7540dfa674
Increase 3D global localization score threshold. ( #587 )
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With googlecartographer/cartographer#640 submitted,
global localization in 3D seems to behave as expected,
so there is no longer a need for a low minimum score.
We increase the minimum score to be slightly above the
minimum score used in the same trajectory. This is to
reduce the amount of outliers which are worse in this
case. This change also moves it into the backpack_3d.lua
file since it should also apply to multi-trajectory SLAM.
2017-11-09 12:28:33 +01:00
67030b1ad3
Use start_trajectory_node topic remappings for the new trajectory. ( #584 )
2017-11-08 17:29:33 +01:00
ff92e9e4bd
Follow googlecartographer/cartographer#637. ( #583 )
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Use c++ standard types instead of the values from port.h.
2017-11-08 10:37:02 +01:00
e63126f329
Add ground truth stats to quality control pipeline. ( #578 )
2017-11-07 20:30:54 +01:00
1b8869bbf6
Unbreak the demo documentation. ( #581 )
2017-11-07 16:43:26 +01:00
bf187d9059
Add 3D localization demo. ( #580 )
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Adds configuration files and launch files for 3D backpack pure
localization.
Moves most demos to a separate documentation page.
2017-11-07 15:29:11 +01:00
f6a8903a40
Garbage collect scratch dir left-overs. ( #573 )
2017-11-06 13:21:35 +01:00
b665fbd6d2
Follow googlecartographer/cartographer#616. ( #569 )
2017-11-03 13:34:53 +01:00
e2f018d311
Fix debug build. ( #570 )
2017-11-03 10:56:06 +01:00
7403d82fbb
Added intensities to one more bag and added one new data set. ( #554 )
2017-11-02 16:30:39 +01:00
e604529537
Update Ceres Solver to 1.13.0. ( #564 )
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This is expected to improve the performance when solving the
global SLAM optimization problem.
2017-11-02 11:14:50 +01:00
5408cf52c7
Fix bug in extract_last_occurence ( #568 )
2017-11-02 10:20:18 +01:00
c945bb360a
Changes in BQ client API and constraints stats. ( #566 )
2017-11-02 09:26:35 +01:00
8895bfc96a
Adds a worker script for running quality control jobs. ( #562 )
2017-10-30 16:24:12 +01:00
ea3e7397ac
Fix bug in jenkins-slave ( #560 )
2017-10-27 14:35:33 +02:00
b0f9bae145
Adds Dockerfiles for CQ pipeline ( #559 )
2017-10-27 13:27:50 +02:00
b1184b1054
Add launch and lua files for quality evaluation pipelines. ( #555 )
2017-10-27 09:39:49 +02:00
cf8e79559f
Follow TimedPointCloud. ( #549 )
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Follows googlecartographer/cartographer#601. (#573 )
2017-10-24 13:39:54 +02:00
137c75633f
Adds a PointsProcessor that can write ROS maps. ( #548 )
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Fixes #475 .
2017-10-23 10:40:43 +02:00
5d784e8adb
Prepare for googlecartographer/cartographer#605. ( #551 )
2017-10-19 16:58:07 +02:00
adbaeb4fe6
Follow googlecartographer/cartographer#603. ( #550 )
2017-10-19 15:39:23 +02:00
b9dbfc6664
Follow googlecartographer/cartographer#597. ( #547 )
2017-10-17 16:55:33 +02:00
0a66c59547
Follow googlecartographer/cartographer#596. ( #546 )
2017-10-17 15:35:52 +02:00
4c54a545a1
Visualize gaps in trajectories due to trimming. ( #500 )
2017-10-17 14:16:26 +02:00
6b22cfaf8d
Fix a crash, since subdivisions can be empty. ( #543 )
2017-10-17 13:12:24 +02:00
38f1c4dc14
Follow googlecartographer/cartographer#591. ( #542 )
2017-10-17 11:00:31 +02:00
fe28d33d38
Adds a dump_timing flag. ( #541 )
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Moves #529 forward.
2017-10-16 14:23:56 +02:00
5b06f03558
Adds a rosbag_validate binary. ( #536 )
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So far it creates statistics over timing information of the sensor data that Cartographer cares about. It also reports if time jumps backwards for a sensor.
Also updates the GitHub issue template to ask users to run this binary when reporting issues.
I verified that this tool is sufficient to analyze all the timing related issues mentioned in #529 .
2017-10-13 17:26:50 +02:00
b9877fed12
Update 3D public data ( #538 )
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- Remove a bag that had the same data as another, just different timestamps.
- Republish a few bags with laser intensities.
2017-10-13 16:24:03 +02:00
8539e1a601
Add a --output_file_prefix option to the asset writer. ( #537 )
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It defaults to using the first bag name, i.e. the files end up next to the input file which is more ergonomic than having them end up in $HOME/.ros.
2017-10-13 15:36:11 +02:00
6a3dc04510
Visualize both high and low res slices. ( #532 )
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* OgreSlice has a slice_id.
This is necessary because we will have multiple OgreSlices
and Ogre requires unique names for textures and other entities.
* Visualize both high and low res slices.
Adds checkboxes to the rviz plugin to show high and low
resolution slices.
DrawableSubmap now holds a vector of OgreSlices and
decides which slices are visible.
* Corrections. Move slice visibility to OgreSlice.
2017-10-12 02:48:57 -07:00
f9157b2a26
Insert resolved topic name in subscribed_topics_ ( #516 )
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As unique id for an individual subscriber.
2017-10-09 15:40:53 +02:00
5b953d202e
Adds a tool that filters leading slashes from topic names in bags. ( #527 )
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PAIR=@cschuet
2017-10-09 15:16:08 +02:00
e117b13ea7
Rename to OgreSlice. ( #530 )
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Renames OgreSubmap to OgreSlice in preparation for that a
DrawableSubmap should hold multiple OgreSlices, so multiple
types of slices for one submap can be visualized.
2017-10-09 14:48:51 +02:00
b2a2ac4912
FetchSubmapTextures returns multiple textures. ( #519 )
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This changes the Ros api that multiple textures will be returned,
which are forwarded from the Ros service call.
Adapts all usages to follow this new api.
2017-10-09 04:19:48 -07:00
d5e6647206
Unwarp each (MultiEcho)LaserScan point in the assets_writer_main. ( #526 )
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Since these contain timing information, we can use the SLAM trajectory
to compensate for ego motion (unwarp) and the TF messages and URDF to
compensate for sensor-to-tracking motion.
This improves quality greatly.
2017-10-06 14:23:18 +02:00
e79754bf71
No preloading of tf in the assets writer. ( #524 )
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This follows the logic used in the offline node to only keep
a smaller buffer of tf data. This is necessary for performance.
Fixes #349 .
2017-10-06 11:53:19 +02:00
a2c8a8fe2d
Configurable occupancy grid publishing speed ( #504 )
2017-10-05 15:40:45 +02:00
e02e634848
Allow multiple textures in ROS message. ( #506 )
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Forward all textures from protobuf to ROS messages.
2017-10-04 14:44:49 +02:00
2a9e392023
Throttle rviz submap fading warning. ( #514 )
2017-10-04 13:14:59 +02:00
634769e9d0
Adds two new FAQ entries. ( #515 )
2017-09-29 16:06:34 +02:00
92fefe3f7e
Serialize state before shutdown ( #502 )
2017-09-29 14:44:07 +02:00
3fab4ad6b6
Adds per-sensor fixed ratio samplers ( #499 )
2017-09-29 09:04:41 +02:00
b8d63f3cc9
Handle multiple textures in protobuf. ( #503 )
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Handle the protobuf change from
googlecartographer/cartographer#519
by forwarding the first SubmapTexture if multiple are available.
* Nit.
* Check.
* Nit.
2017-09-13 16:43:25 +02:00
44b9e7b531
Follow googlecartographer/cartographer#498. ( #495 )
2017-09-01 16:15:16 +02:00
0305ac67d8
Add mem stats for offline node. ( #493 )
2017-08-30 16:34:48 +02:00
7d609695cf
Remove unused options. ( #491 )
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The adaptive_voxel_filter option is no longer used in 3D.
2017-08-25 17:30:08 +02:00
af28b769b4
Follow googlecartographer/cartographer#462. ( #486 )
2017-08-18 17:59:14 +02:00
5a2db79fc3
Add flag to start first trajectory. ( #482 )
2017-08-16 11:49:56 +02:00
cf13f76c82
Perform final optimization at the end. ( #483 )
2017-08-10 12:30:57 +02:00
Wolfgang Hess
Juraj Oršulić
Holger Rapp
Christoph Schütte
gaschler
Jihoon Lee
Damon Kohler
Yutaka Takaoka