The `io` component of PCL brings in VTK, which in turn creates a lot of CMake pollution (such as bringing in Qt, which is completely unnecessary for `cartographer_ros`).
All it does is source some large scripts, which results in lots of
logspam when the container starts up. It then runs exec, after which the
`verbose` setting has no effect.
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.
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.
* 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.
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.
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.
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.
Handle the protobuf change from
googlecartographer/cartographer#519
by forwarding the first SubmapTexture if multiple are available.
* Nit.
* Check.
* Nit.
Juraj Oršulić
Jihoon Lee
Rodrigo Queiro
Wolfgang Hess
Holger Rapp
Christoph Schütte
gaschler
Damon Kohler