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486 Commits (c5416068dd06ac4ca732ed53db225204b25ec05b)

Author SHA1 Message Date
Juraj Oršulić ee530d2423 Purge some additional jets (#1000) 2018-03-16 19:12:56 +01:00
Alexander Belyaev 1f9c78a82b
Remove float-to-jet casts where possible. (#998) 2018-03-16 14:53:10 +01:00
Alexander Belyaev 06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. (#997) 
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-16 12:01:55 +01:00
gaschler 37a68cd7f4 LocalTrajectoryBuilder uses RangeDataCollator (#996) 
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
FIXES=#910
 2018-03-15 16:34:51 +01:00
gaschler 55065a2108 Mockable optimization (#994) 2018-03-15 14:13:59 +01:00
gaschler 067d01a364 Test PoseGraph3D (#990) 2018-03-15 11:44:47 +01:00
gaschler ed47f9d8f8 OptimizationProblemInterface (#991) 
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
 2018-03-15 11:12:26 +01:00
Alexander Belyaev e6c4ee4b8b Move interpolation of poses to 'cost_helpers'. (#992) 2018-03-15 10:33:02 +01:00
Alexander Belyaev 1e4d558ac4
Add landmarks to the state and deserialize them. (#988) 2018-03-14 21:36:15 +01:00
gaschler 36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. (#945) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-03-14 14:51:40 +01:00
Alexander Belyaev 0190e7cd99 Clean-up dependencies of map_builder and put getters to the header. (#989) 2018-03-14 13:33:44 +01:00
Alexander Belyaev c060a15670
Remove dead code: fast_global_localizer. (#987) 2018-03-13 16:23:27 +01:00
Alexander Belyaev 4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. (#986) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 15:18:05 +01:00
Wolfgang Hess c09b643d8d Synchronize correctly in FinishTrajectory(). (#980) 
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
 2018-03-13 14:10:51 +01:00
Alexander Belyaev 525f7afe7e
Move sensor-related stuff to internal/. (#985) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 13:36:45 +01:00
gaschler 1187480fe6 Introduce RangeDataCollator (#975) 
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-13 11:08:01 +01:00
Alexander Belyaev 976736051c
Move scan matchers to internal/. (#983) 2018-03-13 10:21:27 +01:00
Alexander Belyaev 70c7660348
Move even more stuff to internal/. (#982) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 17:46:31 +01:00
Alexander Belyaev bfbf29dcd6
Move mapping/pose_graph/ to internal/. (#979) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 14:00:18 +01:00
Alexander Belyaev 418e0964bf
Move pose_graph_*d related files to internal/. (#976) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 12:42:52 +01:00
Juraj Oršulić 091a4f852d Update descriptions in pose_graph.h (#977) 
Remove "frozen", since deserialized trajectories can be unfrozen since #891.
 2018-03-10 23:50:31 +01:00
Alexander Belyaev daa35d3bc8
Move in_memory_proto_stream.* to internal. (#969) 
Internal Headers RFC
 2018-03-09 15:24:07 +01:00
Alexander Belyaev bb4ba8b319
Split local_slam_result_data.h into base and 2d/3d parts. (#967) 2018-03-08 15:17:31 +01:00
Alexander Belyaev b29986f297
Remove the pointers to the derived PoseGraph*D classes from map_builder. (#966) 2018-03-08 14:49:41 +01:00
Alexander Belyaev 20a980aade
Remove 'pose_graph_*d.h' from local_slam_result_data.h. (#965) 2018-03-08 13:09:43 +01:00
Alexander Belyaev 256b5a6ff0
Remove '2d/probability_grid.h' include from 'submaps.h'. (#964) 2018-03-08 11:56:42 +01:00
Kevin Daun 82a491181d Add IsTrajectoryFrozen to PoseGraph (#962) 
Adds IsTrajectoryFrozen to the PoseGraph interface
 2018-03-08 11:18:08 +01:00
Alexander Belyaev f34df22a24
Update header guards. (#959) 2018-03-05 14:55:51 +01:00
Alexander Belyaev cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. (#960) 2018-03-05 14:09:04 +01:00
gaschler 0156e6b8ce Instrument metrics in local trajectory builders. (#946) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-28 16:32:40 +01:00
gaschler df1ee4bb29 Fix metric label. (#944) 
This makes metrics_test in debug mode happy.
 2018-02-28 14:46:26 +01:00
Juraj Oršulić 32b8bd3581 Enable loading unfrozen state (#891) 
Enable loading unfrozen state
 2018-02-27 20:38:57 +01:00
Alexander Belyaev 29875117b3
Move internal/mapping to mapping/internal. (#941) 2018-02-27 16:25:53 +01:00
gaschler 63fd497e0f Document HybridGrid limits. (#939) 
Adds documentation to avoid issue #937.
 2018-02-27 15:28:35 +01:00
Alexander Belyaev 3ebfa757ef
Move mapping_*d to mapping/*d. (#935) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 17:40:29 +01:00
Alexander Belyaev e75e023ce2
Purge 'mapping_3d::'. (#927) (#928) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 14:26:41 +01:00
danielsievers 258aa715ba Move GetTrajectoryData() down to PoseGraphInterface (#932) 2018-02-26 12:45:53 +01:00
Alexander Belyaev 94fce13f62
Purge 'mapping_2d::'. (#927) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 19:44:53 +01:00
gaschler 2711f4492f Test PoseExtrapolator (#926) 2018-02-21 16:43:58 +01:00
Alexander Belyaev 7d13383dec
Remove 'mapping_3d' namespace. (#922) (#925) 
Remove 'mapping_3d' namespace. (#922)

It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_3d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 14:24:12 +01:00
Alexander Belyaev f8dc89d8ff
Remove 'mapping_2d' namespace. (#922) 
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 12:41:14 +01:00
gaschler ab05459f1c Move GlobalTrajectoryBuilder to cc file (#923) 
* Move GlobalTrajectoryBuilder to cc file.

This allows to instrument file-level static metrics.
Also, it is a cleaner interface.

* two create functions

* drop superfluous typename
 2018-02-21 08:53:09 +01:00
Alexander Belyaev a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. (#918) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-20 15:28:21 +01:00
Alexander Belyaev 43544f0fbc
Rename mapping_2d::PoseGraph to mapping::PoseGraph2D. (#917) 
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-19 20:01:29 +01:00
danielsievers c38bb60407 (De)serialize trajectory data from the optimization problem (#915) 
* Write/Read the trajectory data (gravity, imu calibration, and fixed frame origin) into the serialized state proto
 2018-02-19 16:30:32 +01:00
gaschler 244cf615f5 Make clang compile without warnings. (#903) 
Rule out accidental usage of integer-only ::abs.
Correct static, override and protected annotations.
 2018-02-14 11:06:46 +01:00
Alexander Belyaev 95dbcfdf9e Serialize landmarks. (#889) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-07 10:47:39 +01:00
Alexander Belyaev 58bc1ced68
Implement GetLandmarkPoses method. (#888) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-06 18:13:31 +01:00
Alexander Belyaev 28993a8963
Use landmarks in optimization (both 2D & 3D). (#884) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-05 13:23:00 +01:00
Juraj Oršulić 9bebeea742 Serialize and deserialize trajectory builder options (#859) 2018-02-05 09:45:43 +01:00
Alexander Belyaev 8ea46857ac
Move cerec_pose.* to mapping/pose_graph. (#874) 2018-02-01 15:16:50 +01:00
Alexander Belyaev e735203a05
Extend MapById::lower_bound() to support structs with 'time' field. (#871) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-01 11:58:13 +01:00
Alexander Belyaev ab890a8e15
Move 3D landmark cost function to mapping_3d/. (#870) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 18:40:10 +01:00
Alexander Belyaev 0440761474
Move slerp and scaling of error to 'cost_helpers'. (#864) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 17:06:49 +01:00
Alexander Belyaev 708e7fc57d
Add a 'cost_helpers' library. (#862) 
* Add a 'cost_helpers' library.

* Change naming and add comments.
 2018-01-30 22:12:25 +01:00
Alexander Belyaev 93568641f9
Implement LandmarkCostFunction 3D. (#860) 2018-01-30 15:18:13 +01:00
Alexander Belyaev 8316444319
Store landmark observations as LandmarkNodes in PoseGraph. (#850) 2018-01-29 10:17:05 +01:00
gaschler dab69e0ca0 Struct SensorId (#839) 
* WIP, started unordered_set<SensorId>

* struct SensorId. Works for cartographer without grpc.

* correct test

* SensorId in cartographer_grpc/

* clean up

* try to fix for trusty

* SensorId::operator==

* Ran clang-format.
 2018-01-26 15:07:49 +01:00
Christoph Schütte edb18231b6 Add ProtoStreamWriterInterface and implement forwarding writer. (#849) 2018-01-25 15:27:50 +01:00
Alexander Belyaev 43008d391d
Introduce a ProtoStreamReaderInterface. (#837) 
* Introduce a ProtoStreamReaderInterface.

* Remove the comments from interface def.
 2018-01-23 09:09:37 +01:00
Alexander Belyaev 746c9c83c8
Propagate LandmarksData to the PoseGraph. (#830) 
Propagate LandmarkData to the PoseGraph.
 2018-01-19 09:41:24 +01:00
gaschler de5937856d Collate_by_trajectory option (#828) 
Adds an option to create a MapBuilder using TrajectoryCollator
(instead of Collator).

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-17 21:15:15 +01:00
Alexander Belyaev 53c2a6b58f
Move 'finished' getter to the base class. (#803) 
* Move 'finished' getter to the base class.

* Ran clang-format.

* Ran clang-format.
 2018-01-16 14:20:33 +01:00
Christoph Schütte 31ec89614c Add parameter to Submap::ToProto() to determine whether to include loop (#821) 2018-01-16 11:23:29 +01:00
Christoph Schütte 3660408ae6 Forward declare unique_ptr<LocalSlamResultData> (#824) 2018-01-16 10:20:51 +01:00
Christoph Schütte 1de696d45f Introduce PoseGraphInterface::ToProto() (#813) 2018-01-12 13:55:14 +01:00
Christoph Schütte fee77c8a99 Add LocalSlamResultData retrieval and submap management (#810) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2018-01-12 13:00:25 +01:00
gaschler 51ccee3e74 CollatorInterface (#808) 
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-11 16:02:03 +01:00
Christoph Schütte e1a182d1fa Implement LocalSlamResult data adding to PoseGraph. (#804) 2018-01-11 10:19:37 +01:00
Christoph Schütte d313af8674
Add InsertionResult to LocalSlamResult. (#801) 2018-01-10 17:26:04 +01:00
Christoph Schütte 8c7c4e3d2a Make LocalTrajectoryBuilder optional. (#799) 
This is to prepare for the cloud-based mapping case where the robot is running cartographer in pure-localization mode and the cloud instance only solves the global problem. In that case a `LocalTrajectoryBuilder` need to be instantiated in for the cloud instance.
 2018-01-09 16:54:30 +01:00
Christoph Schütte 8165da873f Add GetConstraints() to gRPC service. (#798) 2018-01-09 14:25:28 +01:00
Christoph Schütte 78d05bf745 Add GetTrajectoryNodePoses() to gRPC service (#796) 2018-01-08 14:19:39 +01:00
Christoph Schütte d57c2441b8 Implement gRPC submap query. (#794) 2018-01-08 13:52:14 +01:00
Christoph Schütte 196b4b891c Add PoseGraphInterface::GetTrajectoryNodePoses() (#795) 2018-01-08 09:13:51 +01:00
Christoph Schütte 1a837ef3ab Introduce PoseGraphInterface::GetAllSubmapPoses() (#790) 2018-01-05 14:19:08 +01:00
gaschler dbb3f7cde4 Test TrajectoryBuilderStub (#780) 2018-01-03 14:56:56 +01:00
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer (#766) 2017-12-18 16:32:34 +01:00
gaschler c6decd5b7b Test MapBuilderServer (#762) 
Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
 2017-12-18 11:52:17 +01:00
gaschler d49706944f FixedFramePoseData in gRPC server (#761) 
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
 2017-12-15 15:26:58 +01:00
gaschler 6817d22788 Test global 2D SLAM. (#751) 2017-12-15 14:45:56 +01:00
gaschler f8452821d7 WaitForAllComputation waits for work queue (#754) 2017-12-13 18:49:22 +01:00
gaschler 59d1b968bc Unwarp by point in LocalTrajectoryBuilder. (#636) 2017-12-13 18:29:42 +01:00
Christoph Schütte 3ae78563c6 Introduce TrajectoryBuilderInterface. (#736) 
[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md)
 2017-12-08 11:52:29 +01:00
Christoph Schütte 96cdbde5bf Introduce PoseGraphInterface. (#744) 
[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md)
 2017-12-08 11:13:48 +01:00
Michael Grupp 176fc42c3f Remove empty leftover of pose_estimate.h (#740) 
Follow-up of #670.
 2017-12-07 08:53:04 +01:00
Christoph Schütte 2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. (#738) 
This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
 2017-12-06 16:36:36 +01:00
gaschler 4c999037b4 Integration tests for local slam. (#734) 2017-12-06 15:58:16 +01:00
gaschler 49d55d97c1 Test MapBuilder (#731) 2017-12-05 14:04:10 +01:00
gaschler b77a1f2178
Remove implementation from TrajectoryBuilder. (#728) 
To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
 2017-12-05 11:05:05 +01:00
gaschler ee9c61a736 Move LocalSlamResultCallback to AddTrajectory (#724) 2017-12-04 22:41:38 +01:00
gaschler 85bfb888eb
Interface for MapBuilder (#715) 
Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-30 14:41:48 +01:00
gaschler 24f253a2aa Remove GetBlockingTrajectoryId (#714) 2017-11-30 12:04:14 +01:00
Jihoon Lee 88805a301d Trim all submaps when pure localization trajectory is finished. (#563) 
Fixes #560 
based on #562
 2017-11-28 10:21:55 +01:00
Juraj Oršulić bebe021b04 Serialize fixed frame pose data. (#689) 
Similar to #666 and #548.
 2017-11-28 09:44:35 +01:00
gaschler c292d76f86 Test ImuTracker (#711) 
Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
 2017-11-27 14:46:32 +01:00
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. (#707) 
Also moves it from mapping_3d to mapping since it is used
in both 2D and 3D SLAM.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 14:01:07 +01:00
Wolfgang Hess 0819e52a9c Make the LocalTrajectoryBuilders internal. (#704) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 10:39:12 +01:00
Wolfgang Hess ec034b13bc Do not install global_trajectory_builder.h. (#698) 
This moves the global_trajectory_builder.h header under
cartographer/internal and changes the CMakeLists.txt to
not install internal headers.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-23 14:47:29 +01:00
gaschler 147c8166b6 ImuTracker uses conjugate. (#693) 
Normalized quaternions can be inverted with conjugate, which is faster.
The motivation for optimizing ImuTracker::Advance is that
per-point unwarping will call this for every point.
 2017-11-23 13:50:44 +01:00
gaschler a8bd98680e ExtrapolatePose uses fewer transforms. (#694) 
ExtrapolatePose avoids conversion to Rigid3d and computes translation
and rotation directly, which is faster.
Per-point unwarping will call this function for every point, so we
optimize it.
 2017-11-23 12:27:26 +01:00
Juraj Oršulić 31f28b5097 Remove PoseEstimate. (#670) 
Replaces #620.

Depends on switching `cartographer_ros` to use the new callback API for handling the last scan and pose estimate (googlecartographer/cartographer_ros#594).
 2017-11-17 16:47:06 +01:00
Wolfgang Hess 055728af93 Rename options for consistency. (#686) 
"scan" is better named "node" if it refers to a node in global SLAM.

"penalty factor" is renamed "weight" for consistency with other similar options.

"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
 2017-11-17 10:52:22 +01:00
Wolfgang Hess 16d62f45f0 Rename sparse_pose_graph options. (#682) 
The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-16 11:48:25 +01:00
Wolfgang Hess bdca2095c0 Rename proto::SparsePoseGraph. (#680) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 14:58:49 +01:00
Wolfgang Hess c25379cd20 Rename mapping_{2,3}d::SparsePoseGraph. (#678) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 13:50:18 +01:00
Wolfgang Hess 8c114d6eaf Rename mapping::SparsePoseGraph. (#677) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 12:06:19 +01:00
catskul f6192e4735 replace implicit use of cartographer::string with explicit use of std::string (#673) 
Fixes #622.
 2017-11-15 10:17:59 +01:00
Wolfgang Hess 291c0f581b Move the mapping/sparse_pose_graph directory. (#669) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 09:39:45 +01:00
Juraj Oršulić 818e5e1a44 Add local SLAM result callback. (#574) 
Depends on ~~#619~~ (merged) and ~~#617~~ (merged).
Related to #508.

Also, if cartographer_ros is going to use this, and we wish to serialize the saved range data, that will have to be handled in cartographer_ros, right?
 2017-11-14 17:19:14 +01:00
Wolfgang Hess a4c0e4754e Rename scan to node. (#667) 
Changes the naming from "scan" to "node" in the pose graph.
AddNode() adds a new node to the graph which might contain
data from multiple range sensors and not necessarily one scan.

Configuration and documentation changes might follow in a
separate PR.

Related to #280.
 2017-11-14 16:53:31 +01:00
Juraj Oršulić 4b342eddd0 Miscellaneous: rename odometer->odometry (#665) 
Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
 2017-11-14 16:18:07 +01:00
Juraj Oršulić 5496cbdc0c Serialize odometry data (#666) 
Replaces #550.
 2017-11-14 15:18:39 +01:00
damienrg d183ab737a Fix mismatched tag warning for MapByIndex (#658) 
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
 2017-11-13 10:18:58 +01:00
Christoph Schütte 53471359f8 Convert all .proto files to proto3 syntax. (#653) 
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
 2017-11-13 08:26:35 +01:00
jie ed71914805 Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… (#565) 
…aph::TrimmingHandle::MarkSubmapAsTrimmed

To make them compile successfully in google.
 2017-11-10 17:21:20 +01:00
Juraj Oršulić eb4415d17d Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. (#619) 
In preparation for #574. Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
 2017-11-10 14:49:41 +01:00
Juraj Oršulić e21fc9f253 Serialize IMU data. (#548) 2017-11-09 15:32:54 +01:00
Jihoon Lee 3bdee588bd Add FinishTrajectory() in SparsePosegraph. (#562) 2017-11-09 14:29:26 +01:00
Christoph Schütte eb96c91473
Initial pose implementation. (#606) 2017-11-08 14:01:38 +01:00
Wolfgang Hess 088681f9ec
Add 3D localization support. (#632) 
This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.

Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
 2017-11-07 11:26:41 +01:00
Juraj Oršulić 8186316d77 Range loop over trajectories for MapByTime (#633) 2017-11-06 17:14:01 +01:00
Wolfgang Hess 049f30d824
Generalize IntegrateImu(). (#627) 
This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
 2017-11-06 11:00:33 +01:00
gaschler 8854aaae9e Extrapolator reuses result using additional IMU trackers. (#623) 
This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
 2017-11-03 16:19:55 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. (#624) 2017-11-03 13:44:23 +01:00
gaschler 5a3bb14083 PoseExtrapolator::GetLastExtrapolatedTime (#626) 
This prepares the API for #623 and #616.
 2017-11-03 11:56:31 +01:00
Juraj Oršulić 7964211fef Deserialize SPG constraints (#544) 2017-11-02 22:01:01 +01:00
Wolfgang Hess 82a4b2f171 Follow #591 terminology in 3D optimization. (#612) 2017-10-27 15:48:51 +02:00
Christoph Schütte dacc962399 Adds lower_bound() to MapById. (#610) 2017-10-27 14:50:14 +02:00
gaschler d4db1e79a6 Add TimedPointCloud and TimedRangeData. (#601) 
Adds a type TimedPointCloud that holds 4-dimensional vectors where measurement time of individual points are stored in the fourth entry.
Uses TimedRangeData to pass TimedPointCloud of incoming measurements to LocalTrajectoryBuilder.

Fixes #573.
 2017-10-24 11:47:35 +02:00
Juraj Oršulić f179bd942c Support multiple trajectories in LoadMap. (#567) 2017-10-20 16:13:18 +02:00
Wolfgang Hess a96511464e Add map trajectory without a trajectory builder. (#605) 2017-10-19 16:59:04 +02:00
Christoph Schütte 7c03467a78 Change GetTrajectoryNodes() to MapById. (#603) 2017-10-19 14:50:58 +02:00
Wolfgang Hess e479382ecc Change GetAllSubmapData() to MapById. (#597) 2017-10-17 16:03:16 +02:00
Christoph Schütte 3d4650d675 Remove trimmed() from TrajectoryNode (#596) 2017-10-17 15:36:07 +02:00
Wolfgang Hess e5f9815f67 Change submap_data_ in pose graph to MapById. (#593) 
* Change submap_data_ in pose graph to MapById.
 2017-10-17 13:13:37 +02:00
Christoph Schütte fdda1dd091 Switch trajectory_nodes in SPG2D to MapById. (#592) 2017-10-17 11:48:23 +02:00
Wolfgang Hess bcd1be92b1 Adds a bit of terminology documentation. (#591) 
Changes code to match the new documentation.
 2017-10-17 10:07:54 +02:00
Wolfgang Hess 76ed37768f Validate odometry and fixed frame poses. (#588) 2017-10-16 15:59:56 +02:00
Christoph Schütte 6b447c4577 Add FindChecked to MapById. (#586) 
* Add FindChecked to MapById.
 2017-10-16 14:15:53 +02:00
Christoph Schütte 5ed19c15ab Introduce proxy object for iteration over trajectory ids. (#585) 
* Introduce proxy object for iteration over trajecotry ids.
 2017-10-16 12:52:53 +02:00
Christoph Schütte 006db45910 Introduce proxy object for range based loops over nodes of trajectory. (#583) 2017-10-13 16:44:31 +02:00
Wolfgang Hess 4ab4817104 Add MapById<>::ConstIterator::operator->(). (#580) 2017-10-12 16:15:12 +02:00
Wolfgang Hess cb41777b9e Introduces mapping::MapById in the 2D pose graph for submaps. (#578) 
PAIR=cschuet
 2017-10-12 11:58:59 +02:00
Wolfgang Hess ea55e837d2 Introduces mapping::MapById in the 2D optimization problem. (#577) 
PAIR=cschuet
 2017-10-09 17:33:12 +02:00
Wolfgang Hess 2434e7e40e Fix crashing bug in localization. (#575) 
Now that we deserialize trajectory nodes, we need to make sure
that the global matcher sampler is added for the map trajectory.
 2017-10-06 17:01:04 +02:00
Juraj Oršulić 2f332eca28 Deserialize trajectory nodes. (#569) 2017-10-06 16:16:25 +02:00
Juraj Oršulić bd8a2e6a92 Store node initial pose in constant data. (#568) 2017-10-05 16:10:12 +02:00
Wolfgang Hess 51f5a18462 Fix formatting. (#561) 2017-10-04 15:58:48 +02:00
Juraj Oršulić aaaf5ac546 Rename serialization NodeData proto for consistency. (#540) 
node_data should be a member of a node, not the other way around.
 2017-10-04 14:13:18 +02:00
Wolfgang Hess 7d0e72dac2 Fix some nits. (#536) 
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
 2017-09-28 09:21:07 +02:00
Jihoon Lee 259e22a5fc Use oldest and newest instead of last two odometry data. (#530) 2017-09-14 16:10:03 +02:00
Christoph Schütte 5896ead32e Introduce timeout for global constraints. (#517) 
This PR introduces a new option that specifies the number of seconds
after which global matcher searches are performed if no recent global
constraints have been found between the submap's and the node's
trajectory.
 2017-09-14 12:11:54 +02:00
gaschler 31b5a6f1a9 Allow multiple SubmapTextures. (#519) 
This changes submap_visualization.proto that multiple textures can be provided.
As of now, the first texture is generated from the high resolution
grid, which is the same as before.
The second texture is generated from the low resolution grid.
 2017-09-13 15:47:02 +02:00
Wolfgang Hess 57d53b6d53 Remove unused code. (#522) 
Removes FindConnectedComponent() from a proto message.
 2017-09-12 18:07:18 +02:00
Christoph Schütte 24c2b499dd Introduce TrajectoryConnectivityState. (#513) 
* 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
Christoph Schütte 1a367f0549 Rename TrajectoryConnectivity ConnectedComponents. (#510) 
* Rename TrajectoryConnectivity ConnectedComponents.
 2017-09-07 17:11:06 +02:00
Christoph Schütte fa306d03ec Remove reverse_connected_components. (#507) 
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
Wolfgang Hess 476d156f66 Serialize trajectory node data. (#504) 
Related to #253.
 2017-09-07 15:29:12 +02:00
Wolfgang Hess 22f41d8e37 Store rotational histogram as part of the node data. (#503) 
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
Wolfgang Hess c8de50bd2b Add 'gravity_alignment' rotation to each node. (#500) 
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
Wolfgang Hess e3b6f0afc5 Expose complete poses in 2D SLAM. (#498) 
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
Wolfgang Hess 5673334f0e Tiny improvement of the gravity estimation. (#494) 2017-09-01 10:22:13 +02:00
jie e2c67a7bde Fix Lint and ClangTidy warnings. (#485) 2017-08-31 13:39:47 +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 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
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
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 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
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. (#465) 2017-08-21 18:01:23 +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 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 6ebfa50291 Use odometry to extrapolate linear motion. (#443) 2017-08-08 16:30:53 +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
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
Wolfgang Hess 167047173c Tiny improvement of HybridGrid::ToProto(). (#401) 
Makes it a member function and adds a check for left over
update markers.
 2017-07-11 09:26:07 +02:00
Wolfgang Hess 78bd37ec26 Unify 2D/3D range data in trajectory nodes. (#396) 
Since we only convert compressed range data to protos, we remove the
unused code to serialize (non-compressed) range data which should also
not be used in the future.
 2017-07-07 17:07:04 +02:00
Wolfgang Hess 5378ee2adc Serialize range data. (#395) 
We compress 2D range data before serialization to reduce
output size.

Related to #253.
 2017-07-07 15:39:55 +02:00
Wolfgang Hess 94a848cd46 Rename ScanId to NodeId in the serialization. (#394) 
This is consistent with the naming in the C++ structs.
 2017-07-07 13:58:23 +02:00
Moritz Münst 3f4d795c3e Add pure localization parameter to trajectory builder options. (#389) 2017-07-05 16:55:06 +02:00
Wolfgang Hess 9042450aaf Fix initial pose of loaded submaps. (#391) 
PAIR=SirVer
 2017-07-05 16:24:02 +02:00
Wolfgang Hess 7434e96369 First rough implementation of loading a map. (#382) 
This implements loading of serialized maps in 2D:
We insert all submaps at the serialized optimized pose into
the pose graph and remove their poses from the optimization.

Related to #197 and #315.
 2017-07-04 17:20:13 +02:00
Wolfgang Hess 31f77a01d2 Serialize submaps. (#380) 2017-07-04 12:11:54 +02:00
Brandon D. Northcutt 5396156968 Submap serialization support. (#376) 2017-07-03 17:59:55 +02:00
Wolfgang Hess 03b9285034 Add support for serializing to a proto stream. (#379) 
Also changes the ground truth tools to read from such a file.

This resolves #335. Related to #253.
 2017-07-03 15:23:15 +02:00
Damon Kohler f765e55ea9 Use multi-res scan matching for loop closures too. (#374) 
Improves loop closure scan matcher refinement.
 2017-06-30 09:30:09 +02:00
Holger Rapp 9464b38320 Consistency fix: trajectory_index -> trajectory_id. (#360) 2017-06-26 10:02:51 +02:00
Wolfgang Hess 9fbb65084b Exclude trimmed submaps from the pose graph serialization. (#354) 
Related to #283.
 2017-06-21 17:57:08 +02:00
Wolfgang Hess 432cd5dcd3 Delete data of trimmed submaps. (#353) 
This is related to #283.

PAIR=SirVer
 2017-06-21 16:36:54 +02:00
Holger Rapp 9646b31145 Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. (#352) 
- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Remove num_submaps().
 2017-06-21 14:21:23 +02:00
Holger Rapp 16636cd4e1 Remove friends declaration in Submap. (#350) 2017-06-21 12:49:44 +02:00
Wolfgang Hess 0fbdf6d0ec Add ground truth proto support for trajectory evaluation. (#349) 
This adds support of GroundTruth protos in addition to
text files.

Fixes the ground truth generation code to skip outliers.

Improves the ground truth generation to use expected
relative poses instead of the solution.

Writes constraints including the roll and pitch from the
node for 2D SLAM, so that constraints correctly capture
the expected transform between the 3D poses of scan and
submap in 2D SLAM.

Related to #239.
Related to #310.
 2017-06-21 11:33:30 +02:00
Holger Rapp f242b5242a Use shared_ptr<> for Submap objects. (#347) 
Also remove `finished_submap` and `matching_submaps`. These are now
implicit.

Related to #283.

PAIR=wohe
 2017-06-19 17:23:48 +02:00
Holger Rapp 5c389cdf4a Remove mapping::Submaps. (#345) 
PAIR=wohe
 2017-06-19 15:24:06 +02:00
Holger Rapp b944b19159 Make use of Submap in 2D similar to 3D. (#343) 
Use mapping_2d::Submap instead of mapping::Submap in 2D.
Use `finished()` instead of `finished_probability_grid()` in 2D.

PAIR=wohe
 2017-06-19 14:43:10 +02:00
Wolfgang Hess 12c3795134 Remove direct access to Submaps from the outside. (#339) 
PAIR=SirVer
 2017-06-16 10:47:11 +02:00
Wolfgang Hess c1e1d03636 Support extrapolating a single submap transform. (#338) 2017-06-14 15:10:36 +02:00
Holger Rapp cff0c73857 Converted Submap from struct to class. (#333) 2017-06-12 17:28:38 +02:00
Holger Rapp 2d75f4ef56 Move SubmapToProto from Submaps -> Submap. (#332) 
PAIR=wohe
 2017-06-12 16:27:51 +02:00
Holger Rapp 521666ce55 Trim node data. (#331) 
Also, remove trimmed nodes from proto serialization.

PAIR=wohe
 2017-06-12 15:20:49 +02:00
Holger Rapp f68da37c6e Drop trajectory_id from TrajectoryNode. (#330) 
PAIR=wohe
 2017-06-12 14:28:16 +02:00
Wolfgang Hess f07f888dab Remove the deque for constant node data. (#326) 
This is needed in preparation of deleting nodes.
Related to #283.
 2017-06-09 16:53:49 +02:00
Holger Rapp c1d4d08a1d Move AddProbabilityGridToResponse to the Submap object. (#318) 
Working towards a thread-safe Submap object. Related to #283.

PAIR=wohe
 2017-06-07 15:13:56 +02:00
Wolfgang Hess b3b9735a4b Remove trimmed constraints. (#317) 
Still missing marking submaps and nodes as trimmed.

PAIR=SirVer
 2017-06-07 14:23:58 +02:00
Wolfgang Hess a66147f131 Adds a PureLocalizationTrimmer. (#316) 
Related to #315.
 2017-06-07 12:39:04 +02:00
Wolfgang Hess c90b887bfb Adds API to add trimmers. (#314) 
This is related to #283. First to be implemented for
pure localization and 2D SLAM.

PAIR=SirVer
 2017-06-06 17:07:30 +02:00
Wolfgang Hess 56529e5968 Tiny cleanup of the MapBuilder. (#313) 
GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
 2017-06-06 15:20:10 +02:00
Wolfgang Hess 565e9c3eff Simplify the handling of weights in the optimization problem. (#309) 
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
Wolfgang Hess 92f154f561 Also use fixed covariances in 3D SLAM. (#308) 
This follows #307.
 2017-06-01 15:04:07 +02:00
Wolfgang Hess a2e52f81cf Remove 2D scan matcher covariances. (#307) 
This replaces the scaled covariances derived from the Ceres
scan matcher by directly configurable weights. Using covariances
did not provide the expected benefit, and replacing the scaling
matrix by two values will allow a faster evaluation of the cost
function in the future.
 2017-05-31 11:56:32 +02:00
Wolfgang Hess 515db3b4a9 Minor fixes. (#303) 
Extract mapping_2d::CreateLocalTrajectoryBuilderOptions() into its own file.
Loop initialization fix in the trajectory_connectivity_test.
Thread safety fixes in sparse_pose_graph.
 2017-05-22 14:55:05 +02:00
Wolfgang Hess 2d416589a7 Adds a NestedVectorsById<> class template. (#300) 2017-05-19 16:58:21 +02:00
Wolfgang Hess 56fc2a9a92 Fix 3D SLAM loop closure issues. (#296) 
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
Holger Rapp 5aa968748e Sparse pose graph no longer uses Submaps* for trajectory identification. (#290) 
Related to #256.

PAIR=wohe
 2017-05-16 14:24:49 +02:00
Holger Rapp 8612f5e6e5 ConstantData now has a trajectory_id. (#289) 
Related to #256.

PAIR=wohe
 2017-05-16 11:42:18 +02:00
Wolfgang Hess 5effc4dac7 Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). (#288) 
Related to #256.

Also removes ComputeMapLimits with is moved to Cartographer ROS.

PAIR=SirVer
 2017-05-16 10:51:08 +02:00
Wolfgang Hess 690d1893a7 Remove unused code. (#287) 2017-05-15 16:57:02 +02:00
Jihoon Lee f26e4366c9 Make SparsePoseGraph::constraints() public. (#284) 2017-05-15 16:06:20 +02:00
Wolfgang Hess fde9272533 Adds mapping:NodeId for Constraint. (#279) 
Also extracted mapping::SubmapId into an id.h file.

Related to #256.

PAIR=SirVer
 2017-05-11 17:17:12 +02:00
Holger Rapp 7b1915b906 Fix bug in ToProto introduced in #275. 2017-05-11 14:02:04 +02:00
Holger Rapp e6a6bab351 Make TrajectoryConnectivity use trajectory IDs. (#275) 
Related to #256.
 2017-05-11 13:36:12 +02:00
Holger Rapp 95f0d013c6 Rename Constraint::i -> submap_id. (#274) 
Related to #256.
 2017-05-11 11:43:47 +02:00
Holger Rapp 94e8eec41d Use (trajectory_id, submap_index) as submap IDs in places. (#271) 
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256.

PAIR=wohe
 2017-05-10 12:26:58 +02:00
Holger Rapp 45de59b116 Move trajectory id mapping into the SparsePoseGraph. (#270) 2017-05-10 08:23:57 +02:00
Holger Rapp 20e9cde53d Fix race condition in extrapolation of submap poses. (#268) 
PAIR=wohe
 2017-05-09 15:21:30 +02:00
Holger Rapp 772d02c00e Move ConstantData into the SPG (#263) 2017-05-08 17:10:07 +02:00
Wolfgang Hess 9194c8679b Clean up. (#266) 
Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
 2017-05-08 15:29:13 +02:00
Yutaka Takaoka 522b37979a Enable multiple configuration for multi-trajectory (#248) 2017-05-08 11:58:53 +02:00
Holger Rapp e2de27cded Remove dead code. (#262) 2017-05-08 11:06:33 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259) 
Related to #250.
 2017-05-04 15:38:41 +02:00
Wolfgang Hess 6d2feaa8c7 Build and run all tests found by the glob. (#258) 2017-05-03 16:55:13 +02:00
Wolfgang Hess af22dc6fe1 Simplify submap versions. (#235) 
We now only keep track of the number of inserted range data.
 2017-04-21 14:12:08 +02:00
Mac Mason 92d360a8f2 Multi-trajectory SparsePoseGraph::ToProto. (#227) 
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
 2017-04-19 17:01:03 +02:00
William Woodall bda68c33d9 Fix warning about struct being redefined as class (#228) 2017-03-28 08:57:13 +02:00
Mac Mason 1e5b49ce62 Minor sparse_pose_graph.proto improvement (#226) 2017-03-24 09:03:36 +01:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. (#224) 
LaserFan is misleading since range data can come from
various sensor types.
 2017-03-23 14:56:18 +01:00
Wolfgang Hess a2abe45542 Rename CompressedLaserFan to CompressedRangeData. (#223) 
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