4437d89dd5
Fix crashing bug during pure localization. ( #521 )
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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 )
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* 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 )
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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 )
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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 )
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* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
c65f7a97b6
Remove connected_components_ from SPG. ( #509 )
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* 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the connectivity structure is no longer updated by the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 )
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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 )
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Related to #253 .
2017-09-07 15:29:12 +02:00
a5dafcfde3
Update trajectory connection in WhenDone callback. ( #506 )
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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 )
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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 )
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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 )
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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 )
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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 )
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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 )
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Not yet used.
2017-09-01 09:58:24 +02:00
72bb24e362
Pass initial pose of nodes to the 3D optimization problem. ( #496 )
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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 )
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* 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 )
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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 )
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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 )
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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 )
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* 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 )
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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 )
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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 )
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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 )
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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
14d868869f
Add slides from yesterday and next date. ( #461 )
2017-08-18 12:06:53 +02:00
c29fec3dd0
Fix colors in the X-ray points processor. ( #460 )
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mean_..._in_column was broken in #423 .
2017-08-17 18:07:33 +02:00
9498cc90ca
Estimate angular velocities from odometry. ( #458 )
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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
Wolfgang Hess
Juraj Oršulić
Christoph Schütte
Jihoon Lee
jie
Mac Mason
Damon Kohler
Moritz Münst