Commit Graph

25 Commits (fe6e81a0555cc62f429f70fb96b2782aee82d3fe)

Author SHA1 Message Date
Michael Grupp 4351bdb3c8 Separate global optimization constraints for local SLAM and odometry ()
Implements [RFC-0018](https://github.com/googlecartographer/rfcs/blob/master/text/0018-odometry-use-in-optimization-problem.md)
2018-04-10 14:44:43 +02:00
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. ()
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
Wolfgang Hess 055728af93 Rename options for consistency. ()
"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 16d62f45f0 Rename sparse_pose_graph options. ()
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
Wolfgang Hess c866707013 Fix the configuration documentation script. ()
Fixes .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
Wolfgang Hess a7fe8bd2ab Add filtered point cloud to TrajectoryNode::Data for 2D. () 2017-08-28 11:17:53 +02:00
Christoph Schütte 96b71e227f Add histograms for pose residuals ()
* WIP Add histograms for pose residuals

* Address reviewers comments

* Address more comments.
2017-08-25 11:39:56 +02:00
jie 2fd2e86351 Add fixed frame pose weight into optimization problem options. () 2017-08-24 15:40:48 +02:00
Wolfgang Hess 4d11a226ff Expose low resolution matching scores. ()
This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
zjwoody 2e53586818 Also check low resolution match for 3D loop closure. ()
Related to .
2017-08-22 17:29:20 +02:00
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. () 2017-08-21 18:01:23 +02:00
Wolfgang Hess 11dbdf91b9 Remove unused code and option for odometry states. () 2017-08-11 17:38:48 +02:00
Holger Rapp 3346474963 Grow the ProbabilityGrid as needed instead of preconfiguring its size. ()
This removes the 'half_length' option.

PAIR=wohe
2017-07-05 14:17:04 +02:00
Wolfgang Hess 54bd81a78b Remove UKF related code and configuration. () 2017-06-30 13:19:13 +02:00
Damon Kohler f765e55ea9 Use multi-res scan matching for loop closures too. ()
Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
Wolfgang Hess f88fcec851 Remove the unused OptimizingLocalTrajectoryBuilder. ()
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. () 2017-06-26 13:23:58 +02:00
Holger Rapp ff37b0bb7d Remove output_debug_images. ()
This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
Wolfgang Hess 92f154f561 Also use fixed covariances in 3D SLAM. ()
This follows .
2017-06-01 15:04:07 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. ()
Related to .
2017-05-04 15:38:41 +02:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. ()
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. ()
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
Wolfgang Hess 1f27268664 Add resolution of option types to the documentation script. () 2017-01-10 12:23:10 +01:00
Wolfgang Hess 1c433e6f3a Refactor the documentation update script. () 2017-01-10 10:43:16 +01:00
Wolfgang Hess cd0ebbf536 Add the configuration doc and an update script. () 2016-12-21 16:21:43 +01:00