088681f9ec
Add 3D localization support. ( #632 )
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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
0d2bc8b938
Adds a 'LandmarkData' struct and proto. ( #628 )
2017-11-06 15:35:21 +01:00
77fb50fd76
Introduce sensor::MapByTime<>. ( #631 )
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This data structure is used for keeping IMU data. This
allows trimming IMU data in the middle which is needed for
life-long mapping.
2017-11-06 13:36:59 +01:00
049f30d824
Generalize IntegrateImu(). ( #627 )
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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
7c31291b2b
Add assets used for the Cartographer shirt. ( #630 )
2017-11-06 10:36:38 +01:00
8854aaae9e
Extrapolator reuses result using additional IMU trackers. ( #623 )
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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 )
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This prepares the API for #623 and #616 .
2017-11-03 11:56:31 +01:00
9be15466d3
Add slides and update next Open House date. ( #625 )
2017-11-03 11:26:55 +01:00
7964211fef
Deserialize SPG constraints ( #544 )
2017-11-02 22:01:01 +01:00
3c5a7aa2d8
Refactoring of LocalTrajectoryBuilder::AddAccumulatedRangeData ( #618 )
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- introduce InsertIntoSubmap for 2D
- clarify some variable names in 3D
- move rotational_scan_matcher_histogram calculation
to InsertIntoSubmap for 3D
- refactor last version of range data before insertion into
range_data_in_local (filtered_range_data_in_local for 3D)
2017-11-02 16:01:23 +01:00
c57641f917
Make SPG::AddScan return the inserted node id. ( #617 )
2017-11-02 10:28:13 +01:00
e10650910e
Pull out time-based transformation interpolation. ( #615 )
2017-10-30 15:41:02 +01:00
c011177bfd
Fix the origin of accumulated range data. ( #613 )
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This changes the origin of accumulated range data from the
zero vector (which could be far off) to the origin of the
first range data in the accumulation.
2017-10-30 11:32:06 +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 )
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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
638aee7c2a
Fix slow point deletion in RemovePoints. ( #608 )
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This speeds up the asset writer significantly:
For the 3D sample bag:
~~~
/usr/bin/time roslaunch cartographer_ros assets_writer_backpack_3d.launch \
bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag \
pose_graph_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream
master:
2100.96user 26.79system 35:43.60elapsed 99%CPU (0avgtext+0avgdata 3657028maxresident)k
17682632inputs+32080outputs (0major+20021051minor)pagefaults 0swaps
this CL:
1937.46user 11.77system 32:22.49elapsed 100%CPU (0avgtext+0avgdata 3659412maxresident)k
1352inputs+32088outputs (0major+7042032minor)pagefaults 0swaps
~~~
So ~10%. For pipelines that do less this can be even 30% or more.
2017-10-23 10:56:55 +02:00
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
0cd0148577
Update the high level overview and provide a link to a copyable Google Sketch. ( #607 )
2017-10-20 14:56:29 +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
49ead6055c
Towards a ROS map writing PointsProcessor. ( #598 )
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- Refactor ProbabilityGridPointsProcessor for code reuse.
- Adds Image::width and height.
- Adds GetFilename for FileWriter.
Related to googlecartographer/cartographer_ros#475 .
2017-10-19 12:30:19 +02:00
0c9f2c4f65
Remove unused concept of CompressedRangeData. ( #604 )
2017-10-19 11:19:56 +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 )
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* 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 )
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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 )
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* Add FindChecked to MapById.
2017-10-16 14:15:53 +02:00
d91afa4496
Introduces mapping::MapById for nodes in 3D. ( #587 )
2017-10-16 13:37:28 +02:00
5ed19c15ab
Introduce proxy object for iteration over trajectory ids. ( #585 )
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* Introduce proxy object for iteration over trajecotry ids.
2017-10-16 12:52:53 +02:00
7e0cfc3f22
Introduces mapping::MapById for submaps in 3D. ( #584 )
2017-10-16 10:48:43 +02:00
006db45910
Introduce proxy object for range based loops over nodes of trajectory. ( #583 )
2017-10-13 16:44:31 +02:00
464d770d48
Introduces mapping::MapById for nodes in 2D. ( #581 )
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PAIR=cschuet
2017-10-13 14:41:54 +02:00
2cca91d783
Add slides from yesterday and next date. ( #572 )
2017-10-13 13:55:04 +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 )
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PAIR=cschuet
2017-10-12 11:58:59 +02:00
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
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PAIR=cschuet
2017-10-09 17:33:12 +02:00
2434e7e40e
Fix crashing bug in localization. ( #575 )
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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
6708930bbf
Adds 'offset_seconds' to PointCloudWithIntensities. ( #571 )
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This is preparing using per-point-unwarping in the `assets_writer` in `cartographer_ros`.
Related to googlecartographer/cartographer_ros#521 .
PAIR=@wohe
2017-10-06 13:21:02 +02:00
2862e12506
Add FrameIdFilteringPointsProcessor ( #566 )
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* Add FrameIdFilteringPointsProcessor
Implements a PointProcessor that filters PointBatches (either by
whitelisting or blacklisting) the frame_id.
2017-10-05 17:33:51 +02:00
0053b30cc8
Add support for odometry to the 3D pose graph optimization. ( #570 )
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Not used yet. Intended to experiment with the 3D pose graph optimization
in 2D SLAM.
2017-10-05 16:56:31 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
cae9c02e05
Follow #547 for 3D. ( #564 )
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And changes to 3D following 2D regarding trimmed data.
2017-10-04 16:47:26 +02:00
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
aaaf5ac546
Rename serialization NodeData proto for consistency. ( #540 )
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node_data should be a member of a node, not the other way around.
2017-10-04 14:13:18 +02:00
Wolfgang Hess
Juraj Oršulić
Alexander Belyaev
Holger Rapp
gaschler
Christoph Schütte
Damon Kohler