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434 Commits (c79425cbb0a2c2b78da06c050294efc912312aa7)

Author SHA1 Message Date
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
Juraj Oršulić 29e4395a5a Make WaitForAllComputation wait for work queue in 3D as well (#758) 
Repeat the change in #754 by @gaschler for 3D as well.
 2017-12-14 10:02:54 +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 c5ec086968 Introduce TimedPointCloudData. (#748) 
This data structure is needed to forward RangeFinderData over gRPC.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-08 19:28:47 +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
gaschler 549eef0000 Correct namespace (#742) 2017-12-07 21:17:30 +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 1ff8243802
Test RotationDeltaCostFunctor (#721) 2017-12-01 09:25:15 +01:00
gaschler 63e901d276
Create AutoDiffCostFunction in cost functions. (#718) 
Creating a ceres::AutoDiffCostFunction requires specifying numbers
of residuals and variables, so it is safer to implement this within
the cost functions, which know best.
 2017-11-30 15:41:57 +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 1c7183d5c4 VoxelFilter for TimedPointCloud, Filter method. (#710) 
This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
 2017-11-27 15:12:07 +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 7e82ac3bbf Make IMU cost functions internal. (#708) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 15:29:48 +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
gaschler 0084f14c1c CeresScanMatcher target_translation (#702) 
For its translation cost function, CeresScanMatcher now takes
a target translation as an argument instead of a pose, which 
was confusing.
 2017-11-24 12:26:14 +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 8e6101de5c Make the OccupiedSpaceCostFunction internal. (#703) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-23 18:04:36 +01:00
Wolfgang Hess 70a0f41364 Remove unused code. (#699) 2017-11-23 16:39:55 +01:00
gaschler 9bfc52d878 Rename arguments of CostFunctors to target_ (#700) 
Rename constant targets of cost functors to target_*.
Pass only translation to Translation cost functors.
 2017-11-23 16:04:49 +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
Juraj Oršulić 8f9f1cf44e Fix debug build (#697) 
Similar to #418.
 2017-11-23 14:20:01 +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 aba4575d93 Rename 'submap_transforms' to follow terminology. (#688) 
https://google-cartographer.readthedocs.io/en/latest/terminology.html

Related to #602.
 2017-11-17 13:13:45 +01:00
Christoph Schütte b91ff8fe44 Extrapolate poses for ground truth relations. (#687) 2017-11-17 12:27:31 +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
Holger Rapp 5ee830e8cc Cleanup and new features in Image code. (#685) 
- Removes stride_, since we know for a fact that it is always width * 4.
- Adds a constructor from a cairo surface.
- Adds a function that rotates the image by 90 degrees.

This is in preparation of adding a tool that can generate an image from a .pbstream.
 2017-11-16 17:05:18 +01:00
Holger Rapp 0b4e7a9443 Refactor image related code. (#684) 
- Take immutable parameter as const ref instead of pointer.
- make kCairoFormat a global constant, since it is defined in many places in cartographer and cartographer_ros, but we rely on it actually always being the same value.
 2017-11-16 15:07:05 +01:00
gaschler b9015f33a7 Filter early in AddRangeData. (#681) 
Filter earlier in 3D.
Combine two transforms to one in 2D.
 2017-11-16 13:35:44 +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
jie a08a370ef3 Check if filtered point clouds are empty. (#664) 
The point cloud will be filtered by MaxRangeFilter before doing scan matching. For some special cases, the filtered point cloud maybe empty, it will cause crash:
real_time_correlative_scan_matcher.cc:159 Check failed: candidate.score > 0.f (nan vs. 0) 
This PR fixed this bug, check the point cloud size before scan matching, return false for empty point cloud.
 2017-11-16 09:56:01 +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
Wolfgang Hess 36b9cf7f9a Move the mapping_3d/sparse_pose_graph directory. (#676) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 11:30:35 +01:00
Wolfgang Hess 26db9d6210 Move the mapping_2d/sparse_pose_graph directory. (#675) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 10:52:06 +01:00