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cartographer/cartographer/mapping
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Wolfgang Hess 8ac967a50d
Add per-submap sampling. (#1758) 
This changes which submaps we select to attempt loop closing.
The subsampling of candidates is changing from randomly sampling
submap and node pairs to per-submap sampling. This enforces a
better distribution of loop closure attempts across the submaps.
This sampling achieves a much better performance which indicates
that the approach used before was sub-optimal.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
 		2020-10-09 09:30:27 +02:00
..
2d Move proto files out of 2d/3d directories. (#1749) 2020-09-14 12:17:15 +02:00
3d Move proto files out of 2d/3d directories. (#1749) 2020-09-14 12:17:15 +02:00
internal Add per-submap sampling. (#1758) 2020-10-09 09:30:27 +02:00
proto Move proto files out of 2d/3d directories. (#1749) 2020-09-14 12:17:15 +02:00
detect_floors.cc Fix crashes in median() if all spans in a level are short (#1668) 2020-06-02 11:29:37 +02:00
detect_floors.h Update clang-format to new Google style. (#1564) 2019-04-10 13:04:57 +02:00
eigen_quaterniond_from_two_vectors.cc extracted eigen quaterniond from 2 vectors for faster compilation (#1729) 2020-07-29 14:08:40 +02:00
eigen_quaterniond_from_two_vectors.h extracted eigen quaterniond from 2 vectors for faster compilation (#1729) 2020-07-29 14:08:40 +02:00
grid_interface.h Fix virtual destructors (#1453) 2018-10-24 18:45:58 +02:00
id.h Fix MapById::lower_bound function and implement test to reproduce the bug (#1616) 2020-06-12 12:17:54 +02:00
id_test.cc Fix MapById::lower_bound function and implement test to reproduce the bug (#1616) 2020-06-12 12:17:54 +02:00
imu_based_pose_extrapolator.cc added imu based extrapolator impl (#1728) 2020-07-29 14:48:01 +02:00
imu_based_pose_extrapolator.h added imu based extrapolator impl (#1728) 2020-07-29 14:48:01 +02:00
imu_tracker.cc extracted eigen quaterniond from 2 vectors for faster compilation (#1729) 2020-07-29 14:08:40 +02:00
imu_tracker.h Use the ImuTracker in the PoseExtrapolator. (#436) 2017-08-01 10:44:32 +02:00
imu_tracker_test.cc extracted eigen quaterniond from 2 vectors for faster compilation (#1729) 2020-07-29 14:08:40 +02:00
local_slam_result_data.h Internal cleanup (#1051) 2018-04-11 09:56:22 +02:00
map_builder.cc Remove legacy compatibility proto files. (#1736) 2020-08-21 14:20:31 +02:00
map_builder.h Update clang-format to new Google style. (#1564) 2019-04-10 13:04:57 +02:00
map_builder_interface.h Add WriteStateToFileResponse. (#1428) 2018-09-15 00:03:30 +02:00
map_builder_test.cc Skip constraint search against unfinished submaps. (#1362) 2018-08-06 17:34:40 +02:00
pose_extrapolator.cc add pose extrapolator interface and extrapolator options (#1726) 2020-07-28 22:53:12 +02:00
pose_extrapolator.h add pose extrapolator interface and extrapolator options (#1726) 2020-07-28 22:53:12 +02:00
pose_extrapolator_interface.cc Integrate imu based extrapolator (#1732) 2020-07-30 13:52:08 +02:00
pose_extrapolator_interface.h Integrate imu based extrapolator (#1732) 2020-07-30 13:52:08 +02:00
pose_extrapolator_test.cc extracted eigen quaterniond from 2 vectors for faster compilation (#1729) 2020-07-29 14:08:40 +02:00
pose_graph.cc Include all trajectory nodes when serializing without unfinished submaps. (#1410) 2018-09-05 16:59:16 +02:00
pose_graph.h [ABSL] Use flat_hash_map instead of unordered_map. (#1439) 2018-10-08 10:47:28 +02:00
pose_graph_data.h Rename submap finished flags (#1384) 2018-08-13 10:38:33 +02:00
pose_graph_interface.h Allow introduction of new landmarks into loaded (frozen) map (#1475) 2019-01-17 16:57:30 +01:00
pose_graph_test.cc Rename namespace to testing (#1191) 2018-06-12 15:18:20 +02:00
pose_graph_trimmer.cc Add max_submaps_with_pure_localization parameter (#1141) 2018-07-02 20:32:23 +02:00
pose_graph_trimmer.h Fix serialization for deleted trajectories. (#1214) 2018-06-26 13:36:42 +02:00
pose_graph_trimmer_test.cc Move FakeTrimmable implementation to internal/testing. (#1050) 2018-04-10 18:05:03 +02:00
probability_values.cc Rename kNumberOfValues to kValueCount (#1535) 2019-03-08 12:28:48 +01:00
probability_values.h Correspondence cost based probability grid (#1081) 2018-04-18 14:46:38 +02:00
probability_values_test.cc Correspondence cost based probability grid (#1081) 2018-04-18 14:46:38 +02:00
range_data_inserter_interface.cc Update clang-format to new Google style. (#1564) 2019-04-10 13:04:57 +02:00
range_data_inserter_interface.h Move proto files out of 2d/3d directories. (#1749) 2020-09-14 12:17:15 +02:00
submaps.h Rename submap finished flags (#1384) 2018-08-13 10:38:33 +02:00
submaps_test.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
trajectory_builder_interface.cc Move OverlappingSubmapTrimmerOptions to PoseGraphOptions (#1408) 2018-09-04 10:12:19 +02:00
trajectory_builder_interface.h [ABSL] Purge common::make_unique. (#1340) 2018-07-27 19:43:35 +02:00
trajectory_node.cc Change submap_data_ in pose graph to MapById. (#593) 2017-10-17 13:13:37 +02:00
trajectory_node.h [ABSL] Purge common::optional. (#1339) 2018-07-27 19:05:45 +02:00
trajectory_node_test.cc Introduce [Timed]RangefinderPoint. (#1357) 2018-08-10 22:36:37 +02:00
value_conversion_tables.cc [ABSL] Purge common::make_unique. (#1340) 2018-07-27 19:43:35 +02:00
value_conversion_tables.h Add value conversion tables (#1255) 2018-07-12 22:11:55 +02:00
value_conversion_tables_test.cc Add value conversion tables (#1255) 2018-07-12 22:11:55 +02:00