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1002 Commits (b6b41e9b173ea2e49e606f1e0d54d6d57ed421e3)

Author SHA1 Message Date
Christoph Schütte 982f2bd2e0 Use TrajectoryNode::Data in FastCorrelativeMatcher. (#493) 
* Use TrajectoryNode::Data in FastCorrelativeMatcher.
 2017-08-31 15:10:48 +02:00
jie e2c67a7bde Fix Lint and ClangTidy warnings. (#485) 2017-08-31 13:39:47 +02:00
Wolfgang Hess 3215035c1c Add thread annotation to LogResidualHistograms(). (#492) 2017-08-31 12:26:31 +02:00
Mac Mason b54ca0cca6 Fix Rigid2 and Rigid3 to default to an identity transform. (#491) 2017-08-31 11:32:04 +02:00
Christoph Schütte 06e9112bc8 Unify GlobalTrajectoryBuilder across 2D and 3D (#489) 
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
Wolfgang Hess 3c22c8253a Refactoring: Do not pass 'constant_data' in pieces. (#488) 
Also removes the no longer used range data from trajectory nodes
in 2D.
 2017-08-30 14:22:12 +02:00
Wolfgang Hess 094b5a4d93 Template dispatching of sensor data. (#484) 
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
Wolfgang Hess a7fe8bd2ab Add filtered point cloud to TrajectoryNode::Data for 2D. (#483) 2017-08-28 11:17:53 +02:00
jie 42d8a8f005 Add filtered point clouds to TrajectoryNode::Data for 3D. (#482) 2017-08-25 16:56:50 +02:00
jie 0837d4b228 Add fixed frame pose constraints to 3D problem. (#480) 2017-08-25 15:26:19 +02:00
jie 449799719f Extract rotation parameterization to a separate file. (#479) 2017-08-25 12:06:22 +02:00
Christoph Schütte 96b71e227f Add histograms for pose residuals (#478) 
* WIP Add histograms for pose residuals

* Address reviewers comments

* Address more comments.
 2017-08-25 11:39:56 +02:00
jie 2fd2e86351 Add fixed frame pose weight into optimization problem options. (#477) 2017-08-24 15:40:48 +02:00
jie 14977f73f1 Add fixed frame pose data to the 3D optimization problem. (#476) 2017-08-24 15:02:23 +02:00
Wolfgang Hess a239b71a6e Dynamic dispatch of sensor::Data. (#475) 
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
jie 0671e8835e Add interface to process fixed frame pose, e.g. GPS. (#471) 2017-08-24 12:49:03 +02:00
Wolfgang Hess e78e2cb5ad Extract PoseEstimate into its own file. (#474) 
This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
 2017-08-24 12:04:39 +02:00
Wolfgang Hess f0e1dab031 Add a histogram of low resolution scores for 3D. (#473) 2017-08-24 09:28:12 +02:00
Wolfgang Hess 4d11a226ff Expose low resolution matching scores. (#470) 
This is needed in preparation of adding a low resolution score histogram.
 2017-08-23 17:48:49 +02:00
Jihoon Lee 2dd2d6f448 Use vector<map<>> instead of vector<deque> for submap_data. (#422) 2017-08-23 12:16:42 +02:00
zjwoody 2e53586818 Also check low resolution match for 3D loop closure. (#468) 
Related to #369.
 2017-08-22 17:29:20 +02:00
Wolfgang Hess 297e9cc02d Remove unused argument. (#466) 2017-08-22 12:22:41 +02:00
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. (#465) 2017-08-21 18:01:23 +02:00
Damon Kohler edfd6ac8d7 Also log the IMU correction as a quaternion. (#463) 2017-08-21 17:26:48 +02:00
Moritz Münst 0ef372d584 Use odometry in 2D pose graph optimization. (#456) 2017-08-21 15:12:00 +02:00
Wolfgang Hess bcde3b45b0 Tiny cleanup of TransformInterpolationBuffer. (#462) 2017-08-18 16:19:50 +02:00
Wolfgang Hess 14d868869f Add slides from yesterday and next date. (#461) 2017-08-18 12:06:53 +02:00
Wolfgang Hess c29fec3dd0 Fix colors in the X-ray points processor. (#460) 
mean_..._in_column was broken in #423.
 2017-08-17 18:07:33 +02:00
Wolfgang Hess 9498cc90ca Estimate angular velocities from odometry. (#458) 
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 0c6d6979c4 Fix header. (#457) 
RegisterBuiltInPointsProcessors() declaration was broken in #455.
 2017-08-16 16:22:42 +02:00
zjwoody ba6f782949 Fix ClangTidy warnings. (#455) 2017-08-16 15:21:04 +02:00
Wolfgang Hess 11dbdf91b9 Remove unused code and option for odometry states. (#451) 2017-08-11 17:38:48 +02:00
Wolfgang Hess e79a918989 Use PoseExtrapolator in the 3D trajectory builder. (#450) 
This replaces the Predict() logic in the 3D trajectory builder.
 2017-08-11 17:13:28 +02:00
Wolfgang Hess 73b0e5e20a Use PoseExtrapolator in the 2D trajectory builder. (#448) 
This replaces the Predict() logic in the 2D trajectory builder.
 2017-08-11 12:38:34 +02:00
Wolfgang Hess 6ebfa50291 Use odometry to extrapolate linear motion. (#443) 2017-08-08 16:30:53 +02:00
Wolfgang Hess 8732e43f16 Add sensor::OdometryData. (#442) 2017-08-08 14:52:47 +02:00
Wolfgang Hess f60b2cbb16 Pass IMU data as sensor::ImuData. (#441) 2017-08-08 14:27:08 +02:00
Wolfgang Hess eb53b70fec Towards localization in 3D. (#438) 
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
Wolfgang Hess 5369c3ced1 Use the ImuTracker in the PoseExtrapolator. (#436) 2017-08-01 10:44:32 +02:00
Wolfgang Hess b28bc3bc9e Extract velocity estimation from poses into a function. (#435) 2017-07-31 12:31:28 +02:00
Wolfgang Hess a6d94c07cf Use IMU data when extrapolating poses if available. (#434) 2017-07-28 17:12:12 +02:00
Andrew Hundt d22402bdfa color.cc constexpr std::sqrt is not ISO C++ (#432) 2017-07-28 12:11:57 +02:00
damienrg 46c7ce886d Change Color to Uint8Color and FloatColor (#423) 
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
Wolfgang Hess 6035f63860 Add a extrapolator for poses. (#430) 
This will be used in Cartographer ROS to extrapolate poses for tf.

PAIR=damonkohler
 2017-07-26 15:21:05 +02:00
Jihoon Lee 30f7de1a32 fix num submaps in trimmer_test (#424) 2017-07-26 11:14:22 +02:00
Holger Rapp 3859da7ea4 Better tuning for 2D. (#428) 2017-07-26 10:50:01 +02:00
Juraj Oršulić 347dc8cec5 Fix debug build (#418) 
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
lanyaye 56dbad15e3 Fix proto_stream to support 32-bit platforms. (#427) 
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
Holger Rapp ea7c39b6f0 Draw Trajectories onto X-Rays and ProbabilityGrids. (#421) 
This behavior can be turned off with the 'draw_trajectories' setting in Lua.

Fixes #174.
 2017-07-25 13:36:50 +02:00
Holger Rapp 8dfd650068 Pull some functionality from cartographer_ros into cartographer. (#420) 
- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
 2017-07-24 13:22:06 +02:00