Moves options next to the interface like we do for other interfaces.
Adds a factory function to remove the need for direct use of MapBuilder.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
In common, BlockingQueue and RateTimer are not used
in any public API and are made internal.
`common/utils.h` is unused code and removed.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This introduces an option to control the amount of odometry data that
enters the pose graph by motion-filtering it. This is very useful to
bound memory when standing still for longer periods of time.
If the new option is not configured, all odometry data goes unfiltered
into the pose graph as usual.
Signed-off-by: Michael Grupp <grupp@magazino.eu>
pose_graph_data.h and io test_helpers.h are currently public,
i.e. get installed, but cannot possibly be used since they refer
to internal headers.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
* restrict boost dependencies to the ones used
* Also add googletest as a build dependency.
* Set GMOCK_INCLUDE_DIRS when doing src fallback.
Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>
`Submap3D` now also stores a pointer to `IntensityHybridGrid`.
Adapted `RangeDataInserter3D` to also insert intensities.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
Adds a new method to sensor::PointCloud, copy_if, which copies all
points satisfying a provided condition, together with the associated
intensities (if they exist).
Adapts transforms/filters to use this new method.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This changes which submaps we select to attempt loop closing.
The subsampling of candidates is changing from randomly sampling
submap and node pairs to per-submap sampling. This enforces a
better distribution of loop closure attempts across the submaps.
This sampling achieves a much better performance which indicates
that the approach used before was sub-optimal.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This weights IMU based on the time between nodes in the
pose graph optimization.
When moving slowly or stopping, IMU weights are reduced.
This improves quality in these cases. The parameters are
changed to approximately get the same behavior while
moving as before for the examples.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
It was constantly added regardless of motion filtering. Since it's not
used it can be just ignored. The method still needs to be there to
satisfy the interface.
Signed-off-by: Michael Grupp <grupp@magazino.eu>
This leads to slightly slower performance but better quality.
Also replaces the VoxelFilter class by free standing functions.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This changes cartographer_ros to no longer build
Ceres and instead uses libceres-dev for which a
suitable version is provided by ROS for Kinetic.
Related to #1705.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This is to make it possible to use the proto definitions
from Python where the directory structure otherwise
prevents them from being imported in the usual way.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This makes cartographer compatible with
`--incompatible_blacklisted_protos_requires_proto_info`.
See https://github.com/bazelbuild/bazel/issues/11694
Signed-off-by: Yannic Bonenberger <contact@yannic-bonenberger.com>
Adds a new field intensities to TimedPointCloudData.
RangeDataCollator now also takes intensities into account.
AddRangeData now takes a point cloud by value instead of
const reference as we would later make a copy of it anyway.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
Adds a new structure IntensityHybridGrid, similar to HybridGrid
but which stores intensities instead of probabilities.
InterpolatedGrid is adapted to handle both types of HybridGrids.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
It's essentially leading to buffering all submaps twice, which
is a high (~2x) peak in memory consumption during deserialization.
Don't convert anymore since this affects _all_ pbstreams and not only
the (probably few) old pbstreams that require the conversion.
Signed-off-by: Michael Grupp <grupp@magazino.eu>
This changes the migration support to:
1. Remove migration from old files from before version 1.0.
If this is still needed by someone, they can use the tool
as it was before this change.
2. Adds migration of maps without submap histograms. These
were so far migrated on-the-fly, but #1710 aims to remove
this.
See also #1709.
This was tested by converting a serialized 3D map and verifying
it can still be used for localization. The file changed a little
bit, but it seems to be good enough.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This integrates the imu based extrapolator implementation, adds lua configuration and conversions from lua to proto. Note that the parameters of the imu based extrapolator are not tuned yet and the default is still the constant-velocity extrapolator.
Signed-off-by: mschworer <mschworer@lyft.com>
This makes use of the ExtrapolationResult returned by the pose extrapolator. ExtrapolationResult contains poses corresponding to the timestamps of range data measurements to be used for motion compensation. When using the PoseExtrapolator implementation there is no functional difference. This PR prepares the integration of ImuBasedPoseExtrapolator, which requires using ExtrapolationResult returned by ExtrapolatePosesWithGravity to run efficiently.
Signed-off-by: mschworer <mschworer@lyft.com>
This integrates the extrapolator interface into the 3D trajectory builder. The construction is now done within the interface and local trajectory builder 3D just makes use of the interface. No functional changes.
Signed-off-by: mschworer <mschworer@lyft.com>
This adds an alternative implementation for pose extrapolation which uses imu integration as well as past local SLAM results (and odometry data) to predict a pose. This allows to perform motion compensation and initialize scan matching afterwards.
Using imu data for pose extrapolation and motion compensation is more accurate, because it does not make a constant velocity assumption like the PoseExtrapolator implementation. Next steps are the integration into local trajectory builder as well as tuning the parameters for existing datasets.
This PR is quite large but was already reviewed in smaller chunks internally and combines contributions from @danielsievers, @wohe and @schwoere.
Signed-off-by: mschworer <mschworer@lyft.com>
This adds an interface around the extrapolator without further integration into any call sides.
Currently there is only a constant-velocity extrapolator implementation. The next step is to add an extrapolator implementation which integrates imu measurements for pose extrapolation.
Signed-off-by: mschworer <mschworer@lyft.com>
Enable PIC so that shared libraries can use the Cartographer
library.
Fixes the config so that dependent builds can find Abseil.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
This fixes local constraint search in frozen maps built from multiple trajectories.
Local constraint search from a localization trajectory to a set of frozen trajectories
(i.e. the map) is done only among trajectories that are transitively connected in the
same connected component. If we set an initial pose, we create such a connection
to one frozen trajectory, but we were so far not able to do a local constraint search
w.r.t. to other frozen trajectories because they're not connected among each other.
Any constraints between them are not loaded (because they’re frozen).
Wolfgang Hess
Michael Grupp
Chris Lalancette
Christian Clauss
Yannic
Sean Yen
Martin Schwörer
Jihoon Lee
Alexander Belyaev