30b9fcce34
Claim an old TODO. ( #209 )
2017-03-01 10:26:48 +01:00
b4a1021538
Formatting changes. ( #199 )
2017-02-08 14:30:38 +01:00
1c433e6f3a
Refactor the documentation update script. ( #179 )
2017-01-10 10:43:16 +01:00
4e9c3d69b5
Build all our source files into a single library. ( #164 )
2016-12-20 11:24:08 +01:00
71c951b370
Remove the 'log_residual_histograms' option. ( #166 )
...
This option only existed in 2D. Also other refactoring to make the 2D
sparse pose graph optimization more similar to 3D.
2016-12-19 17:57:12 +01:00
db45c4ef78
Determine the trajectory that is blocking progress. ( #154 )
...
When processing offline data determining which trajectory needs more
data before processing can continue is surprisingly tricky. We thus
expose this information at the map builder to avoid duplicating this
logic.
2016-12-06 17:04:45 +01:00
f3526bd252
Move the OrderedMultiQueue implementation out of the header. ( #152 )
2016-12-06 14:09:44 +01:00
4c9c77034b
Remove UKF-related debug output. ( #142 )
2016-11-23 14:27:36 +01:00
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
5136a3a81e
Removes LaserFan from public API. ( #136 )
2016-11-21 10:30:57 +01:00
c386bf050d
Renames Odometry to Odometer. ( #135 )
2016-11-21 08:27:19 +01:00
6777654202
Adds a heuristic to detect floors in a trajectory. ( #125 )
2016-11-16 05:16:40 -08:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
...
This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
3e64a803a4
Consistently name weight parameter. ( #116 )
...
All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
404bbfcc2b
Add SubmapToProto to the map builder. ( #110 )
2016-10-27 16:20:58 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
...
And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
651a7a23e7
Rename trajectory and submap visualization protos. ( #101 )
2016-10-26 08:45:52 +02:00
4917dd65ce
Add serialization of the sparse pose graph. ( #97 )
2016-10-25 16:56:26 +02:00
4d81b58a39
Remove unused code. ( #89 )
2016-10-20 13:54:12 +02:00
5b16f4bcb6
Simplify 3D visualization code. ( #88 )
...
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
4b7e2efbd9
Add code to serialize a trajectory to proto. ( #87 )
2016-10-20 10:53:43 +02:00
3cf59a0266
Collate sensor data in the MapBuilder. ( #85 )
2016-10-19 17:25:44 +02:00
e566bb73f5
Adds CollatedTrajectoryBuilder. ( #82 )
2016-10-19 16:29:26 +02:00
d4e04a3cda
Unify to AddLaserFan for both 2D and 3D. ( #81 )
2016-10-19 15:02:31 +02:00
2eca021003
Moves SensorCollator into sensor package. ( #58 )
2016-10-17 10:18:17 +02:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
9020f71605
Remove LaserFan in favor of LaserFan3D. ( #62 )
...
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
cc7cc6f72b
Move the ImuTracker and OdometryStateTracker to mapping. ( #50 )
...
Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
eeb17bf055
Adds google_binary to create installable binaries. ( #43 )
...
- Do not link in Ceres if gflags or glog is used, but still rely on ceres
to find those libraries for us.
- Update CMakeLists with new settings.
2016-10-11 15:18:59 +02:00
d2962c004f
Remove the 'also_match_to_new_submaps' option. ( #29 )
...
Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
14355a91a1
Remove dead code. ( #26 )
2016-09-22 17:53:32 +02:00
0796d50b00
Removes max_covariance_trace option. ( #25 )
...
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
fc166fdefa
Adds MapBuilder and cleans up some configurations. ( #23 )
2016-09-08 16:21:25 +02:00
817dc884d5
Clean up and simplify MapLimits. ( #12 )
...
MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
6e56578394
Rename to local/global map frame. ( #2 )
...
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
2016-08-10 12:09:52 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Mac Mason
Wolfgang Hess
Damon Kohler
Holger Rapp
Damon Kohler
Wolfgang Hess