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
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2d	Delete submap scan matchers that are unconstrained after trimming. (#1745)	2020-10-06 15:41:04 +02:00
3d	Delete submap scan matchers that are unconstrained after trimming. (#1745)	2020-10-06 15:41:04 +02:00
constraints	Add per-submap sampling. (#1758)	2020-10-09 09:30:27 +02:00
optimization	Constrain gravity to be positive. (#1756)	2020-10-07 11:48:53 +02:00
scan_matching	Organize all protos in mapping in a single folder. (#1147)	2018-05-09 11:22:07 +02:00
testing	Allow introduction of new landmarks into loaded (frozen) map (#1475)	2019-01-17 16:57:30 +01:00
collated_trajectory_builder.cc	[ABSL] Use flat_hash_set instead of unordered_set. (#1442)	2018-10-08 12:43:17 +02:00
collated_trajectory_builder.h	Check for collated_fixed_frame_ for AddSensorData(FixedFramePoseData). (#1331)	2018-07-26 10:36:17 +02:00
connected_components.cc	[ABSL] Use flat_hash_set instead of unordered_set. (#1442)	2018-10-08 12:43:17 +02:00
connected_components.h	[ABSL] Use flat_hash_map instead of unordered_map. (#1439)	2018-10-08 10:47:28 +02:00
connected_components_test.cc	Move even more stuff to internal/. (#982)	2018-03-12 17:46:31 +01:00
global_trajectory_builder.cc	[ABSL] Purge common::make_unique. (#1340)	2018-07-27 19:43:35 +02:00
global_trajectory_builder.h	Instrument metrics in GlobalTrajectoryBuilder. (#945)	2018-03-14 14:51:40 +01:00
motion_filter.cc	Move internal/mapping to mapping/internal. (#941)	2018-02-27 16:25:53 +01:00
motion_filter.h	Move internal/mapping to mapping/internal. (#941)	2018-02-27 16:25:53 +01:00
motion_filter_test.cc	Move internal/mapping to mapping/internal. (#941)	2018-02-27 16:25:53 +01:00
range_data_collator.cc	Add intensity data to TimedPointCloudData. (#1742)	2020-08-28 10:12:04 +02:00
range_data_collator.h	Add intensity data to TimedPointCloudData. (#1742)	2020-08-28 10:12:04 +02:00
range_data_collator_test.cc	Add intensity data to TimedPointCloudData. (#1742)	2020-08-28 10:12:04 +02:00
submap_controller.cc	Implement recovery behavior for LocalTrajectoryUploader (#1287)	2018-07-20 00:09:44 +02:00
submap_controller.h	Rename submap finished flags (#1384)	2018-08-13 10:38:33 +02:00
trajectory_connectivity_state.cc	More const PoseGraph interface (#1156)	2018-05-17 09:30:40 +02:00
trajectory_connectivity_state.h	More const PoseGraph interface (#1156)	2018-05-17 09:30:40 +02:00
trajectory_connectivity_state_test.cc	Move even more stuff to internal/. (#982)	2018-03-12 17:46:31 +01:00
work_queue.h	Refactor PoseGraph work queue optimization dispatching (#1252)	2018-07-11 17:33:41 +02:00