Martin Schwörer
efc64934d6
use extrapolator interface ( #1730 )
...
This integrates the extrapolator interface into the 3D trajectory builder. The construction is now done within the interface and local trajectory builder 3D just makes use of the interface. No functional changes.
Signed-off-by: mschworer <mschworer@lyft.com>
2020-07-29 19:15:15 +02:00
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
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
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
Wolfgang Hess
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
Wolfgang Hess
17a22edebc
Change local 3D SLAM to not use a UKF. ( #375 )
...
This follows the 2D local SLAM in implementing a simple
constant velocity model and allows integrating odometry and
rotation information from an IMU.
2017-06-30 11:49:22 +02:00
Wolfgang Hess
19da0ab7c8
Gravity align in local 3D SLAM. ( #373 )
2017-06-28 16:17:18 +02:00
Wolfgang Hess
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
...
It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
Wolfgang Hess
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +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
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
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
...
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
Damon Kohler
a39bbff70c
Removes odometer covariance from public API. ( #137 )
2016-11-21 12:34:52 +01:00
Wolfgang Hess
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
Wolfgang Hess
8238ad8bc3
Do not accumulate scans by default for 3D SLAM. ( #30 )
2016-10-04 14:59:09 +02:00
Wolfgang Hess
14355a91a1
Remove dead code. ( #26 )
2016-09-22 17:53:32 +02:00
Damon Kohler
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00