ba6f782949
Fix ClangTidy warnings. ( #455 )
2017-08-16 15:21:04 +02:00
10a19d0a3f
Add rotational score histograms in 3D. ( #403 )
2017-07-11 11:59:42 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
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Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
565e9c3eff
Simplify the handling of weights in the optimization problem. ( #309 )
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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.
2017-06-01 17:03:49 +02:00
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
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This follows #307 .
2017-06-01 15:04:07 +02:00
56fc2a9a92
Fix 3D SLAM loop closure issues. ( #296 )
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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.
2017-05-18 16:55:11 +02:00
9033fad1ab
Always use the origin as the origin for grids. ( #294 )
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Also removes convenience functions from mapping_3d::Submap.
PAIR=SirVer
2017-05-18 12:00:45 +02:00
33ce5dee37
Improve debug output and tiny bug fix. ( #293 )
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The full submap search window in 3D SLAM was
not calculated correctly.
2017-05-17 15:21:39 +02:00
6c9e24d7c5
Keep 'trajectory_nodes_' per trajectory. ( #291 )
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Fixes #256 .
PAIR=SirVer
2017-05-17 11:15:34 +02:00
fde9272533
Adds mapping:NodeId for Constraint. ( #279 )
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Also extracted mapping::SubmapId into an id.h file.
Related to #256 .
PAIR=SirVer
2017-05-11 17:17:12 +02:00
7b1915b906
Fix bug in ToProto introduced in #275 .
2017-05-11 14:02:04 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
...
Related to #256 .
2017-05-11 13:36:12 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
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Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
a2abe45542
Rename CompressedLaserFan to CompressedRangeData. ( #223 )
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CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
2017-03-22 13:06:41 +01:00
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
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Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
51a0ec06a1
Add support for multi-trajectory to 3D SLAM. ( #146 )
2016-11-28 12:52:45 +01:00
e703b1cea3
Fix multi-trajectory loop closure attempts. ( #131 )
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Before, old scans with new submaps were always matched as if they
belong to connected trajectories.
2016-11-18 10:36:30 +01:00
e526a7022f
Remove covariance computation from branch-and-bound. ( #27 )
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These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
2016-09-23 14:27:19 +02:00
0796d50b00
Removes max_covariance_trace option. ( #25 )
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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.
2016-09-22 11:35:47 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
zjwoody
Wolfgang Hess
Damon Kohler
Moritz Münst
Holger Rapp