* Adds DeleteScanMatcher() to 3D constraint builder
* Add possibility to remove submaps and scans from the 3D optimization
problem.
* Implements TrimmingHandle in SPA.
Before, the relative change in pose due to odometry in the
2D pose graph optimization problem was incorrectly done in
the tracking frame. Instead, the gravity aligned frame in
which the 2D poses are stored must be used.
Fixes#515.
PAIR=cschuet
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.
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.
Updating the connectivity needs the data of nodes for which
constraints were added, so we postpone trimming to after the
connectivity update.
Also makes sure the mutex is held as necessary.
This PR fixes a crash when cartographer is run in localization mode due
to the map trajectory not having been properly added to the
ConnectedComponents.
* Introduce TrajectoryConnectivityState.
This class will be used to track the connectivity state (including the
last connection time) between pairs of trajectories.
* Remove connected_components_ from SPG.
This PR removes connected_components_ from the SparsePoseGraph. Since
the connectivity structure is no longer updated by the
ConstraintBuilders it is no longer necessary for SPG to keep a copy of
the connected components for data consistency.
Remove reverse_connected_components from SparsePoseGraphs and update
TrajectoryConnectivity to return "connected" for the reflexive case even
if trajectories are unknown.
This modifies the ConstraintBuilder interface so that Maybe*Constraint
is not responsible anymore for updating the TrajectoryConnectivity
member of SparsePoseGraph and moves this responsibility into the
WhenDone callback.
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.
Wolfgang Hess
Christoph Schütte
Juraj Oršulić
Holger Rapp
Jihoon Lee
jie
gaschler