8ea46857ac
Move cerec_pose.* to mapping/pose_graph. ( #874 )
2018-02-01 15:16:50 +01:00
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
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
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
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
93568641f9
Implement LandmarkCostFunction 3D. ( #860 )
2018-01-30 15:18:13 +01:00
8316444319
Store landmark observations as LandmarkNodes in PoseGraph. ( #850 )
2018-01-29 10:17:05 +01:00
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
edb18231b6
Add ProtoStreamWriterInterface and implement forwarding writer. ( #849 )
2018-01-25 15:27:50 +01:00
43008d391d
Introduce a ProtoStreamReaderInterface. ( #837 )
...
* Introduce a ProtoStreamReaderInterface.
* Remove the comments from interface def.
2018-01-23 09:09:37 +01:00
746c9c83c8
Propagate LandmarksData to the PoseGraph. ( #830 )
...
Propagate LandmarkData to the PoseGraph.
2018-01-19 09:41:24 +01:00
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
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
31ec89614c
Add parameter to Submap::ToProto() to determine whether to include loop ( #821 )
2018-01-16 11:23:29 +01:00
3660408ae6
Forward declare unique_ptr<LocalSlamResultData> ( #824 )
2018-01-16 10:20:51 +01:00
1de696d45f
Introduce PoseGraphInterface::ToProto() ( #813 )
2018-01-12 13:55:14 +01:00
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
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
e1a182d1fa
Implement LocalSlamResult data adding to PoseGraph. ( #804 )
2018-01-11 10:19:37 +01:00
d313af8674
Add InsertionResult to LocalSlamResult. ( #801 )
2018-01-10 17:26:04 +01:00
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
8165da873f
Add GetConstraints() to gRPC service. ( #798 )
2018-01-09 14:25:28 +01:00
78d05bf745
Add GetTrajectoryNodePoses() to gRPC service ( #796 )
2018-01-08 14:19:39 +01:00
d57c2441b8
Implement gRPC submap query. ( #794 )
2018-01-08 13:52:14 +01:00
196b4b891c
Add PoseGraphInterface::GetTrajectoryNodePoses() ( #795 )
2018-01-08 09:13:51 +01:00
1a837ef3ab
Introduce PoseGraphInterface::GetAllSubmapPoses() ( #790 )
2018-01-05 14:19:08 +01:00
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
03751b3c9f
Implement local SLAM subscriptions in MapBuilderServer ( #766 )
2017-12-18 16:32:34 +01:00
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
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
6817d22788
Test global 2D SLAM. ( #751 )
2017-12-15 14:45:56 +01:00
f8452821d7
WaitForAllComputation waits for work queue ( #754 )
2017-12-13 18:49:22 +01:00
59d1b968bc
Unwarp by point in LocalTrajectoryBuilder. ( #636 )
2017-12-13 18:29:42 +01:00
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
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
176fc42c3f
Remove empty leftover of pose_estimate.h ( #740 )
...
Follow-up of #670 .
2017-12-07 08:53:04 +01:00
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
4c999037b4
Integration tests for local slam. ( #734 )
2017-12-06 15:58:16 +01:00
49d55d97c1
Test MapBuilder ( #731 )
2017-12-05 14:04:10 +01:00
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
ee9c61a736
Move LocalSlamResultCallback to AddTrajectory ( #724 )
2017-12-04 22:41:38 +01:00
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
24f253a2aa
Remove GetBlockingTrajectoryId ( #714 )
2017-11-30 12:04:14 +01:00
88805a301d
Trim all submaps when pure localization trajectory is finished. ( #563 )
...
Fixes #560
based on #562
2017-11-28 10:21:55 +01:00
bebe021b04
Serialize fixed frame pose data. ( #689 )
...
Similar to #666 and #548 .
2017-11-28 09:44:35 +01:00
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
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
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
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
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
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
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
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
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
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
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
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
f6192e4735
replace implicit use of cartographer::string with explicit use of std::string ( #673 )
...
Fixes #622 .
2017-11-15 10:17:59 +01:00
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
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
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
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
5496cbdc0c
Serialize odometry data ( #666 )
...
Replaces #550 .
2017-11-14 15:18:39 +01:00
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
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
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
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
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
3bdee588bd
Add FinishTrajectory() in SparsePosegraph. ( #562 )
2017-11-09 14:29:26 +01:00
eb96c91473
Initial pose implementation. ( #606 )
2017-11-08 14:01:38 +01:00
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
8186316d77
Range loop over trajectories for MapByTime ( #633 )
2017-11-06 17:14:01 +01:00
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
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
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
5a3bb14083
PoseExtrapolator::GetLastExtrapolatedTime ( #626 )
...
This prepares the API for #623 and #616 .
2017-11-03 11:56:31 +01:00
7964211fef
Deserialize SPG constraints ( #544 )
2017-11-02 22:01:01 +01:00
82a4b2f171
Follow #591 terminology in 3D optimization. ( #612 )
2017-10-27 15:48:51 +02:00
dacc962399
Adds lower_bound() to MapById. ( #610 )
2017-10-27 14:50:14 +02:00
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
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
a96511464e
Add map trajectory without a trajectory builder. ( #605 )
2017-10-19 16:59:04 +02:00
7c03467a78
Change GetTrajectoryNodes() to MapById. ( #603 )
2017-10-19 14:50:58 +02:00
e479382ecc
Change GetAllSubmapData() to MapById. ( #597 )
2017-10-17 16:03:16 +02:00
3d4650d675
Remove trimmed() from TrajectoryNode ( #596 )
2017-10-17 15:36:07 +02:00
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
fdda1dd091
Switch trajectory_nodes in SPG2D to MapById. ( #592 )
2017-10-17 11:48:23 +02:00
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
...
Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
76ed37768f
Validate odometry and fixed frame poses. ( #588 )
2017-10-16 15:59:56 +02:00
6b447c4577
Add FindChecked to MapById. ( #586 )
...
* Add FindChecked to MapById.
2017-10-16 14:15:53 +02:00
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
006db45910
Introduce proxy object for range based loops over nodes of trajectory. ( #583 )
2017-10-13 16:44:31 +02:00
4ab4817104
Add MapById<>::ConstIterator::operator->(). ( #580 )
2017-10-12 16:15:12 +02:00
cb41777b9e
Introduces mapping::MapById in the 2D pose graph for submaps. ( #578 )
...
PAIR=cschuet
2017-10-12 11:58:59 +02:00
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
...
PAIR=cschuet
2017-10-09 17:33:12 +02:00
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
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
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
7d0e72dac2
Fix some nits. ( #536 )
...
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
2017-09-28 09:21:07 +02:00
259e22a5fc
Use oldest and newest instead of last two odometry data. ( #530 )
2017-09-14 16:10:03 +02:00
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
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
57d53b6d53
Remove unused code. ( #522 )
...
Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
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
1a367f0549
Rename TrajectoryConnectivity ConnectedComponents. ( #510 )
...
* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
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
476d156f66
Serialize trajectory node data. ( #504 )
...
Related to #253 .
2017-09-07 15:29:12 +02:00
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
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
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
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +02:00
e2c67a7bde
Fix Lint and ClangTidy warnings. ( #485 )
2017-08-31 13:39:47 +02:00
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
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
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
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
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
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
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 )
...
This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
2017-08-24 12:04:39 +02:00
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
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 )
...
Related to #369 .
2017-08-22 17:29:20 +02:00
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
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
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
6ebfa50291
Use odometry to extrapolate linear motion. ( #443 )
2017-08-08 16:30:53 +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
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
167047173c
Tiny improvement of HybridGrid::ToProto(). ( #401 )
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Makes it a member function and adds a check for left over
update markers.
2017-07-11 09:26:07 +02:00
78bd37ec26
Unify 2D/3D range data in trajectory nodes. ( #396 )
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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
5378ee2adc
Serialize range data. ( #395 )
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We compress 2D range data before serialization to reduce
output size.
Related to #253 .
2017-07-07 15:39:55 +02:00
94a848cd46
Rename ScanId to NodeId in the serialization. ( #394 )
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This is consistent with the naming in the C++ structs.
2017-07-07 13:58:23 +02:00
3f4d795c3e
Add pure localization parameter to trajectory builder options. ( #389 )
2017-07-05 16:55:06 +02:00
9042450aaf
Fix initial pose of loaded submaps. ( #391 )
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PAIR=SirVer
2017-07-05 16:24:02 +02:00
7434e96369
First rough implementation of loading a map. ( #382 )
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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
31f77a01d2
Serialize submaps. ( #380 )
2017-07-04 12:11:54 +02:00
5396156968
Submap serialization support. ( #376 )
2017-07-03 17:59:55 +02:00
03b9285034
Add support for serializing to a proto stream. ( #379 )
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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
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
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
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Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
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This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
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- 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
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
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
f242b5242a
Use shared_ptr<> for Submap objects. ( #347 )
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Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
...
PAIR=wohe
2017-06-19 15:24:06 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
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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
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
...
PAIR=SirVer
2017-06-16 10:47:11 +02:00
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
2d75f4ef56
Move SubmapToProto from Submaps -> Submap. ( #332 )
...
PAIR=wohe
2017-06-12 16:27:51 +02:00
521666ce55
Trim node data. ( #331 )
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Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
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PAIR=wohe
2017-06-12 14:28:16 +02:00
f07f888dab
Remove the deque for constant node data. ( #326 )
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This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
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Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
b3b9735a4b
Remove trimmed constraints. ( #317 )
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Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
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Related to #315 .
2017-06-07 12:39:04 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
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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
56529e5968
Tiny cleanup of the MapBuilder. ( #313 )
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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
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
a2e52f81cf
Remove 2D scan matcher covariances. ( #307 )
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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
515db3b4a9
Minor fixes. ( #303 )
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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
2d416589a7
Adds a NestedVectorsById<> class template. ( #300 )
2017-05-19 16:58:21 +02:00
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
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
8612f5e6e5
ConstantData now has a trajectory_id. ( #289 )
...
Related to #256 .
PAIR=wohe
2017-05-16 11:42:18 +02:00
5effc4dac7
Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). ( #288 )
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Related to #256 .
Also removes ComputeMapLimits with is moved to Cartographer ROS.
PAIR=SirVer
2017-05-16 10:51:08 +02:00
690d1893a7
Remove unused code. ( #287 )
2017-05-15 16:57:02 +02:00
f26e4366c9
Make SparsePoseGraph::constraints() public. ( #284 )
2017-05-15 16:06:20 +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 )
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Related to #256 .
2017-05-11 13:36:12 +02:00
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
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Related to #256 .
2017-05-11 11:43:47 +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
45de59b116
Move trajectory id mapping into the SparsePoseGraph. ( #270 )
2017-05-10 08:23:57 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
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PAIR=wohe
2017-05-09 15:21:30 +02:00
772d02c00e
Move ConstantData into the SPG ( #263 )
2017-05-08 17:10:07 +02:00
9194c8679b
Clean up. ( #266 )
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Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
2017-05-08 15:29:13 +02:00
522b37979a
Enable multiple configuration for multi-trajectory ( #248 )
2017-05-08 11:58:53 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
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Related to #250 .
2017-05-04 15:38:41 +02:00
6d2feaa8c7
Build and run all tests found by the glob. ( #258 )
2017-05-03 16:55:13 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
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We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
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Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
bda68c33d9
Fix warning about struct being redefined as class ( #228 )
2017-03-28 08:57:13 +02:00
1e5b49ce62
Minor sparse_pose_graph.proto improvement ( #226 )
2017-03-24 09:03:36 +01:00
4fa190d316
Rename LaserFan to RangeData. ( #224 )
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LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
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
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 )
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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 )
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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 )
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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 )
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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 )
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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 )
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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 )
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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 )
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Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
eeb17bf055
Adds google_binary to create installable binaries. ( #43 )
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- 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 )
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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 )
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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
fc166fdefa
Adds MapBuilder and cleans up some configurations. ( #23 )
2016-09-08 16:21:25 +02:00
817dc884d5
Clean up and simplify MapLimits. ( #12 )
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MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
6e56578394
Rename to local/global map frame. ( #2 )
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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
Alexander Belyaev
gaschler
Christoph Schütte
Michael Grupp
Jihoon Lee
Juraj Oršulić
Wolfgang Hess
Wolfgang Hess
catskul
damienrg
jie
gaschler
jie
Moritz Münst
Brandon D. Northcutt
Damon Kohler
Holger Rapp
Yutaka Takaoka
Mac Mason
William Woodall
Damon Kohler