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.
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.
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.
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.
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.
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.
This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
Wolfgang Hess
Christoph Schütte
zjwoody
Moritz Münst
Holger Rapp
Damon Kohler