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cartographer/cartographer/mapping_3d
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Wolfgang Hess 955e190166 Add IMU orientation correction to the pose graph optimization. (#361) 
Orientation of the IMU, most importantly pitch, is crucial to correctly
track changes in altitude. Each trajectory gets optimization variables
to correct for small errors in the IMU orientation.

Also adds separate gravity constants for each trajectory. The idea is
that different trajectories might use different hardware and slightly
disagree about the strength of gravity.

PAIR=damonkohler
 		2017-06-28 18:12:24 +02:00
..
proto Remove the unused OptimizingLocalTrajectoryBuilder. (#368) 2017-06-27 15:44:46 +02:00
scan_matching Tiny cleanup. (#312) 2017-06-02 16:44:27 +02:00
sparse_pose_graph Add IMU orientation correction to the pose graph optimization. (#361) 2017-06-28 18:12:24 +02:00
acceleration_cost_function.h Add IMU orientation correction to the pose graph optimization. (#361) 2017-06-28 18:12:24 +02:00
ceres_pose.cc Support fixing z during 3D sparse pose adjustment. (#161) 2016-12-14 15:32:23 +01:00
ceres_pose.h Support fixing z during 3D sparse pose adjustment. (#161) 2016-12-14 15:32:23 +01:00
global_trajectory_builder.cc Rename the KalmanLocalTrajectoryBuilder. (#372) 2017-06-28 15:32:43 +02:00
global_trajectory_builder.h Rename the KalmanLocalTrajectoryBuilder. (#372) 2017-06-28 15:32:43 +02:00
hybrid_grid.h Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
hybrid_grid_test.cc Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
imu_integration.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
imu_integration.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
kalman_local_trajectory_builder_options.cc Remove covariance from the 3D Ceres scan matcher. (#200) 2017-02-08 15:22:28 +01:00
kalman_local_trajectory_builder_options.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
local_trajectory_builder.cc Rename the KalmanLocalTrajectoryBuilder. (#372) 2017-06-28 15:32:43 +02:00
local_trajectory_builder.h Rename the KalmanLocalTrajectoryBuilder. (#372) 2017-06-28 15:32:43 +02:00
local_trajectory_builder_options.cc Remove the unused OptimizingLocalTrajectoryBuilder. (#368) 2017-06-27 15:44:46 +02:00
local_trajectory_builder_options.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
local_trajectory_builder_test.cc Rename the KalmanLocalTrajectoryBuilder. (#372) 2017-06-28 15:32:43 +02:00
motion_filter.cc Improves logging, fixes #94. (#41) 2016-10-11 11:22:33 +02:00
motion_filter.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
motion_filter_test.cc Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
range_data_inserter.cc Rename LaserFan to RangeData. (#224) 2017-03-23 14:56:18 +01:00
range_data_inserter.h Rename LaserFan to RangeData. (#224) 2017-03-23 14:56:18 +01:00
range_data_inserter_test.cc Always use the origin as the origin for grids. (#294) 2017-05-18 12:00:45 +02:00
rotation_cost_function.h Add IMU orientation correction to the pose graph optimization. (#361) 2017-06-28 18:12:24 +02:00
sparse_pose_graph.cc Improve code comments. (#243) 2017-06-26 14:32:44 +02:00
sparse_pose_graph.h Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. (#352) 2017-06-21 14:21:23 +02:00
submaps.cc Remove friends declaration in Submap. (#350) 2017-06-21 12:49:44 +02:00
submaps.h Remove friends declaration in Submap. (#350) 2017-06-21 12:49:44 +02:00
translation_cost_function.h Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00