ff37b0bb7d
Remove output_debug_images. ( #358 )
...
This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
...
Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
...
This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
...
- 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
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
0fbdf6d0ec
Add ground truth proto support for trajectory evaluation. ( #349 )
...
This adds support of GroundTruth protos in addition to
text files.
Fixes the ground truth generation code to skip outliers.
Improves the ground truth generation to use expected
relative poses instead of the solution.
Writes constraints including the roll and pitch from the
node for 2D SLAM, so that constraints correctly capture
the expected transform between the 3D poses of scan and
submap in 2D SLAM.
Related to #239 .
Related to #310 .
2017-06-21 11:33:30 +02:00
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
f242b5242a
Use shared_ptr<> for Submap objects. ( #347 )
...
Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
c8f02264a4
Removes GetSubmapId from SparsePoseGraph. ( #346 )
...
PAIR=wohe
2017-06-19 15:46:47 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
...
PAIR=wohe
2017-06-19 15:24:06 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
...
Use mapping_2d::Submap instead of mapping::Submap in 2D.
Use `finished()` instead of `finished_probability_grid()` in 2D.
PAIR=wohe
2017-06-19 14:43:10 +02:00
5fa6abe84b
Adds a tool to generate ground truth data. ( #340 )
...
Fixes #310 . Not yet tested.
2017-06-16 17:38:13 +02:00
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
...
PAIR=SirVer
2017-06-16 10:47:11 +02:00
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
79eeb7d77a
Improve code structure for extrapolation of poses. ( #337 )
...
This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +02:00
7ce73858ef
Adds a HybridGridPoints processor ( #323 )
2017-06-14 11:34:59 +02:00
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
2d75f4ef56
Move SubmapToProto from Submaps -> Submap. ( #332 )
...
PAIR=wohe
2017-06-12 16:27:51 +02:00
521666ce55
Trim node data. ( #331 )
...
Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
...
PAIR=wohe
2017-06-12 14:28:16 +02:00
1a376c07b2
Change submap state handling in 3D. ( #327 )
...
This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
2017-06-09 17:40:22 +02:00
f07f888dab
Remove the deque for constant node data. ( #326 )
...
This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
b427259214
Mark trimmed Submaps and remove from scan matching. ( #319 )
...
Related to #283 .
PAIR=wohe
2017-06-07 15:52:24 +02:00
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
...
Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
b3b9735a4b
Remove trimmed constraints. ( #317 )
...
Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
...
Related to #315 .
2017-06-07 12:39:04 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
...
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
56529e5968
Tiny cleanup of the MapBuilder. ( #313 )
...
GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
2017-06-06 15:20:10 +02:00
ba4f8ca9ee
Tiny cleanup. ( #312 )
2017-06-02 16:44:27 +02:00
565e9c3eff
Simplify the handling of weights in the optimization problem. ( #309 )
...
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
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
...
This follows #307 .
2017-06-01 15:04:07 +02:00
a2e52f81cf
Remove 2D scan matcher covariances. ( #307 )
...
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
4bb02c7240
Add XRayPointsProcessor::bounding_box(). ( #306 )
...
Changes XRayPointsProcessor to use one bounding box for all floors.
Makes the bounding box accessible via a public member function.
2017-05-24 14:46:17 +02:00
3d0d1e46b5
Remove unused code. ( #304 )
2017-05-23 14:17:20 +02:00
515db3b4a9
Minor fixes. ( #303 )
...
Extract mapping_2d::CreateLocalTrajectoryBuilderOptions() into its own file.
Loop initialization fix in the trajectory_connectivity_test.
Thread safety fixes in sparse_pose_graph.
2017-05-22 14:55:05 +02:00
2d416589a7
Adds a NestedVectorsById<> class template. ( #300 )
2017-05-19 16:58:21 +02:00
0bba56428f
Remove flat indices. ( #299 )
...
This cleans up scan_index_to_node_id_, num_nodes_in_trajectory_,
scan_index. Related to #256 .
2017-05-19 14:01:59 +02:00
56fc2a9a92
Fix 3D SLAM loop closure issues. ( #296 )
...
3D submaps are now oriented approximately gravity aligned.
This is so that accumulating error in the local SLAM frame is
no longer a problem for finding loop closures. It also ensures
that the z search window size is approximately in the gravity
direction.
We now also pass an estimate of gravity orientation when doing
multi-trajectory matches. Otherwise trajectories starting with
different orientation relative to gravity could not be connected.
The gravity alignment is currently derived from the ImuTracker.
It might be possible to further improve on this by using the
latest gravity direction from the optimized poses.
2017-05-18 16:55:11 +02:00
9033fad1ab
Always use the origin as the origin for grids. ( #294 )
...
Also removes convenience functions from mapping_3d::Submap.
PAIR=SirVer
2017-05-18 12:00:45 +02:00
33ce5dee37
Improve debug output and tiny bug fix. ( #293 )
...
The full submap search window in 3D SLAM was
not calculated correctly.
2017-05-17 15:21:39 +02:00
6c9e24d7c5
Keep 'trajectory_nodes_' per trajectory. ( #291 )
...
Fixes #256 .
PAIR=SirVer
2017-05-17 11:15:34 +02:00
5aa968748e
Sparse pose graph no longer uses Submaps* for trajectory identification. ( #290 )
...
Related to #256 .
PAIR=wohe
2017-05-16 14:24:49 +02:00
8612f5e6e5
ConstantData now has a trajectory_id. ( #289 )
...
Related to #256 .
PAIR=wohe
2017-05-16 11:42:18 +02:00
5effc4dac7
Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). ( #288 )
...
Related to #256 .
Also removes ComputeMapLimits with is moved to Cartographer ROS.
PAIR=SirVer
2017-05-16 10:51:08 +02:00
690d1893a7
Remove unused code. ( #287 )
2017-05-15 16:57:02 +02:00
8392a7e62c
Change SubmapState.scan_indices -> node_ids ( #286 )
...
Related to #256 .
PAIR=wohe
2017-05-15 16:31:59 +02:00
f26e4366c9
Make SparsePoseGraph::constraints() public. ( #284 )
2017-05-15 16:06:20 +02:00
7d43eaa08c
Keep node data per trajectory in the optimization problem. ( #282 )
...
Related to #256 .
PAIR=SirVer
2017-05-15 14:09:45 +02:00
c084624958
Turn submap state into a per trajectory list. ( #281 )
...
Related to #256 .
2017-05-15 12:12:30 +02:00
fde9272533
Adds mapping:NodeId for Constraint. ( #279 )
...
Also extracted mapping::SubmapId into an id.h file.
Related to #256 .
PAIR=SirVer
2017-05-11 17:17:12 +02:00
32583e0c5d
Use trajectory IDs for global samplers. ( #278 )
...
Related to #256 .
PAIR=SirVer
2017-05-11 15:08:27 +02:00
1a9b18db69
Change num_submaps_in_trajectory to using trajectory IDs. ( #277 )
...
Related to #256 .
2017-05-11 14:32:55 +02:00
7b1915b906
Fix bug in ToProto introduced in #275 .
2017-05-11 14:02:04 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
...
Related to #256 .
2017-05-11 13:36:12 +02:00
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
...
Related to #256 .
2017-05-11 11:43:47 +02:00
660eb341ff
Optimization problem only deals with trajectory IDs now. ( #273 )
...
Related to #256 .
PAIR=wohe
2017-05-10 17:12:38 +02:00
926b0320cb
Use per-trajectory SubmapData in OptimizationProblem. ( #272 )
2017-05-10 16:28:58 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
...
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
524b613f2c
`submap_pose`s are now owned by the OptimizationProblem. ( #269 )
2017-05-09 17:24:48 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
...
PAIR=wohe
2017-05-09 15:21:30 +02:00
772d02c00e
Move ConstantData into the SPG ( #263 )
2017-05-08 17:10:07 +02:00
9194c8679b
Clean up. ( #266 )
...
Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
2017-05-08 15:29:13 +02:00
522b37979a
Enable multiple configuration for multi-trajectory ( #248 )
2017-05-08 11:58:53 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
...
Related to #250 .
2017-05-04 15:38:41 +02:00
6d2feaa8c7
Build and run all tests found by the glob. ( #258 )
2017-05-03 16:55:13 +02:00
ff06e37579
Remove the LaserScan proto. ( #257 )
2017-05-03 16:20:04 +02:00
cdd366bab4
Remove intensities - they are unused in SLAM. ( #247 )
2017-05-03 13:44:15 +02:00
2f3a9f4dcc
Add support for files containing multiple protos. ( #241 )
...
This adds code for reading and writing files that contain
sequences of compressed protocol buffer messages.
2017-04-28 15:05:42 +02:00
b4b83405ce
Fix divison by zero. ( #240 )
...
If mapping_2d::LocalTrajectoryBuilder::AddHorizontalRangeData is called
twice in a row with the same `time`, the `velocity_estimate_` becomes
`inf` which led to `inf`s in the optimization problem, which led to
failures inside Ceres.
Fixes #233 .
2017-04-26 14:14:24 +02:00
245e356449
Const-ify ProbabilityGrid::ToProto ( #238 )
2017-04-25 09:34:17 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
...
We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
...
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
4f1914b2b4
Remove extraneous Eigen/Geometry include ( #232 )
2017-03-31 08:46:48 +02:00
cb0d1a6d5a
Remove inclination warning ( #231 )
...
Resolves #194 .
2017-03-30 16:39:53 +02:00
bda68c33d9
Fix warning about struct being redefined as class ( #228 )
2017-03-28 08:57:13 +02:00
1e5b49ce62
Minor sparse_pose_graph.proto improvement ( #226 )
2017-03-24 09:03:36 +01:00
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
a2abe45542
Rename CompressedLaserFan to CompressedRangeData. ( #223 )
...
CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
2017-03-22 13:06:41 +01:00
c78f29fdac
Adds #include <array> in files that use std::array ( #222 )
2017-03-20 08:37:47 +01:00
76868b7edb
Adds HybridGrid proto serialization ( #220 )
2017-03-14 11:44:19 +01:00
8bf6f101c5
Adds probability grid serialization to proto ( #208 )
2017-03-09 09:01:10 +01:00
30b9fcce34
Claim an old TODO. ( #209 )
2017-03-01 10:26:48 +01:00
370e1e52df
Enable adding as a CMake subproject ( #203 )
...
This is done by replacing CMAKE_*_DIR variables with PROJECT_*_ variables so
that CMake uses correct paths when libcartographer is a subproject
Move AllFiles.cmake into the project binary dir instead of the root CMake binary dir,
use a project-dependent detect_changes target name
This makes overriding it from an upper level CMakeLists.txt possible, which is required
when doing a super-build which doesn't require installing libcartographer.
2017-02-09 15:57:54 +01:00
Christoph Schütte
gaschler
Susanne Pielawa
Juraj Oršulić
Jihoon Lee
Michael Grupp
Wolfgang Hess
Wolfgang Hess
Holger Rapp
jie
catskul
damienrg
Alexander Belyaev
jie
gaschler
Mac Mason
Damon Kohler
Moritz Münst
Andrew Hundt
lanyaye
Brandon D. Northcutt
Moritz Münst
jordansmithgoogle
Yutaka Takaoka
William Woodall
William Woodall