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.
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.
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.
- Refactor ProbabilityGridPointsProcessor for code reuse.
- Adds Image::width and height.
- Adds GetFilename for FileWriter.
Related to googlecartographer/cartographer_ros#475.
* Adds DeleteScanMatcher() to 3D constraint builder
* Add possibility to remove submaps and scans from the 3D optimization
problem.
* Implements TrimmingHandle in SPA.
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
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.
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.
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.
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.
Wolfgang Hess
Christoph Schütte
gaschler
Holger Rapp
Juraj Oršulić
Damon Kohler
Jihoon Lee
jie
gaschler