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
0c6d6979c4
Fix header. ( #457 )
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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 )
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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 )
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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 )
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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 )
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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 )
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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
3859da7ea4
Better tuning for 2D. ( #428 )
2017-07-26 10:50:01 +02:00
347dc8cec5
Fix debug build ( #418 )
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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 )
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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 )
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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 )
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- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
2017-07-24 13:22:06 +02:00
4d087cd159
Towards localization in 3D. ( #417 )
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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 )
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Fixes #414 .
2017-07-24 10:41:45 +02:00
6303a96bc8
Add slides from yesterday and next date. ( #416 )
2017-07-21 12:25:51 +02:00
Mac Mason
Christoph Schütte
Wolfgang Hess
jie
Jihoon Lee
Damon Kohler
Moritz Münst
Andrew Hundt
damienrg
Holger Rapp
Juraj Oršulić
lanyaye