9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
...
Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
...
This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
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
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 )
...
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 )
...
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 )
...
Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
...
PAIR=wohe
2017-06-12 14:28:16 +02:00
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
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
b3b9735a4b
Remove trimmed constraints. ( #317 )
...
Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
...
Related to #315 .
2017-06-07 12:39:04 +02:00
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
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
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
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
...
This follows #307 .
2017-06-01 15:04:07 +02:00
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
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
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 )
...
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 )
...
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
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
...
Related to #256 .
2017-05-11 11:43:47 +02:00
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
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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
Wolfgang Hess
Holger Rapp
Jihoon Lee
Yutaka Takaoka
Mac Mason
William Woodall
Damon Kohler
Damon Kohler
Wolfgang Hess